+ python -m lidar_slam --no-model /working/cd0f6d16-5d9f-424f-8917-df007eb4756f Lidar SLAM 0.0.13 ===================================================== The recording path: /working/cd0f6d16-5d9f-424f-8917-df007eb4756f 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 0.025769231 Adjusted end_distance from 9.223372036854776e+18 to 449.975769231 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025769231 meters Centerline goodness [0,1] 0.5022132176440794 Centerline is valid? [0, False] SLAMing on 0.055769231 meters Centerline goodness [0,1] 0.5308709311458242 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999925e-01 3.76464245e-04 8.63012943e-05 8.13374500e-04] [-3.76507200e-04 9.99999805e-01 4.98260495e-04 -4.20593933e-03] [-8.61137002e-05 -4.98292951e-04 9.99999872e-01 -6.01471655e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.085769231 meters Centerline goodness [0,1] 0.4909407128547212 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999046e-01 1.37378467e-03 1.42747075e-04 4.02275506e-03] [-1.37395353e-03 9.99998348e-01 1.18965336e-03 -8.32551464e-03] [-1.41112512e-04 -1.18984836e-03 9.99999282e-01 -1.57909802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11576923100000001 meters Centerline goodness [0,1] 0.45378206533654897 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99996096e-01 2.76035903e-03 -4.33886593e-04 9.34197759e-03] [-2.75945095e-03 9.99994030e-01 2.07975578e-03 -1.06485349e-02] [ 4.39624875e-04 -2.07855037e-03 9.99997743e-01 -4.59506488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145769231 meters Centerline goodness [0,1] 0.4563130206049978 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99993708e-01 3.50761315e-03 -5.29442250e-04 1.13082799e-02] [-3.50648145e-03 9.99991598e-01 2.12353256e-03 -1.07378276e-02] [ 5.36886332e-04 -2.12166272e-03 9.99997605e-01 -5.35229863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17576923100000003 meters Centerline goodness [0,1] 0.5127073735210781 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99975775e-01 6.95703499e-03 -2.20152229e-04 1.73446664e-02] [-6.95623043e-03 9.99969800e-01 3.46563688e-03 -1.38066467e-02] [ 2.44256137e-04 -3.46402150e-03 9.99993970e-01 -8.28680985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20576923100000002 meters Centerline goodness [0,1] 0.5191366844178897 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99969601e-01 7.79084655e-03 -3.16285509e-04 1.93746339e-02] [-7.78972993e-03 9.99963913e-01 3.39019036e-03 -1.25830997e-02] [ 3.42686548e-04 -3.38762352e-03 9.99994203e-01 -9.09508421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23576923100000002 meters Centerline goodness [0,1] 0.3774709620863467 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99963265e-01 8.56039835e-03 -4.34433779e-04 2.15555149e-02] [-8.55893636e-03 9.99958050e-01 3.26240917e-03 -1.06473540e-02] [ 4.62343077e-04 -3.25857104e-03 9.99994584e-01 -1.02029131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.265769231 meters Centerline goodness [0,1] 0.5335152838427948 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.99990631 0.01365168 -0.00100377 0.03202335] [-0.01364409 0.99988085 0.00721997 -0.01222346] [ 0.00110222 -0.0072056 0.99997343 -0.0167818 ] [ 0. 0. 0. 1. ]] SLAMing on 0.295769231 meters Centerline goodness [0,1] 0.4158631347539342 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 0.99989989 0.01406271 -0.00156483 0.03644626] [-0.01405116 0.99987562 0.00716268 -0.01081528] [ 0.00166536 -0.00713998 0.99997312 -0.01931184] [ 0. 0. 0. 1. ]] SLAMing on 0.32576923100000005 meters Centerline goodness [0,1] 0.49842660035649056 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99988234 0.01515403 -0.00238053 0.04709419] [-0.0151366 0.99985967 0.00717794 -0.00894126] [ 0.00248897 -0.00714107 0.9999714 -0.02617179] [ 0. 0. 0. 1. ]] SLAMing on 0.355769231 meters Centerline goodness [0,1] 0.4372562920950017 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99988163 0.01518028 -0.00250723 0.04891232] [-0.01516284 0.9998617 0.00683212 -0.00633809] [ 0.0026106 -0.0067933 0.99997352 -0.02752272] [ 0. 0. 0. 1. ]] SLAMing on 0.38576923100000005 meters Centerline goodness [0,1] 0.4257175014068655 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.05 [[ 9.99845207e-01 1.53259129e-02 8.64162060e-03 6.02721985e-02] [-1.53649033e-02 9.99871989e-01 4.46373389e-03 -7.37679482e-04] [-8.57210358e-03 -4.59582060e-03 9.99952698e-01 -4.65770812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.415769231 meters Centerline goodness [0,1] 0.40365721705258606 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.05 [[ 0.99984168 0.01548166 0.00877166 0.06283048] [-0.01551492 0.99987265 0.00373675 0.00586576] [-0.00871269 -0.00387225 0.99995455 -0.04677964] [ 0. 0. 0. 1. ]] SLAMing on 0.44576923100000004 meters Centerline goodness [0,1] 0.41992890468784716 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.05 [[ 0.99984623 0.01531456 0.00854322 0.06509009] [-0.01534283 0.999877 0.00325336 0.00925199] [-0.00849234 -0.00338394 0.99995821 -0.04854846] [ 0. 0. 0. 1. ]] SLAMing on 0.475769231 meters Centerline goodness [0,1] 0.40568878728595603 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.05 [[ 0.99985189 0.01511524 0.00822907 0.06801993] [-0.01513822 0.99988166 0.00273714 0.01298934] [-0.00818672 -0.00286131 0.99996239 -0.05049881] [ 0. 0. 0. 1. ]] SLAMing on 0.505769231 meters Centerline goodness [0,1] 0.39122967214540394 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.06 [[ 0.9998571 0.0151341 0.00753199 0.07848522] [-0.01515271 0.99988226 0.00242037 0.01950877] [-0.00749447 -0.00253415 0.9999687 -0.05748943] [ 0. 0. 0. 1. ]] SLAMing on 0.535769231 meters Centerline goodness [0,1] 0.4234532792942072 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.06 [[ 0.99986324 0.01486505 0.00724821 0.0808826 ] [-0.01488018 0.99988721 0.00203731 0.02233877] [-0.00721711 -0.00214488 0.99997166 -0.05887739] [ 0. 0. 0. 1. ]] SLAMing on 0.565769231 meters Centerline goodness [0,1] 0.435504871368922 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.06 [[ 0.99986892 0.01461456 0.0069677 0.08334396] [-0.01462766 0.99989133 0.00183237 0.02346986] [-0.00694016 -0.00193405 0.99997405 -0.06032795] [ 0. 0. 0. 1. ]] SLAMing on 0.595769231 meters Centerline goodness [0,1] 0.42888480202078394 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.06 [[ 0.99995821 0.00837141 0.0036745 0.10713837] [-0.00837996 0.9999622 0.00231817 0.02469414] [-0.00365495 -0.00234887 0.99999056 -0.05555434] [ 0. 0. 0. 1. ]] SLAMing on 0.625769231 meters Centerline goodness [0,1] 0.42507458786123387 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.06 [[ 0.99997194 0.0069177 0.00287499 0.11397021] [-0.00692195 0.99997496 0.0014693 0.02582632] [-0.00286475 -0.00148916 0.99999479 -0.0592741 ] [ 0. 0. 0. 1. ]] SLAMing on 0.655769231 meters Centerline goodness [0,1] 0.5114251690745276 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.06 [[ 0.99997465 0.00665416 0.00253314 0.11644585] [-0.00665828 0.99997652 0.00161869 0.02462906] [-0.0025223 -0.00163552 0.99999548 -0.06043599] [ 0. 0. 0. 1. ]] SLAMing on 0.685769231 meters Centerline goodness [0,1] 0.4678943542524836 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.06 [[ 0.99999841 0.00117176 -0.00134431 0.1436116 ] [-0.00116754 0.9999944 0.0031348 0.02325106] [ 0.00134797 -0.00313323 0.99999418 -0.05796412] [ 0. 0. 0. 1. ]] SLAMing on 0.715769231 meters Centerline goodness [0,1] 0.44344267676215066 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.06 [[ 9.99997661e-01 -4.79234772e-06 -2.16278255e-03 1.50582611e-01] [ 1.01761840e-05 9.99996902e-01 2.48930586e-03 2.27013381e-02] [ 2.16276392e-03 -2.48932205e-03 9.99994563e-01 -6.17592799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.745769231 meters Centerline goodness [0,1] 0.4592503288031565 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.06 [[ 9.99996733e-01 -5.01927709e-05 -2.55584284e-03 1.53436102e-01] [ 5.74435603e-05 9.99995974e-01 2.83695213e-03 1.93847375e-02] [ 2.55569015e-03 -2.83708967e-03 9.99992710e-01 -6.29614193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7757692310000001 meters Centerline goodness [0,1] 0.5080196034751615 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.06 [[ 9.99995702e-01 -2.44939543e-04 -2.92176772e-03 1.58067339e-01] [ 2.55085237e-04 9.99993938e-01 3.47258329e-03 1.38574198e-02] [ 2.92089943e-03 -3.47331366e-03 9.99989702e-01 -6.45786905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.805769231 meters Centerline goodness [0,1] 0.5117191855667804 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.07 [[ 9.99995009e-01 -1.92840625e-04 -3.15341406e-03 1.60088397e-01] [ 2.04455795e-04 9.99993195e-01 3.68345601e-03 1.20429088e-02] [ 3.15268228e-03 -3.68408236e-03 9.99988244e-01 -6.54520610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.835769231 meters Centerline goodness [0,1] 0.5117191855667804 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.07 [[ 9.99995009e-01 -1.92840625e-04 -3.15341406e-03 1.60088397e-01] [ 2.04455795e-04 9.99993195e-01 3.68345601e-03 1.20429088e-02] [ 3.15268228e-03 -3.68408236e-03 9.99988244e-01 -6.54520610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.865769231 meters Centerline goodness [0,1] 0.4657791699295223 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.07 [[ 9.99995249e-01 -1.18370056e-04 -3.08031197e-03 1.62878138e-01] [ 1.30528715e-04 9.99992201e-01 3.94731507e-03 1.07039666e-02] [ 3.07982070e-03 -3.94769838e-03 9.99987465e-01 -6.56863304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.895769231 meters Centerline goodness [0,1] 0.5100987632351632 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.07 [[ 9.99994371e-01 -3.62482674e-05 -3.35513945e-03 1.65457785e-01] [ 4.99267054e-05 9.99991688e-01 4.07686729e-03 1.02699528e-02] [ 3.35496378e-03 -4.07701185e-03 9.99986061e-01 -6.69232320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.925769231 meters Centerline goodness [0,1] 0.4517412055859996 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.07 [[ 9.99993547e-01 8.11022507e-05 -3.59162084e-03 1.67920816e-01] [-6.60136228e-05 9.99991174e-01 4.20098300e-03 9.23710064e-03] [ 3.59192985e-03 -4.20071880e-03 9.99984726e-01 -6.81656727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.955769231 meters Centerline goodness [0,1] 0.49549832026875695 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.07 [[ 9.99993577e-01 3.72666715e-04 -3.56479245e-03 1.71057973e-01] [-3.57030138e-04 9.99990318e-01 4.38602314e-03 6.83099421e-03] [ 3.56639246e-03 -4.38472223e-03 9.99984027e-01 -6.87570917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.985769231 meters Centerline goodness [0,1] 0.4953281498577158 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.07 [[ 9.99992706e-01 4.26845406e-04 -3.79546356e-03 1.73109565e-01] [-4.10784292e-04 9.99990963e-01 4.23143389e-03 8.38457358e-03] [ 3.79723543e-03 -4.22984391e-03 9.99983845e-01 -6.93829538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0157692310000002 meters Centerline goodness [0,1] 0.5245953025994672 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 9.99992825e-01 8.65457496e-04 -3.68804814e-03 1.76247671e-01] [-8.50330490e-04 9.99991228e-01 4.10122506e-03 1.00417737e-02] [ 3.69156522e-03 -4.09805957e-03 9.99984789e-01 -6.93946612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.045769231 meters Centerline goodness [0,1] 0.3339862007567327 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 0.99999181 0.00107878 -0.00390189 0.17840213] [-0.00106232 0.99999054 0.00421887 0.00909224] [ 0.0039064 -0.00421469 0.99998349 -0.0701285 ] [ 0. 0. 0. 1. ]] SLAMing on 1.075769231 meters Centerline goodness [0,1] 0.07145556815402743 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 0.99999059 0.00123247 -0.00416063 0.18094313] [-0.0012143 0.99998973 0.00436745 0.00759777] [ 0.00416597 -0.00436236 0.99998181 -0.07120975] [ 0. 0. 0. 1. ]] SLAMing on 1.105769231 meters Centerline goodness [0,1] 0.06993958040710768 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.07 [[ 0.99998888 0.00128435 -0.00453873 0.18601277] [-0.00126386 0.99998902 0.00451298 0.00570874] [ 0.00454448 -0.00450719 0.99997952 -0.07305761] [ 0. 0. 0. 1. ]] SLAMing on 1.135769231 meters Centerline goodness [0,1] 0.07300889915043374 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.07 [[ 0.99998783 0.00132334 -0.00475272 0.18825624] [-0.00130165 0.99998874 0.00456402 0.00565609] [ 0.00475871 -0.00455777 0.99997829 -0.07406273] [ 0. 0. 0. 1. ]] SLAMing on 1.165769231 meters Centerline goodness [0,1] 0.07098121085594988 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.08 [[ 0.9999865 0.00137743 -0.00500937 0.1907682 ] [-0.00135487 0.99998894 0.00450451 0.00624489] [ 0.00501552 -0.00449766 0.99997731 -0.07501266] [ 0. 0. 0. 1. ]] SLAMing on 1.195769231 meters Centerline goodness [0,1] 0.29064061090204885 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.08 [[ 0.99997939 0.00105764 -0.00633219 0.20448069] [-0.00102963 0.99998968 0.00442591 0.00583266] [ 0.00633681 -0.0044193 0.99997016 -0.0829035 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2257692310000001 meters Centerline goodness [0,1] 0.06696726045044643 Centerline is valid? [False, False] Translation: X:0.21, Y:0.00, Z:-0.08 [[ 9.99976515e-01 9.83747651e-04 -6.78241683e-03 2.08241095e-01] [-9.52524634e-04 9.99988942e-01 4.60521809e-03 4.09815447e-03] [ 6.78687220e-03 -4.59864952e-03 9.99966395e-01 -8.47314813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2557692310000002 meters Centerline goodness [0,1] 0.21673303187779802 Centerline is valid? [False, False] Translation: X:0.21, Y:0.00, Z:-0.09 [[ 9.99972707e-01 3.62336634e-04 -7.37936011e-03 2.14448764e-01] [-3.26024878e-04 9.99987837e-01 4.92132751e-03 1.49842439e-03] [ 7.38105353e-03 -4.91878734e-03 9.99960662e-01 -8.66450560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.285769231 meters Centerline goodness [0,1] 0.21909173068233168 Centerline is valid? [False, False] Translation: X:0.22, Y:0.00, Z:-0.09 [[ 9.99970147e-01 2.50459681e-04 -7.72288240e-03 2.17272339e-01] [-2.11298354e-04 9.99987119e-01 5.07121655e-03 2.39912196e-04] [ 7.72405306e-03 -5.06943333e-03 9.99957319e-01 -8.75719621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.315769231 meters Centerline goodness [0,1] 0.21530950461345522 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.00, Z:-0.09 [[ 9.99967120e-01 1.82319926e-04 -8.10709057e-03 2.20486647e-01] [-1.40088774e-04 9.99986421e-01 5.20942520e-03 -1.29257465e-03] [ 8.10793027e-03 -5.20811820e-03 9.99953567e-01 -8.86579789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.345769231 meters Centerline goodness [0,1] 0.20809261349801889 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.00, Z:-0.11 [[ 0.9999968 -0.00193734 0.0016277 0.23781342] [ 0.00193181 0.99999237 0.00339422 -0.00255534] [-0.00163426 -0.00339107 0.99999291 -0.11309039] [ 0. 0. 0. 1. ]] SLAMing on 1.375769231 meters Centerline goodness [0,1] 0.2088624397150568 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.00, Z:-0.11 [[ 0.99999717 -0.00201252 0.00126498 0.24112838] [ 0.00200798 0.99999158 0.00357923 -0.00411456] [-0.00127217 -0.00357667 0.99999279 -0.11465258] [ 0. 0. 0. 1. ]] SLAMing on 1.405769231 meters Centerline goodness [0,1] 0.2069125237107945 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.00, Z:-0.12 [[ 9.99997355e-01 -2.12387281e-03 8.82387055e-04 2.44383150e-01] [ 2.12060436e-03 9.99990948e-01 3.68866850e-03 -4.74298744e-03] [-8.90213331e-04 -3.68678755e-03 9.99992808e-01 -1.15888792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.435769231 meters Centerline goodness [0,1] 0.22265218375198004 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.01, Z:-0.12 [[ 9.99996779e-01 -2.52322019e-03 2.74057860e-04 2.50660008e-01] [ 2.52207692e-03 9.99988436e-01 4.09479882e-03 -8.94440920e-03] [-2.84386769e-04 -4.09409443e-03 9.99991579e-01 -1.17892582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4657692310000001 meters Centerline goodness [0,1] 0.21673190918241803 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.01, Z:-0.12 [[ 9.99993345e-01 -3.60631279e-03 -5.52014191e-04 2.58282648e-01] [ 3.60823743e-03 9.99987273e-01 3.52623644e-03 -1.06662695e-02] [ 5.39290454e-04 -3.52820477e-03 9.99993630e-01 -1.22003221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4957692310000001 meters Centerline goodness [0,1] 0.2173358684710882 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.02, Z:-0.13 [[ 0.99998405 -0.00541684 -0.00159625 0.2696497 ] [ 0.00542184 0.99998036 0.00314333 -0.01816382] [ 0.00157919 -0.00315193 0.99999379 -0.1284722 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5257692310000002 meters Centerline goodness [0,1] 0.22685449439484917 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.02, Z:-0.13 [[ 0.99998253 -0.00555892 -0.0020089 0.27301778] [ 0.00556643 0.99997746 0.00375462 -0.02339984] [ 0.00198798 -0.00376574 0.99999093 -0.1298759 ] [ 0. 0. 0. 1. ]] SLAMing on 1.555769231 meters Centerline goodness [0,1] 0.22720007306937018 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.13 [[ 0.99998118 -0.00563103 -0.00243434 0.27630132] [ 0.0056417 0.99997441 0.00439968 -0.02913394] [ 0.00240951 -0.00441333 0.99998736 -0.13082936] [ 0. 0. 0. 1. ]] SLAMing on 1.585769231 meters Centerline goodness [0,1] 0.2142968246561341 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.04, Z:-0.13 [[ 0.99995339 -0.00894955 0.00362156 0.31901887] [ 0.00893977 0.99995637 0.00270956 -0.03692808] [-0.00364565 -0.00267706 0.99998977 -0.13443269] [ 0. 0. 0. 1. ]] SLAMing on 1.615769231 meters Centerline goodness [0,1] 0.3268891223208099 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.04, Z:-0.14 [[ 0.99995697 -0.00867841 0.00327699 0.32165656] [ 0.00866712 0.99995651 0.00344343 -0.04241208] [-0.00330673 -0.00341488 0.9999887 -0.13500538] [ 0. 0. 0. 1. ]] SLAMing on 1.645769231 meters Centerline goodness [0,1] 0.31986828157069713 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:-0.14 [[ 0.99996638 -0.00784774 0.00237529 0.33019078] [ 0.0078361 0.99995743 0.00487264 -0.05159109] [-0.00241343 -0.00485386 0.99998531 -0.13861566] [ 0. 0. 0. 1. ]] SLAMing on 1.675769231 meters Centerline goodness [0,1] 0.27533276565231035 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:-0.14 [[ 0.99997024 -0.00743056 0.00207439 0.3330146 ] [ 0.00741923 0.99995781 0.00541691 -0.05561699] [-0.00211455 -0.00540135 0.99998318 -0.13966497] [ 0. 0. 0. 1. ]] SLAMing on 1.705769231 meters SLAMing on 1.7357692310000001 meters Centerline goodness [0,1] 0.26268214936247725 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.13 [[ 0.99999668 -0.00217351 -0.00138621 0.35566138] [ 0.00217991 0.9999869 0.0046307 -0.06115757] [ 0.00137613 -0.00463371 0.99998832 -0.13378105] [ 0. 0. 0. 1. ]] SLAMing on 1.7657692310000002 meters Centerline goodness [0,1] 0.18455752311446416 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.14 [[ 0.99997461 0.00694357 0.00160437 0.38220444] [-0.00694733 0.9999731 0.00235098 -0.06544358] [-0.00158801 -0.00236206 0.99999595 -0.13974097] [ 0. 0. 0. 1. ]] SLAMing on 1.7957692310000002 meters Centerline goodness [0,1] 0.25066854008974304 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.14 [[ 0.99997079 0.00755132 0.00117759 0.38553679] [-0.00755419 0.99996847 0.00244887 -0.06538736] [-0.00115906 -0.00245769 0.99999631 -0.14078799] [ 0. 0. 0. 1. ]] SLAMing on 1.825769231 meters Centerline goodness [0,1] 0.2303085299455535 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.14 [[ 9.99967116e-01 8.07318432e-03 7.68940279e-04 3.88834701e-01] [-8.07506312e-03 9.99964340e-01 2.47243040e-03 -6.47922694e-02] [-7.48952472e-04 -2.47855834e-03 9.99996648e-01 -1.41926260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.855769231 meters Centerline goodness [0,1] 0.1783887757411179 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.15 [[ 9.99920402e-01 1.26150836e-02 -2.21044053e-04 3.99692224e-01] [-1.26132990e-02 9.99897541e-01 6.76840345e-03 -6.67571746e-02] [ 3.06405381e-04 -6.76507660e-03 9.99977070e-01 -1.47576855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.885769231 meters Centerline goodness [0,1] 0.238174125232264 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.07, Z:-0.15 [[ 9.99917603e-01 1.28226243e-02 -6.05905182e-04 4.03081739e-01] [-1.28183049e-02 9.99895639e-01 6.66346198e-03 -6.50151377e-02] [ 6.91285018e-04 -6.65514625e-03 9.99977615e-01 -1.48841026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.915769231 meters Centerline goodness [0,1] 0.19021152476975722 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.07, Z:-0.15 [[ 9.99913471e-01 1.31204151e-02 -9.51242544e-04 4.07411750e-01] [-1.31136401e-02 9.99890827e-01 6.80934639e-03 -6.59530685e-02] [ 1.04048015e-03 -6.79628293e-03 9.99976364e-01 -1.50119233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.945769231 meters Centerline goodness [0,1] 0.19179257853964815 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.07, Z:-0.15 [[ 0.99991136 0.01326174 -0.00118656 0.41028596] [-0.01325312 0.99988768 0.00699841 -0.06693176] [ 0.00127924 -0.00698207 0.99997481 -0.15147787] [ 0. 0. 0. 1. ]] SLAMing on 1.9757692310000001 meters Centerline goodness [0,1] 0.18442567719329772 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.07, Z:-0.15 [[ 0.99991011 0.01332217 -0.00151344 0.41342649] [-0.01331124 0.99988676 0.00701925 -0.0666824 ] [ 0.00160678 -0.00699848 0.99997422 -0.1528677 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0057692310000004 meters Centerline goodness [0,1] 0.21669160815010935 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.16 [[ 0.9998953 0.01420076 -0.00278128 0.42623781] [-0.01417961 0.99987147 0.00748229 -0.06708132] [ 0.00288717 -0.00744207 0.99996814 -0.15988055] [ 0. 0. 0. 1. ]] SLAMing on 2.035769231 meters Centerline goodness [0,1] 0.20946603589940926 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.16 [[ 0.99988071 0.01505347 -0.00345742 0.43304533] [-0.01502527 0.99985477 0.00804224 -0.06783951] [ 0.00357798 -0.00798934 0.99996168 -0.16352569] [ 0. 0. 0. 1. ]] SLAMing on 2.065769231 meters Centerline goodness [0,1] 0.20068722348238144 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.07, Z:-0.17 [[ 0.99986665 0.01571863 -0.00442697 0.44467135] [-0.01568155 0.99984267 0.0082896 -0.06719579] [ 0.00455658 -0.00821907 0.99995584 -0.16895631] [ 0. 0. 0. 1. ]] SLAMing on 2.0957692310000002 meters Centerline goodness [0,1] 0.19601974492416963 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.07, Z:-0.17 [[ 0.99986602 0.01566994 -0.00473221 0.44764532] [-0.01562998 0.99984284 0.00836666 -0.06777944] [ 0.00486257 -0.00829157 0.9999538 -0.1700073 ] [ 0. 0. 0. 1. ]] SLAMing on 2.125769231 meters Centerline goodness [0,1] 0.19537275064267356 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.18 [[ 0.99989993 0.01282639 -0.00596834 0.45897532] [-0.01279615 0.99990523 0.00507742 -0.06781783] [ 0.0060329 -0.00500054 0.9999693 -0.1751104 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1557692310000003 meters Centerline goodness [0,1] 0.19513765899211077 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.07, Z:-0.18 [[ 9.99939384e-01 8.91534886e-03 -6.46107011e-03 4.62747104e-01] [-8.91003922e-03 9.99959943e-01 8.50108846e-04 -6.53185059e-02] [ 6.46839032e-03 -7.92488927e-04 9.99978766e-01 -1.76792751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.185769231 meters Centerline goodness [0,1] 0.1894284154000182 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.18 [[ 0.9999534 0.00616355 -0.00743022 0.47167059] [-0.00617971 0.99997859 -0.00215387 -0.06574579] [ 0.00741678 0.00219969 0.99997008 -0.18180204] [ 0. 0. 0. 1. ]] SLAMing on 2.2157692310000003 meters Centerline goodness [0,1] 0.18623037725932867 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.19 [[ 0.99996345 0.00231495 -0.00822986 0.48037195] [-0.00235885 0.99998302 -0.00532893 -0.06976206] [ 0.00821739 0.00534814 0.99995193 -0.18559501] [ 0. 0. 0. 1. ]] SLAMing on 2.245769231 meters Centerline goodness [0,1] 0.18464359385743756 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.19 [[ 0.99996045 0.00183878 -0.00870128 0.48357992] [-0.00188153 0.99998619 -0.00490745 -0.07471569] [ 0.00869213 0.00492362 0.9999501 -0.18613521] [ 0. 0. 0. 1. ]] SLAMing on 2.275769231 meters Centerline goodness [0,1] 0.1819614471039649 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.19 [[ 0.99994739 -0.00273313 -0.00988634 0.49568326] [ 0.00264895 0.99996021 -0.00851835 -0.07894506] [ 0.00990922 0.00849171 0.99991485 -0.19186521] [ 0. 0. 0. 1. ]] SLAMing on 2.305769231 meters Centerline goodness [0,1] 0.17935978583906165 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.08, Z:-0.20 [[ 0.99997077 -0.00724926 -0.00242887 0.51730134] [ 0.00724115 0.99996824 -0.00333066 -0.08365839] [ 0.00245294 0.00331298 0.9999915 -0.20272172] [ 0. 0. 0. 1. ]] SLAMing on 2.335769231 meters Centerline goodness [0,1] 0.18613755878332983 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.20 [[ 0.99997033 -0.00718147 -0.00278718 0.5200259 ] [ 0.00717344 0.99997012 -0.00287994 -0.08737949] [ 0.00280778 0.00285986 0.99999197 -0.20359668] [ 0. 0. 0. 1. ]] SLAMing on 2.3657692310000003 meters Centerline goodness [0,1] 0.180327868852459 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.09, Z:-0.20 [[ 0.99996908 -0.00720514 -0.0031495 0.52309737] [ 0.00719705 0.9999708 -0.00257062 -0.09041304] [ 0.00316793 0.00254787 0.99999174 -0.20470334] [ 0. 0. 0. 1. ]] SLAMing on 2.395769231 meters Centerline goodness [0,1] 0.18395488029465934 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.10, Z:-0.21 [[ 0.99996951 -0.00694268 -0.00357388 0.52748235] [ 0.0069358 0.99997408 -0.00193346 -0.09518498] [ 0.00358721 0.00190862 0.99999174 -0.20520589] [ 0. 0. 0. 1. ]] SLAMing on 2.4257692310000003 meters Centerline goodness [0,1] 0.1833436632004224 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.10, Z:-0.21 [[ 0.9999697 -0.00674916 -0.0038787 0.52979738] [ 0.00674275 0.99997588 -0.00166503 -0.09668909] [ 0.00388985 0.00163883 0.99999109 -0.20551363] [ 0. 0. 0. 1. ]] SLAMing on 2.455769231 meters Centerline goodness [0,1] 0.1857815095035984 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.10, Z:-0.21 [[ 0.99997046 -0.00634292 -0.00434092 0.53424878] [ 0.00633764 0.99997916 -0.00122884 -0.09939509] [ 0.00434862 0.0012013 0.99998982 -0.20600621] [ 0. 0. 0. 1. ]] SLAMing on 2.4857692310000004 meters Centerline goodness [0,1] 0.18207603275538675 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.10, Z:-0.21 [[ 9.99969896e-01 -6.19084295e-03 -4.67772904e-03 5.36917667e-01] [ 6.18668450e-03 9.99980455e-01 -9.02935095e-04 -1.01869805e-01] [ 4.68322754e-03 8.73968279e-04 9.99988652e-01 -2.06980646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.515769231 meters Centerline goodness [0,1] 0.18962061894108873 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.10, Z:-0.21 [[ 9.99969473e-01 -6.04924951e-03 -4.94560021e-03 5.39053588e-01] [ 6.04650188e-03 9.99981557e-01 -5.70332902e-04 -1.04303758e-01] [ 4.94895909e-03 5.40411911e-04 9.99987608e-01 -2.07747634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.545769231 meters Centerline goodness [0,1] 0.18768314912665263 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.11, Z:-0.21 [[ 9.99959106e-01 -6.54724048e-03 -6.23858299e-03 5.51593600e-01] [ 6.54619753e-03 9.99978556e-01 -1.87582484e-04 -1.09003666e-01] [ 6.23967736e-03 1.46735816e-04 9.99980522e-01 -2.13763601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.575769231 meters Centerline goodness [0,1] 0.19640645809481527 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.11, Z:-0.21 [[ 9.99958010e-01 -6.38341046e-03 -6.57504133e-03 5.53759630e-01] [ 6.38536253e-03 9.99979575e-01 2.75940698e-04 -1.12392804e-01] [ 6.57314560e-03 -3.17913134e-04 9.99978346e-01 -2.14039939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.605769231 meters Centerline goodness [0,1] 0.19774956990747194 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.22 [[ 0.99995363 -0.00617869 -0.00738671 0.55984546] [ 0.00618721 0.99998022 0.00113078 -0.11904955] [ 0.00737958 -0.00117643 0.99997208 -0.21559773] [ 0. 0. 0. 1. ]] SLAMing on 2.6357692310000003 meters Centerline goodness [0,1] 0.19479519197105843 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.22 [[ 0.9999527 -0.00599401 -0.00765903 0.56180246] [ 0.00600611 0.99998075 0.00155782 -0.12175327] [ 0.00764954 -0.00160374 0.99996946 -0.21612969] [ 0. 0. 0. 1. ]] SLAMing on 2.665769231 meters Centerline goodness [0,1] 0.1979302934031022 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.13, Z:-0.22 [[ 0.99994978 -0.00565708 -0.00827241 0.56624794] [ 0.00567506 0.99998158 0.00215166 -0.12525793] [ 0.00826009 -0.0021985 0.99996347 -0.21701465] [ 0. 0. 0. 1. ]] SLAMing on 2.6957692310000003 meters Centerline goodness [0,1] 0.19556947344003717 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.13, Z:-0.22 [[ 0.99994801 -0.0054552 -0.00861501 0.56853402] [ 0.0054767 0.99998194 0.00247377 -0.12753447] [ 0.00860136 -0.00252082 0.99995983 -0.21747284] [ 0. 0. 0. 1. ]] SLAMing on 2.725769231 meters Centerline goodness [0,1] 0.1998641654371297 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.13, Z:-0.22 [[ 0.99994606 -0.00525411 -0.00895977 0.57061068] [ 0.00527925 0.99998219 0.00278415 -0.1296805 ] [ 0.00894498 -0.0028313 0.99995598 -0.21774927] [ 0. 0. 0. 1. ]] SLAMing on 2.7557692310000004 meters Centerline goodness [0,1] 0.19348938436248297 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.23 [[ 0.99999726 -0.00194198 -0.00130843 0.59618463] [ 0.00193874 0.99999507 -0.00246904 -0.13097013] [ 0.00131322 0.0024665 0.9999961 -0.23016227] [ 0. 0. 0. 1. ]] SLAMing on 2.785769231 meters Centerline goodness [0,1] 0.19348938436248297 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.23 [[ 0.99999726 -0.00194198 -0.00130843 0.59618463] [ 0.00193874 0.99999507 -0.00246904 -0.13097013] [ 0.00131322 0.0024665 0.9999961 -0.23016227] [ 0. 0. 0. 1. ]] SLAMing on 2.815769231 meters Centerline goodness [0,1] 0.1986398019847787 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.23 [[ 0.99999712 -0.00179888 -0.00158631 0.59817228] [ 0.00179553 0.99999616 -0.00211109 -0.13323946] [ 0.00159011 0.00210824 0.99999651 -0.23075338] [ 0. 0. 0. 1. ]] SLAMing on 2.8457692310000002 meters Centerline goodness [0,1] 0.2043897992099296 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.23 [[ 0.9999959 -0.00174834 -0.00226954 0.60252347] [ 0.00174525 0.99999755 -0.00136299 -0.13921244] [ 0.00227192 0.00135903 0.9999965 -0.23100863] [ 0. 0. 0. 1. ]] SLAMing on 2.875769231 meters Centerline goodness [0,1] 0.20001867370042714 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.23 [[ 9.99995184e-01 -1.63652884e-03 -2.63687964e-03 6.04585272e-01] [ 1.63416508e-03 9.99998261e-01 -8.98328300e-04 -1.42639141e-01] [ 2.63834520e-03 8.94014877e-04 9.99996120e-01 -2.31077553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9057692310000003 meters Centerline goodness [0,1] 0.19558571494742694 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.23 [[ 9.99994255e-01 -1.57767652e-03 -3.00006043e-03 6.06849326e-01] [ 1.57592522e-03 9.99998587e-01 -5.86028699e-04 -1.44829504e-01] [ 3.00098075e-03 5.81297462e-04 9.99995328e-01 -2.31488067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.935769231 meters Centerline goodness [0,1] 0.2057044481667597 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.23 [[ 9.99993500e-01 -1.44867345e-03 -3.30181076e-03 6.08452120e-01] [ 1.44737606e-03 9.99998874e-01 -3.95289515e-04 -1.45922233e-01] [ 3.30237969e-03 3.90507984e-04 9.99994471e-01 -2.31362023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9657692310000003 meters Centerline goodness [0,1] 0.06862586043062091 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.23 [[ 9.99992122e-01 -4.36102596e-04 -3.94546953e-03 6.12009431e-01] [ 4.35487091e-04 9.99999893e-01 -1.56860763e-04 -1.45285549e-01] [ 3.94553752e-03 1.55141326e-04 9.99992204e-01 -2.30565537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.995769231 meters Centerline goodness [0,1] 0.0671532176627192 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.23 [[ 0.99998003 0.00439466 -0.0045425 0.61597329] [-0.00437485 0.99998092 0.00436187 -0.14721309] [ 0.00456158 -0.00434191 0.99998017 -0.23048403] [ 0. 0. 0. 1. ]] SLAMing on 3.0257692310000004 meters Centerline goodness [0,1] 0.06804692246576627 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.23 [[ 0.99997563 0.00495116 -0.00492099 0.61802796] [-0.00493018 0.99997874 0.00426744 -0.14506907] [ 0.00494202 -0.00424308 0.99997879 -0.23088665] [ 0. 0. 0. 1. ]] SLAMing on 3.055769231 meters Centerline goodness [0,1] 0.06995519880530143 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.23 [[ 0.99997213 0.0052718 -0.00528605 0.62011865] [-0.00525026 0.99997789 0.00408039 -0.1427164 ] [ 0.00530745 -0.00405252 0.9999777 -0.23129602] [ 0. 0. 0. 1. ]] SLAMing on 3.085769231 meters Centerline goodness [0,1] 0.06902650748213823 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.23 [[ 0.99996942 0.00540492 -0.00565192 0.62197512] [-0.0053834 0.99997823 0.00381489 -0.14035979] [ 0.00567241 -0.00378435 0.99997675 -0.2314125 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1157692310000003 meters Centerline goodness [0,1] 0.06895272541791286 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.23 [[ 0.99996467 0.00566652 -0.0062092 0.62518903] [-0.0056445 0.99997774 0.0035575 -0.13767192] [ 0.00622922 -0.00352233 0.99997439 -0.23145799] [ 0. 0. 0. 1. ]] SLAMing on 3.145769231 meters Centerline goodness [0,1] 0.1668290645879733 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.23 [[ 0.99996341 0.00562755 -0.00644235 0.62646279] [-0.0056056 0.99997844 0.00342029 -0.13683313] [ 0.00646146 -0.00338405 0.9999734 -0.23152044] [ 0. 0. 0. 1. ]] SLAMing on 3.1757692310000003 meters Centerline goodness [0,1] 0.06811088248213992 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.23 [[ 0.99996059 0.00555281 -0.00692667 0.6296805 ] [-0.00553021 0.99997934 0.00327686 -0.13600668] [ 0.00694473 -0.00323843 0.99997064 -0.23233227] [ 0. 0. 0. 1. ]] SLAMing on 3.205769231 meters Centerline goodness [0,1] 0.06858315275024207 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.23 [[ 0.99995913 0.00548018 -0.00719085 0.63119131] [-0.00545785 0.99998023 0.00312177 -0.13497691] [ 0.00720781 -0.0030824 0.99996927 -0.23266814] [ 0. 0. 0. 1. ]] SLAMing on 3.2357692310000004 meters Centerline goodness [0,1] 0.0682394139059116 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.23 [[ 0.99995758 0.00541432 -0.00745141 0.63269762] [-0.00539335 0.99998145 0.00283161 -0.13293943] [ 0.0074666 -0.0027913 0.99996823 -0.23299229] [ 0. 0. 0. 1. ]] SLAMing on 3.265769231 meters Centerline goodness [0,1] 0.06902071781546526 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.23 [[ 0.99995336 0.00556866 -0.00789094 0.63505114] [-0.00555009 0.99998178 0.00237256 -0.12910667] [ 0.00790401 -0.00232865 0.99996605 -0.23286245] [ 0. 0. 0. 1. ]] SLAMing on 3.2957692310000004 meters Centerline goodness [0,1] 0.06923219412799853 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.23 [[ 0.9999518 0.00552368 -0.00811758 0.63625825] [-0.00550581 0.99998237 0.00222224 -0.1282327 ] [ 0.00812971 -0.00217744 0.99996458 -0.23296699] [ 0. 0. 0. 1. ]] SLAMing on 3.325769231 meters Centerline goodness [0,1] 0.0677676010731798 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.23 [[ 0.99994868 0.00542914 -0.00855362 0.63873467] [-0.00541045 0.99998293 0.00220683 -0.12834638] [ 0.00856546 -0.00216044 0.99996098 -0.23301717] [ 0. 0. 0. 1. ]] SLAMing on 3.355769231 meters Centerline goodness [0,1] 0.0691922934420156 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.23 [[ 0.99994664 0.00537287 -0.008823 0.640084 ] [-0.00535259 0.99998298 0.00232097 -0.12934698] [ 0.00883532 -0.00227362 0.99995838 -0.23315364] [ 0. 0. 0. 1. ]] SLAMing on 3.3857692310000003 meters Centerline goodness [0,1] 0.06927836970176338 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.23 [[ 0.99994373 0.00512627 -0.00928718 0.64293937] [-0.00510204 0.99998352 0.00263172 -0.13231807] [ 0.00930051 -0.00258419 0.99995341 -0.23371304] [ 0. 0. 0. 1. ]] SLAMing on 3.415769231 meters Centerline goodness [0,1] 0.0698879551820728 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.23 [[ 0.99994148 0.00509769 -0.00954153 0.64417312] [-0.00507165 0.99998335 0.00275118 -0.13339544] [ 0.00955539 -0.00270263 0.99995069 -0.23376517] [ 0. 0. 0. 1. ]] SLAMing on 3.4457692310000003 meters Centerline goodness [0,1] 0.06849409811877538 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.23 [[ 0.99993841 0.00506795 -0.00987361 0.64588449] [-0.00504034 0.99998332 0.00281923 -0.13398865] [ 0.00988773 -0.00276929 0.99994728 -0.23397607] [ 0. 0. 0. 1. ]] SLAMing on 3.475769231 meters Centerline goodness [0,1] 0.06848742423186793 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.23 [[ 0.99993476 0.00506099 -0.01024032 0.64813166] [-0.00503329 0.99998361 0.00272903 -0.13322629] [ 0.01025396 -0.00267731 0.99994384 -0.23446756] [ 0. 0. 0. 1. ]] SLAMing on 3.5057692310000004 meters Centerline goodness [0,1] 0.06739405076375327 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.24 [[ 0.99993185 0.00506738 -0.01051768 0.64985493] [-0.00503936 0.99998369 0.00268902 -0.13298134] [ 0.01053114 -0.00263583 0.99994107 -0.2351546 ] [ 0. 0. 0. 1. ]] SLAMing on 3.535769231 meters Centerline goodness [0,1] 0.06786742178070748 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.24 [[ 0.99992726 0.00516831 -0.01089816 0.65224858] [-0.00513991 0.99998332 0.00263271 -0.13257442] [ 0.01091158 -0.0025765 0.99993715 -0.23597085] [ 0. 0. 0. 1. ]] SLAMing on 3.5657692310000004 meters Centerline goodness [0,1] 0.06730901899461894 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.24 [[ 9.99977856e-01 6.13914437e-03 2.56878792e-03 6.58061277e-01] [-6.14130911e-03 9.99980793e-01 8.35673154e-04 -1.30517408e-01] [-2.56360826e-03 -8.51430369e-04 9.99996351e-01 -2.44664987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5957692310000002 meters Centerline goodness [0,1] 0.06799981590574378 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.25 [[ 9.99978472e-01 6.12221919e-03 2.36091485e-03 6.59311855e-01] [-6.12353995e-03 9.99981098e-01 5.52603697e-04 -1.28598513e-01] [-2.35748707e-03 -5.67048957e-04 9.99997060e-01 -2.45191099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.625769231 meters Centerline goodness [0,1] 0.2026193787668058 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.25 [[ 9.99977917e-01 6.31748479e-03 2.06281690e-03 6.60966050e-01] [-6.31824141e-03 9.99979975e-01 3.60477029e-04 -1.26601833e-01] [-2.06049828e-03 -3.73502443e-04 9.99997807e-01 -2.45132375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6557692310000003 meters Centerline goodness [0,1] 0.20049333763658994 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.24 [[ 9.99978468e-01 6.33397321e-03 1.71584102e-03 6.62338797e-01] [-6.33441097e-03 9.99979906e-01 2.49809693e-04 -1.25936829e-01] [-1.71422425e-03 -2.60673156e-04 9.99998497e-01 -2.44731300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.685769231 meters Centerline goodness [0,1] 0.19843717392816562 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.24 [[ 9.99977522e-01 6.57053142e-03 1.33563494e-03 6.63990253e-01] [-6.57055763e-03 9.99978414e-01 1.52369911e-05 -1.23579770e-01] [-1.33550600e-03 -2.40125150e-05 9.99999108e-01 -2.44157008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7157692310000003 meters Centerline goodness [0,1] 0.19594252291254088 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.24 [[ 9.99977899e-01 6.56544300e-03 1.04718532e-03 6.65560417e-01] [-6.56512000e-03 9.99978401e-01 -3.11585694e-04 -1.21290395e-01] [-1.04920840e-03 3.04703911e-04 9.99999403e-01 -2.44680690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.745769231 meters Centerline goodness [0,1] 0.19626124764584152 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.25 [[ 9.99978188e-01 6.55065976e-03 8.44289620e-04 6.66805982e-01] [-6.55008424e-03 9.99978315e-01 -6.82636013e-04 -1.18688795e-01] [-8.48743027e-04 6.77090955e-04 9.99999411e-01 -2.45408863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7757692310000004 meters Centerline goodness [0,1] 0.1933684968747822 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.25 [[ 9.99975078e-01 7.04525775e-03 4.55591925e-04 6.68954656e-01] [-7.04478434e-03 9.99974652e-01 -1.03250264e-03 -1.14902433e-01] [-4.62854624e-04 1.02926736e-03 9.99999363e-01 -2.45935837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.805769231 meters Centerline goodness [0,1] 0.19100707776287185 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.25 [[ 9.99974514e-01 7.13805668e-03 1.38024255e-04 6.70271617e-01] [-7.13788288e-03 9.99973779e-01 -1.22115827e-03 -1.13383919e-01] [-1.46737333e-04 1.22014194e-03 9.99999245e-01 -2.45807935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8357692310000004 meters Centerline goodness [0,1] 0.1860209388101074 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.24 [[ 0.99997998 0.00544906 -0.003218 0.69221933] [-0.00543461 0.99997519 0.00448114 -0.11169957] [ 0.00324234 -0.00446356 0.99998478 -0.24085685] [ 0. 0. 0. 1. ]] SLAMing on 3.8657692310000003 meters Centerline goodness [0,1] 0.18561500883007276 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.24 [[ 0.99997967 0.00534816 -0.00347239 0.69328273] [-0.00533241 0.99997553 0.00452872 -0.11242323] [ 0.00349653 -0.00451011 0.99998372 -0.24093128] [ 0. 0. 0. 1. ]] SLAMing on 3.895769231 meters Centerline goodness [0,1] 0.18513304562553368 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.24 [[ 0.99999091 0.00275824 -0.00325095 0.68948062] [-0.00275293 0.99999487 0.00163757 -0.11148841] [ 0.00325545 -0.00162861 0.99999337 -0.23782801] [ 0. 0. 0. 1. ]] SLAMing on 3.9257692310000003 meters Centerline goodness [0,1] 0.18485960769644405 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.24 [[ 0.99999503 -0.00120044 0.00291616 0.64325839] [ 0.00120418 0.99999845 -0.00128103 -0.1125336 ] [-0.00291462 0.00128453 0.99999493 -0.24200203] [ 0. 0. 0. 1. ]] SLAMing on 3.955769231 meters Centerline goodness [0,1] 0.18235687440916737 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.24 [[ 0.9999965 -0.00158039 -0.00212368 0.68990017] [ 0.00157671 0.99999725 -0.00173361 -0.11419679] [ 0.00212641 0.00173025 0.99999624 -0.23920704] [ 0. 0. 0. 1. ]] SLAMing on 3.9857692310000004 meters Centerline goodness [0,1] 0.18075106607363933 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.24 [[ 0.99999431 -0.00214534 -0.00260452 0.69208165] [ 0.00214161 0.99999668 -0.00143309 -0.11778584] [ 0.00260759 0.0014275 0.99999558 -0.23886279] [ 0. 0. 0. 1. ]] SLAMing on 4.015769231 meters Centerline goodness [0,1] 0.1750333287362663 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.24 [[ 0.99999352 -0.00217614 -0.00286763 0.69304155] [ 0.00217221 0.9999967 -0.00137274 -0.11816214] [ 0.00287061 0.0013665 0.99999495 -0.23873 ] [ 0. 0. 0. 1. ]] SLAMing on 4.045769231 meters Centerline goodness [0,1] 0.16640275707898655 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.24 [[ 0.99999424 -0.00261984 0.00215582 0.64608926] [ 0.002622 0.99999606 -0.00100078 -0.11867349] [-0.00215319 0.00100642 0.99999718 -0.24128648] [ 0. 0. 0. 1. ]] SLAMing on 4.075769231000001 meters Centerline goodness [0,1] 0.18179289241254604 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.24 [[ 9.99995273e-01 -2.54330539e-03 1.72772065e-03 6.48143951e-01] [ 2.54496067e-03 9.99996304e-01 -9.56548983e-04 -1.18842011e-01] [-1.72528147e-03 9.60941443e-04 9.99998050e-01 -2.41788574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.105769231 meters Centerline goodness [0,1] 0.1803763813751329 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.24 [[ 0.99999584 -0.00250469 0.00143025 0.64942789] [ 0.00250636 0.99999618 -0.0011693 -0.11726447] [-0.00142732 0.00117288 0.99999829 -0.2421554 ] [ 0. 0. 0. 1. ]] SLAMing on 4.135769231 meters Centerline goodness [0,1] 0.17082559978002332 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.25 [[ 9.99999332e-01 -9.24798930e-04 6.93915814e-04 6.55698303e-01] [ 9.24567376e-04 9.99999517e-01 3.33937246e-04 -1.16644582e-01] [-6.94224303e-04 -3.33295451e-04 9.99999703e-01 -2.46177569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1657692310000005 meters Centerline goodness [0,1] 0.17724959119279582 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.25 [[ 9.99995190e-01 3.07733021e-03 3.86361739e-04 6.56828190e-01] [-3.07901600e-03 9.99985398e-01 4.44120640e-03 -1.16417250e-01] [-3.72689039e-04 -4.44237465e-03 9.99990063e-01 -2.45832280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.195769231 meters Centerline goodness [0,1] 0.172879700472082 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.25 [[ 0.99998691 0.00333806 0.0038784 0.64275125] [-0.00333347 0.99999374 -0.00118947 -0.11299027] [-0.00388235 0.00117653 0.99999177 -0.25069443] [ 0. 0. 0. 1. ]] SLAMing on 4.225769231 meters Centerline goodness [0,1] 0.17073910709701512 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.25 [[ 0.99998785 0.00322857 0.00372463 0.64304254] [-0.00322372 0.99999395 -0.00130853 -0.11255894] [-0.00372883 0.0012965 0.99999221 -0.25024198] [ 0. 0. 0. 1. ]] SLAMing on 4.255769231 meters Centerline goodness [0,1] 0.1689184507725352 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.25 [[ 0.99999691 -0.00166409 0.00184482 0.66869156] [ 0.00166006 0.99999623 0.00218611 -0.10852351] [-0.00184845 -0.00218304 0.99999591 -0.24997678] [ 0. 0. 0. 1. ]] SLAMing on 4.285769231000001 meters Centerline goodness [0,1] 0.1601826911816372 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.11, Z:-0.25 [[ 0.99997762 -0.00257923 0.00617305 0.62012061] [ 0.0025682 0.99999509 0.00179435 -0.10777927] [-0.00617765 -0.00177846 0.99997934 -0.25097724] [ 0. 0. 0. 1. ]] SLAMing on 4.315769231 meters Centerline goodness [0,1] 0.16387418825541356 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.25 [[ 9.99994020e-01 -2.66643732e-03 2.20218396e-03 6.68622036e-01] [ 2.66602764e-03 9.99996428e-01 1.88948606e-04 -1.02840820e-01] [-2.20267992e-03 -1.83076392e-04 9.99997557e-01 -2.51347841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.345769231 meters Centerline goodness [0,1] 0.16301048565121412 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.25 [[ 9.99993959e-01 -2.80222287e-03 2.05668998e-03 6.69387533e-01] [ 2.80266724e-03 9.99996050e-01 -2.13210384e-04 -1.00587983e-01] [-2.05608439e-03 2.18973313e-04 9.99997862e-01 -2.51809572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3757692310000005 meters Centerline goodness [0,1] 0.15900374289542996 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.25 [[ 9.99993929e-01 -2.94057013e-03 1.86936927e-03 6.70002267e-01] [ 2.94187357e-03 9.99995431e-01 -6.94891553e-04 -9.79147940e-02] [-1.86731735e-03 7.00386782e-04 9.99998011e-01 -2.51819680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.405769231000001 meters Centerline goodness [0,1] 0.15370897890178092 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.25 [[ 0.99999338 -0.00320692 0.00171875 0.67050369] [ 0.00320951 0.99999372 -0.00150487 -0.09351553] [-0.00171392 0.00151037 0.99999739 -0.25170639] [ 0. 0. 0. 1. ]] SLAMing on 4.435769231 meters Centerline goodness [0,1] 0.15113578297022345 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.25 [[ 0.99999297 -0.00337674 0.00163017 0.67081034] [ 0.00337978 0.99999254 -0.00186994 -0.09168657] [-0.00162385 0.00187543 0.99999692 -0.25175876] [ 0. 0. 0. 1. ]] SLAMing on 4.465769231 meters Centerline goodness [0,1] 0.14655212552963637 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.25 [[ 9.99995882e-01 -2.01437395e-03 2.04415233e-03 6.66308087e-01] [ 2.01563467e-03 9.99997780e-01 -6.14873348e-04 -8.86376059e-02] [-2.04290921e-03 6.18991080e-04 9.99997722e-01 -2.48168359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.495769231000001 meters Centerline goodness [0,1] 0.14866307678024326 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.25 [[ 0.99999554 -0.00223623 0.00198138 0.66663923] [ 0.00223853 0.99999683 -0.00115615 -0.08583482] [-0.00197878 0.00116058 0.99999737 -0.24849432] [ 0. 0. 0. 1. ]] SLAMing on 4.525769231 meters Centerline goodness [0,1] 0.1466833774311841 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 0.99999471 -0.00261941 0.00192663 0.66673806] [ 0.00262264 0.99999516 -0.00167299 -0.08359209] [-0.00192224 0.00167804 0.99999674 -0.24837107] [ 0. 0. 0. 1. ]] SLAMing on 4.555769231 meters Centerline goodness [0,1] 0.13941949310473356 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 0.9999943 -0.00279002 0.00190182 0.66662112] [ 0.00279334 0.99999458 -0.00174526 -0.08363009] [-0.00189694 0.00175056 0.99999667 -0.24800517] [ 0. 0. 0. 1. ]] SLAMing on 4.5857692310000004 meters Centerline goodness [0,1] 0.139921040408732 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 0.99999408 -0.0029618 0.00175286 0.66707166] [ 0.00296498 0.99999396 -0.00181526 -0.08358231] [-0.00174747 0.00182045 0.99999682 -0.24799515] [ 0. 0. 0. 1. ]] SLAMing on 4.615769231000001 meters Centerline goodness [0,1] 0.3000346860908776 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 0.99999334 -0.00332852 0.00149439 0.66825149] [ 0.00333194 0.99999183 -0.00228979 -0.08158183] [-0.00148676 0.00229476 0.99999626 -0.2487958 ] [ 0. 0. 0. 1. ]] SLAMing on 4.645769231 meters Centerline goodness [0,1] 0.29985437229837497 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 0.99999335 -0.00340459 0.00130532 0.66894503] [ 0.00340782 0.99999111 -0.00248352 -0.08051729] [-0.00129686 0.00248795 0.99999606 -0.24905918] [ 0. 0. 0. 1. ]] SLAMing on 4.675769231 meters Centerline goodness [0,1] 0.29985437229837497 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 0.99999335 -0.00340459 0.00130532 0.66894503] [ 0.00340782 0.99999111 -0.00248352 -0.08051729] [-0.00129686 0.00248795 0.99999606 -0.24905918] [ 0. 0. 0. 1. ]] SLAMing on 4.7057692310000006 meters Centerline goodness [0,1] 0.25490740098494835 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 0.99999316 -0.00350871 0.00117083 0.66924344] [ 0.00351185 0.99999021 -0.00269048 -0.07959539] [-0.00116138 0.00269457 0.9999957 -0.24892107] [ 0. 0. 0. 1. ]] SLAMing on 4.735769231 meters Centerline goodness [0,1] 0.2776140027637034 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 0.99999292 -0.00359558 0.00110779 0.66954275] [ 0.00359874 0.99998942 -0.00286545 -0.0787198 ] [-0.00109747 0.00286942 0.99999528 -0.24914634] [ 0. 0. 0. 1. ]] SLAMing on 4.765769231 meters Centerline goodness [0,1] 0.2466252015664594 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 0.99999256 -0.0037108 0.00105768 0.6697644 ] [ 0.00371414 0.99998805 -0.00317742 -0.07710413] [-0.00104588 0.00318133 0.99999439 -0.24925676] [ 0. 0. 0. 1. ]] SLAMing on 4.795769231 meters Centerline goodness [0,1] 0.24855504639970527 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 9.99999444e-01 1.92149337e-04 1.03661669e-03 6.69550583e-01] [-1.93343332e-04 9.99999318e-01 1.15184177e-03 -7.83695530e-02] [-1.03639465e-03 -1.15204155e-03 9.99998799e-01 -2.48612950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.825769231000001 meters Centerline goodness [0,1] 0.2656930624971342 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 9.99999561e-01 1.78450182e-04 9.19862600e-04 6.69713355e-01] [-1.79403599e-04 9.99999447e-01 1.03649910e-03 -7.77396415e-02] [-9.19677128e-04 -1.03666367e-03 9.99999040e-01 -2.48306969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.855769231 meters Centerline goodness [0,1] 0.5940537318907024 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 9.99999621e-01 1.69839796e-04 8.53622303e-04 6.69923304e-01] [-1.70713561e-04 9.99999462e-01 1.02362897e-03 -7.77188615e-02] [-8.53447990e-04 -1.02377430e-03 9.99999112e-01 -2.48343214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.885769231 meters Centerline goodness [0,1] 0.9888536495679353 Centerline is valid? [False, True] Translation: X:0.67, Y:-0.08, Z:-0.25 [[ 9.99999760e-01 9.00472297e-05 6.86221364e-04 6.70551337e-01] [-9.08525374e-05 9.99999307e-01 1.17359846e-03 -7.88829971e-02] [-6.86115209e-04 -1.17366052e-03 9.99999076e-01 -2.48644869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9157692310000005 meters Centerline goodness [0,1] 0.9905140337176719 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.08, Z:-0.25 [[ 9.99997883e-01 -2.05649877e-03 -6.81956705e-05 7.01188125e-01] [ 2.05649876e-03 9.99997885e-01 -1.72421154e-07 -8.13256237e-02] [ 6.81958808e-05 3.21764765e-08 9.99999998e-01 -2.54159828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.945769231000001 meters Centerline goodness [0,1] 0.9895491055129609 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.09, Z:-0.25 [[ 9.99982097e-01 -5.94248953e-03 -7.01451402e-04 7.31582207e-01] [ 5.94248882e-03 9.99982343e-01 -3.10257288e-06 -9.08391552e-02] [ 7.01457454e-04 -1.06584978e-06 9.99999754e-01 -2.53474169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.975769231 meters Centerline goodness [0,1] 0.991011133418507 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.09, Z:-0.25 [[ 9.99975521e-01 -6.99633090e-03 -9.87521227e-05 7.61237819e-01] [ 6.99633086e-03 9.99975525e-01 -6.95230115e-07 -9.33020742e-02] [ 9.87545698e-05 4.31057199e-09 9.99999995e-01 -2.53169968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.005769231 meters Centerline goodness [0,1] 0.991051097549868 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.09, Z:-0.25 [[ 9.99970363e-01 -7.69844393e-03 -8.95192455e-05 7.91244082e-01] [ 7.69844391e-03 9.99970367e-01 -5.26113889e-07 -9.49603937e-02] [ 8.95206430e-05 -1.63060595e-07 9.99999996e-01 -2.52891977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.035769231000001 meters Centerline goodness [0,1] 0.9934881602914389 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.10, Z:-0.25 [[ 9.99956275e-01 -9.14786131e-03 1.94034934e-03 8.21105963e-01] [ 9.14786219e-03 9.99958157e-01 8.42466129e-06 -9.71879126e-02] [-1.94034522e-03 9.32575547e-06 9.99998117e-01 -2.49454362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.065769231 meters Centerline goodness [0,1] 0.9948524052478134 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.10, Z:-0.25 [[ 9.99938404e-01 -1.06349799e-02 3.17585184e-03 8.51334475e-01] [ 1.06349884e-02 9.99943447e-01 1.42231400e-05 -1.00824439e-01] [-3.17582350e-03 1.95528835e-05 9.99994957e-01 -2.49176003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.095769231 meters Centerline goodness [0,1] 0.996136539248216 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.11, Z:-0.25 [[ 9.99902546e-01 -1.34521182e-02 3.73360112e-03 8.82193676e-01] [ 1.34521485e-02 9.99909516e-01 1.69946473e-05 -1.10523063e-01] [-3.73349190e-03 3.32319655e-05 9.99993030e-01 -2.49584922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1257692310000005 meters Centerline goodness [0,1] 0.9965927675813193 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.11, Z:-0.25 [[ 9.99885986e-01 -1.46785308e-02 3.54341445e-03 9.12927140e-01] [ 1.46785672e-02 9.99892264e-01 1.57475754e-05 -1.14747595e-01] [-3.54326384e-03 3.62664671e-05 9.99993722e-01 -2.50954658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.155769231000001 meters Centerline goodness [0,1] 0.9974748049229929 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.12, Z:-0.25 [[ 9.99875313e-01 -1.54047940e-02 3.47137432e-03 9.43338451e-01] [ 1.54048329e-02 9.99881338e-01 1.55194896e-05 -1.18351871e-01] [-3.47120147e-03 3.79583869e-05 9.99993975e-01 -2.52666245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.185769231 meters Centerline goodness [0,1] 0.995637312224521 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.12, Z:-0.25 [[ 9.99869689e-01 -1.60032008e-02 2.12196787e-03 9.73206737e-01] [ 1.60032169e-02 9.99871940e-01 9.38941090e-06 -1.24368010e-01] [-2.12184639e-03 2.45701247e-05 9.99997749e-01 -2.53329121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.215769231 meters Centerline goodness [0,1] 0.9977381706324074 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.13, Z:-0.25 [[ 9.99877232e-01 -1.53029202e-02 3.36773304e-03 1.00248879e+00] [ 1.53029570e-02 9.99882903e-01 1.48432667e-05 -1.25925943e-01] [-3.36756583e-03 3.66948296e-05 9.99994329e-01 -2.54556578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.245769231000001 meters Centerline goodness [0,1] 0.9979763912310287 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.12, Z:-0.25 [[ 9.99898882e-01 -1.33413850e-02 4.92276784e-03 1.03311971e+00] [ 1.33414389e-02 9.99910999e-01 2.18857711e-05 -1.24552796e-01] [-4.92262170e-03 4.37932483e-05 9.99987883e-01 -2.49610737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.275769231 meters Centerline goodness [0,1] 0.9980916887432086 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.12, Z:-0.25 [[ 9.99918856e-01 -1.10425074e-02 6.35165014e-03 1.06390611e+00] [ 1.10425508e-02 9.99939029e-01 2.82383337e-05 -1.21493461e-01] [-6.35157469e-03 4.19023770e-05 9.99979828e-01 -2.48306798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.305769231 meters Centerline goodness [0,1] 0.9988564766026145 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.11, Z:-0.25 [[ 9.99942787e-01 -5.70364811e-03 9.04934133e-03 1.09553262e+00] [ 5.70351704e-03 9.99983734e-01 4.02915738e-05 -1.13131724e-01] [-9.04942394e-03 1.13238039e-05 9.99959053e-01 -2.45642287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3357692310000004 meters Centerline goodness [0,1] 0.998705097006095 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.11, Z:-0.25 [[ 9.99954565e-01 -3.54598200e-03 8.84840272e-03 1.12661354e+00] [ 3.54577364e-03 9.99993713e-01 3.92349925e-05 -1.08996966e-01] [-8.84848622e-03 -7.85877669e-06 9.99960851e-01 -2.46991941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.365769231000001 meters Centerline goodness [0,1] 0.9993952696649346 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.10, Z:-0.25 [[ 9.99961537e-01 -1.55148708e-03 8.63236844e-03 1.15878908e+00] [ 1.55121658e-03 9.99998796e-01 3.80306038e-05 -1.04965994e-01] [-8.63241705e-03 -2.46384680e-05 9.99962740e-01 -2.48887021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.395769231 meters Centerline goodness [0,1] 0.9993294590970049 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.10, Z:-0.25 [[ 9.99976790e-01 2.31010202e-03 6.40960128e-03 1.18986191e+00] [-2.31032910e-03 9.99997331e-01 2.80247100e-05 -9.66858450e-02] [-6.40951943e-03 -4.28323479e-05 9.99979458e-01 -2.53391414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.425769231 meters Centerline goodness [0,1] 0.9996428491707404 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.09, Z:-0.25 [[ 9.99976228e-01 3.99333053e-03 5.62112779e-03 1.22189329e+00] [-3.99353136e-03 9.99992026e-01 2.45041487e-05 -9.28504520e-02] [-5.62098511e-03 -4.69517163e-05 9.99984201e-01 -2.54688088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4557692310000006 meters Centerline goodness [0,1] 0.9995542579509238 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.08, Z:-0.25 [[ 9.99938032e-01 8.36586888e-03 7.34471820e-03 1.25401034e+00] [-8.36632616e-03 9.99965001e-01 3.15371149e-05 -8.22621641e-02] [-7.34419731e-03 -9.29834686e-05 9.99973027e-01 -2.50753026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.485769231000001 meters Centerline goodness [0,1] 0.9997333748083631 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.07, Z:-0.25 [[ 9.99893664e-01 1.15529310e-02 8.89886719e-03 1.28493439e+00] [-1.15537264e-02 9.99933253e-01 3.79728892e-05 -7.39047416e-02] [-8.89783452e-03 -1.40783928e-04 9.99960404e-01 -2.49180233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.515769231 meters Centerline goodness [0,1] 0.9995325334461189 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.07, Z:-0.25 [[ 9.99842046e-01 1.45614085e-02 1.01905649e-02 1.31721616e+00] [-1.45625898e-02 9.99893959e-01 4.17302063e-05 -6.66528765e-02] [-1.01888766e-02 -1.90124631e-04 9.99948074e-01 -2.47737855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.545769231 meters Centerline goodness [0,1] 0.9990044247787611 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.05, Z:-0.25 [[ 9.99771533e-01 1.89527621e-02 9.88305932e-03 1.34715176e+00] [-1.89540708e-02 9.99820355e-01 3.87574679e-05 -5.41641650e-02] [-9.88054931e-03 -2.26072819e-04 9.99951161e-01 -2.48409842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.575769231000001 meters Centerline goodness [0,1] 0.9992258007432313 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.05, Z:-0.25 [[ 9.99754127e-01 2.02341605e-02 9.06998246e-03 1.37969383e+00] [-2.02353137e-02 9.99795244e-01 3.53923448e-05 -4.92216663e-02] [-9.06740920e-03 -2.18917583e-04 9.99958866e-01 -2.50219439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.605769231 meters Centerline goodness [0,1] 0.9992047362375188 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.04, Z:-0.25 [[ 9.99742208e-01 2.13457747e-02 7.73788433e-03 1.41103969e+00] [-2.13466396e-02 9.99772134e-01 2.91971072e-05 -4.18761727e-02] [-7.73549790e-03 -1.94367408e-04 9.99970062e-01 -2.53622888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.635769231 meters Centerline goodness [0,1] 0.999011228054756 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.04, Z:-0.25 [[ 9.99737196e-01 2.18229509e-02 7.02121706e-03 1.44221992e+00] [-2.18236687e-02 9.99761835e-01 2.56222745e-05 -3.90578735e-02] [-7.01898570e-03 -1.78844256e-04 9.99975351e-01 -2.54584769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6657692310000005 meters Centerline goodness [0,1] 0.9990365666739655 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.04, Z:-0.26 [[ 9.99727753e-01 2.22779243e-02 6.93642303e-03 1.47408250e+00] [-2.22786293e-02 9.99751800e-01 2.43800290e-05 -3.68813605e-02] [-6.93415828e-03 -1.78907389e-04 9.99975942e-01 -2.55474437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.695769231000001 meters Centerline goodness [0,1] 0.9988591988065464 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.03, Z:-0.25 [[ 9.99720191e-01 2.23914343e-02 7.62643139e-03 1.50702320e+00] [-2.23922801e-02 9.99749261e-01 2.55284381e-05 -3.38778147e-02] [-7.62394753e-03 -1.96294483e-04 9.99970918e-01 -2.54836027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.725769231 meters Centerline goodness [0,1] 0.9975256120854314 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.02, Z:-0.25 [[ 9.99714708e-01 2.21350997e-02 8.97440411e-03 1.53842151e+00] [-2.21362423e-02 9.99754963e-01 2.79971459e-05 -2.43839658e-02] [-8.97158533e-03 -2.26648742e-04 9.99959729e-01 -2.52278833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.755769231 meters Centerline goodness [0,1] 0.9987512870506277 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.03, Z:-0.25 [[ 9.99734459e-01 2.08100672e-02 9.89708179e-03 1.57091638e+00] [-2.08113764e-02 9.99783419e-01 2.93051907e-05 -2.54667605e-02] [-9.89432844e-03 -2.35269304e-04 9.99951022e-01 -2.52106408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.785769231000001 meters Centerline goodness [0,1] 0.9989734629245386 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.02, Z:-0.25 [[ 9.99754107e-01 2.02346914e-02 9.07101113e-03 1.60275639e+00] [-2.02357563e-02 9.99795236e-01 2.56209337e-05 -2.44789079e-02] [-9.06863528e-03 -2.09173404e-04 9.99958857e-01 -2.54368096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.815769231 meters Centerline goodness [0,1] 0.9993878844850578 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.02, Z:-0.26 [[ 9.99782265e-01 1.91943252e-02 8.18543610e-03 1.63370436e+00] [-1.91951468e-02 9.99815756e-01 2.18143347e-05 -2.42891977e-02] [-8.18350927e-03 -1.78930232e-04 9.99966499e-01 -2.57046470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845769231 meters Centerline goodness [0,1] 0.9995422742431178 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.02, Z:-0.26 [[ 9.99817983e-01 1.77128620e-02 7.08914096e-03 1.66634752e+00] [-1.77134369e-02 9.99843105e-01 1.83098172e-05 -2.47200350e-02] [-7.08770438e-03 -1.43879536e-04 9.99974872e-01 -2.60308911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8757692310000005 meters Centerline goodness [0,1] 0.9998683893044374 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.03, Z:-0.26 [[ 9.99873708e-01 1.44041805e-02 6.71479183e-03 1.69643096e+00] [-1.44046172e-02 9.99896248e-01 1.66757598e-05 -2.79563602e-02] [-6.71385496e-03 -1.13397660e-04 9.99977455e-01 -2.62118479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.905769231000001 meters Centerline goodness [0,1] 0.9999129696916952 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.03, Z:-0.26 [[ 9.99912253e-01 1.17528710e-02 6.11191256e-03 1.72722941e+00] [-1.17531873e-02 9.99930929e-01 1.58442302e-05 -3.09854653e-02] [-6.11130419e-03 -8.76772933e-05 9.99981322e-01 -2.63097918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.935769231 meters Centerline goodness [0,1] 0.9998915424828095 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.03, Z:-0.26 [[ 9.99924789e-01 1.10076622e-02 5.40818599e-03 1.75947247e+00] [-1.10078962e-02 9.99939411e-01 1.35165138e-05 -3.16952827e-02] [-5.40770953e-03 -7.30482474e-05 9.99985376e-01 -2.64315393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.03, Z:-0.26 [[ 9.99927303e-01 1.08339430e-02 5.29278694e-03 1.79188531e+00] [-1.08341611e-02 9.99941309e-01 1.25253658e-05 -3.33816286e-02] [-5.29234060e-03 -6.98673613e-05 9.99985993e-01 -2.64137071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.995769231000001 meters Centerline goodness [0,1] 0.9998916012660972 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.03, Z:-0.26 [[ 9.99910535e-01 1.15471976e-02 6.75158757e-03 1.82440370e+00] [-1.15475583e-02 9.99933325e-01 1.44520949e-05 -2.77628149e-02] [-6.75097052e-03 -9.24151532e-05 9.99977208e-01 -2.61919917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.025769231000001 meters Centerline goodness [0,1] 0.99984772015315 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.03, Z:-0.26 [[ 9.99892420e-01 1.23755472e-02 7.87361595e-03 1.85723866e+00] [-1.23760511e-02 9.99923414e-01 1.52803779e-05 -2.97819371e-02] [-7.87282383e-03 -1.12723008e-04 9.99969002e-01 -2.59449361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.055769231 meters Centerline goodness [0,1] 0.9998258332789063 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.02, Z:-0.26 [[ 9.99876569e-01 1.36782863e-02 7.72985281e-03 1.88866858e+00] [-1.36787986e-02 9.99906441e-01 1.34045154e-05 -2.35235924e-02] [-7.72894626e-03 -1.19137961e-04 9.99970124e-01 -2.61321964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0857692310000004 meters Centerline goodness [0,1] 0.9998694062336758 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.02, Z:-0.26 [[ 9.99873652e-01 1.42520171e-02 7.03991950e-03 1.92116965e+00] [-1.42524502e-02 9.99898429e-01 1.13459998e-05 -2.30272271e-02] [-7.03904275e-03 -1.11680668e-04 9.99975219e-01 -2.62615228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.115769231000001 meters Centerline goodness [0,1] 0.9998279088777507 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.02, Z:-0.26 [[ 9.99879732e-01 1.40978920e-02 6.46301757e-03 1.95342966e+00] [-1.40982481e-02 9.99900615e-01 9.53564536e-06 -1.85696766e-02] [-6.46224081e-03 -1.00651724e-04 9.99979114e-01 -2.64670563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.145769231 meters Centerline goodness [0,1] 0.9998050893340552 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.02, Z:-0.26 [[ 9.99895350e-01 1.19011937e-02 8.22498715e-03 1.98586435e+00] [-1.19016785e-02 9.99929172e-01 1.00015747e-05 -2.18083039e-02] [-8.22428557e-03 -1.07891681e-04 9.99966174e-01 -2.60966885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.175769231 meters Centerline goodness [0,1] 0.9997615227854139 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.02, Z:-0.26 [[ 9.99902740e-01 1.09984157e-02 8.57588352e-03 2.01831533e+00] [-1.09988966e-02 9.99939510e-01 8.91373666e-06 -2.25859404e-02] [-8.57526673e-03 -1.03238126e-04 9.99963226e-01 -2.60291331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2057692310000006 meters Centerline goodness [0,1] 0.9997633492534744 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.02, Z:-0.26 [[ 9.99921569e-01 9.72783790e-03 7.88825717e-03 2.04939393e+00] [-9.72819574e-03 9.99952680e-01 6.99398783e-06 -1.72051749e-02] [-7.88781586e-03 -8.37319491e-05 9.99968887e-01 -2.62834652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.235769231000001 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.02, Z:-0.26 [[ 9.99921126e-01 9.44047867e-03 8.28361481e-03 2.08188369e+00] [-9.44085257e-03 9.99955434e-01 6.03445317e-06 -2.00875582e-02] [-8.28318867e-03 -8.42383633e-05 9.99965690e-01 -2.60806832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.265769231 meters Centerline goodness [0,1] 0.9998496789572014 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.02, Z:-0.26 [[ 9.99909528e-01 9.95093335e-03 9.05065044e-03 2.11393256e+00] [-9.95138529e-03 9.99950484e-01 4.90028212e-06 -1.70885306e-02] [-9.05015352e-03 -9.49663484e-05 9.99959042e-01 -2.59922038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.295769231 meters Centerline goodness [0,1] 0.9996357168877366 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.01, Z:-0.26 [[ 9.99863153e-01 1.36164192e-02 9.39516781e-03 2.14649861e+00] [-1.36170508e-02 9.99907284e-01 3.26482233e-06 -8.91840681e-03] [-9.39425226e-03 -1.31198853e-04 9.99955864e-01 -2.59887753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.325769231000001 meters Centerline goodness [0,1] 0.9995925107770176 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.00, Z:-0.26 [[ 9.99839035e-01 1.59183101e-02 8.27716384e-03 2.17868357e+00] [-1.59188698e-02 9.99873287e-01 1.73799249e-06 -3.62289515e-03] [-8.27608734e-03 -1.33500806e-04 9.99965744e-01 -2.62326823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.355769231 meters Centerline goodness [0,1] 0.999674740334367 Centerline is valid? [True, True] Translation: X:2.21, Y:0.01, Z:-0.27 [[ 9.99785115e-01 1.96806969e-02 6.51105537e-03 2.21041328e+00] [-1.96811184e-02 9.99806308e-01 6.55476620e-07 7.59586530e-03] [-6.50978133e-03 -1.28800187e-04 9.99978803e-01 -2.66495162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.385769231 meters Centerline goodness [0,1] 0.9994135024763229 Centerline is valid? [True, True] Translation: X:2.24, Y:0.01, Z:-0.27 [[ 9.99757871e-01 2.10647418e-02 6.36214661e-03 2.24223992e+00] [-2.10651666e-02 9.99778105e-01 -2.35616416e-07 1.28481337e-02] [-6.36073985e-03 -1.33784119e-04 9.99979761e-01 -2.66713582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4157692310000005 meters Centerline goodness [0,1] 0.99972064037821 Centerline is valid? [True, True] Translation: X:2.27, Y:0.02, Z:-0.27 [[ 9.99729770e-01 2.21655497e-02 7.00535775e-03 2.27338772e+00] [-2.21660777e-02 9.99754302e-01 -2.27286171e-06 1.65552370e-02] [-7.00368693e-03 -1.53009056e-04 9.99975462e-01 -2.65038139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.445769231000001 meters Centerline goodness [0,1] 0.9986830174014422 Centerline is valid? [True, True] Translation: X:2.31, Y:0.03, Z:-0.26 [[ 9.99691288e-01 2.29487396e-02 9.52282799e-03 2.30505995e+00] [-2.29497504e-02 9.99736620e-01 -3.13253533e-06 2.82551461e-02] [-9.52039175e-03 -2.15414957e-04 9.99954657e-01 -2.61382538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.475769231 meters Centerline goodness [0,1] 0.9982162429348177 Centerline is valid? [True, True] Translation: X:2.34, Y:0.04, Z:-0.27 [[ 9.99728473e-01 2.15633233e-02 8.83190435e-03 2.33586869e+00] [-2.15641275e-02 9.99767467e-01 -4.17988414e-06 4.05921300e-02] [-8.82994078e-03 -1.86273562e-04 9.99960998e-01 -2.65006484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.505769231 meters Centerline goodness [0,1] 0.9996130696474634 Centerline is valid? [True, True] Translation: X:2.37, Y:0.03, Z:-0.27 [[ 9.99782038e-01 1.93816965e-02 7.76050147e-03 2.36800921e+00] [-1.93822452e-02 9.99812147e-01 -4.51269711e-06 2.91158530e-02] [-7.75913110e-03 -1.45904229e-04 9.99969887e-01 -2.67413020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.535769231000001 meters Centerline goodness [0,1] 0.9997418244406197 Centerline is valid? [True, True] Translation: X:2.40, Y:0.02, Z:-0.27 [[ 9.99848798e-01 1.59601172e-02 6.90338947e-03 2.39980029e+00] [-1.59604635e-02 9.99872624e-01 -4.93187500e-06 2.49474128e-02] [-6.90258886e-03 -1.05250166e-04 9.99976171e-01 -2.70270252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.565769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.43, Y:0.01, Z:-0.27 [[ 9.99941260e-01 6.53067797e-03 8.65022970e-03 2.43164604e+00] [-6.53084950e-03 9.99978674e-01 -8.41787140e-06 1.13536372e-02] [-8.65010019e-03 -4.80759714e-05 9.99962586e-01 -2.67697481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.595769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.46, Y:0.01, Z:-0.27 [[ 9.99939975e-01 6.72464578e-03 8.65022972e-03 2.46417165e+00] [-6.72482426e-03 9.99977388e-01 -8.45356951e-06 1.11298685e-02] [-8.65009096e-03 -4.97182125e-05 9.99962586e-01 -2.68078039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6257692310000005 meters Centerline goodness [0,1] 0.9999563509384548 Centerline is valid? [True, True] Translation: X:2.50, Y:0.01, Z:-0.27 [[ 9.99951908e-01 2.83915598e-03 9.38728260e-03 2.49517565e+00] [-2.83917524e-03 9.99995969e-01 -1.12747125e-05 7.21269227e-03] [-9.38727678e-03 -1.53779700e-05 9.99955938e-01 -2.66354486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.655769231000001 meters Centerline goodness [0,1] 0.9998911884398598 Centerline is valid? [True, True] Translation: X:2.53, Y:0.00, Z:-0.27 [[ 9.99962457e-01 -3.15980866e-03 8.06845461e-03 2.52731185e+00] [ 3.15999749e-03 9.99995007e-01 -1.06559517e-05 1.98527670e-03] [-8.06838065e-03 3.61518480e-05 9.99967449e-01 -2.68693615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.685769231 meters Centerline goodness [0,1] 0.9999347599164927 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.00, Z:-0.27 [[ 9.99964025e-01 -5.60983169e-03 6.36230215e-03 2.55827904e+00] [ 5.61000329e-03 9.99984264e-01 -9.12614319e-06 -1.66116965e-03] [-6.36215083e-03 4.48183509e-05 9.99979760e-01 -2.72634492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.715769231 meters Centerline goodness [0,1] 0.9998256624825662 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.01, Z:-0.27 [[ 9.99950149e-01 -8.09412682e-03 5.84681459e-03 2.59073457e+00] [ 8.09432231e-03 9.99967240e-01 -9.77246563e-06 -5.92289268e-03] [-5.84654395e-03 5.70979802e-05 9.99982907e-01 -2.74306533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.745769231000001 meters Centerline goodness [0,1] 0.9995681651336529 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.02, Z:-0.27 [[ 9.99889342e-01 -1.31095032e-02 7.03165165e-03 2.62132872e+00] [ 1.31099139e-02 9.99914061e-01 -1.23113231e-05 -1.78700287e-02] [-7.03088597e-03 1.04494308e-04 9.99975278e-01 -2.73587440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.775769231000001 meters Centerline goodness [0,1] 0.9995003258744297 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.02, Z:-0.27 [[ 9.99845643e-01 -1.56905496e-02 7.90554953e-03 2.65296654e+00] [ 1.56911508e-02 9.99876886e-01 -1.40193736e-05 -2.27967189e-02] [-7.90435628e-03 1.38064379e-04 9.99968751e-01 -2.71254266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805769231 meters Centerline goodness [0,1] 0.999264355878662 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.04, Z:-0.27 [[ 9.99746903e-01 -2.09718126e-02 8.14323597e-03 2.68347599e+00] [ 2.09726287e-02 9.99780050e-01 -1.48231962e-05 -3.82504597e-02] [-8.14113400e-03 1.85604509e-04 9.99966843e-01 -2.71543420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8357692310000004 meters Centerline goodness [0,1] 0.9991006423982869 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.05, Z:-0.27 [[ 9.99690231e-01 -2.37331417e-02 7.49527377e-03 2.71402243e+00] [ 2.37339112e-02 9.99718311e-01 -1.37204614e-05 -4.97853830e-02] [-7.49283680e-03 1.91608373e-04 9.99971910e-01 -2.73552026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.865769231000001 meters Centerline goodness [0,1] 0.9990360178774866 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.06, Z:-0.27 [[ 9.99630831e-01 -2.61950076e-02 7.21267291e-03 2.74481591e+00] [ 2.61957848e-02 9.99656831e-01 -1.32809012e-05 -5.53698816e-02] [-7.20984985e-03 2.02217625e-04 9.99973988e-01 -2.74043088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.895769231 meters Centerline goodness [0,1] 0.9984054088531701 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.07, Z:-0.27 [[ 9.99593964e-01 -2.75919045e-02 7.11296217e-03 2.77537210e+00] [ 2.75926955e-02 9.99619249e-01 -1.30869735e-05 -6.51803072e-02] [-7.10989281e-03 2.09347459e-04 9.99974702e-01 -2.74674357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.925769231 meters Centerline goodness [0,1] 0.9986407473731903 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.07, Z:-0.28 [[ 9.99630916e-01 -2.65134988e-02 5.92166460e-03 2.80682730e+00] [ 2.65140292e-02 9.99648441e-01 -1.10673302e-05 -6.83068249e-02] [-5.91928935e-03 1.68070433e-04 9.99982467e-01 -2.75624073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9557692310000006 meters Centerline goodness [0,1] 0.9995208537514974 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.07, Z:-0.28 [[ 9.99759326e-01 -2.13473450e-02 5.05766335e-03 2.83776920e+00] [ 2.13476666e-02 9.99772113e-01 -9.60204848e-06 -6.76219389e-02] [-5.05630579e-03 1.17569049e-04 9.99987210e-01 -2.76537826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.985769231000001 meters Centerline goodness [0,1] 0.9993559882360518 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.07, Z:-0.28 [[ 9.99813576e-01 -1.84954741e-02 5.54343708e-03 2.86745255e+00] [ 1.84958178e-02 9.99828938e-01 -1.07461415e-05 -6.95499524e-02] [-5.54229006e-03 1.13274540e-04 9.99984635e-01 -2.76573875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.015769231 meters Centerline goodness [0,1] 0.9995293513606024 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.07, Z:-0.28 [[ 9.99849276e-01 -1.61736993e-02 6.31159774e-03 2.89849951e+00] [ 1.61740969e-02 9.99869191e-01 -1.19583288e-05 -6.92239919e-02] [-6.31057871e-03 1.14040920e-04 9.99980082e-01 -2.76035790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.045769231 meters Centerline goodness [0,1] 0.9996340780920401 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.07, Z:-0.28 [[ 9.99880592e-01 -1.43185651e-02 5.81205568e-03 2.93037310e+00] [ 1.43188712e-02 9.99897480e-01 -1.10571138e-05 -7.39910332e-02] [-5.81130150e-03 9.42778702e-05 9.99983110e-01 -2.76938363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.075769231000001 meters Centerline goodness [0,1] 0.9996345186395493 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.08, Z:-0.28 [[ 9.99890835e-01 -1.38538221e-02 5.13707805e-03 2.96199918e+00] [ 1.38540561e-02 9.99904028e-01 -9.97279521e-06 -7.79970445e-02] [-5.13644687e-03 8.11410741e-05 9.99986805e-01 -2.78441444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.105769231000001 meters Centerline goodness [0,1] 0.9995651133966819 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.08, Z:-0.28 [[ 9.99878630e-01 -1.44211291e-02 5.89541298e-03 2.99337371e+00] [ 1.44214481e-02 9.99896005e-01 -1.15995409e-05 -8.03572976e-02] [-5.89463261e-03 9.66185252e-05 9.99982622e-01 -2.76367096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.135769231 meters Centerline goodness [0,1] 0.9994457708049114 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.09, Z:-0.28 [[ 9.99867065e-01 -1.44147818e-02 7.62012979e-03 3.02380196e+00] [ 1.44153171e-02 9.99896094e-01 -1.53213021e-05 -8.99811724e-02] [-7.61911716e-03 1.25165852e-04 9.99970966e-01 -2.75450365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1657692310000005 meters Centerline goodness [0,1] 0.9995435377994175 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.09, Z:-0.27 [[ 9.99851797e-01 -1.44283785e-02 9.39177266e-03 3.05566748e+00] [ 1.44291928e-02 9.99895894e-01 -1.89518877e-05 -9.02556632e-02] [-9.39052147e-03 1.54464778e-04 9.99955896e-01 -2.71811040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.195769231000001 meters Centerline goodness [0,1] 0.9996798292422625 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.10, Z:-0.27 [[ 9.99882012e-01 -1.18981075e-02 9.71585416e-03 3.08635054e+00] [ 1.18988650e-02 9.99929206e-01 -2.01625109e-05 -9.57915534e-02] [-9.71492644e-03 1.35767769e-04 9.99952800e-01 -2.70877238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.225769231 meters Centerline goodness [0,1] 0.9996987433293166 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.09, Z:-0.27 [[ 9.99925636e-01 -8.63392395e-03 8.61268907e-03 3.11862780e+00] [ 8.63439789e-03 9.99962723e-01 -1.78462571e-05 -9.07124471e-02] [-8.61221393e-03 9.22103143e-05 9.99962910e-01 -2.72904857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.255769231 meters Centerline goodness [0,1] 0.9999786839468804 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.08, Z:-0.28 [[ 9.99984476e-01 8.69521263e-04 5.50386054e-03 3.14868861e+00] [-8.69470489e-04 9.99999622e-01 -1.16178840e-05 -7.99748744e-02] [-5.50386856e-03 6.83225936e-06 9.99984854e-01 -2.80830060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.285769231000001 meters Centerline goodness [0,1] 0.9999785513587715 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.07, Z:-0.28 [[ 9.99968147e-01 6.08866191e-03 5.16067136e-03 3.18131889e+00] [-6.08868700e-03 9.99981464e-01 -1.08501403e-05 -7.32152258e-02] [-5.16064176e-03 -2.05719179e-05 9.99986684e-01 -2.80157145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.315769231000001 meters Centerline goodness [0,1] 0.9999786807657869 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.06, Z:-0.28 [[ 9.99919613e-01 1.11576225e-02 6.02290987e-03 3.21238208e+00] [-1.11577460e-02 9.99937750e-01 -1.31085707e-05 -6.44235073e-02] [-6.02268121e-03 -5.40945814e-05 9.99981862e-01 -2.80987141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345769231 meters Centerline goodness [0,1] 0.999700445053064 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.05, Z:-0.28 [[ 9.99774094e-01 1.99755058e-02 7.26217818e-03 3.24367772e+00] [-1.99759150e-02 9.99800461e-01 -1.61960591e-05 -5.45522141e-02] [-7.26105262e-03 -1.28876254e-04 9.99973630e-01 -2.77052415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3757692310000005 meters Centerline goodness [0,1] 0.9996956124711919 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.05, Z:-0.28 [[ 9.99715312e-01 2.30960776e-02 5.98880441e-03 3.27567105e+00] [-2.30964121e-02 9.99733242e-01 -1.33112900e-05 -4.94825655e-02] [-5.98751429e-03 -1.25012394e-04 9.99982067e-01 -2.79359106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.405769231000001 meters Centerline goodness [0,1] 0.9993799576660751 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.04, Z:-0.29 [[ 9.99627360e-01 2.71674848e-02 2.65868619e-03 3.30565228e+00] [-2.71675645e-02 9.99630894e-01 -6.16286837e-06 -3.91140233e-02] [-2.65787228e-03 -6.60694566e-05 9.99996466e-01 -2.85658812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.435769231 meters Centerline goodness [0,1] 0.999479843953186 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.04, Z:-0.29 [[ 9.99609976e-01 2.78328403e-02 2.28670844e-03 3.33688275e+00] [-2.78329014e-02 9.99612590e-01 -5.07146854e-06 -3.84822013e-02] [-2.28596370e-03 -5.85762401e-05 9.99997385e-01 -2.85481266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.465769231 meters Centerline goodness [0,1] 0.9992493458585339 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.03, Z:-0.28 [[ 9.99591972e-01 2.83907285e-02 3.13949891e-03 3.36764726e+00] [-2.83908456e-02 9.99596899e-01 -7.25046889e-06 -3.25416508e-02] [-3.13843922e-03 -8.18855186e-05 9.99995072e-01 -2.84876804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.495769231000001 meters Centerline goodness [0,1] 0.999250984420476 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.03, Z:-0.28 [[ 9.99568000e-01 2.86982310e-02 6.34230467e-03 3.39914815e+00] [-2.86987143e-02 9.99588107e-01 -1.48033613e-05 -2.63355029e-02] [-6.34011715e-03 -1.67219023e-04 9.99979887e-01 -2.79798041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525769231000001 meters Centerline goodness [0,1] 0.9988958722609139 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.02, Z:-0.28 [[ 9.99554031e-01 2.88142263e-02 7.84090263e-03 3.42997506e+00] [-2.88149688e-02 9.99584762e-01 -1.82852171e-05 -2.09026660e-02] [-7.83817367e-03 -2.07658302e-04 9.99969259e-01 -2.78166707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.555769231 meters Centerline goodness [0,1] 0.9990115816841788 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.02, Z:-0.28 [[ 9.99594211e-01 2.71534568e-02 8.60833740e-03 3.46194797e+00] [-2.71542842e-02 9.99631254e-01 -2.07725569e-05 -2.08161770e-02] [-8.60572716e-03 -2.12989112e-04 9.99962947e-01 -2.77314133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5857692310000004 meters Centerline goodness [0,1] 0.9991360504546535 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.02, Z:-0.28 [[ 9.99655602e-01 2.50713236e-02 7.75279877e-03 3.49310426e+00] [-2.50719213e-02 9.99685650e-01 -2.00907089e-05 -2.01071133e-02] [-7.75086538e-03 -1.74293771e-04 9.99969946e-01 -2.79374176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.615769231000001 meters Centerline goodness [0,1] 0.9993111465105265 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.02, Z:-0.28 [[ 9.99716825e-01 2.29088479e-02 6.43848891e-03 3.52486303e+00] [-2.29092150e-02 9.99737549e-01 -1.67315164e-05 -2.02926465e-02] [-6.43718242e-03 -1.30773948e-04 9.99979273e-01 -2.81944719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645769231000001 meters Centerline goodness [0,1] 0.999509123892861 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.01, Z:-0.29 [[ 9.99827175e-01 1.78451910e-02 5.21234820e-03 3.55554066e+00] [-1.78453554e-02 9.99840759e-01 -1.49731021e-05 -1.49689447e-02] [-5.21178538e-03 -7.80456916e-05 9.99986416e-01 -2.87309232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.675769231 meters Centerline goodness [0,1] 0.9998062265857124 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.03, Z:-0.28 [[ 9.99898441e-01 1.19277581e-02 7.79973277e-03 3.58705932e+00] [-1.19279436e-02 9.99928859e-01 -2.27328659e-05 -2.61241886e-02] [-7.79944905e-03 -7.03042155e-05 9.99969581e-01 -2.79997655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7057692310000006 meters Centerline goodness [0,1] 0.9998493586984591 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.03, Z:-0.28 [[ 9.99923383e-01 8.92939783e-03 8.57282410e-03 3.61909725e+00] [-8.92951364e-03 9.99960131e-01 -2.47675873e-05 -2.95946836e-02] [-8.57270347e-03 -5.17854601e-05 9.99963252e-01 -2.77955290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.735769231000001 meters Centerline goodness [0,1] 0.9999564403014332 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.03, Z:-0.28 [[ 9.99945911e-01 5.52893875e-03 8.80946116e-03 3.65171369e+00] [-5.52891301e-03 9.99984715e-01 -2.72749494e-05 -3.28351812e-02] [-8.80947731e-03 -2.14332704e-05 9.99961196e-01 -2.78076407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765769231 meters Centerline goodness [0,1] 0.9999786470789204 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.04, Z:-0.28 [[ 9.99968536e-01 -1.57701561e-03 7.77431532e-03 3.68251670e+00] [ 1.57725050e-03 9.99998756e-01 -2.40823792e-05 -4.17054592e-02] [-7.77426767e-03 3.63436642e-05 9.99969779e-01 -2.81559168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.795769231 meters Centerline goodness [0,1] 0.9999566912083153 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.05, Z:-0.28 [[ 9.99964205e-01 -4.55316884e-03 7.13138757e-03 3.71430586e+00] [ 4.55344852e-03 9.99989633e-01 -2.29831681e-05 -4.68036531e-02] [-7.13120899e-03 5.54547516e-05 9.99974571e-01 -2.83262737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825769231000001 meters Centerline goodness [0,1] 0.9998074619202465 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.05, Z:-0.28 [[ 9.99949769e-01 -7.45634054e-03 6.69796312e-03 3.74545779e+00] [ 7.45665930e-03 9.99972198e-01 -2.26187223e-05 -5.07204677e-02] [-6.69760825e-03 7.25620152e-05 9.99977568e-01 -2.83079784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.855769231000001 meters Centerline goodness [0,1] 0.9997607707531372 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.05, Z:-0.28 [[ 9.99946162e-01 -7.72743076e-03 6.92538046e-03 3.77775331e+00] [ 7.72778903e-03 9.99970140e-01 -2.49745501e-05 -4.95662348e-02] [-6.92498068e-03 7.84910846e-05 9.99976019e-01 -2.82143083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885769231 meters Centerline goodness [0,1] 0.999829026949627 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.05, Z:-0.28 [[ 9.99943978e-01 -7.64343899e-03 7.32241708e-03 3.80910406e+00] [ 7.64384041e-03 9.99970785e-01 -2.68355699e-05 -4.98496909e-02] [-7.32199804e-03 8.28054541e-05 9.99973190e-01 -2.82370940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9157692310000005 meters Centerline goodness [0,1] 0.9997636594117267 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.05, Z:-0.28 [[ 9.99945030e-01 -7.56726738e-03 7.25767214e-03 3.84020794e+00] [ 7.56766158e-03 9.99971364e-01 -2.68542613e-05 -4.80738165e-02] [-7.25726110e-03 8.17763917e-05 9.99973662e-01 -2.83310496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.945769231000001 meters Centerline goodness [0,1] 0.9998278422173923 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.05, Z:-0.28 [[ 9.99955090e-01 -6.75818289e-03 6.64414021e-03 3.87223330e+00] [ 6.75849627e-03 9.99977161e-01 -2.47143799e-05 -4.55216706e-02] [-6.64382144e-03 6.96176669e-05 9.99977927e-01 -2.84628227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.975769231000001 meters Centerline goodness [0,1] 0.999914915340764 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.04, Z:-0.29 [[ 9.99965427e-01 -5.06109650e-03 6.59780954e-03 3.90297844e+00] [ 5.06137098e-03 9.99987191e-01 -2.49044710e-05 -4.30854110e-02] [-6.59759898e-03 5.82975717e-05 9.99978234e-01 -2.86479189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005769231 meters Centerline goodness [0,1] 0.9999143982194829 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.04, Z:-0.29 [[ 9.99961765e-01 -5.64605431e-03 6.67763519e-03 3.93456727e+00] [ 5.64635014e-03 9.99984059e-01 -2.54497941e-05 -4.39908962e-02] [-6.67738506e-03 6.31530874e-05 9.99977704e-01 -2.86952938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.035769231 meters Centerline goodness [0,1] 0.9998939487135979 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.05, Z:-0.29 [[ 9.99956341e-01 -6.91671251e-03 6.28288194e-03 3.96679091e+00] [ 6.91700028e-03 9.99976077e-01 -2.40745234e-05 -4.68790649e-02] [-6.28256512e-03 6.75321685e-05 9.99980262e-01 -2.88197064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065769231 meters Centerline goodness [0,1] 0.9997866165926937 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.06, Z:-0.29 [[ 9.99918800e-01 -1.16547482e-02 5.15360379e-03 3.99858493e+00] [ 1.16550043e-02 9.99932078e-01 -1.96676128e-05 -5.74762052e-02] [-5.15302452e-03 7.97312902e-05 9.99986720e-01 -2.91107360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.095769231 meters Centerline goodness [0,1] 0.9997444307194275 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.06, Z:-0.29 [[ 9.99888761e-01 -1.40299416e-02 5.06229079e-03 4.03021923e+00] [ 1.40302229e-02 9.99901571e-01 -2.00564707e-05 -6.08646793e-02] [-5.06151113e-03 9.10793078e-05 9.99987186e-01 -2.90928763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125769231000001 meters Centerline goodness [0,1] 0.9997205503009459 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.06, Z:-0.29 [[ 9.99842494e-01 -1.63034987e-02 7.01308066e-03 4.06102832e+00] [ 1.63040967e-02 9.99867079e-01 -2.80992497e-05 -6.29811623e-02] [-7.01169036e-03 1.42436769e-04 9.99975408e-01 -2.86644075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.155769231 meters Centerline goodness [0,1] 0.9996823312649569 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.07, Z:-0.29 [[ 9.99831832e-01 -1.63786396e-02 8.24906936e-03 4.09214344e+00] [ 1.63794699e-02 9.99865847e-01 -3.30925259e-05 -6.81808959e-02] [-8.24742071e-03 1.68202344e-04 9.99965975e-01 -2.85150016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.185769231 meters Centerline goodness [0,1] 0.9997643479937445 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.07, Z:-0.28 [[ 9.99826679e-01 -1.64323134e-02 8.75163041e-03 4.12401813e+00] [ 1.64332526e-02 9.99864964e-01 -3.54152042e-05 -6.71179777e-02] [-8.74986667e-03 1.79226819e-04 9.99961703e-01 -2.83841442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.215769231000001 meters Centerline goodness [0,1] 0.9996789246114988 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.07, Z:-0.28 [[ 9.99832630e-01 -1.61503901e-02 8.59511043e-03 4.15645521e+00] [ 1.61512889e-02 9.99869559e-01 -3.51737779e-05 -6.70738825e-02] [-8.59342120e-03 1.73990003e-04 9.99963061e-01 -2.83999856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245769231 meters Centerline goodness [0,1] 0.9996400821459572 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.07, Z:-0.28 [[ 9.99834913e-01 -1.59704725e-02 8.66554958e-03 4.18772200e+00] [ 1.59713833e-02 9.99872449e-01 -3.59094933e-05 -7.01581760e-02] [-8.66387079e-03 1.74304379e-04 9.99962453e-01 -2.84901312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.275769231 meters Centerline goodness [0,1] 0.9998286974582985 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.07, Z:-0.28 [[ 9.99830383e-01 -1.60301579e-02 9.06859320e-03 4.21978385e+00] [ 1.60311606e-02 9.99871492e-01 -3.78858812e-05 -6.71342512e-02] [-9.06682049e-03 1.83259529e-04 9.99958879e-01 -2.84358731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305769231000001 meters Centerline goodness [0,1] 0.999657556235687 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.07, Z:-0.28 [[ 9.99822143e-01 -1.65054723e-02 9.12426225e-03 4.25241045e+00] [ 1.65065111e-02 9.99863758e-01 -3.85481018e-05 -6.77286460e-02] [-9.12238289e-03 1.89150982e-04 9.99958372e-01 -2.84420058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.335769231 meters Centerline goodness [0,1] 0.9996393185241763 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.07, Z:-0.29 [[ 9.99822168e-01 -1.67916560e-02 8.58323789e-03 4.28381596e+00] [ 1.67925892e-02 9.99858994e-01 -3.66673928e-05 -7.34491135e-02] [-8.58141190e-03 1.80795660e-04 9.99963163e-01 -2.85623985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365769231 meters Centerline goodness [0,1] 0.9997656782549421 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.07, Z:-0.29 [[ 9.99825628e-01 -1.67484032e-02 8.25855009e-03 4.31606202e+00] [ 1.67492677e-02 9.99859721e-01 -3.55122644e-05 -6.66761515e-02] [-8.25679681e-03 1.73830738e-04 9.99965897e-01 -2.85124887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.395769231000001 meters Centerline goodness [0,1] 0.9997223349494864 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.07, Z:-0.28 [[ 9.99811886e-01 -1.73374926e-02 8.69500856e-03 4.34772479e+00] [ 1.73384772e-02 9.99849677e-01 -3.78562956e-05 -6.57964845e-02] [-8.69304517e-03 1.88607382e-04 9.99962197e-01 -2.84615460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425769231 meters Centerline goodness [0,1] 0.999676710203026 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.07, Z:-0.28 [[ 9.99770484e-01 -1.90483615e-02 9.80506319e-03 4.38030320e+00] [ 1.90496994e-02 9.99818537e-01 -4.30684271e-05 -6.65057543e-02] [-9.80246356e-03 2.29842049e-04 9.99951928e-01 -2.84231620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455769231000001 meters Centerline goodness [0,1] 0.99881995954147 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.08, Z:-0.29 [[ 9.99741577e-01 -2.05134869e-02 9.79677748e-03 4.41157716e+00] [ 2.05148978e-02 9.99789546e-01 -4.35387693e-05 -8.24433461e-02] [-9.79382258e-03 2.44507407e-04 9.99952009e-01 -2.85243852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485769231 meters Centerline goodness [0,1] 0.99881995954147 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.08, Z:-0.29 [[ 9.99741998e-01 -2.04929353e-02 9.79677572e-03 4.44241891e+00] [ 2.04943491e-02 9.99789968e-01 -4.39291206e-05 -8.26293175e-02] [-9.79381785e-03 2.44696328e-04 9.99952009e-01 -2.85604756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.515769231 meters Centerline goodness [0,1] 0.9995358258080851 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.08, Z:-0.29 [[ 9.99718934e-01 -2.18767344e-02 9.13576963e-03 4.47442616e+00] [ 2.18780225e-02 9.99760647e-01 -4.10693323e-05 -7.63385949e-02] [-9.13268449e-03 2.40930362e-04 9.99958267e-01 -2.85994374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545769231000001 meters Centerline goodness [0,1] 0.9986738238080202 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.09, Z:-0.29 [[ 9.99718961e-01 -2.22993761e-02 8.04588467e-03 4.50498880e+00] [ 2.23003924e-02 9.99751315e-01 -3.66097331e-05 -9.03168310e-02] [-8.04306741e-03 2.16025830e-04 9.99967631e-01 -2.88938037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575769231 meters Centerline goodness [0,1] 0.999442538593482 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.08, Z:-0.29 [[ 9.99735000e-01 -2.14054157e-02 8.46980050e-03 4.53598257e+00] [ 2.14065104e-02 9.99770854e-01 -3.86067753e-05 -7.96364092e-02] [-8.46703328e-03 2.19905417e-04 9.99964130e-01 -2.87115289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.605769231 meters Centerline goodness [0,1] 0.9996609163735006 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.08, Z:-0.28 [[ 9.99775967e-01 -1.84863754e-02 1.03087690e-02 4.56609314e+00] [ 1.84878454e-02 9.99829084e-01 -4.73047385e-05 -7.91088938e-02] [-1.03061326e-02 2.37881069e-04 9.99946862e-01 -2.84392282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635769231000001 meters Centerline goodness [0,1] 0.9997471235301555 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.08, Z:-0.28 [[ 9.99811363e-01 -1.65248045e-02 1.02063017e-02 4.59731698e+00] [ 1.65261442e-02 9.99863433e-01 -4.69352033e-05 -7.65044201e-02] [-1.02041322e-02 2.15597163e-04 9.99947913e-01 -2.84612557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665769231 meters Centerline goodness [0,1] 0.999849552957359 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.07, Z:-0.29 [[ 9.99890701e-01 -1.24577332e-02 7.96182352e-03 4.62837369e+00] [ 1.24584205e-02 9.99922390e-01 -3.67350755e-05 -6.87785086e-02] [-7.96074796e-03 1.35922806e-04 9.99968304e-01 -2.88185103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.695769231 meters Centerline goodness [0,1] 0.999788547745919 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.07, Z:-0.29 [[ 9.99923974e-01 -1.01374189e-02 7.01990780e-03 4.65913593e+00] [ 1.01378970e-02 9.99948610e-01 -3.25262154e-05 -6.87049832e-02] [-7.01921731e-03 1.03690845e-04 9.99975360e-01 -2.91310872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725769231000001 meters Centerline goodness [0,1] 0.9998720573183214 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.07, Z:-0.29 [[ 9.99948847e-01 -7.99632634e-03 6.19374344e-03 4.69012204e+00] [ 7.99665818e-03 9.99968026e-01 -2.88134437e-05 -6.50554827e-02] [-6.19331500e-03 7.83412190e-05 9.99980818e-01 -2.92674877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.755769231 meters Centerline goodness [0,1] 0.9998513611075721 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.06, Z:-0.29 [[ 9.99973149e-01 -3.97414898e-03 6.15685604e-03 4.72072253e+00] [ 3.97440194e-03 9.99992102e-01 -2.88520296e-05 -6.05465576e-02] [-6.15669275e-03 5.33210755e-05 9.99981046e-01 -2.93682304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785769231000002 meters Centerline goodness [0,1] 0.9999363381716323 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.06, Z:-0.29 [[ 9.99975031e-01 -2.64534512e-03 6.55280399e-03 4.75296120e+00] [ 2.64560252e-03 9.99996500e-01 -3.06126479e-05 -5.78517527e-02] [-6.55270007e-03 4.79479983e-05 9.99978530e-01 -2.92541579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815769231 meters Centerline goodness [0,1] 0.9999141041058237 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.06, Z:-0.29 [[ 9.99969289e-01 -4.63083423e-04 7.82340909e-03 4.78513492e+00] [ 4.63387242e-04 9.99999892e-01 -3.70220204e-05 -5.50438247e-02] [-7.82339110e-03 4.06461513e-05 9.99969396e-01 -2.90492392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.845769231 meters Centerline goodness [0,1] 0.9999571615224795 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.05, Z:-0.29 [[ 9.99964615e-01 5.59169834e-04 8.39377953e-03 4.81692114e+00] [-5.58852463e-04 9.99999843e-01 -4.01557234e-05 -5.33009879e-02] [-8.39380067e-03 3.54634181e-05 9.99964771e-01 -2.90633479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875769231000001 meters Centerline goodness [0,1] 0.9999788534331451 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.05, Z:-0.29 [[ 9.99960644e-01 1.91820670e-03 8.66199129e-03 4.84805574e+00] [-1.91791574e-03 9.99998160e-01 -4.18966355e-05 -5.11860841e-02] [-8.66205572e-03 2.52820172e-05 9.99962483e-01 -2.90523395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905769231 meters Centerline goodness [0,1] 0.9999576594123126 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.05, Z:-0.29 [[ 9.99967521e-01 3.83707200e-03 7.08755980e-03 4.87992943e+00] [-3.83692457e-03 9.99992638e-01 -3.43984490e-05 -4.72363738e-02] [-7.08763962e-03 7.20289945e-06 9.99974882e-01 -2.94493874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.935769231 meters Centerline goodness [0,1] 0.9999789513565851 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.05, Z:-0.30 [[ 9.99972628e-01 4.43558663e-03 5.92193967e-03 4.91184862e+00] [-4.43549748e-03 9.99990163e-01 -2.81884382e-05 -4.70246917e-02] [-5.92200645e-03 1.92091811e-06 9.99982465e-01 -2.97908578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965769231000001 meters Centerline goodness [0,1] 0.9999569475836831 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.05, Z:-0.30 [[ 9.99970225e-01 4.74098308e-03 6.08869518e-03 4.94500011e+00] [-4.74088801e-03 9.99988761e-01 -3.00469652e-05 -4.58266218e-02] [-6.08876921e-03 1.18024855e-06 9.99981463e-01 -2.96663630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995769231 meters Centerline goodness [0,1] 0.9999144732622036 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.05, Z:-0.29 [[ 9.99962438e-01 4.73694091e-03 7.25844053e-03 4.97769023e+00] [-4.73678873e-03 9.99988781e-01 -3.81564513e-05 -4.50438344e-02] [-7.25853984e-03 3.77331874e-06 9.99973656e-01 -2.94169175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.025769231 meters Centerline goodness [0,1] 0.9999787229515522 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.05, Z:-0.29 [[ 9.99954864e-01 4.62849658e-03 8.29738681e-03 5.01004468e+00] [-4.62829240e-03 9.99989288e-01 -4.38091821e-05 -4.51616028e-02] [-8.29750070e-03 5.40447246e-06 9.99965575e-01 -2.92944711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055769231000001 meters Centerline goodness [0,1] 0.9999572091829093 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.05, Z:-0.29 [[ 9.99958244e-01 3.90033878e-03 8.26427857e-03 5.04163883e+00] [-3.90009916e-03 9.99992394e-01 -4.51105889e-05 -4.67916678e-02] [-8.26439166e-03 1.28771993e-05 9.99965849e-01 -2.94011381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085769231 meters Centerline goodness [0,1] 0.9999359986346376 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.05, Z:-0.30 [[ 9.99964275e-01 2.91873608e-03 7.93288242e-03 5.07436048e+00] [-2.91847485e-03 9.99995740e-01 -4.45051123e-05 -4.87263986e-02] [-7.93297853e-03 2.13516044e-05 9.99968533e-01 -2.95420019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.115769231 meters Centerline goodness [0,1] 0.999893417462483 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.05, Z:-0.29 [[ 9.99960723e-01 -2.95671634e-04 8.85803582e-03 5.10524015e+00] [ 2.96141408e-04 9.99999955e-01 -5.17220858e-05 -5.45702536e-02] [-8.85802012e-03 5.43432855e-05 9.99960765e-01 -2.93573379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145769231000001 meters Centerline goodness [0,1] 0.9999366567428897 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.06, Z:-0.29 [[ 9.99952023e-01 -1.38620930e-03 9.69689243e-03 5.13630268e+00] [ 1.38684065e-03 9.99999037e-01 -5.83854095e-05 -5.67225169e-02] [-9.69680216e-03 7.18306530e-05 9.99952982e-01 -2.91899951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.175769231 meters Centerline goodness [0,1] 0.9999146830475215 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.06, Z:-0.29 [[ 9.99944564e-01 -2.19019902e-03 1.02991421e-02 5.16895294e+00] [ 2.19096249e-03 9.99997598e-01 -6.28472392e-05 -5.73393782e-02] [-1.02989797e-02 8.54087893e-05 9.99946960e-01 -2.91290046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205769231000001 meters Centerline goodness [0,1] 0.9999143413923807 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.06, Z:-0.30 [[ 9.99954416e-01 -4.30216072e-03 8.52394344e-03 5.20097497e+00] [ 4.30277104e-03 9.99990742e-01 -5.32630491e-05 -6.12907639e-02] [-8.52363537e-03 8.99371981e-05 9.99963669e-01 -2.95585504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235769231 meters Centerline goodness [0,1] 0.999893851902174 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.07, Z:-0.30 [[ 9.99950263e-01 -6.37719342e-03 7.66832355e-03 5.23160388e+00] [ 6.37776134e-03 9.99979661e-01 -4.96095380e-05 -6.82881803e-02] [-7.66785122e-03 9.85138081e-05 9.99970597e-01 -2.97940224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.265769231 meters Centerline goodness [0,1] 0.999829023295576 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.07, Z:-0.30 [[ 9.99930985e-01 -9.54671293e-03 6.84728812e-03 5.26340455e+00] [ 9.54724020e-03 9.99954423e-01 -4.43201094e-05 -7.47432001e-02] [-6.84655293e-03 1.09689755e-04 9.99976556e-01 -2.99297679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295769231000001 meters Centerline goodness [0,1] 0.9997663154316792 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.09, Z:-0.30 [[ 9.99856857e-01 -1.53028781e-02 7.21717253e-03 5.29330173e+00] [ 1.53036162e-02 9.99882892e-01 -4.70620371e-05 -9.05092577e-02] [-7.21560716e-03 1.57504139e-04 9.99973955e-01 -2.98506380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325769231 meters Centerline goodness [0,1] 0.9997252979460739 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.10, Z:-0.30 [[ 9.99823291e-01 -1.68149511e-02 8.40499763e-03 5.32476293e+00] [ 1.68160108e-02 9.99858599e-01 -5.54242954e-05 -9.82014716e-02] [-8.40287721e-03 1.96753032e-04 9.99964676e-01 -2.96893974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.355769231 meters Centerline goodness [0,1] 0.9998711118748926 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.10, Z:-0.29 [[ 9.99816570e-01 -1.66713991e-02 9.42815430e-03 5.35728897e+00] [ 1.66727295e-02 9.99860998e-01 -6.25212014e-05 -9.55834723e-02] [-9.42580145e-03 2.19702800e-04 9.99955552e-01 -2.94437954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385769231000001 meters Centerline goodness [0,1] 0.9998933014660378 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.09, Z:-0.30 [[ 9.99893538e-01 -1.17285049e-02 8.68071346e-03 5.38748906e+00] [ 1.17294507e-02 9.99931206e-01 -5.80487717e-05 -9.24709580e-02] [-8.67943545e-03 1.59862592e-04 9.99962320e-01 -2.95194929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415769231 meters Centerline goodness [0,1] 0.9999576594123126 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.09, Z:-0.30 [[ 9.99941241e-01 -8.07299264e-03 7.23471579e-03 5.41883600e+00] [ 8.07355401e-03 9.99967407e-01 -4.83923069e-05 -8.72343879e-02] [-7.23408932e-03 1.06799332e-04 9.99973828e-01 -2.98071469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445769231 meters Centerline goodness [0,1] 0.9999363881173003 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.08, Z:-0.30 [[ 9.99971988e-01 -4.18985517e-03 6.20231722e-03 5.44957935e+00] [ 4.19019374e-03 9.99991220e-01 -4.15943032e-05 -8.22242876e-02] [-6.20208849e-03 6.75820489e-05 9.99980765e-01 -3.00919864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475769231000001 meters Centerline goodness [0,1] 0.9999150418418928 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.08, Z:-0.30 [[ 9.99974473e-01 7.63608603e-04 7.10426794e-03 5.48078285e+00] [-7.63287936e-04 9.99999708e-01 -4.78483783e-05 -7.54086278e-02] [-7.10430240e-03 4.24245549e-05 9.99974763e-01 -2.99454228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505769231 meters Centerline goodness [0,1] 0.999872136387853 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.07, Z:-0.30 [[ 9.99971412e-01 1.83936378e-03 7.33429492e-03 5.51256148e+00] [-1.83905037e-03 9.99998308e-01 -4.94750972e-05 -7.48536463e-02] [-7.33437351e-03 3.59855450e-05 9.99973102e-01 -2.99199386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535769231000002 meters Centerline goodness [0,1] 0.9999150743099787 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.08, Z:-0.30 [[ 9.99978370e-01 3.47879901e-04 6.56805010e-03 5.54370194e+00] [-3.47598284e-04 9.99999939e-01 -4.40183594e-05 -7.86796338e-02] [-6.56806501e-03 4.17343643e-05 9.99978429e-01 -3.01430534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565769231 meters Centerline goodness [0,1] 0.9998493684233177 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.08, Z:-0.30 [[ 9.99974660e-01 -1.82167365e-03 6.88199503e-03 5.57597300e+00] [ 1.82204162e-03 9.99998339e-01 -4.72002329e-05 -8.22208473e-02] [-6.88189761e-03 5.97383182e-05 9.99976318e-01 -3.01035688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.595769231 meters Centerline goodness [0,1] 0.9998514746446 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.09, Z:-0.30 [[ 9.99963898e-01 -3.92034550e-03 7.53883977e-03 5.60691507e+00] [ 3.92085790e-03 9.99992312e-01 -5.31891632e-05 -8.74636720e-02] [-7.53857329e-03 8.27459624e-05 9.99971581e-01 -2.99666260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625769231000001 meters Centerline goodness [0,1] 0.9997445939043078 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.09, Z:-0.30 [[ 9.99933729e-01 -6.74220038e-03 9.33171450e-03 5.63887911e+00] [ 6.74312528e-03 9.99977263e-01 -6.76540977e-05 -9.34671462e-02] [-9.33104618e-03 1.30574534e-04 9.99956456e-01 -2.95817587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655769231 meters Centerline goodness [0,1] 0.9997207303974222 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.10, Z:-0.30 [[ 9.99925821e-01 -7.01658939e-03 9.95592320e-03 5.67046631e+00] [ 7.01767611e-03 9.99975373e-01 -7.42221210e-05 -9.61127066e-02] [-9.95515723e-03 1.44084060e-04 9.99950436e-01 -2.95400636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685769231 meters Centerline goodness [0,1] 0.9997438579265299 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.10, Z:-0.30 [[ 9.99933950e-01 -6.80649420e-03 9.26109647e-03 5.70134184e+00] [ 6.80742832e-03 9.99976827e-01 -6.93456263e-05 -9.98412391e-02] [-9.26040986e-03 1.32385296e-04 9.99957113e-01 -2.97812187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715769231000001 meters Centerline goodness [0,1] 0.999701791381771 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.10, Z:-0.30 [[ 9.99942156e-01 -6.98727290e-03 8.17693560e-03 5.73298838e+00] [ 6.98800790e-03 9.99975582e-01 -6.13193679e-05 -1.01523128e-01] [-8.17630747e-03 1.18456311e-04 9.99966566e-01 -3.00521902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745769231 meters Centerline goodness [0,1] 0.9998920575980657 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.11, Z:-0.30 [[ 9.99938115e-01 -8.24807781e-03 7.46567155e-03 5.76484908e+00] [ 8.24873027e-03 9.99965977e-01 -5.66065659e-05 -1.08163947e-01] [-7.46495065e-03 1.18185374e-04 9.99972130e-01 -3.01616248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.775769231 meters Centerline goodness [0,1] 0.9998081105283356 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.12, Z:-0.30 [[ 9.99938920e-01 -8.25341947e-03 7.35107358e-03 5.79575037e+00] [ 8.25405518e-03 9.99965933e-01 -5.61432860e-05 -1.15224408e-01] [-7.35035977e-03 1.16816024e-04 9.99972979e-01 -3.02342940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805769231000001 meters Centerline goodness [0,1] 0.9997877488644564 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.11, Z:-0.30 [[ 9.99945026e-01 -7.67101284e-03 7.14848817e-03 5.82840065e+00] [ 7.67160054e-03 9.99970571e-01 -5.47961620e-05 -1.12861899e-01] [-7.14785745e-03 1.09633495e-04 9.99974448e-01 -3.01907150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.835769231 meters Centerline goodness [0,1] 0.9998066719652868 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.11, Z:-0.30 [[ 9.99952829e-01 -6.22273029e-03 7.45764955e-03 5.85995619e+00] [ 6.22333288e-03 9.99980633e-01 -5.75974565e-05 -1.12886606e-01] [-7.45714670e-03 1.04006175e-04 9.99972190e-01 -3.01718018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865769231000002 meters Centerline goodness [0,1] 0.999746428873299 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.11, Z:-0.30 [[ 9.99951610e-01 -5.28539373e-03 8.29712153e-03 5.89110268e+00] [ 5.28611022e-03 9.99986026e-01 -6.44252920e-05 -1.14606058e-01] [-8.29666507e-03 1.08281673e-04 9.99965576e-01 -3.00815631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895769231000001 meters Centerline goodness [0,1] 0.9998086816036733 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.11, Z:-0.30 [[ 9.99949012e-01 -3.42325512e-03 9.50026223e-03 5.92347291e+00] [ 3.42411397e-03 9.99994135e-01 -7.41394469e-05 -1.14673128e-01] [-9.49995271e-03 1.06665647e-04 9.99954869e-01 -2.99192348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925769231 meters Centerline goodness [0,1] 0.9997660470458123 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.12, Z:-0.30 [[ 9.99952820e-01 -3.12909194e-03 9.19597357e-03 5.95549998e+00] [ 3.12988802e-03 9.99995099e-01 -7.21790945e-05 -1.15788959e-01] [-9.19570265e-03 1.00958057e-04 9.99957714e-01 -3.00777219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955769231000001 meters Centerline goodness [0,1] 0.9997667119104173 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.12, Z:-0.30 [[ 9.99957104e-01 -3.41689448e-03 8.60900231e-03 5.98747206e+00] [ 3.41760600e-03 9.99994158e-01 -6.79387051e-05 -1.18052612e-01] [-8.60871988e-03 9.73579688e-05 9.99962940e-01 -3.02710920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985769231 meters Centerline goodness [0,1] 0.9997429581235943 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.12, Z:-0.31 [[ 9.99967920e-01 -4.36926932e-03 6.71327956e-03 6.01987293e+00] [ 4.36972471e-03 9.99990451e-01 -5.31679729e-05 -1.24972636e-01] [-6.71298315e-03 8.25014508e-05 9.99977464e-01 -3.06342076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.015769231 meters Centerline goodness [0,1] 0.9997877353484325 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.13, Z:-0.31 [[ 9.99970479e-01 -4.84123890e-03 5.96691238e-03 6.05227367e+00] [ 4.84160836e-03 9.99988278e-01 -4.74752769e-05 -1.29859389e-01] [-5.96661259e-03 7.63633282e-05 9.99982197e-01 -3.08059531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045769231000001 meters Centerline goodness [0,1] 0.9997895490035146 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.14, Z:-0.31 [[ 9.99959130e-01 -6.02310808e-03 6.74248739e-03 6.08310135e+00] [ 6.02360972e-03 9.99981856e-01 -5.40950157e-05 -1.38339166e-01] [-6.74203924e-03 9.47069174e-05 9.99977268e-01 -3.05979597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075769231 meters Centerline goodness [0,1] 0.9997458219482748 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.14, Z:-0.31 [[ 9.99954309e-01 -5.75136158e-03 7.63554440e-03 6.11449263e+00] [ 5.75199948e-03 9.99983455e-01 -6.15846531e-05 -1.41834815e-01] [-7.63506388e-03 1.05501487e-04 9.99970847e-01 -3.05027983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105769231 meters Centerline goodness [0,1] 0.9997450551318278 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.14, Z:-0.30 [[ 9.99958536e-01 -4.53427995e-03 7.89725530e-03 6.14671818e+00] [ 4.53492630e-03 9.99989715e-01 -6.39396842e-05 -1.42661496e-01] [-7.89688416e-03 9.97505038e-05 9.99968814e-01 -3.04751950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135769231000001 meters Centerline goodness [0,1] 0.9997895268563731 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.14, Z:-0.31 [[ 9.99977645e-01 -6.71988397e-04 6.65271988e-03 6.17837097e+00] [ 6.72363853e-04 9.99999772e-01 -5.42000867e-05 -1.44677729e-01] [-6.65268194e-03 5.86719234e-05 9.99977869e-01 -3.07807607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165769231 meters Centerline goodness [0,1] 0.9998726141695505 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.14, Z:-0.31 [[ 9.99981229e-01 1.63708527e-03 5.90434721e-03 6.21015167e+00] [-1.63682996e-03 9.99998659e-01 -4.80729485e-05 -1.44894954e-01] [-5.90441799e-03 3.84076337e-05 9.99982568e-01 -3.09192814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.195769231 meters Centerline goodness [0,1] 0.9998732679959446 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.14, Z:-0.31 [[ 9.99956385e-01 7.06169516e-03 6.11233179e-03 6.24109466e+00] [-7.06152065e-03 9.99975066e-01 -5.01316671e-05 -1.42794614e-01] [-6.11253340e-03 6.96712338e-06 9.99981318e-01 -3.08789669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225769231000001 meters Centerline goodness [0,1] 0.9999357161223965 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.14, Z:-0.31 [[ 9.99933663e-01 9.53197923e-03 6.46614174e-03 6.27419764e+00] [-9.53183903e-03 9.99954570e-01 -5.25012571e-05 -1.41752216e-01] [-6.46634842e-03 -9.13644782e-06 9.99979093e-01 -3.08449898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.255769231 meters Centerline goodness [0,1] 0.9999785554983702 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.14, Z:-0.31 [[ 9.99904975e-01 1.19081904e-02 6.94518282e-03 6.30713563e+00] [-1.19080760e-02 9.99929095e-01 -5.78276695e-05 -1.40470882e-01] [-6.94537899e-03 -2.48815901e-05 9.99975880e-01 -3.08621459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285769231000002 meters Centerline goodness [0,1] 0.9998293187685349 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.14, Z:-0.31 [[ 9.99825369e-01 1.69061149e-02 7.96328064e-03 6.33941074e+00] [-1.69061085e-02 9.99857079e-01 -6.81264436e-05 -1.36385496e-01] [-7.96329428e-03 -6.65135397e-05 9.99968290e-01 -3.06730293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315769231 meters Centerline goodness [0,1] 0.999914571898426 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.13, Z:-0.31 [[ 9.99788719e-01 1.90160104e-02 7.80440736e-03 6.37107059e+00] [-1.90160566e-02 9.99819176e-01 -6.82992349e-05 -1.34642317e-01] [-7.80429492e-03 -8.01242473e-05 9.99969543e-01 -3.07001066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.345769231 meters Centerline goodness [0,1] 0.9998722262447294 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.13, Z:-0.31 [[ 9.99756442e-01 2.08919634e-02 7.11220925e-03 6.40205802e+00] [-2.08920471e-02 9.99781735e-01 -6.25468303e-05 -1.31301687e-01] [-7.11196364e-03 -8.60570139e-05 9.99974706e-01 -3.09032178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375769231000001 meters Centerline goodness [0,1] 0.9998304294374497 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.13, Z:-0.31 [[ 9.99723576e-01 2.26906886e-02 6.15663708e-03 6.43378895e+00] [-2.26907814e-02 9.99742530e-01 -5.47841460e-05 -1.30632131e-01] [-6.15629502e-03 -8.49299037e-05 9.99981046e-01 -3.12014932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405769231 meters Centerline goodness [0,1] 0.9998304294374497 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.13, Z:-0.31 [[ 9.99719341e-01 2.28765054e-02 6.15662911e-03 6.46629334e+00] [-2.28765964e-02 9.99738295e-01 -5.56600947e-05 -1.31126018e-01] [-6.15629120e-03 -8.51982459e-05 9.99981046e-01 -3.12395427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.435769231 meters Centerline goodness [0,1] 0.9999145883156816 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.13, Z:-0.31 [[ 9.99722650e-01 2.29402499e-02 5.32617652e-03 6.49971685e+00] [-2.29403151e-02 9.99736835e-01 -4.88477084e-05 -1.32045065e-01] [-5.32589543e-03 -7.33500073e-05 9.99985815e-01 -3.13782678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465769231000001 meters Centerline goodness [0,1] 0.9998730776553212 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.13, Z:-0.32 [[ 9.99773105e-01 2.09277135e-02 3.97112814e-03 6.53047194e+00] [-2.09277321e-02 9.99780990e-01 -3.68817776e-05 -1.31529389e-01] [-3.97103028e-03 -4.62332965e-05 9.99992114e-01 -3.18125937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495769231 meters Centerline goodness [0,1] 0.9999363368206609 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.13, Z:-0.32 [[ 9.99792498e-01 1.98147039e-02 4.72628930e-03 6.56258719e+00] [-1.98147129e-02 9.99803668e-01 -4.49197622e-05 -1.32079768e-01] [-4.72625145e-03 -4.87396246e-05 9.99988830e-01 -3.17280314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525769231 meters Centerline goodness [0,1] 0.9999786657564056 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.13, Z:-0.31 [[ 9.99790737e-01 1.92252752e-02 6.99071228e-03 6.59487098e+00] [-1.92252673e-02 9.99815175e-01 -6.83382921e-05 -1.33666877e-01] [-6.99073405e-03 -6.60743206e-05 9.99975562e-01 -3.13159264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555769231000001 meters Centerline goodness [0,1] 0.9999159398970264 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.14, Z:-0.31 [[ 9.99798763e-01 1.72856806e-02 1.01803486e-02 6.62654171e+00] [-1.72855379e-02 9.99850589e-01 -1.02007624e-04 -1.37027989e-01] [-1.01805908e-02 -7.39857060e-05 9.99948174e-01 -3.07894355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585769231 meters Centerline goodness [0,1] 0.999850190472114 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.14, Z:-0.31 [[ 9.99835373e-01 1.54116131e-02 9.57651516e-03 6.65854614e+00] [-1.54113874e-02 9.99881233e-01 -9.73710677e-05 -1.42954943e-01] [-9.57687843e-03 -5.02323471e-05 9.99954139e-01 -3.09597556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.615769231000002 meters Centerline goodness [0,1] 0.9999365227142888 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.15, Z:-0.32 [[ 9.99895482e-01 1.30388804e-02 6.24602755e-03 6.68997334e+00] [-1.30387363e-02 9.99914990e-01 -6.37948405e-05 -1.48809529e-01] [-6.24632838e-03 -1.76521331e-05 9.99980491e-01 -3.17141594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645769231000001 meters Centerline goodness [0,1] 0.9999152416671964 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.15, Z:-0.32 [[ 9.99897780e-01 1.29268263e-02 6.10963088e-03 6.72256795e+00] [-1.29266806e-02 9.99916445e-01 -6.33366134e-05 -1.51102537e-01] [-6.10993913e-03 -1.56471079e-05 9.99981334e-01 -3.17484661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.675769231 meters Centerline goodness [0,1] 0.999957211013885 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.15, Z:-0.32 [[ 9.99899995e-01 1.25695556e-02 6.48126666e-03 6.75511648e+00] [-1.25693758e-02 9.99921000e-01 -6.84875671e-05 -1.53380137e-01] [-6.48161550e-03 -1.29847580e-05 9.99978994e-01 -3.17089135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705769231000001 meters Centerline goodness [0,1] 0.9999570806240478 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.15, Z:-0.32 [[ 9.99892657e-01 1.27881393e-02 7.15112312e-03 6.78843924e+00] [-1.27879152e-02 9.99918228e-01 -7.70628565e-05 -1.54260790e-01] [-7.15152385e-03 -1.43933715e-05 9.99974427e-01 -3.15189387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735769231 meters Centerline goodness [0,1] 0.9999575641841715 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.15, Z:-0.31 [[ 9.99852178e-01 1.48332635e-02 8.69460345e-03 6.82021386e+00] [-1.48329918e-02 9.99889981e-01 -9.57399787e-05 -1.49308235e-01] [-8.69506701e-03 -3.32411556e-05 9.99962197e-01 -3.11796303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765769231 meters Centerline goodness [0,1] 0.9998945548104096 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.15, Z:-0.31 [[ 9.99826868e-01 1.65310345e-02 8.54164629e-03 6.85226699e+00] [-1.65308223e-02 9.99863352e-01 -9.54522370e-05 -1.46594887e-01] [-8.54205701e-03 -4.57647255e-05 9.99963515e-01 -3.12675389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.14, Z:-0.32 [[ 9.99792783e-01 1.89339936e-02 7.47632828e-03 6.88358340e+00] [-1.89338881e-02 9.99820734e-01 -8.48959463e-05 -1.43332310e-01] [-7.47659545e-03 -5.66776091e-05 9.99972048e-01 -3.15952316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825769231 meters Centerline goodness [0,1] 0.9999358110276655 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.14, Z:-0.32 [[ 9.99785682e-01 1.94105143e-02 7.19880122e-03 6.91658038e+00] [-1.94104278e-02 9.99811597e-01 -8.18924227e-05 -1.42952077e-01] [-7.19903452e-03 -5.78569398e-05 9.99974085e-01 -3.16991477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.855769231 meters Centerline goodness [0,1] 0.9999788144570145 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.14, Z:-0.32 [[ 9.99792761e-01 1.92701115e-02 6.56494382e-03 6.94922917e+00] [-1.92700307e-02 9.99814313e-01 -7.55747758e-05 -1.44350445e-01] [-6.56518113e-03 -5.09475551e-05 9.99978448e-01 -3.17757079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885769231000001 meters Centerline goodness [0,1] 0.9999577220648543 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.14, Z:-0.32 [[ 9.99801237e-01 1.91466869e-02 5.55795505e-03 6.98169988e+00] [-1.91466227e-02 9.99816685e-01 -6.47643111e-05 -1.42087303e-01] [-5.55817621e-03 -4.16646298e-05 9.99984552e-01 -3.20141024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915769231 meters Centerline goodness [0,1] 0.9999150905347174 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.14, Z:-0.32 [[ 9.99801335e-01 1.88579232e-02 6.45512299e-03 7.01411979e+00] [-1.88578202e-02 9.99822173e-01 -7.68176040e-05 -1.42832082e-01] [-6.45542371e-03 -4.49272058e-05 9.99979163e-01 -3.18612364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945769231000002 meters Centerline goodness [0,1] 0.9999787622647921 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.14, Z:-0.31 [[ 9.99762426e-01 2.00851898e-02 8.46621427e-03 7.04696246e+00] [-2.00850423e-02 9.99798270e-01 -1.02451348e-04 -1.41029669e-01] [-8.46656414e-03 -6.76172633e-05 9.99964156e-01 -3.13447790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975769231000001 meters Centerline goodness [0,1] 0.99997866757685 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.14, Z:-0.31 [[ 9.99717251e-01 2.20560152e-02 8.88535383e-03 7.07820813e+00] [-2.20559139e-02 9.99756733e-01 -1.09400588e-04 -1.36426243e-01] [-8.88560525e-03 -8.66049437e-05 9.99960518e-01 -3.13829707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005769231 meters Centerline goodness [0,1] 0.999915304480393 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.13, Z:-0.31 [[ 9.99671483e-01 2.41934481e-02 8.46186799e-03 7.11022988e+00] [-2.41934229e-02 9.99707291e-01 -1.05359221e-04 -1.32597502e-01] [-8.46194012e-03 -9.93969426e-05 9.99964192e-01 -3.14953705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035769231000002 meters Centerline goodness [0,1] 0.999852473181732 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.12, Z:-0.32 [[ 9.99570463e-01 2.81035701e-02 8.31139756e-03 7.14235166e+00] [-2.81036670e-02 9.99605008e-01 -1.05159246e-04 -1.24700177e-01] [-8.31106998e-03 -1.28466673e-04 9.99965454e-01 -3.15901628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065769231 meters Centerline goodness [0,1] 0.9997665782493369 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.12, Z:-0.32 [[ 9.99554895e-01 2.86184104e-02 8.42601299e-03 7.17417119e+00] [-2.86185284e-02 9.99590400e-01 -1.06597118e-04 -1.21935646e-01] [-8.42561234e-03 -1.34590420e-04 9.99964495e-01 -3.16325877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.095769231 meters Centerline goodness [0,1] 0.9999787721830687 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.12, Z:-0.32 [[ 9.99630715e-01 2.59685559e-02 8.00422779e-03 7.20599133e+00] [-2.59685668e-02 9.99662755e-01 -1.02597036e-04 -1.24376103e-01] [-8.00419269e-03 -1.05299175e-04 9.99967960e-01 -3.17239683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125769231000001 meters Centerline goodness [0,1] 0.9999573096544216 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.13, Z:-0.32 [[ 9.99672381e-01 2.42299944e-02 8.24847058e-03 7.23777378e+00] [-2.42299354e-02 9.99706406e-01 -1.07095862e-04 -1.27408892e-01] [-8.24864381e-03 -9.27991334e-05 9.99965975e-01 -3.17099370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.13, Z:-0.32 [[ 9.99692758e-01 2.32685165e-02 8.54194739e-03 7.26983217e+00] [-2.32684056e-02 9.99729248e-01 -1.12381090e-04 -1.27835902e-01] [-8.54224958e-03 -8.64109342e-05 9.99963511e-01 -3.16600608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.185769231 meters Centerline goodness [0,1] 0.9999360831770923 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.12, Z:-0.32 [[ 9.99648189e-01 2.48316838e-02 9.32122591e-03 7.30075757e+00] [-2.48316033e-02 9.99691640e-01 -1.24389360e-04 -1.21427043e-01] [-9.32144042e-03 -1.07115386e-04 9.99956549e-01 -3.15211960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215769231000001 meters Centerline goodness [0,1] 0.9999365978400998 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.12, Z:-0.32 [[ 9.99598922e-01 2.67565390e-02 9.27807119e-03 7.33242382e+00] [-2.67565289e-02 9.99641972e-01 -1.25237498e-04 -1.15511346e-01] [-9.27810030e-03 -1.23061712e-04 9.99956950e-01 -3.15334456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245769231 meters Centerline goodness [0,1] 0.9999575605822688 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.11, Z:-0.32 [[ 9.99542480e-01 2.89431070e-02 8.78226285e-03 7.36430854e+00] [-2.89431717e-02 9.99581051e-01 -1.19747807e-04 -1.10722811e-01] [-8.78204941e-03 -1.34493522e-04 9.99961428e-01 -3.15959054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.275769231 meters Centerline goodness [0,1] 0.9998297980979938 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.10, Z:-0.32 [[ 9.99436750e-01 3.25732162e-02 8.07263898e-03 7.39538402e+00] [-3.25733795e-02 9.99469340e-01 -1.11283208e-04 -9.80719997e-02] [-8.07198001e-03 -1.51732605e-04 9.99967410e-01 -3.17607479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305769231000001 meters Centerline goodness [0,1] 0.9999151553717255 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.09, Z:-0.32 [[ 9.99407548e-01 3.33932249e-02 8.33345691e-03 7.42712828e+00] [-3.33934164e-02 9.99442278e-01 -1.16202127e-04 -9.18916385e-02] [-8.33268951e-03 -1.62149314e-04 9.99965269e-01 -3.17348614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335769231 meters Centerline goodness [0,1] 0.9998945503627468 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.09, Z:-0.32 [[ 9.99374121e-01 3.43320361e-02 8.52513820e-03 7.45937461e+00] [-3.43322596e-02 9.99410467e-01 -1.20169623e-04 -8.74629304e-02] [-8.52423801e-03 -1.72592847e-04 9.99963653e-01 -3.16964592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365769231000002 meters Centerline goodness [0,1] 0.9997666822211853 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.09, Z:-0.32 [[ 9.99402278e-01 3.36698337e-02 7.83770240e-03 7.49162400e+00] [-3.36699939e-02 9.99432999e-01 -1.11543537e-04 -9.03244349e-02] [-7.83701406e-03 -1.52418527e-04 9.99969279e-01 -3.18867922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395769231000001 meters Centerline goodness [0,1] 0.9999365965001268 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.09, Z:-0.32 [[ 9.99539530e-01 2.93077968e-02 7.86008616e-03 7.52187501e+00] [-2.93078083e-02 9.99570427e-01 -1.13740427e-04 -9.22425899e-02] [-7.86004316e-03 -1.16673846e-04 9.99969103e-01 -3.21499635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425769231 meters Centerline goodness [0,1] 0.9999784524553427 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.10, Z:-0.32 [[ 9.99610843e-01 2.65731098e-02 8.48718285e-03 7.55392722e+00] [-2.65730280e-02 9.99646867e-01 -1.22433389e-04 -9.66987792e-02] [-8.48743918e-03 -1.03144403e-04 9.99963976e-01 -3.20716410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455769231000001 meters Centerline goodness [0,1] 0.9999786361305759 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.10, Z:-0.32 [[ 9.99677364e-01 2.37942021e-02 8.88837261e-03 7.58481602e+00] [-2.37939869e-02 9.99716875e-01 -1.29977109e-04 -1.00972245e-01] [-8.88894879e-03 -8.15546476e-05 9.99960489e-01 -3.20350937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485769231 meters Centerline goodness [0,1] 0.9999788350829665 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.11, Z:-0.32 [[ 9.99740953e-01 2.10040515e-02 8.76681269e-03 7.61644174e+00] [-2.10037295e-02 9.99779389e-01 -1.28805572e-04 -1.05773647e-01] [-8.76758408e-03 -5.53635570e-05 9.99961562e-01 -3.20751174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.515769231 meters Centerline goodness [0,1] 0.9999154101550108 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.12, Z:-0.32 [[ 9.99865693e-01 1.43577001e-02 7.90273161e-03 7.64868625e+00] [-1.43572219e-02 9.99896923e-01 -1.17235268e-04 -1.19030270e-01] [-7.90360025e-03 3.75825052e-06 9.99968766e-01 -3.23288268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545769231000001 meters Centerline goodness [0,1] 0.9998513390107673 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.13, Z:-0.32 [[ 9.99902311e-01 1.14231500e-02 8.05478240e-03 7.68123497e+00] [-1.14225484e-02 9.99934753e-01 -1.20692561e-04 -1.25609448e-01] [-8.05563554e-03 2.86746285e-05 9.99967552e-01 -3.22833831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575769231 meters Centerline goodness [0,1] 0.9998517640083012 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.13, Z:-0.32 [[ 9.99916826e-01 9.17560300e-03 9.06359976e-03 7.71208391e+00] [-9.17473035e-03 9.99957902e-01 -1.37856548e-04 -1.32672050e-01] [-9.06448311e-03 5.46889983e-05 9.99958915e-01 -3.21572854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605769231 meters Centerline goodness [0,1] 0.9998734470903377 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.13, Z:-0.32 [[ 9.99905990e-01 9.65525660e-03 9.73587869e-03 7.74464514e+00] [-9.65425754e-03 9.99953385e-01 -1.49609655e-04 -1.32982814e-01] [-9.73686937e-03 5.56029098e-05 9.99952594e-01 -3.20843462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635769231000001 meters Centerline goodness [0,1] 0.9998937142614204 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.13, Z:-0.32 [[ 9.99889647e-01 1.05710745e-02 1.04377028e-02 7.77735779e+00] [-1.05699549e-02 9.99944123e-01 -1.62426155e-04 -1.32241885e-01] [-1.04388366e-02 5.20821833e-05 9.99945513e-01 -3.19882095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665769231 meters Centerline goodness [0,1] 0.9999579478553406 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.13, Z:-0.32 [[ 9.99839705e-01 1.35993233e-02 1.16456844e-02 7.80851832e+00] [-1.35981070e-02 9.99907525e-01 -1.83626211e-04 -1.30629355e-01] [-1.16471047e-02 2.52375142e-05 9.99932170e-01 -3.18206082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.695769231000002 meters Centerline goodness [0,1] 0.999935591910344 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.13, Z:-0.32 [[ 9.99815726e-01 1.51792420e-02 1.17517725e-02 7.84200757e+00] [-1.51780917e-02 9.99884789e-01 -1.87066350e-04 -1.30661451e-01] [-1.17532581e-02 8.66239751e-06 9.99930928e-01 -3.18351357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725769231000001 meters Centerline goodness [0,1] 0.9998725086056691 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.13, Z:-0.32 [[ 9.99803982e-01 1.62465550e-02 1.13157677e-02 7.87353488e+00] [-1.62455332e-02 9.99868016e-01 -1.82224532e-04 -1.31317038e-01] [-1.13172347e-02 -1.64186569e-06 9.99935958e-01 -3.19782572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.755769231 meters Centerline goodness [0,1] 0.9998719207616446 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.13, Z:-0.32 [[ 9.99811568e-01 1.61655359e-02 1.07473035e-02 7.90681707e+00] [-1.61645898e-02 9.99869329e-01 -1.74891288e-04 -1.33479686e-01] [-1.07487264e-02 1.13257880e-06 9.99942231e-01 -3.21520770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785769231000002 meters Centerline goodness [0,1] 0.9998731795988248 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.14, Z:-0.32 [[ 9.99817224e-01 1.56719742e-02 1.09502213e-02 7.93869508e+00] [-1.56709398e-02 9.99877187e-01 -1.80263536e-04 -1.36258582e-01] [-1.09517015e-02 8.63032942e-06 9.99940028e-01 -3.21974265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815769231 meters Centerline goodness [0,1] 0.9999573342435362 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.14, Z:-0.32 [[ 9.99850944e-01 1.38437389e-02 1.03170234e-02 7.97138001e+00] [-1.38427064e-02 9.99904170e-01 -1.71485283e-04 -1.44368848e-01] [-1.03184087e-02 2.86441966e-05 9.99946763e-01 -3.23932759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.845769231 meters Centerline goodness [0,1] 0.9999156865224906 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.15, Z:-0.33 [[ 9.99869161e-01 1.35305715e-02 8.86480955e-03 8.00338206e+00] [-1.35297850e-02 9.99908457e-01 -1.48685282e-04 -1.48294204e-01] [-8.86600984e-03 2.87268607e-05 9.99960696e-01 -3.27892205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875769231000001 meters Centerline goodness [0,1] 0.9999785107983239 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.15, Z:-0.33 [[ 9.99879174e-01 1.36590397e-02 7.42078320e-03 8.03608453e+00] [-1.36584860e-02 9.99906711e-01 -1.25290506e-04 -1.50131969e-01] [-7.42180227e-03 2.39187045e-05 9.99972458e-01 -3.29788743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905769231 meters Centerline goodness [0,1] 0.9999364904629845 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.15, Z:-0.33 [[ 9.99861340e-01 1.53929037e-02 6.35286757e-03 8.06841398e+00] [-1.53925247e-02 9.99881522e-01 -1.08559496e-04 -1.52294045e-01] [-6.35378594e-03 1.07577725e-05 9.99979814e-01 -3.32978293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.935769231 meters Centerline goodness [0,1] 0.9999577461813112 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.15, Z:-0.33 [[ 9.99830986e-01 1.70600835e-02 6.85225371e-03 8.10038824e+00] [-1.70596768e-02 9.99854466e-01 -1.17806736e-04 -1.52421868e-01] [-6.85326627e-03 8.89591201e-07 9.99976516e-01 -3.32286136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965769231000001 meters Centerline goodness [0,1] 0.9999576055621503 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.15, Z:-0.33 [[ 9.99792112e-01 1.89785553e-02 7.45300840e-03 8.13313749e+00] [-1.89781171e-02 9.99819891e-01 -1.29517070e-04 -1.51833677e-01] [-7.45412409e-03 -1.19539210e-05 9.99972218e-01 -3.30626182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.15, Z:-0.33 [[ 9.99711068e-01 2.25789678e-02 8.24438112e-03 8.16627581e+00] [-2.25785401e-02 9.99745062e-01 -1.44951221e-04 -1.49075546e-01] [-8.24555216e-03 -4.12367502e-05 9.99966004e-01 -3.28715441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025769231000002 meters Centerline goodness [0,1] 0.9999787582046434 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.15, Z:-0.33 [[ 9.99683934e-01 2.38309581e-02 8.00729517e-03 8.19730736e+00] [-2.38305798e-02 9.99716001e-01 -1.42659409e-04 -1.46731706e-01] [-8.00842082e-03 -4.82041679e-05 9.99967931e-01 -3.30938228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055769231000001 meters Centerline goodness [0,1] 0.9998515974474761 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.15, Z:-0.33 [[ 9.99669752e-01 2.44721543e-02 7.84224937e-03 8.23048523e+00] [-2.44718081e-02 9.99700511e-01 -1.40113840e-04 -1.47824146e-01] [-7.84332959e-03 -5.18464544e-05 9.99969239e-01 -3.32473008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085769231 meters Centerline goodness [0,1] 0.9999576809140922 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.15, Z:-0.33 [[ 9.99685308e-01 2.38798150e-02 7.68368364e-03 8.26236453e+00] [-2.38794547e-02 9.99714836e-01 -1.38639792e-04 -1.52803257e-01] [-7.68480322e-03 -4.48860122e-05 9.99970470e-01 -3.34213335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.115769231000002 meters Centerline goodness [0,1] 0.9999788605855617 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.16, Z:-0.33 [[ 9.99704250e-01 2.30907640e-02 7.63085479e-03 8.29482708e+00] [-2.30903764e-02 9.99733372e-01 -1.38900406e-04 -1.56459728e-01] [-7.63202751e-03 -3.73399826e-05 9.99970875e-01 -3.34774145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145769231000001 meters Centerline goodness [0,1] 0.9999574051199046 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.16, Z:-0.33 [[ 9.99732241e-01 2.18133516e-02 7.72160861e-03 8.32682577e+00] [-2.18129029e-02 9.99762060e-01 -1.42341829e-04 -1.61519681e-01] [-7.72287628e-03 -2.61269828e-05 9.99970178e-01 -3.34420682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.175769231 meters Centerline goodness [0,1] 0.9999153259949196 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.17, Z:-0.33 [[ 9.99754116e-01 2.03074516e-02 8.90584564e-03 8.35864615e+00] [-2.03067919e-02 9.99793782e-01 -1.64502426e-04 -1.67166026e-01] [-8.90734972e-03 -1.63871769e-05 9.99960329e-01 -3.31446895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205769231000001 meters Centerline goodness [0,1] 0.9999574386584665 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.17, Z:-0.33 [[ 9.99747916e-01 2.03344691e-02 9.51912019e-03 8.39017346e+00] [-2.03337007e-02 9.99793233e-01 -1.77509512e-04 -1.68590208e-01] [-9.52076151e-03 -1.60941762e-05 9.99954676e-01 -3.30641736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235769231 meters Centerline goodness [0,1] 0.9999574658131474 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.17, Z:-0.33 [[ 9.99733739e-01 2.11046901e-02 9.32968636e-03 8.42347823e+00] [-2.11039709e-02 9.99777271e-01 -1.75542827e-04 -1.68820878e-01] [-9.33131314e-03 -2.13973425e-05 9.99956462e-01 -3.31114474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.265769231 meters Centerline goodness [0,1] 0.9999574658131474 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.17, Z:-0.33 [[ 9.99729764e-01 2.12921805e-02 9.32965307e-03 8.45597274e+00] [-2.12914531e-02 9.99773296e-01 -1.77292439e-04 -1.69641301e-01] [-9.33131294e-03 -2.13973421e-05 9.99956462e-01 -3.31494947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.17, Z:-0.33 [[ 9.99671119e-01 2.41598603e-02 8.59974519e-03 8.48847655e+00] [-2.41593354e-02 9.99708107e-01 -1.64929815e-04 -1.65161731e-01] [-8.60121966e-03 -4.28885557e-05 9.99963008e-01 -3.32891034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.16, Z:-0.33 [[ 9.99616584e-01 2.62693836e-02 8.75236653e-03 8.51983597e+00] [-2.62689074e-02 9.99654898e-01 -1.69383905e-04 -1.62268432e-01] [-8.75379569e-03 -6.05961458e-05 9.99961683e-01 -3.32933690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.355769231000002 meters Centerline goodness [0,1] 0.9999786580160491 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.16, Z:-0.33 [[ 9.99496381e-01 3.05369041e-02 8.63028569e-03 8.55212317e+00] [-3.05365893e-02 9.99533635e-01 -1.68285303e-04 -1.55835724e-01] [-8.63139975e-03 -9.53389380e-05 9.99962744e-01 -3.34045158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385769231000001 meters Centerline goodness [0,1] 0.9999576567230538 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.15, Z:-0.33 [[ 9.99427453e-01 3.27522047e-02 8.48873090e-03 8.58422377e+00] [-3.27519683e-02 9.99463496e-01 -1.66895416e-04 -1.52417011e-01] [-8.48964285e-03 -1.11222785e-04 9.99963956e-01 -3.34519346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415769231 meters Centerline goodness [0,1] 0.9998943475964078 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.14, Z:-0.33 [[ 9.99252909e-01 3.78628460e-02 7.74779076e-03 8.61479487e+00] [-3.78627901e-02 9.99282936e-01 -1.53943973e-04 -1.38975328e-01] [-7.74806385e-03 -1.39524012e-04 9.99969974e-01 -3.34991547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445769231000002 meters Centerline goodness [0,1] 0.9998506698523765 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.13, Z:-0.34 [[ 9.99167201e-01 4.02759581e-02 6.53848400e-03 8.64651775e+00] [-4.02759706e-02 9.99188585e-01 -1.29818086e-04 -1.31802710e-01] [-6.53840712e-03 -1.33633816e-04 9.99978615e-01 -3.37387978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475769231000001 meters Centerline goodness [0,1] 0.999830798840972 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.13, Z:-0.34 [[ 9.99079245e-01 4.25809452e-02 5.24650691e-03 8.67824924e+00] [-4.25809860e-02 9.99093013e-01 -1.03965671e-04 -1.25871684e-01] [-5.24617536e-03 -1.19531493e-04 9.99986232e-01 -3.39637489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505769231 meters Centerline goodness [0,1] 0.9996834240850956 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.12, Z:-0.34 [[ 9.99006697e-01 4.42922431e-02 4.88027950e-03 8.70928582e+00] [-4.42922936e-02 9.99018610e-01 -9.77813642e-05 -1.18212475e-01] [-4.87982100e-03 -1.18474535e-04 9.99988087e-01 -3.42152426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535769231000002 meters Centerline goodness [0,1] 0.9997017596182524 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.11, Z:-0.34 [[ 9.99004586e-01 4.42907802e-02 5.30703776e-03 8.74167185e+00] [-4.42908398e-02 9.99018674e-01 -1.06360971e-04 -1.10851242e-01] [-5.30654063e-03 -1.28798062e-04 9.99985912e-01 -3.41241859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565769231 meters Centerline goodness [0,1] 0.9998285910181693 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.11, Z:-0.34 [[ 9.99062884e-01 4.28359502e-02 6.19953719e-03 8.77413977e+00] [-4.28359951e-02 9.99082110e-01 -1.25597530e-04 -1.08710851e-01] [-6.19922678e-03 -1.40083514e-04 9.99980775e-01 -3.39772496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.595769231 meters Centerline goodness [0,1] 0.9998728921277857 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.11, Z:-0.34 [[ 9.99254903e-01 3.79929767e-02 6.79510992e-03 8.80512566e+00] [-3.79929051e-02 9.99277999e-01 -1.39669731e-04 -1.06878117e-01] [-6.79551032e-03 -1.18600304e-04 9.99976903e-01 -3.38899441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625769231000001 meters Centerline goodness [0,1] 0.9999786329351937 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.11, Z:-0.34 [[ 9.99366391e-01 3.50326264e-02 6.28742226e-03 8.83733503e+00] [-3.50325104e-02 9.99386165e-01 -1.28607619e-04 -1.08002084e-01] [-6.28806828e-03 -9.17380534e-05 9.99980226e-01 -3.41283949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655769231 meters Centerline goodness [0,1] 0.999915404788089 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.11, Z:-0.34 [[ 9.99468133e-01 3.20839165e-02 5.83726119e-03 8.86917203e+00] [-3.20837615e-02 9.99485176e-01 -1.20214770e-04 -1.08419185e-01] [-5.83811299e-03 -6.71304645e-05 9.99982956e-01 -3.42582798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.11, Z:-0.34 [[ 9.99625508e-01 2.65600942e-02 6.58826479e-03 8.90007550e+00] [-2.65597677e-02 9.99647218e-01 -1.37063598e-04 -1.06762106e-01] [-6.58958099e-03 -3.79705140e-05 9.99978288e-01 -3.43184575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.11, Z:-0.34 [[ 9.99676075e-01 2.45653942e-02 6.65487074e-03 8.93231221e+00] [-2.45650104e-02 9.99698225e-01 -1.39412779e-04 -1.07696876e-01] [-6.65628720e-03 -2.41093493e-05 9.99977846e-01 -3.42375813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745769231 meters Centerline goodness [0,1] 0.9999363206045297 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.11, Z:-0.34 [[ 9.99727468e-01 2.23963415e-02 6.58743722e-03 8.96425102e+00] [-2.23959115e-02 9.99749170e-01 -1.39051994e-04 -1.10149627e-01] [-6.58889915e-03 -8.51756245e-06 9.99978293e-01 -3.42412140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.775769231000002 meters Centerline goodness [0,1] 0.9999364823950372 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.12, Z:-0.34 [[ 9.99823488e-01 1.71567360e-02 7.65757859e-03 8.99589403e+00] [-1.71559897e-02 9.99852812e-01 -1.63139431e-04 -1.16605660e-01] [-7.65925042e-03 3.17372957e-05 9.99970667e-01 -3.39873475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805769231000001 meters Centerline goodness [0,1] 0.9998946392447741 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.12, Z:-0.34 [[ 9.99861866e-01 1.44317180e-02 8.24464837e-03 9.02665770e+00] [-1.44307465e-02 9.99895856e-01 -1.77309303e-04 -1.20897361e-01] [-8.24634861e-03 5.83083802e-05 9.99965997e-01 -3.39039505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835769231 meters Centerline goodness [0,1] 0.999893757171391 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.13, Z:-0.34 [[ 9.99921248e-01 1.00467070e-02 7.52077313e-03 9.05884219e+00] [-1.00457677e-02 9.99949527e-01 -1.62654236e-04 -1.29806860e-01] [-7.52202767e-03 8.70894868e-05 9.99971705e-01 -3.41945884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865769231000002 meters Centerline goodness [0,1] 0.9998515407944688 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.14, Z:-0.35 [[ 9.99948261e-01 8.10096799e-03 6.15218312e-03 9.09013863e+00] [-8.10029844e-03 9.99967183e-01 -1.33741571e-04 -1.35473514e-01] [-6.15306466e-03 8.39001322e-05 9.99981066e-01 -3.45642844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895769231000001 meters Centerline goodness [0,1] 0.9997873245427478 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.14, Z:-0.35 [[ 9.99965792e-01 6.54854028e-03 5.05277542e-03 9.12247026e+00] [-6.54806701e-03 9.99978555e-01 -1.10201893e-04 -1.40180995e-01] [-5.05338873e-03 7.71122116e-05 9.99987229e-01 -3.48013672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925769231 meters Centerline goodness [0,1] 0.9998301774645495 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.14, Z:-0.35 [[ 9.99969866e-01 6.04206256e-03 4.87453973e-03 9.15420065e+00] [-6.04161273e-03 9.99981744e-01 -1.07001214e-04 -1.42375274e-01] [-4.87509725e-03 7.75479088e-05 9.99988114e-01 -3.48195065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955769231000001 meters Centerline goodness [0,1] 0.9998730669148914 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.14, Z:-0.34 [[ 9.99945091e-01 7.58776102e-03 7.22781836e-03 9.18695354e+00] [-7.58679466e-03 9.99971207e-01 -1.61109283e-04 -1.42475683e-01] [-7.22883271e-03 1.06264463e-04 9.99973866e-01 -3.42786236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985769231 meters Centerline goodness [0,1] 0.9998722480091982 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.14, Z:-0.34 [[ 9.99920563e-01 9.49299678e-03 8.29161114e-03 9.21884316e+00] [-9.49178869e-03 9.99954935e-01 -1.85040532e-04 -1.40743374e-01] [-8.29299407e-03 1.06323612e-04 9.99965607e-01 -3.40488295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.015769231 meters Centerline goodness [0,1] 0.9998922669194803 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.14, Z:-0.34 [[ 9.99893369e-01 1.22454019e-02 7.95618483e-03 9.25158414e+00] [-1.22443644e-02 9.99925019e-01 -1.79095346e-04 -1.35515979e-01] [-7.95778137e-03 8.16578225e-05 9.99968333e-01 -3.40722902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045769231000001 meters Centerline goodness [0,1] 0.9999155423238529 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.13, Z:-0.35 [[ 9.99819486e-01 1.83320959e-02 4.99286854e-03 9.28311827e+00] [-1.83317662e-02 9.99831953e-01 -1.11801840e-04 -1.25666606e-01] [-4.99407906e-03 2.02535599e-05 9.99987529e-01 -3.48058814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075769231 meters Centerline goodness [0,1] 0.9999788458283974 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.12, Z:-0.35 [[ 9.99788018e-01 2.02095767e-02 3.93608396e-03 9.31464418e+00] [-2.02093854e-02 9.99795766e-01 -8.83754637e-05 -1.24224912e-01] [-3.93706611e-03 8.81089201e-06 9.99992250e-01 -3.51370492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105769231000002 meters Centerline goodness [0,1] 0.9999574449976595 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.13, Z:-0.35 [[ 9.99790984e-01 2.00414492e-02 4.04088428e-03 9.34579660e+00] [-2.00412397e-02 9.99799150e-01 -9.23465542e-05 -1.25664579e-01] [-4.04192343e-03 1.13429218e-05 9.99991831e-01 -3.52025657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135769231000001 meters Centerline goodness [0,1] 0.9999572622176636 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.13, Z:-0.35 [[ 9.99811086e-01 1.89883693e-02 4.15151775e-03 9.37707137e+00] [-1.89881427e-02 9.99819705e-01 -9.39940608e-05 -1.28551069e-01] [-4.15255404e-03 1.51466925e-05 9.99991378e-01 -3.52541467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165769231 meters Centerline goodness [0,1] 0.9999573032748388 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.13, Z:-0.35 [[ 9.99834735e-01 1.76936301e-02 4.17598791e-03 9.40930656e+00] [-1.76933871e-02 9.99843455e-01 -9.51361812e-05 -1.31399776e-01] [-4.17701748e-03 2.12330880e-05 9.99991276e-01 -3.53159669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.195769231000002 meters Centerline goodness [0,1] 0.9999573460726396 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.14, Z:-0.36 [[ 9.99847419e-01 1.70591367e-02 3.75821230e-03 9.44004098e+00] [-1.70589334e-02 9.99854482e-01 -8.61441663e-05 -1.35849425e-01] [-3.75913496e-03 2.20199289e-05 9.99992934e-01 -3.56619634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225769231000001 meters Centerline goodness [0,1] 0.9999788144570145 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.14, Z:-0.36 [[ 9.99841445e-01 1.75076904e-02 3.25038514e-03 9.47224258e+00] [-1.75075400e-02 9.99846728e-01 -7.47030282e-05 -1.35822786e-01] [-3.25119483e-03 1.77849358e-05 9.99994715e-01 -3.56279315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255769231 meters Centerline goodness [0,1] 0.9999783839868575 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.13, Z:-0.36 [[ 9.99837281e-01 1.78254919e-02 2.76825800e-03 9.50390892e+00] [-1.78253803e-02 9.99841113e-01 -6.49806375e-05 -1.34528075e-01] [-2.76897647e-03 1.56248122e-05 9.99996166e-01 -3.55527584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285769231000002 meters Centerline goodness [0,1] 0.9999575947756764 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.13, Z:-0.36 [[ 9.99817952e-01 1.89210586e-02 2.46098547e-03 9.53503337e+00] [-1.89209766e-02 9.99820981e-01 -5.66192672e-05 -1.32608239e-01] [-2.46161620e-03 1.00447113e-05 9.99996970e-01 -3.56785127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315769231 meters Centerline goodness [0,1] 0.9999362299124224 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.13, Z:-0.36 [[ 9.99765587e-01 2.15308595e-02 2.27882239e-03 9.56645725e+00] [-2.15307927e-02 9.99768184e-01 -5.38406066e-05 -1.27006661e-01] [-2.27945336e-03 4.76313310e-06 9.99997402e-01 -3.57685504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345769231 meters Centerline goodness [0,1] 0.9999574784734772 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.13, Z:-0.36 [[ 9.99748325e-01 2.23085947e-02 2.36929629e-03 9.59677046e+00] [-2.23085243e-02 9.99751132e-01 -5.61531814e-05 -1.27249259e-01] [-2.36995935e-03 3.28354515e-06 9.99997192e-01 -3.58283815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375769231000001 meters Centerline goodness [0,1] 0.9999576683740422 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.13, Z:-0.35 [[ 9.99759516e-01 2.14394862e-02 4.61066909e-03 9.62707924e+00] [-2.14392094e-02 9.99770148e-01 -1.09456913e-04 -1.31003698e-01] [-4.61195602e-03 1.05814908e-05 9.99989365e-01 -3.54751037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405769231 meters Centerline goodness [0,1] 0.999957387876851 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.13, Z:-0.35 [[ 9.99777676e-01 2.01545615e-02 6.19614505e-03 9.65906378e+00] [-2.01540412e-02 9.99796876e-01 -1.46405449e-04 -1.34416807e-01] [-6.19783720e-03 2.14955368e-05 9.99980793e-01 -3.52407334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.435769231000002 meters Centerline goodness [0,1] 0.9999362705527467 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.14, Z:-0.35 [[ 9.99858809e-01 1.57789276e-02 5.77813099e-03 9.68988781e+00] [-1.57783971e-02 9.99875504e-01 -1.37390215e-04 -1.44054512e-01] [-5.77957950e-03 4.62011717e-05 9.99983297e-01 -3.54208058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465769231000001 meters Centerline goodness [0,1] 0.9999573260503126 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.15, Z:-0.36 [[ 9.99904730e-01 1.30564062e-02 4.47902630e-03 9.72030979e+00] [-1.30560549e-02 9.99914760e-01 -1.07664912e-04 -1.50573112e-01] [-4.48005023e-03 4.91762415e-05 9.99989963e-01 -3.57133278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495769231 meters Centerline goodness [0,1] 0.9999786466229634 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.16, Z:-0.36 [[ 9.99932187e-01 1.11425372e-02 3.38594446e-03 9.75103312e+00] [-1.11423288e-02 9.99937919e-01 -8.03912418e-05 -1.56183405e-01] [-3.38663002e-03 4.26584838e-05 9.99994264e-01 -3.59252954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525769231000002 meters Centerline goodness [0,1] 0.9999356761508609 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.16, Z:-0.36 [[ 9.99944510e-01 1.00777971e-02 3.06823931e-03 9.78271483e+00] [-1.00776204e-02 9.99949217e-01 -7.30397296e-05 -1.59498335e-01] [-3.06881957e-03 4.21151257e-05 9.99995290e-01 -3.59487897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555769231000001 meters Centerline goodness [0,1] 0.9999363611293778 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.16, Z:-0.36 [[ 9.99947262e-01 9.78443306e-03 3.12065050e-03 9.81476750e+00] [-9.78424727e-03 9.99952130e-01 -7.47974529e-05 -1.61026885e-01] [-3.12123296e-03 4.42602921e-05 9.99995128e-01 -3.58172491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585769231 meters Centerline goodness [0,1] 0.9999577640276224 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.16, Z:-0.35 [[ 9.99938563e-01 1.01128050e-02 4.53890903e-03 9.84691628e+00] [-1.01124087e-02 9.99948862e-01 -1.10259845e-04 -1.61625021e-01] [-4.53979196e-03 6.43537680e-05 9.99989693e-01 -3.53988715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.615769231000002 meters Centerline goodness [0,1] 0.9998944947352872 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.17, Z:-0.35 [[ 9.99930906e-01 9.99215060e-03 6.19191139e-03 9.87837097e+00] [-9.99139969e-03 9.99950073e-01 -1.52194204e-04 -1.65283708e-01] [-6.19312300e-03 9.03178270e-05 9.99980818e-01 -3.52624054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645769231000001 meters Centerline goodness [0,1] 0.9998929634148952 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.18, Z:-0.35 [[ 9.99947425e-01 6.02423633e-03 8.29797545e-03 9.91008917e+00] [-6.02273265e-03 9.99981842e-01 -2.06187382e-04 -1.76787836e-01] [-8.29906689e-03 1.56200054e-04 9.99965550e-01 -3.50551698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.675769231 meters Centerline goodness [0,1] 0.9998716879450824 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.18, Z:-0.35 [[ 9.99957829e-01 3.75188860e-03 8.38228886e-03 9.94170543e+00] [-3.75027406e-03 9.99992946e-01 -2.08323215e-04 -1.83167095e-01] [-8.38301134e-03 1.76878550e-04 9.99964846e-01 -3.50710090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705769231000001 meters Centerline goodness [0,1] 0.9997432605905007 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.19, Z:-0.35 [[ 9.99966422e-01 1.97849189e-03 7.95236265e-03 9.97396854e+00] [-1.97697409e-03 9.99998026e-01 -1.98717755e-04 -1.89696461e-01] [-7.95274011e-03 1.82989467e-04 9.99968360e-01 -3.51204641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735769231 meters Centerline goodness [0,1] 0.9995516078062946 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.20, Z:-0.35 [[ 9.99980230e-01 -1.20301206e-03 6.17187071e-03 1.00040612e+01] [ 1.20399494e-03 9.99999263e-01 -1.55539244e-04 -2.02368158e-01] [-6.17167905e-03 1.62967070e-04 9.99980942e-01 -3.54060325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765769231 meters Centerline goodness [0,1] 0.9996834775269045 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.21, Z:-0.36 [[ 9.99983564e-01 -2.05861519e-03 5.35112676e-03 1.00359704e+01] [ 2.05936257e-03 9.99997871e-01 -1.34162942e-04 -2.08210813e-01] [-5.35083917e-03 1.45180647e-04 9.99985674e-01 -3.56269866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795769231000001 meters Centerline goodness [0,1] 0.999556231773805 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.22, Z:-0.36 [[ 9.99987802e-01 -2.10310179e-03 4.46904550e-03 1.00666341e+01] [ 2.10362950e-03 9.99997781e-01 -1.13383912e-04 -2.19529357e-01] [-4.46879713e-03 1.22783745e-04 9.99990007e-01 -3.58755029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825769231 meters Centerline goodness [0,1] 0.9996393032186883 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.22, Z:-0.36 [[ 9.99989879e-01 -6.86113353e-04 4.44651066e-03 1.00979065e+01] [ 6.86622809e-04 9.99999758e-01 -1.13048676e-04 -2.20056672e-01] [-4.44643202e-03 1.16100607e-04 9.99990108e-01 -3.58461529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.855769231000002 meters Centerline goodness [0,1] 0.9997259234272221 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.22, Z:-0.36 [[ 9.99989065e-01 1.47679824e-03 4.43731801e-03 1.01278820e+01] [-1.47631135e-03 9.99998904e-01 -1.12999539e-04 -2.23033211e-01] [-4.43748002e-03 1.06447440e-04 9.99990149e-01 -3.59437097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885769231000001 meters Centerline goodness [0,1] 0.9999574449976595 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.22, Z:-0.36 [[ 9.99969255e-01 6.67189266e-03 4.12007385e-03 1.01573784e+01] [-6.67151781e-03 9.99977740e-01 -1.04718207e-04 -2.22131124e-01] [-4.12068081e-03 7.72278409e-05 9.99991507e-01 -3.60756651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915769231 meters Centerline goodness [0,1] 0.9999569633327595 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.22, Z:-0.36 [[ 9.99945697e-01 9.20456887e-03 4.88664214e-03 1.01898276e+01] [-9.20407456e-03 9.99957634e-01 -1.23634737e-04 -2.17691430e-01] [-4.88757311e-03 7.86510050e-05 9.99988053e-01 -3.57931208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945769231000002 meters Centerline goodness [0,1] 0.9999573078318782 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.22, Z:-0.36 [[ 9.99907997e-01 1.23594387e-02 5.58947768e-03 1.02215840e+01] [-1.23588343e-02 9.99923617e-01 -1.42661304e-04 -2.18977240e-01] [-5.59081395e-03 7.35687499e-05 9.99984369e-01 -3.57497742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975769231000001 meters Centerline goodness [0,1] 0.9999787735348432 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.22, Z:-0.36 [[ 9.99895244e-01 1.33767322e-02 5.52841712e-03 1.02529252e+01] [-1.33761508e-02 9.99910525e-01 -1.42131228e-04 -2.22117052e-01] [-5.52982371e-03 6.81673978e-05 9.99984708e-01 -3.59144422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005769231 meters Centerline goodness [0,1] 0.9999569984949473 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.22, Z:-0.36 [[ 9.99884230e-01 1.43492453e-02 5.06228703e-03 1.02850942e+01] [-1.43487674e-02 9.99897043e-01 -1.30697675e-04 -2.22343448e-01] [-5.06364124e-03 5.80449651e-05 9.99987178e-01 -3.59351042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.22, Z:-0.36 [[ 9.99870709e-01 1.53520742e-02 4.78313363e-03 1.03169021e+01] [-1.53516558e-02 9.99882149e-01 -1.24177079e-04 -2.24119933e-01] [-4.78447631e-03 5.07320030e-05 9.99988553e-01 -3.60135962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.22, Z:-0.36 [[ 9.99822956e-01 1.81873068e-02 4.82480970e-03 1.03480267e+01] [-1.81869098e-02 9.99834597e-01 -1.26157048e-04 -2.23238330e-01] [-4.82630612e-03 3.83863344e-05 9.99988353e-01 -3.61161458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.22, Z:-0.36 [[ 9.99790684e-01 1.96589112e-02 5.66698336e-03 1.03794594e+01] [-1.96583784e-02 9.99806744e-01 -1.49715314e-04 -2.23030273e-01] [-5.66883142e-03 3.82802728e-05 9.99983931e-01 -3.60185441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.22, Z:-0.36 [[ 9.99757888e-01 2.11027837e-02 6.23197058e-03 1.04103707e+01] [-2.11021649e-02 9.99777311e-01 -1.65028623e-04 -2.23457759e-01] [-6.23406535e-03 3.34805963e-05 9.99980567e-01 -3.60018648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.23, Z:-0.36 [[ 9.99733227e-01 2.25144927e-02 5.15489507e-03 1.04418204e+01] [-2.25140844e-02 9.99746516e-01 -1.37222769e-04 -2.27472798e-01] [-5.15667789e-03 2.11284193e-05 9.99986704e-01 -3.61812603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.23, Z:-0.36 [[ 9.99730491e-01 2.28794346e-02 3.93409920e-03 1.04732379e+01] [-2.28792001e-02 9.99738231e-01 -1.04604377e-04 -2.30147535e-01] [-3.93546267e-03 1.45671424e-05 9.99992256e-01 -3.64468405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.23, Z:-0.36 [[ 9.99726422e-01 2.30565342e-02 3.93409089e-03 1.05057250e+01] [-2.30562998e-02 9.99734163e-01 -1.04916694e-04 -2.31238122e-01] [-3.93546407e-03 1.41824120e-05 9.99992256e-01 -3.64848862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.23, Z:-0.37 [[ 9.99708998e-01 2.39380666e-02 2.98118261e-03 1.05382251e+01] [-2.39379360e-02 9.99713443e-01 -7.94955245e-05 -2.33396411e-01] [-2.98223130e-03 8.10903262e-06 9.99995553e-01 -3.67475490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.275769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.24, Z:-0.37 [[ 9.99689020e-01 2.46373465e-02 3.85535450e-03 1.05688931e+01] [-2.46371271e-02 9.99696454e-01 -1.04397909e-04 -2.35154329e-01] [-3.85675631e-03 9.38058445e-06 9.99992563e-01 -3.66857384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.24, Z:-0.36 [[ 9.99671670e-01 2.51336418e-02 4.98511186e-03 1.06013657e+01] [-2.51332756e-02 9.99684100e-01 -1.36108144e-04 -2.38046038e-01] [-4.98695796e-03 1.07712659e-05 9.99987565e-01 -3.64581062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.25, Z:-0.36 [[ 9.99672886e-01 2.48515708e-02 6.04329149e-03 1.06331490e+01] [-2.48510193e-02 9.99691152e-01 -1.66337295e-04 -2.47293972e-01] [-6.04555877e-03 1.61009303e-05 9.99981725e-01 -3.63408313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.25, Z:-0.36 [[ 9.99663952e-01 2.52773864e-02 5.74768326e-03 1.06661792e+01] [-2.52768900e-02 9.99680476e-01 -1.59007131e-04 -2.49925146e-01] [-5.74986602e-03 1.36701395e-05 9.99983469e-01 -3.62064447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.25, Z:-0.36 [[ 9.99634369e-01 2.64762802e-02 5.48949010e-03 1.06995033e+01] [-2.64758402e-02 9.99649442e-01 -1.52804599e-04 -2.51068679e-01] [-5.49161141e-03 7.40986655e-06 9.99984921e-01 -3.62379474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.25, Z:-0.36 [[ 9.99519002e-01 3.03658508e-02 6.29911211e-03 1.07326018e+01] [-3.03653391e-02 9.99538851e-01 -1.76886291e-04 -2.47722323e-01] [-6.30157859e-03 -1.44734663e-05 9.99980145e-01 -3.62330256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.24, Z:-0.36 [[ 9.99440666e-01 3.27393207e-02 6.81846758e-03 1.07647677e+01] [-3.27387638e-02 9.99463924e-01 -1.93306342e-04 -2.44931831e-01] [-6.82114108e-03 -3.00299805e-05 9.99976735e-01 -3.62552376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485769231 meters Centerline goodness [0,1] 0.9999578405952908 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.24, Z:-0.36 [[ 9.99321272e-01 3.62775555e-02 6.39798915e-03 1.07960827e+01] [-3.62771344e-02 9.99341752e-01 -1.81888422e-04 -2.38937119e-01] [-6.40037615e-03 -5.03357429e-05 9.99979516e-01 -3.63666363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.515769231000002 meters Centerline goodness [0,1] 0.9999574775694179 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.24, Z:-0.36 [[ 9.99278797e-01 3.74185343e-02 6.46063538e-03 1.08290172e+01] [-3.74181237e-02 9.99299680e-01 -1.84459854e-04 -2.39515105e-01] [-6.46301309e-03 -5.74180325e-05 9.99979113e-01 -3.62524659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545769231000001 meters Centerline goodness [0,1] 0.9999358069071768 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.24, Z:-0.36 [[ 9.99260254e-01 3.77621915e-02 7.27754382e-03 1.08619082e+01] [-3.77616677e-02 9.99286752e-01 -2.09423782e-04 -2.40065416e-01] [-7.28026142e-03 -6.55433301e-05 9.99973496e-01 -3.60468428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575769231 meters Centerline goodness [0,1] 0.9999577934411007 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.24, Z:-0.36 [[ 9.99263507e-01 3.74796191e-02 8.22932490e-03 1.08942725e+01] [-3.74789239e-02 9.99297390e-01 -2.38732349e-04 -2.40070323e-01] [-8.23249049e-03 -6.98697174e-05 9.99966110e-01 -3.58157829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605769231000002 meters Centerline goodness [0,1] 0.9999788650533658 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.24, Z:-0.36 [[ 9.99346812e-01 3.48019362e-02 9.73525825e-03 1.09257662e+01] [-3.48008169e-02 9.99394228e-01 -2.84396387e-04 -2.38809506e-01] [-9.73925845e-03 -5.45843177e-05 9.99952571e-01 -3.57369383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.24, Z:-0.36 [[ 9.99407671e-01 3.30010936e-02 9.75880148e-03 1.09565236e+01] [-3.29998685e-02 9.99455315e-01 -2.86576012e-04 -2.40481358e-01] [-9.76294333e-03 -3.56329003e-05 9.99952341e-01 -3.59477347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.25, Z:-0.36 [[ 9.99523159e-01 2.98381408e-02 7.94610078e-03 1.09896884e+01] [-2.98372230e-02 9.99554744e-01 -2.34053125e-04 -2.45289002e-01] [-7.94954644e-03 -3.14806167e-06 9.99968402e-01 -3.63058422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.695769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.25, Z:-0.37 [[ 9.99551653e-01 2.92086438e-02 6.58388237e-03 1.10214140e+01] [-2.92079939e-02 9.99573337e-01 -1.94860123e-04 -2.46088482e-01] [-6.58676486e-03 2.47076269e-06 9.99978307e-01 -3.65915745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.24, Z:-0.37 [[ 9.99559502e-01 2.92377610e-02 5.09462258e-03 1.10532630e+01] [-2.92373696e-02 9.99572485e-01 -1.51296304e-04 -2.44342802e-01] [-5.09686812e-03 2.27629516e-06 9.99987011e-01 -3.68062308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.24, Z:-0.37 [[ 9.99573904e-01 2.89964801e-02 3.34871699e-03 1.10847671e+01] [-2.89963097e-02 9.99579514e-01 -9.94385827e-05 -2.41425039e-01] [-3.35019227e-03 2.29577726e-06 9.99994388e-01 -3.72545946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.24, Z:-0.37 [[ 9.99561950e-01 2.94063597e-02 3.34291583e-03 1.11167000e+01] [-2.94061909e-02 9.99567539e-01 -9.96374917e-05 -2.41415289e-01] [-3.34440013e-03 1.29142415e-06 9.99994407e-01 -3.73096149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.24, Z:-0.37 [[ 9.99516195e-01 3.06833385e-02 5.09004858e-03 1.11491103e+01] [-3.06829537e-02 9.99529156e-01 -1.53678662e-04 -2.40988017e-01] [-5.09236733e-03 -2.57341316e-06 9.99987034e-01 -3.69822525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845769231 meters Centerline goodness [0,1] 0.9999787215933271 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.24, Z:-0.37 [[ 9.99481296e-01 3.14650828e-02 6.86201060e-03 1.11815015e+01] [-3.14643900e-02 9.99504852e-01 -2.08919823e-04 -2.40815986e-01] [-6.86518657e-03 -7.09752239e-06 9.99976434e-01 -3.67131565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.24, Z:-0.36 [[ 9.99457271e-01 3.18934951e-02 8.24430769e-03 1.12146191e+01] [-3.18924959e-02 9.99491273e-01 -2.52660409e-04 -2.40956316e-01] [-8.24817181e-03 -1.04082667e-05 9.99965983e-01 -3.64558010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.24, Z:-0.36 [[ 9.99450637e-01 3.19347513e-02 8.86540770e-03 1.12476935e+01] [-3.19335813e-02 9.99489956e-01 -2.73537305e-04 -2.42136238e-01] [-8.86962129e-03 -9.71718368e-06 9.99960664e-01 -3.64089971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.935769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.25, Z:-0.37 [[ 9.99485670e-01 3.12944268e-02 7.00394121e-03 1.12795449e+01] [-3.12936744e-02 9.99510209e-01 -2.17012812e-04 -2.48007525e-01] [-7.00730204e-03 -2.27786047e-06 9.99975449e-01 -3.68542465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.25, Z:-0.37 [[ 9.99479129e-01 3.17775093e-02 5.62679105e-03 1.13122862e+01] [-3.17770285e-02 9.99494967e-01 -1.74846622e-04 -2.53175230e-01] [-5.62950553e-03 -4.04715025e-06 9.99984154e-01 -3.70857738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.26, Z:-0.37 [[ 9.99465285e-01 3.21988447e-02 5.69016455e-03 1.13442692e+01] [-3.21983532e-02 9.99481483e-01 -1.77991012e-04 -2.55562491e-01] [-5.69294520e-03 -5.31809029e-06 9.99983795e-01 -3.70966697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025769231000002 meters Centerline goodness [0,1] 0.9999574603849836 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.26, Z:-0.37 [[ 9.99447632e-01 3.25602375e-02 6.65296231e-03 1.13769558e+01] [-3.25595638e-02 9.99469775e-01 -2.09568404e-04 -2.58507669e-01] [-6.65625834e-03 -7.16490553e-06 9.99977847e-01 -3.70098611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.26, Z:-0.37 [[ 9.99421059e-01 3.31679718e-02 7.57839685e-03 1.14102944e+01] [-3.31671021e-02 9.99449791e-01 -2.40440582e-04 -2.62609256e-01] [-7.58220207e-03 -1.10520811e-05 9.99971255e-01 -3.68361492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.27, Z:-0.37 [[ 9.99390342e-01 3.37904990e-02 8.78327180e-03 1.14429189e+01] [-3.37893373e-02 9.99428938e-01 -2.80665333e-04 -2.69839761e-01] [-8.78773983e-03 -1.62867107e-05 9.99961387e-01 -3.65681944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.115769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.27, Z:-0.37 [[ 9.99364559e-01 3.45963841e-02 8.57717546e-03 1.14753542e+01] [-3.45952923e-02 9.99401366e-01 -2.75662674e-04 -2.72357620e-01] [-8.58157780e-03 -2.12423860e-05 9.99963177e-01 -3.65906512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.27, Z:-0.36 [[ 9.99224747e-01 3.81650385e-02 9.66104522e-03 1.15078014e+01] [-3.81638012e-02 9.99271448e-01 -3.12462999e-04 -2.72033676e-01] [-9.66593180e-03 -5.64814479e-05 9.99953282e-01 -3.64430594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.27, Z:-0.36 [[ 9.99102475e-01 4.09962721e-02 1.06559573e-02 1.15404764e+01] [-4.09949075e-02 9.99159295e-01 -3.46543152e-04 -2.71138308e-01] [-1.06612058e-02 -9.06078650e-05 9.99943164e-01 -3.62858757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205769231000001 meters Centerline goodness [0,1] 0.999957805907173 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.27, Z:-0.36 [[ 9.98938689e-01 4.46281841e-02 1.13938823e-02 1.15721496e+01] [-4.46268375e-02 9.99003657e-01 -3.72528956e-04 -2.67224876e-01] [-1.13991553e-02 -1.36339346e-04 9.99935018e-01 -3.61952263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235769231 meters Centerline goodness [0,1] 0.999871937163835 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.26, Z:-0.36 [[ 9.98735642e-01 4.89861521e-02 1.12904122e-02 1.16047342e+01] [-4.89850887e-02 9.98799441e-01 -3.70867831e-04 -2.64056489e-01] [-1.12950247e-02 -1.82662920e-04 9.99936192e-01 -3.62361489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265769231000002 meters Centerline goodness [0,1] 0.9996815151386471 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.25, Z:-0.36 [[ 9.98247589e-01 5.82534204e-02 1.04062789e-02 1.16352084e+01] [-5.82530146e-02 9.98301793e-01 -3.42354561e-04 -2.48982915e-01] [-1.04085502e-02 -2.64442503e-04 9.99945795e-01 -3.64228896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295769231000001 meters Centerline goodness [0,1] 0.9989805887100199 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.24, Z:-0.36 [[ 9.98030761e-01 6.18839662e-02 1.02457054e-02 1.16656672e+01] [-6.18837651e-02 9.98083306e-01 -3.36957343e-04 -2.38413322e-01] [-1.02469198e-02 -2.97749034e-04 9.99947455e-01 -3.64637102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325769231 meters Centerline goodness [0,1] 0.9978810416799102 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.23, Z:-0.37 [[ 9.97755721e-01 6.62747254e-02 9.54887813e-03 1.16968145e+01] [-6.62747518e-02 9.97801362e-01 -3.14016576e-04 -2.27340662e-01] [-9.54869497e-03 -3.19537694e-04 9.99954359e-01 -3.65991009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.355769231000002 meters Centerline goodness [0,1] 0.9981973862100045 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.23, Z:-0.37 [[ 9.97682928e-01 6.74379430e-02 8.99438336e-03 1.17289747e+01] [-6.74380165e-02 9.97723422e-01 -2.95461892e-04 -2.29283376e-01] [-8.99383229e-03 -3.11786088e-04 9.99959506e-01 -3.66983114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385769231000001 meters Centerline goodness [0,1] 0.9969775109908692 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.22, Z:-0.37 [[ 9.97640166e-01 6.81245983e-02 8.55203621e-03 1.17601880e+01] [-6.81246784e-02 9.97676776e-01 -2.82275804e-04 -2.20336282e-01] [-8.55139783e-03 -3.00995036e-04 9.99963391e-01 -3.68788800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415769231 meters Centerline goodness [0,1] 0.9973750480174143 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.22, Z:-0.37 [[ 9.97655033e-01 6.78074198e-02 9.30535230e-03 1.17925845e+01] [-6.78074864e-02 9.97698376e-01 -3.08691454e-04 -2.16829116e-01] [-9.30486645e-03 -3.23004968e-04 9.99956657e-01 -3.67494554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445769231000002 meters Centerline goodness [0,1] 0.9981231471409986 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.22, Z:-0.37 [[ 9.97656718e-01 6.76951028e-02 9.92197475e-03 1.18249718e+01] [-6.76951566e-02 9.97705997e-01 -3.30811693e-04 -2.18275659e-01] [-9.92160804e-03 -3.41633126e-04 9.99950721e-01 -3.66279023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475769231000001 meters Centerline goodness [0,1] 0.9981065844059143 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.21, Z:-0.37 [[ 9.97679028e-01 6.74396128e-02 9.40506490e-03 1.18560934e+01] [-6.74396359e-02 9.97723306e-01 -3.15046221e-04 -2.10742636e-01] [-9.40489905e-03 -3.19959146e-04 9.99955722e-01 -3.68818924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505769231 meters Centerline goodness [0,1] 0.9971508154196168 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.20, Z:-0.37 [[ 9.97706135e-01 6.71232604e-02 8.77133408e-03 1.18876942e+01] [-6.71232576e-02 9.97744647e-01 -2.95033409e-04 -2.04549122e-01] [-8.77135523e-03 -2.94403875e-04 9.99961488e-01 -3.71253584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535769231000002 meters Centerline goodness [0,1] 0.9978248014867376 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.20, Z:-0.37 [[ 9.97764764e-01 6.63404041e-02 8.02661656e-03 1.19193367e+01] [-6.63403643e-02 9.97797015e-01 -2.71506822e-04 -2.04755749e-01] [-8.02694591e-03 -2.61588726e-04 9.99967749e-01 -3.72355066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565769231 meters Centerline goodness [0,1] 0.999217411535777 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.21, Z:-0.37 [[ 9.97968680e-01 6.33450444e-02 6.77632010e-03 1.19505933e+01] [-6.33449466e-02 9.97991666e-01 -2.29263251e-04 -2.06698701e-01] [-6.77723368e-03 -2.00448092e-04 9.99977014e-01 -3.73540391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.595769231000002 meters Centerline goodness [0,1] 0.9993426911496543 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.21, Z:-0.37 [[ 9.98054903e-01 6.20023016e-02 6.49042867e-03 1.19811552e+01] [-6.20021814e-02 9.98075990e-01 -2.19926286e-04 -2.05059390e-01] [-6.49157696e-03 -1.82922228e-04 9.99978913e-01 -3.74182934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625769231000001 meters Centerline goodness [0,1] 0.999509123892861 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.21, Z:-0.37 [[ 9.98234020e-01 5.87619139e-02 8.71078744e-03 1.20130982e+01] [-5.87615734e-02 9.98272002e-01 -2.95241815e-04 -2.05859690e-01] [-8.71308419e-03 -2.17139152e-04 9.99962017e-01 -3.71360058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655769231 meters Centerline goodness [0,1] 0.9994879344556103 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.20, Z:-0.37 [[ 9.98263820e-01 5.81481951e-02 9.38795675e-03 1.20446139e+01] [-5.81477703e-02 9.98307936e-01 -3.18423055e-04 -2.03663576e-01] [-9.39058746e-03 -2.28018538e-04 9.99955881e-01 -3.70926480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685769231000002 meters Centerline goodness [0,1] 0.9996371940158354 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.20, Z:-0.37 [[ 9.98280349e-01 5.79373386e-02 8.92243392e-03 1.20764765e+01] [-5.79369412e-02 9.98320199e-01 -3.03225749e-04 -2.01642483e-01] [-8.92501410e-03 -2.14234223e-04 9.99960148e-01 -3.72202943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715769231000001 meters Centerline goodness [0,1] 0.9996380437328337 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.20, Z:-0.38 [[ 9.98307473e-01 5.76166930e-02 7.90603108e-03 1.21075672e+01] [-5.76163582e-02 9.98338761e-01 -2.70288462e-04 -1.99981334e-01] [-7.90847040e-03 -1.85685727e-04 9.99968710e-01 -3.75250322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745769231 meters Centerline goodness [0,1] 0.9997660321174093 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.20, Z:-0.38 [[ 9.98443129e-01 5.52734479e-02 7.49432003e-03 1.21387956e+01] [-5.52730799e-02 9.98471242e-01 -2.56371724e-04 -2.01926544e-01] [-7.49703358e-03 -1.58261563e-04 9.99971884e-01 -3.76197123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.775769231000002 meters Centerline goodness [0,1] 0.9998930915777545 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.21, Z:-0.37 [[ 9.98583219e-01 5.25051186e-02 8.64682324e-03 1.21686675e+01] [-5.25045225e-02 9.98620642e-01 -2.96080421e-04 -2.06593627e-01] [-8.65044192e-03 -1.58336385e-04 9.99962572e-01 -3.74380460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805769231000001 meters Centerline goodness [0,1] 0.9999138302455838 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.22, Z:-0.37 [[ 9.98913406e-01 4.54332541e-02 1.03839994e-02 1.21990778e+01] [-4.54320108e-02 9.98967370e-01 -3.55712918e-04 -2.18468527e-01] [-1.03894378e-02 -1.16439572e-04 9.99946022e-01 -3.72685613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.22, Z:-0.37 [[ 9.99064194e-01 4.19331573e-02 1.05993388e-02 1.22299786e+01] [-4.19316652e-02 9.99120415e-01 -3.63062925e-04 -2.24824951e-01] [-1.06052401e-02 -8.17247558e-05 9.99943760e-01 -3.73360924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.24, Z:-0.38 [[ 9.99360407e-01 3.44132005e-02 9.72150373e-03 1.22620575e+01] [-3.44115766e-02 9.99407690e-01 -3.34311489e-04 -2.39386463e-01] [-9.72725032e-03 -4.34603480e-07 9.99952689e-01 -3.75704537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895769231000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.25, Z:-0.38 [[ 9.99488647e-01 3.06937713e-02 8.96314202e-03 1.22925225e+01] [-3.06922290e-02 9.99528835e-01 -3.09611886e-04 -2.47616046e-01] [-8.96842206e-03 3.43547582e-05 9.99959782e-01 -3.77915359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925769231000002 meters Centerline goodness [0,1] 0.9999786602932076 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.25, Z:-0.38 [[ 9.99581272e-01 2.77195184e-02 8.30110338e-03 1.23245357e+01] [-2.77180836e-02 9.99615739e-01 -2.87860875e-04 -2.54574338e-01] [-8.30589295e-03 5.76496624e-05 9.99965504e-01 -3.79175103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955769231000001 meters Centerline goodness [0,1] 0.9999785052554651 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.26, Z:-0.38 [[ 9.99670480e-01 2.45581686e-02 7.47186218e-03 1.23565474e+01] [-2.45569102e-02 9.99698400e-01 -2.60122272e-04 -2.62606164e-01] [-7.47599679e-03 7.65507074e-05 9.99972051e-01 -3.79534853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.26, Z:-0.38 [[ 9.99666338e-01 2.48296550e-02 7.12045938e-03 1.23897437e+01] [-2.48285123e-02 9.99691694e-01 -2.48842683e-04 -2.64783530e-01] [-7.12444277e-03 7.19692400e-05 9.99974618e-01 -3.79924259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.015769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.27, Z:-0.38 [[ 9.99590621e-01 2.78168019e-02 6.69444264e-03 1.24214444e+01] [-2.78158504e-02 9.99613037e-01 -2.35212426e-04 -2.65281482e-01] [-6.69839500e-03 4.89045202e-05 9.99977564e-01 -3.80962301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.26, Z:-0.38 [[ 9.99523484e-01 3.01480720e-02 6.62555383e-03 1.24533029e+01] [-3.01471841e-02 9.99545443e-01 -2.33871082e-04 -2.64292675e-01] [-6.62959290e-03 3.40178478e-05 9.99978023e-01 -3.81591471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.075769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.26, Z:-0.38 [[ 9.99444373e-01 3.25478246e-02 7.18218253e-03 1.24855606e+01] [-3.25468336e-02 9.99470179e-01 -2.54850832e-04 -2.63086099e-01] [-7.18667210e-03 2.09519306e-05 9.99974175e-01 -3.81691614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.26, Z:-0.38 [[ 9.99438284e-01 3.27342827e-02 7.18214485e-03 1.25180436e+01] [-3.27332889e-02 9.99464090e-01 -2.55907116e-04 -2.64451158e-01] [-7.18667280e-03 2.06681462e-05 9.99974175e-01 -3.82072082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.135769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.26, Z:-0.38 [[ 9.99351818e-01 3.51314251e-02 7.85662804e-03 1.25505047e+01] [-3.51302963e-02 9.99382701e-01 -2.81671688e-04 -2.62527946e-01] [-7.86167368e-03 5.48344216e-06 9.99969097e-01 -3.80780936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.26, Z:-0.38 [[ 9.99132202e-01 4.08759382e-02 8.00000737e-03 1.25826018e+01] [-4.08749406e-02 9.99164229e-01 -2.88224719e-04 -2.55411294e-01] [-8.00510265e-03 -3.90252280e-05 9.99967958e-01 -3.80689106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.195769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.25, Z:-0.38 [[ 9.98981561e-01 4.43846534e-02 8.11433746e-03 1.26138345e+01] [-4.43837311e-02 9.99014513e-01 -2.93796840e-04 -2.49845425e-01] [-8.11938096e-03 -6.66469456e-05 9.99967035e-01 -3.81397383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225769231000005 meters Centerline goodness [0,1] 0.9996582875937039 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.24, Z:-0.38 [[ 9.98585942e-01 5.22353118e-02 9.87874322e-03 1.26452551e+01] [-5.22343068e-02 9.98634792e-01 -3.59894534e-04 -2.38238952e-01] [-9.88405588e-03 -1.56623682e-04 9.99951139e-01 -3.78204099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.255769231000002 meters Centerline goodness [0,1] 0.9992512408009584 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.23, Z:-0.38 [[ 9.98389632e-01 5.58645737e-02 9.86369401e-03 1.26772934e+01] [-5.58637502e-02 9.98438337e-01 -3.59202197e-04 -2.33480437e-01] [-9.86835692e-03 -1.92399189e-04 9.99951288e-01 -3.78812439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285769231000003 meters Centerline goodness [0,1] 0.999076182700984 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.23, Z:-0.38 [[ 9.98222976e-01 5.89252608e-02 8.87150983e-03 1.27089990e+01] [-5.89247049e-02 9.98262377e-01 -3.24259487e-04 -2.27753382e-01] [-8.87520157e-03 -1.99067828e-04 9.99960595e-01 -3.81020334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.315769231000004 meters Centerline goodness [0,1] 0.9989361702127659 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.22, Z:-0.39 [[ 9.98043577e-01 6.21532081e-02 6.78206749e-03 1.27389767e+01] [-6.21529503e-02 9.98066605e-01 -2.48971160e-04 -2.19146778e-01] [-6.78442943e-03 -1.73041437e-04 9.99976971e-01 -3.85400406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345769231000002 meters Centerline goodness [0,1] 0.9986382109496351 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.22, Z:-0.39 [[ 9.97994568e-01 6.29092987e-02 7.01870232e-03 1.27692651e+01] [-6.29090363e-02 9.98019231e-01 -2.58361525e-04 -2.18251820e-01] [-7.02105323e-03 -1.83696400e-04 9.99975335e-01 -3.85150800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.375769231000003 meters Centerline goodness [0,1] 0.998550261166187 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.21, Z:-0.38 [[ 9.97932413e-01 6.37493641e-02 8.18036681e-03 1.27998747e+01] [-6.37490359e-02 9.97965916e-01 -3.01122907e-04 -2.14307496e-01] [-8.18292365e-03 -2.20990188e-04 9.99966495e-01 -3.83289677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405769231000004 meters Centerline goodness [0,1] 0.9985754682882232 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.21, Z:-0.38 [[ 9.97995343e-01 6.27091370e-02 8.53582737e-03 1.28293924e+01] [-6.27087422e-02 9.98031821e-01 -3.14148755e-04 -2.13533279e-01] [-8.53872733e-03 -2.21752004e-04 9.99963520e-01 -3.83359612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.435769231000002 meters Centerline goodness [0,1] 0.9991473215237364 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.21, Z:-0.39 [[ 9.98126649e-01 6.06488000e-02 8.05697297e-03 1.28595788e+01] [-6.06483799e-02 9.98159149e-01 -2.96688282e-04 -2.14632912e-01] [-8.06013507e-03 -1.92509876e-04 9.99967498e-01 -3.85241264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465769231000003 meters Centerline goodness [0,1] 0.9997458273320342 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.22, Z:-0.39 [[ 9.98490347e-01 5.44837720e-02 6.96748488e-03 1.28895977e+01] [-5.44833069e-02 9.98514649e-01 -2.56687585e-04 -2.22844309e-01] [-6.97112102e-03 -1.23311541e-04 9.99975694e-01 -3.88151228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.495769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.23, Z:-0.39 [[ 9.98715376e-01 5.01245316e-02 7.42487647e-03 1.29206573e+01] [-5.01238837e-02 9.98742971e-01 -2.73437424e-04 -2.29707754e-01] [-7.42924910e-03 -9.90774848e-05 9.99972398e-01 -3.87677228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.24, Z:-0.39 [[ 9.98928670e-01 4.55367839e-02 8.24095934e-03 1.29523782e+01] [-4.55358318e-02 9.98962660e-01 -3.03222373e-04 -2.38359444e-01] [-8.24621844e-03 -7.23614175e-05 9.99965997e-01 -3.86631137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.555769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.26, Z:-0.38 [[ 9.99328224e-01 3.53758341e-02 9.57342341e-03 1.29826520e+01] [-3.53740631e-02 9.99374079e-01 -3.54313880e-04 -2.57306770e-01] [-9.57996535e-03 1.54249762e-05 9.99954111e-01 -3.84334461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.27, Z:-0.39 [[ 9.99484514e-01 3.07447581e-02 9.24476642e-03 1.30129471e+01] [-3.07429004e-02 9.99527266e-01 -3.43023061e-04 -2.67373399e-01] [-9.25094227e-03 5.86353038e-05 9.99957207e-01 -3.85440459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.615769231 meters Centerline goodness [0,1] 0.9999154280398334 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.28, Z:-0.39 [[ 9.99686143e-01 2.38616598e-02 7.63133781e-03 1.30429088e+01] [-2.38601880e-02 9.99715265e-01 -2.83860265e-04 -2.81302634e-01] [-7.63593828e-03 1.01686018e-04 9.99970841e-01 -3.88225967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645769231000003 meters Centerline goodness [0,1] 0.9998516886308741 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.28, Z:-0.39 [[ 9.99732906e-01 2.18626928e-02 7.49260559e-03 1.30747664e+01] [-2.18612210e-02 9.99760976e-01 -2.78283527e-04 -2.84968421e-01] [-7.49689871e-03 1.14411692e-04 9.99971891e-01 -3.88863366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.675769231000004 meters Centerline goodness [0,1] 0.9998317064961293 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.29, Z:-0.39 [[ 9.99754322e-01 2.07084554e-02 7.90290396e-03 1.31068150e+01] [-2.07067710e-02 9.99785548e-01 -2.94905258e-04 -2.89674865e-01] [-7.90731620e-03 1.31189183e-04 9.99968728e-01 -3.88323137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705769231 meters Centerline goodness [0,1] 0.9998712612110029 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.30, Z:-0.38 [[ 9.99758365e-01 1.94958216e-02 1.01550157e-02 1.31389906e+01] [-1.94929558e-02 9.99809922e-01 -3.81114474e-04 -2.95246420e-01] [-1.01605156e-02 1.83071111e-04 9.99948364e-01 -3.84439477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.735769231000003 meters Centerline goodness [0,1] 0.99987221263817 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.30, Z:-0.38 [[ 9.99746793e-01 1.97527783e-02 1.07785333e-02 1.31712169e+01] [-1.97495444e-02 9.99804876e-01 -4.06399658e-04 -2.99706811e-01] [-1.07844577e-02 1.93425633e-04 9.99941827e-01 -3.83739920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765769231000004 meters Centerline goodness [0,1] 0.9998502000898799 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.30, Z:-0.38 [[ 9.99722561e-01 2.04568737e-02 1.16754922e-02 1.32039785e+01] [-2.04531012e-02 9.99790716e-01 -4.42440858e-04 -2.98422177e-01] [-1.16820997e-02 2.03518084e-04 9.99931741e-01 -3.82263783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.30, Z:-0.38 [[ 9.99642701e-01 2.37711980e-02 1.22229419e-02 1.32347916e+01] [-2.37672972e-02 9.99717410e-01 -4.64318352e-04 -2.98695828e-01] [-1.22305252e-02 1.73646159e-04 9.99925189e-01 -3.81905058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.30, Z:-0.38 [[ 9.99607559e-01 2.53977490e-02 1.18187145e-02 1.32675416e+01] [-2.53941953e-02 9.99677414e-01 -4.50674686e-04 -2.96392251e-01] [-1.18263481e-02 1.50371078e-04 9.99930055e-01 -3.82776832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.855769231000004 meters Centerline goodness [0,1] 0.9999148918062086 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.30, Z:-0.38 [[ 9.99542888e-01 2.81452215e-02 1.10390996e-02 1.32988702e+01] [-2.81422827e-02 9.99603839e-01 -4.21495831e-04 -2.95005907e-01] [-1.10465894e-02 1.10637700e-04 9.99938978e-01 -3.84121833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885769231000005 meters Centerline goodness [0,1] 0.999978660748581 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.29, Z:-0.39 [[ 9.99493609e-01 3.01274724e-02 1.02401927e-02 1.33315248e+01] [-3.01250329e-02 9.99546061e-01 -3.92425658e-04 -2.93429657e-01] [-1.02473671e-02 8.37407947e-05 9.99947491e-01 -3.85985469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.915769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.29, Z:-0.39 [[ 9.99445259e-01 3.18765943e-02 9.64663400e-03 1.33641906e+01] [-3.18744965e-02 9.99491810e-01 -3.71160809e-04 -2.92921407e-01] [-9.65356303e-03 6.34733084e-05 9.99953401e-01 -3.87199173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.29, Z:-0.39 [[ 9.99386814e-01 3.37535641e-02 9.31093929e-03 1.33957662e+01] [-3.37516773e-02 9.99430185e-01 -3.59747240e-04 -2.92807968e-01] [-9.31777653e-03 4.52668295e-05 9.99956588e-01 -3.89149668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.975769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.29, Z:-0.39 [[ 9.99288691e-01 3.66461959e-02 8.89765092e-03 1.34277465e+01] [-3.66445762e-02 9.99328302e-01 -3.45053430e-04 -2.89920253e-01] [-8.90431929e-03 1.87573425e-05 9.99960356e-01 -3.90446863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.29, Z:-0.39 [[ 9.99257309e-01 3.73928411e-02 9.30620322e-03 1.34603090e+01] [-3.73910880e-02 9.99300643e-01 -3.62350138e-04 -2.90457216e-01] [-9.31324416e-03 1.41119603e-05 9.99956631e-01 -3.89473766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.035769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.29, Z:-0.39 [[ 9.99283116e-01 3.63835418e-02 1.04638417e-02 1.34929730e+01] [-3.63812468e-02 9.99337899e-01 -4.09654070e-04 -2.94658580e-01] [-1.04718183e-02 2.86727873e-05 9.99945169e-01 -3.88281674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.30, Z:-0.39 [[ 9.99350180e-01 3.46087538e-02 1.00723176e-02 1.35251132e+01] [-3.46065185e-02 9.99400937e-01 -3.96178963e-04 -3.00090521e-01] [-1.00799949e-02 4.73536720e-05 9.99949194e-01 -3.89632897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.095769231000002 meters Centerline goodness [0,1] 0.9999784603454961 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.31, Z:-0.39 [[ 9.99511822e-01 3.01178200e-02 8.30866143e-03 1.35569925e+01] [-3.01161353e-02 9.99546353e-01 -3.27835406e-04 -3.12556164e-01] [-8.31476592e-03 7.74505920e-05 9.99965429e-01 -3.92981001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.32, Z:-0.40 [[ 9.99554709e-01 2.88330109e-02 7.68381183e-03 1.35876392e+01] [-2.88315232e-02 9.99584239e-01 -3.04335942e-04 -3.18639161e-01] [-7.68939212e-03 8.26644253e-05 9.99970433e-01 -3.95050394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.155769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.32, Z:-0.40 [[ 9.99583402e-01 2.78790887e-02 7.46846899e-03 1.36197034e+01] [-2.78776489e-02 9.99611299e-01 -2.96830276e-04 -3.22288499e-01] [-7.47384135e-03 8.85032606e-05 9.99972067e-01 -3.96518138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185769231000002 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.33, Z:-0.40 [[ 9.99608322e-01 2.69871778e-02 7.40913321e-03 1.36509743e+01] [-2.69857273e-02 9.99635775e-01 -2.95704255e-04 -3.27026199e-01] [-7.41441484e-03 9.56475865e-05 9.99972508e-01 -3.96444153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.215769231000003 meters Centerline goodness [0,1] 0.9999788435906658 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.33, Z:-0.39 [[ 9.99600014e-01 2.71589674e-02 7.88690147e-03 1.36835743e+01] [-2.71573198e-02 9.99631122e-01 -3.15940179e-04 -3.29285029e-01] [-7.89257278e-03 1.01626701e-04 9.99968848e-01 -3.94897781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.33, Z:-0.40 [[ 9.99542146e-01 2.93152906e-02 7.49078967e-03 1.37157043e+01] [-2.93138549e-02 9.99570211e-01 -3.01409111e-04 -3.27554161e-01] [-7.49640611e-03 8.16871880e-05 9.99971898e-01 -3.95344277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.32, Z:-0.40 [[ 9.99326931e-01 3.61074766e-02 6.47566869e-03 1.37482919e+01] [-3.61065411e-02 9.99347912e-01 -2.61343102e-04 -3.17739832e-01] [-6.48088243e-03 2.73532021e-05 9.99978998e-01 -3.98649091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.31, Z:-0.40 [[ 9.99241942e-01 3.83484437e-02 6.70355970e-03 1.37811064e+01] [-3.83474808e-02 9.99264428e-01 -2.72163126e-04 -3.14547836e-01] [-6.70906578e-03 1.48921840e-05 9.99977494e-01 -3.99556448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.335769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.31, Z:-0.40 [[ 9.99198348e-01 3.93309217e-02 7.46595843e-03 1.38144514e+01] [-3.93297549e-02 9.99226240e-01 -3.03087682e-04 -3.14002434e-01] [-7.47210229e-03 9.21039608e-06 9.99972083e-01 -3.99443559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365769231 meters Centerline goodness [0,1] 0.9999570944351482 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.32, Z:-0.40 [[ 9.99205803e-01 3.92513047e-02 6.86285402e-03 1.38478669e+01] [-3.92503096e-02 9.99229371e-01 -2.79670393e-04 -3.15456403e-01] [-6.86854273e-03 1.00791346e-05 9.99976411e-01 -3.96216669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.395769231000003 meters Centerline goodness [0,1] 0.9999787270251872 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.32, Z:-0.40 [[ 9.99232669e-01 3.86582584e-02 6.29382806e-03 1.38797390e+01] [-3.86574033e-02 9.99252490e-01 -2.57498650e-04 -3.18086031e-01] [-6.29907781e-03 1.39980137e-05 9.99980161e-01 -4.01260564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.32, Z:-0.40 [[ 9.99266891e-01 3.78958466e-02 5.43915484e-03 1.39111622e+01] [-3.78951924e-02 9.99281694e-01 -2.23325575e-04 -3.19929772e-01] [-5.44371097e-03 1.70440345e-05 9.99985183e-01 -4.03612436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.32, Z:-0.40 [[ 9.99278272e-01 3.75440323e-02 5.77756468e-03 1.39432580e+01] [-3.75432833e-02 9.99294974e-01 -2.38090238e-04 -3.22227659e-01] [-5.78243022e-03 2.10096539e-05 9.99983281e-01 -4.03318206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485769231000003 meters Centerline goodness [0,1] 0.9999788131104472 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.33, Z:-0.40 [[ 9.99340058e-01 3.52183589e-02 8.89468330e-03 1.39749192e+01] [-3.52164709e-02 9.99379640e-01 -3.68850952e-04 -3.28945360e-01] [-8.90215571e-03 5.53681768e-05 9.99960373e-01 -3.98200433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.515769231000004 meters Centerline goodness [0,1] 0.9999787681267118 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.33, Z:-0.40 [[ 9.99388332e-01 3.32935482e-02 1.07005182e-02 1.40068064e+01] [-3.32906822e-02 9.99445612e-01 -4.45893687e-04 -3.34291507e-01] [-1.07094313e-02 8.93933975e-05 9.99942648e-01 -3.95092995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545769231000005 meters Centerline goodness [0,1] 0.9999576244252812 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.34, Z:-0.39 [[ 9.99439113e-01 3.13920470e-02 1.16618603e-02 1.40390069e+01] [-3.13884910e-02 9.99507141e-01 -4.87871035e-04 -3.40842377e-01] [-1.16714279e-02 1.21549197e-04 9.99931879e-01 -3.94144527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.575769231000002 meters Centerline goodness [0,1] 0.9999351519605724 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.35, Z:-0.40 [[ 9.99613988e-01 2.58941449e-02 1.00681566e-02 1.40705728e+01] [-2.58912012e-02 9.99664677e-01 -4.22639471e-04 -3.53467117e-01] [-1.00757244e-02 1.61799658e-04 9.99949226e-01 -3.98579243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605769231000004 meters Centerline goodness [0,1] 0.9998089293675562 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.37, Z:-0.40 [[ 9.99696178e-01 2.29313001e-02 9.03917062e-03 1.41014206e+01] [-2.29288054e-02 9.99737028e-01 -3.79534336e-04 -3.68820085e-01] [-9.04549679e-03 1.72161641e-04 9.99959074e-01 -4.01987979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.635769231000005 meters Centerline goodness [0,1] 0.9995328194347115 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.39, Z:-0.40 [[ 9.99811963e-01 1.77180086e-02 7.88100997e-03 1.41302778e+01] [-1.77159382e-02 9.99843005e-01 -3.32453996e-04 -3.88254011e-01] [-7.88566311e-03 1.92771997e-04 9.99968889e-01 -4.04069473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665769231000002 meters Centerline goodness [0,1] 0.9995530678698363 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.40, Z:-0.40 [[ 9.99849798e-01 1.56892078e-02 7.36414728e-03 1.41622612e+01] [-1.56873464e-02 9.99876898e-01 -3.10461953e-04 -3.95285155e-01] [-7.36811164e-03 1.94891391e-04 9.99972836e-01 -4.04580831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.695769231000003 meters Centerline goodness [0,1] 0.999679206142133 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.41, Z:-0.41 [[ 9.99871478e-01 1.44717827e-02 6.89891551e-03 1.41927534e+01] [-1.44701215e-02 9.99895260e-01 -2.90651211e-04 -4.06338958e-01] [-6.90239916e-03 1.90785711e-04 9.99976160e-01 -4.06447236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725769231000005 meters Centerline goodness [0,1] 0.9996587467474299 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.41, Z:-0.41 [[ 9.99881136e-01 1.38765495e-02 6.71976259e-03 1.42244637e+01] [-1.38749547e-02 9.99903698e-01 -2.83898220e-04 -4.11521114e-01] [-6.72305499e-03 1.90628073e-04 9.99977382e-01 -4.06189588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.755769231000002 meters Centerline goodness [0,1] 0.9993816103718868 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.42, Z:-0.41 [[ 9.99859974e-01 1.50197626e-02 7.37822242e-03 1.42555019e+01] [-1.50178607e-02 9.99887177e-01 -3.13108167e-04 -4.21247889e-01] [-7.38209279e-03 2.02259207e-04 9.99972732e-01 -4.06781626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785769231000003 meters Centerline goodness [0,1] 0.9995093647339903 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.42, Z:-0.41 [[ 9.99792612e-01 1.88574925e-02 7.68942500e-03 1.42858444e+01] [-1.88555250e-02 9.99822165e-01 -3.28286765e-04 -4.23412881e-01] [-7.69424821e-03 1.83230538e-04 9.99970382e-01 -4.06593171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.815769231000004 meters Centerline goodness [0,1] 0.999785061794734 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.42, Z:-0.41 [[ 9.99745070e-01 2.12331417e-02 7.67776359e-03 1.43187345e+01] [-2.12312530e-02 9.99774538e-01 -3.27422702e-04 -4.20747120e-01] [-7.68298476e-03 1.64330691e-04 9.99970472e-01 -4.06067190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845769231000002 meters Centerline goodness [0,1] 0.99989417989418 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.43, Z:-0.41 [[ 9.99690312e-01 2.36911776e-02 7.61633747e-03 1.43493861e+01] [-2.36893852e-02 9.99719314e-01 -3.25479710e-04 -4.27491513e-01] [-7.62191066e-03 1.44952561e-04 9.99970942e-01 -4.07594931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.875769231000003 meters Centerline goodness [0,1] 0.9999573660761868 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.43, Z:-0.41 [[ 9.99619177e-01 2.66890735e-02 7.01390142e-03 1.43805005e+01] [-2.66876247e-02 9.99643777e-01 -3.00082477e-04 -4.31861908e-01] [-7.01941182e-03 1.12783830e-04 9.99975357e-01 -4.08801886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905769231000004 meters Centerline goodness [0,1] 0.9999787717324389 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.43, Z:-0.41 [[ 9.99582853e-01 2.79921111e-02 7.11067519e-03 1.44128963e+01] [-2.79906480e-02 9.99608138e-01 -3.05204988e-04 -4.34290367e-01] [-7.11643212e-03 1.06045267e-04 9.99974672e-01 -4.09001329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.935769231000002 meters Centerline goodness [0,1] 0.9999786593824025 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.44, Z:-0.40 [[ 9.99498803e-01 3.01692585e-02 9.58952228e-03 1.44449791e+01] [-3.01666779e-02 9.99544797e-01 -4.13668291e-04 -4.36448514e-01] [-9.59763716e-03 1.24176931e-04 9.99953934e-01 -4.04015925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965769231000003 meters Centerline goodness [0,1] 0.9999361226445225 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.44, Z:-0.40 [[ 9.99441665e-01 3.17220388e-02 1.04914199e-02 1.44758441e+01] [-3.17190156e-02 9.99496722e-01 -4.54468980e-04 -4.39329418e-01] [-1.05005565e-02 1.21437723e-04 9.99944860e-01 -4.02106905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.995769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.44, Z:-0.40 [[ 9.99378431e-01 3.35440823e-02 1.08418942e-02 1.45079116e+01] [-3.35409507e-02 9.99437233e-01 -4.70591416e-04 -4.38676069e-01] [-1.08515783e-02 1.06651471e-04 9.99941114e-01 -4.01379038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.44, Z:-0.40 [[ 9.99372117e-01 3.37316734e-02 1.08418176e-02 1.45403678e+01] [-3.37285338e-02 9.99430920e-01 -4.72348522e-04 -4.40291073e-01] [-1.08515809e-02 1.06373330e-04 9.99941114e-01 -4.01759496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.055769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.44, Z:-0.40 [[ 9.99303221e-01 3.56665498e-02 1.09986231e-02 1.45716926e+01] [-3.56634125e-02 9.99363742e-01 -4.81305285e-04 -4.42872640e-01] [-1.10087916e-02 8.87214890e-05 9.99939397e-01 -4.01639150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.45, Z:-0.40 [[ 9.99209283e-01 3.82474127e-02 1.08602515e-02 1.46027370e+01] [-3.82444886e-02 9.99268298e-01 -4.76878018e-04 -4.47248874e-01] [-1.08705444e-02 6.11561765e-05 9.99940912e-01 -4.02349750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.45, Z:-0.40 [[ 9.99156427e-01 3.97367143e-02 1.03647031e-02 1.46355124e+01] [-3.97341144e-02 9.99210184e-01 -4.56725424e-04 -4.45585188e-01] [-1.03746657e-02 4.45078423e-05 9.99946181e-01 -4.03198138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.44, Z:-0.41 [[ 9.98935269e-01 4.53509760e-02 8.46266219e-03 1.46676997e+01] [-4.53494443e-02 9.98971115e-01 -3.72904738e-04 -4.38098519e-01] [-8.47086668e-03 -1.12693320e-05 9.99964122e-01 -4.07576050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.175769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.43, Z:-0.41 [[ 9.98771046e-01 4.89924779e-02 7.49225708e-03 1.46999000e+01] [-4.89913715e-02 9.98799147e-01 -3.31245354e-04 -4.34416090e-01] [-7.49948851e-03 -3.62176817e-05 9.99971878e-01 -4.07966987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.42, Z:-0.41 [[ 9.98380372e-01 5.63631069e-02 7.73521490e-03 1.47317251e+01] [-5.63621358e-02 9.98410332e-01 -3.43649830e-04 -4.18290878e-01] [-7.74228765e-03 -9.28799880e-05 9.99970024e-01 -4.09026640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.235769231000003 meters Centerline goodness [0,1] 0.9999573860609805 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.42, Z:-0.41 [[ 9.98176473e-01 5.96428631e-02 9.29823720e-03 1.47642400e+01] [-5.96415948e-02 9.98219770e-01 -4.13872033e-04 -4.16411699e-01] [-9.30636871e-03 -1.41444369e-04 9.99956685e-01 -4.05673192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265769231000004 meters Centerline goodness [0,1] 0.9997864069375026 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.41, Z:-0.40 [[ 9.98009507e-01 6.21384054e-02 1.07630160e-02 1.47965465e+01] [-6.21368288e-02 9.98067524e-01 -4.81144670e-04 -4.12129478e-01] [-1.07721143e-02 -1.88592730e-04 9.99941961e-01 -4.03782224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.295769231000005 meters Centerline goodness [0,1] 0.9995735062054847 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.41, Z:-0.41 [[ 9.97881043e-01 6.42651344e-02 1.01694014e-02 1.48283435e+01] [-6.42638212e-02 9.97932840e-01 -4.56192696e-04 -4.06555164e-01] [-1.01776969e-02 -1.98298551e-04 9.99948186e-01 -4.05935113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325769231000002 meters Centerline goodness [0,1] 0.9997223883146835 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.41, Z:-0.41 [[ 9.97909267e-01 6.41100967e-02 8.18477278e-03 1.48609318e+01] [-6.41092344e-02 9.97942819e-01 -3.67944252e-04 -4.05375785e-01] [-8.19152417e-03 -1.57544538e-04 9.99966436e-01 -4.10053025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.355769231000004 meters Centerline goodness [0,1] 0.9999363746262009 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.40, Z:-0.41 [[ 9.97994458e-01 6.29223291e-02 6.91677021e-03 1.48922382e+01] [-6.29216770e-02 9.98018419e-01 -3.12056383e-04 -4.01873670e-01] [-6.92269938e-03 -1.23784240e-04 9.99976030e-01 -4.14131787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385769231000005 meters Centerline goodness [0,1] 0.9998497467158926 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.40, Z:-0.41 [[ 9.98035305e-01 6.22519070e-02 7.08725544e-03 1.49248683e+01] [-6.22511980e-02 9.98060462e-01 -3.20799507e-04 -4.02121797e-01] [-7.09347982e-03 -1.21020908e-04 9.99974834e-01 -4.14193865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.415769231000002 meters Centerline goodness [0,1] 0.9999363935121383 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.40, Z:-0.41 [[ 9.98083895e-01 6.14448975e-02 7.28446226e-03 1.49559783e+01] [-6.14441177e-02 9.98110470e-01 -3.31012836e-04 -4.02504810e-01] [-7.29103710e-03 -1.17208776e-04 9.99973413e-01 -4.13752518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445769231000003 meters Centerline goodness [0,1] 0.9999365106238889 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.40, Z:-0.41 [[ 9.98172294e-01 5.98803450e-02 8.14962661e-03 1.49868535e+01] [-5.98793034e-02 9.98205555e-01 -3.71970008e-04 -4.01957704e-01] [-8.15727625e-03 -1.16703808e-04 9.99966722e-01 -4.12137903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.475769231000005 meters Centerline goodness [0,1] 0.9999363665287941 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.40, Z:-0.41 [[ 9.98197355e-01 5.93468937e-02 8.94356837e-03 1.50186128e+01] [-5.93456113e-02 9.98237412e-01 -4.08946921e-04 -4.01895166e-01] [-8.95207427e-03 -1.22551797e-04 9.99959922e-01 -4.10919783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505769231000002 meters Centerline goodness [0,1] 0.9998505486997736 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.40, Z:-0.41 [[ 9.98225212e-01 5.85760311e-02 1.07366218e-02 1.50497841e+01] [-5.85741158e-02 9.98282941e-01 -4.93025998e-04 -4.01731148e-01] [-1.07470659e-02 -1.36737148e-04 9.99942239e-01 -4.08390153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.535769231000003 meters Centerline goodness [0,1] 0.999978926516764 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.40, Z:-0.41 [[ 9.98244372e-01 5.81221735e-02 1.14011476e-02 1.50817295e+01] [-5.81199639e-02 9.98309468e-01 -5.25320128e-04 -4.04504429e-01] [-1.14124063e-02 -1.38236424e-04 9.99934867e-01 -4.07643150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565769231000004 meters Centerline goodness [0,1] 0.9998075278015398 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.41, Z:-0.41 [[ 9.98344932e-01 5.63554371e-02 1.14656347e-02 1.51139383e+01] [-5.63530651e-02 9.98410763e-01 -5.30105315e-04 -4.09707503e-01] [-1.14772874e-02 -1.16895704e-04 9.99934127e-01 -4.07620963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.595769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.42, Z:-0.41 [[ 9.98639667e-01 5.09509000e-02 1.10824650e-02 1.51447839e+01] [-5.09483321e-02 9.98701158e-01 -5.14087846e-04 -4.19936010e-01] [-1.10942638e-02 -5.12445899e-05 9.99938455e-01 -4.07987689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.43, Z:-0.41 [[ 9.98745661e-01 4.88996297e-02 1.07670783e-02 1.51763240e+01] [-4.88970703e-02 9.98803697e-01 -5.00978759e-04 -4.25670588e-01] [-1.07786953e-02 -2.61282247e-05 9.99941908e-01 -4.09471460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.655769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.44, Z:-0.41 [[ 9.98878795e-01 4.64546478e-02 9.11695402e-03 1.52090480e+01] [-4.64527010e-02 9.98920400e-01 -4.25293680e-04 -4.35551012e-01] [-9.12686822e-03 1.30969934e-06 9.99958349e-01 -4.13701207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685769231000002 meters Centerline goodness [0,1] 0.9999578459268627 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.44, Z:-0.41 [[ 9.98880130e-01 4.65483918e-02 8.46948301e-03 1.52421432e+01] [-4.65467035e-02 9.98916036e-01 -3.96448536e-04 -4.38608198e-01] [-8.47875643e-03 1.77805060e-06 9.99964055e-01 -4.14205155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.715769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.44, Z:-0.41 [[ 9.98843762e-01 4.72336194e-02 8.95124946e-03 1.52736963e+01] [-4.72317437e-02 9.98883870e-01 -4.20948902e-04 -4.38728606e-01] [-8.96114164e-03 -2.32093521e-06 9.99959848e-01 -4.14312783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745769231000004 meters Centerline goodness [0,1] 0.9999787405927123 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.43, Z:-0.41 [[ 9.98721996e-01 4.95085007e-02 1.01628559e-02 1.53067990e+01] [-4.95061882e-02 9.98773702e-01 -4.79145333e-04 -4.34256327e-01] [-1.01741150e-02 -2.45912731e-05 9.99948242e-01 -4.11998788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.43, Z:-0.41 [[ 9.98652941e-01 5.10028435e-02 9.54012954e-03 1.53385562e+01] [-5.10008576e-02 9.98698507e-01 -4.51494787e-04 -4.33044626e-01] [-9.55074065e-03 -3.56681916e-05 9.99954390e-01 -4.13283306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.43, Z:-0.42 [[ 9.98578396e-01 5.27010906e-02 7.98634345e-03 1.53711873e+01] [-5.26997442e-02 9.98610331e-01 -3.79088524e-04 -4.32706283e-01] [-7.99522346e-03 -4.23286464e-05 9.99968037e-01 -4.16294873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.835769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.43, Z:-0.42 [[ 9.98423724e-01 5.60154765e-02 3.51188296e-03 1.54023205e+01] [-5.60152380e-02 9.98429900e-01 -1.66302559e-04 -4.26822690e-01] [-3.51568447e-03 -3.06785400e-05 9.99993819e-01 -4.24648755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865769231 meters Centerline goodness [0,1] 0.9999576513435111 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.42, Z:-0.43 [[ 9.98337469e-01 5.75535199e-02 3.14487403e-03 1.54339109e+01] [-5.75533353e-02 9.98342422e-01 -1.49222617e-04 -4.23295280e-01] [-3.14824944e-03 -3.20234598e-05 9.99995044e-01 -4.27082524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.895769231000003 meters Centerline goodness [0,1] 0.9999788690727749 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.42, Z:-0.42 [[ 9.98266673e-01 5.84582419e-02 6.80314353e-03 1.54665558e+01] [-5.84573786e-02 9.98289852e-01 -3.25840513e-04 -4.23889976e-01] [-6.81055721e-03 -7.24182114e-05 9.99976805e-01 -4.20558186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925769231000004 meters Centerline goodness [0,1] 0.999915404788089 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.43, Z:-0.42 [[ 9.98280107e-01 5.80496188e-02 8.18962368e-03 1.54976940e+01] [-5.80483396e-02 9.98313696e-01 -3.94005765e-04 -4.25865179e-01] [-8.19868537e-03 -8.20659401e-05 9.99966387e-01 -4.18465561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.955769231 meters Centerline goodness [0,1] 0.9999786580160491 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.43, Z:-0.42 [[ 9.98350423e-01 5.67642855e-02 8.61678538e-03 1.55298141e+01] [-5.67628072e-02 9.98387605e-01 -4.16224390e-04 -4.28533563e-01] [-8.62651840e-03 -7.35751313e-05 9.99962788e-01 -4.17612338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.43, Z:-0.42 [[ 9.98468560e-01 5.48568845e-02 7.15933349e-03 1.55609814e+01] [-5.48558158e-02 9.98494226e-01 -3.45706538e-04 -4.31151490e-01] [-7.16751754e-03 -4.75539706e-05 9.99974312e-01 -4.20749029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.015769231000004 meters Centerline goodness [0,1] 0.999978840904763 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.43, Z:-0.42 [[ 9.98518333e-01 5.39993287e-02 6.72398372e-03 1.55941322e+01] [-5.39983617e-02 9.98540971e-01 -3.25408526e-04 -4.34901758e-01] [-6.73174507e-03 -3.81577258e-05 9.99977341e-01 -4.22128227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.44, Z:-0.42 [[ 9.98640040e-01 5.12550384e-02 9.53900146e-03 1.56260994e+01] [-5.12529413e-02 9.98685596e-01 -4.64333115e-04 -4.41739271e-01] [-9.55026277e-03 -2.52002413e-05 9.99954395e-01 -4.17160413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.075769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.45, Z:-0.41 [[ 9.98697218e-01 4.96990750e-02 1.15701664e-02 1.56589959e+01] [-4.96958594e-02 9.98764237e-01 -5.65440383e-04 -4.45545510e-01] [-1.15839702e-02 -1.02856232e-05 9.99932904e-01 -4.13254630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.45, Z:-0.41 [[ 9.98722420e-01 4.89737226e-02 1.24540288e-02 1.56914567e+01] [-4.89699092e-02 9.98800067e-01 -6.11138871e-04 -4.47205480e-01] [-1.24690145e-02 4.85433224e-07 9.99922259e-01 -4.11574658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.135769231000005 meters Centerline goodness [0,1] 0.9999784454886408 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.45, Z:-0.42 [[ 9.98782688e-01 4.82256075e-02 1.03649730e-02 1.57245987e+01] [-4.82229108e-02 9.98836468e-01 -5.10089625e-04 -4.48048756e-01] [-1.03775124e-02 9.63951960e-06 9.99946152e-01 -4.16199176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.45, Z:-0.42 [[ 9.98819722e-01 4.78064890e-02 8.58506221e-03 1.57565828e+01] [-4.78046125e-02 9.98856616e-01 -4.23767737e-04 -4.49840884e-01] [-8.59550503e-03 1.28620010e-05 9.99963058e-01 -4.19868345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.195769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.45, Z:-0.42 [[ 9.98852497e-01 4.72211598e-02 7.99064425e-03 1.57891095e+01] [-4.72195057e-02 9.98884459e-01 -3.95641166e-04 -4.50940932e-01] [-8.00041299e-03 1.78728953e-05 9.99967996e-01 -4.21185526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.45, Z:-0.42 [[ 9.98898814e-01 4.62899863e-02 7.64180948e-03 1.58210589e+01] [-4.62884337e-02 9.98928044e-01 -3.79999063e-04 -4.51039014e-01] [-7.65120795e-03 2.58532216e-05 9.99970729e-01 -4.21405259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.255769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.45, Z:-0.42 [[ 9.98890066e-01 4.64468537e-02 7.83102930e-03 1.58537402e+01] [-4.64452228e-02 9.98920762e-01 -3.90092786e-04 -4.51929885e-01] [-7.84069634e-03 2.59459090e-05 9.99969261e-01 -4.21058225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285769231000003 meters Centerline goodness [0,1] 0.9999575812848629 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.45, Z:-0.42 [[ 9.98899933e-01 4.61805494e-02 8.14125684e-03 1.58855760e+01] [-4.61787645e-02 9.98933109e-01 -4.07183996e-04 -4.53384893e-01] [-8.15137499e-03 3.07828848e-05 9.99966777e-01 -4.20806475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.315769231000004 meters Centerline goodness [0,1] 0.9999788989470575 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.46, Z:-0.42 [[ 9.98944349e-01 4.52604708e-02 7.85355600e-03 1.59177352e+01] [-4.52587713e-02 9.98975219e-01 -3.94082043e-04 -4.57467349e-01] [-7.86334416e-03 3.82237352e-05 9.99969083e-01 -4.22512140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.46, Z:-0.42 [[ 9.99001594e-01 4.39863232e-02 7.81139100e-03 1.59495768e+01] [-4.39845921e-02 9.99032132e-01 -3.93355834e-04 -4.60755216e-01] [-7.82113288e-03 4.93822584e-05 9.99969413e-01 -4.22511466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.375769231000003 meters Centerline goodness [0,1] 0.9999786365869812 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.46, Z:-0.42 [[ 9.99089253e-01 4.17724143e-02 8.70229990e-03 1.59815970e+01] [-4.17701681e-02 9.99127149e-01 -4.39783582e-04 -4.64907662e-01] [-8.71307491e-03 7.58865212e-05 9.99962038e-01 -4.20211838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405769231000004 meters Centerline goodness [0,1] 0.9999573797042152 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.47, Z:-0.42 [[ 9.99113457e-01 4.11311557e-02 8.97370179e-03 1.60129950e+01] [-4.11287276e-02 9.99153752e-01 -4.55028818e-04 -4.68614954e-01] [-8.98482368e-03 8.55484788e-05 9.99959632e-01 -4.20762867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.435769231000002 meters Centerline goodness [0,1] 0.9999787852430151 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.47, Z:-0.42 [[ 9.99171982e-01 3.99521316e-02 7.69264884e-03 1.60447533e+01] [-3.99503037e-02 9.99201591e-01 -3.91197067e-04 -4.72226584e-01] [-7.70213612e-03 8.35494913e-05 9.99970335e-01 -4.23286490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.48, Z:-0.43 [[ 9.99199443e-01 3.94093640e-02 6.88301285e-03 1.60759024e+01] [-3.94078809e-02 9.99223146e-01 -3.51019523e-04 -4.77769411e-01] [-6.89149921e-03 7.94935613e-05 9.99976250e-01 -4.25475212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.495769231000004 meters Centerline goodness [0,1] 0.999978808171569 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.48, Z:-0.43 [[ 9.99231583e-01 3.87093649e-02 6.15049255e-03 1.61079895e+01] [-3.87081632e-02 9.99250509e-01 -3.14345263e-04 -4.80675452e-01] [-6.15805091e-03 7.60294456e-05 9.99981036e-01 -4.26610985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525769231 meters Centerline goodness [0,1] 0.9999783956618489 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.48, Z:-0.43 [[ 9.99274612e-01 3.76810954e-02 5.51229676e-03 1.61400027e+01] [-3.76801106e-02 9.99289813e-01 -2.82436784e-04 -4.84495746e-01] [-5.51902452e-03 7.45279560e-05 9.99984767e-01 -4.28393570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.555769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.49, Z:-0.43 [[ 9.99323987e-01 3.64289896e-02 4.94957222e-03 1.61711516e+01] [-3.64281768e-02 9.99336241e-01 -2.54300759e-04 -4.89363684e-01] [-4.95555082e-03 7.38249565e-05 9.99987718e-01 -4.30007831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585769231000004 meters Centerline goodness [0,1] 0.9999787320019566 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.49, Z:-0.43 [[ 9.99336809e-01 3.60459976e-02 5.16026328e-03 1.62025737e+01] [-3.60451052e-02 9.99350129e-01 -2.65851076e-04 -4.93823905e-01] [-5.16649264e-03 7.96725333e-05 9.99986650e-01 -4.30193641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.615769231 meters Centerline goodness [0,1] 0.999957712231737 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.50, Z:-0.43 [[ 9.99284076e-01 3.70843599e-02 7.48909351e-03 1.62340728e+01] [-3.70824905e-02 9.99312132e-01 -3.88376642e-04 -4.96337066e-01] [-7.49834471e-03 1.10384355e-04 9.99971881e-01 -4.25813572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645769231000003 meters Centerline goodness [0,1] 0.9998936487003871 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.50, Z:-0.42 [[ 9.99235519e-01 3.82388978e-02 8.13415774e-03 1.62665359e+01] [-3.82367259e-02 9.99268620e-01 -4.22422083e-04 -4.96522028e-01] [-8.14436153e-03 1.11075589e-04 9.99966828e-01 -4.24307726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.675769231000004 meters Centerline goodness [0,1] 0.9999786096256684 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.50, Z:-0.43 [[ 9.99209163e-01 3.89406201e-02 8.04215341e-03 1.62985078e+01] [-3.89385094e-02 9.99241521e-01 -4.18922159e-04 -4.98492032e-01] [-8.05236669e-03 1.05441393e-04 9.99967574e-01 -4.25061638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705769231000005 meters Centerline goodness [0,1] 0.999978418974038 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.50, Z:-0.43 [[ 9.99237792e-01 3.83449563e-02 7.31434351e-03 1.63299074e+01] [-3.83431868e-02 9.99264557e-01 -3.82039959e-04 -5.04151846e-01] [-7.32361353e-03 1.01293526e-04 9.99973177e-01 -4.25592126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.735769231000003 meters Centerline goodness [0,1] 0.9999787396887491 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.51, Z:-0.43 [[ 9.99235614e-01 3.82860938e-02 7.89698998e-03 1.63613967e+01] [-3.82840192e-02 9.99266813e-01 -4.13763307e-04 -5.10317152e-01] [-7.90704139e-03 1.11118516e-04 9.99968733e-01 -4.26393134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765769231000004 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.51, Z:-0.42 [[ 9.99228814e-01 3.82789907e-02 8.74622820e-03 1.63947234e+01] [-3.82764301e-02 9.99267083e-01 -4.60029767e-04 -5.13494962e-01] [-8.75742742e-03 1.24900606e-04 9.99961645e-01 -4.24871892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.795769231000005 meters Centerline goodness [0,1] 0.9999786219723368 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.52, Z:-0.42 [[ 9.99235991e-01 3.77285093e-02 1.01977448e-02 1.64270461e+01] [-3.77249770e-02 9.99288015e-01 -5.38585994e-04 -5.20138999e-01] [-1.02108042e-02 1.53464823e-04 9.99947857e-01 -4.23370001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825769231000002 meters Centerline goodness [0,1] 0.9999572293150275 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.53, Z:-0.43 [[ 9.99354318e-01 3.46529420e-02 9.49316112e-03 1.64582545e+01] [-3.46497244e-02 9.99399391e-01 -5.03241232e-04 -5.34771298e-01] [-9.50489823e-03 1.73980881e-04 9.99954812e-01 -4.26412490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.855769231000004 meters Centerline goodness [0,1] 0.9998080245728547 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.55, Z:-0.43 [[ 9.99448830e-01 3.18769401e-02 9.26802487e-03 1.64883230e+01] [-3.18737511e-02 9.99491782e-01 -4.91632461e-04 -5.46392144e-01] [-9.27898643e-03 1.95954770e-04 9.99956930e-01 -4.27227896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885769231000005 meters Centerline goodness [0,1] 0.9995964658907485 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.56, Z:-0.43 [[ 9.99525921e-01 2.93197937e-02 9.39586536e-03 1.65199841e+01] [-2.93163954e-02 9.99570057e-01 -4.99242564e-04 -5.56893981e-01] [-9.40646336e-03 2.23552981e-04 9.99955733e-01 -4.27808614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.915769231000002 meters Centerline goodness [0,1] 0.9995964658907485 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.56, Z:-0.43 [[ 9.99520689e-01 2.94976420e-02 9.39585932e-03 1.65524300e+01] [-2.94942504e-02 9.99564825e-01 -4.99356728e-04 -5.58824448e-01] [-9.40650032e-03 2.21993553e-04 9.99955733e-01 -4.28188996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945769231000003 meters Centerline goodness [0,1] 0.9995723480231787 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.57, Z:-0.43 [[ 9.99622198e-01 2.62282338e-02 8.21833350e-03 1.65828851e+01] [-2.62255140e-02 9.99655956e-01 -4.38558284e-04 -5.71312366e-01] [-8.22700864e-03 2.22862576e-04 9.99966133e-01 -4.28978761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.975769231000005 meters Centerline goodness [0,1] 0.9996175583223559 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.58, Z:-0.43 [[ 9.99612032e-01 2.68403947e-02 7.44174490e-03 1.66132930e+01] [-2.68381855e-02 9.99639712e-01 -3.96596264e-04 -5.79330328e-01] [-7.44970853e-03 1.96719467e-04 9.99972231e-01 -4.30039146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005769231000002 meters Centerline goodness [0,1] 0.999703502901436 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.58, Z:-0.43 [[ 9.99507998e-01 3.04450600e-02 7.54052002e-03 1.66443028e+01] [-3.04428813e-02 9.99536427e-01 -4.03564522e-04 -5.84465454e-01] [-7.54931099e-03 1.73810812e-04 9.99971488e-01 -4.30031005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.035769231000003 meters Centerline goodness [0,1] 0.9998734897843001 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.59, Z:-0.43 [[ 9.99426714e-01 3.29966917e-02 7.58034875e-03 1.66752749e+01] [-3.29945659e-02 9.99455449e-01 -4.05352928e-04 -5.88828438e-01] [-7.58959617e-03 1.55010228e-04 9.99971187e-01 -4.31521067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065769231000004 meters Centerline goodness [0,1] 0.9998518393091479 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.59, Z:-0.43 [[ 9.99344519e-01 3.53688504e-02 7.71857459e-03 1.67078063e+01] [-3.53667083e-02 9.99374317e-01 -4.13889210e-04 -5.88276756e-01] [-7.72838399e-03 1.40637338e-04 9.99970126e-01 -4.32217784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.095769231000002 meters Centerline goodness [0,1] 0.9999785370879121 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.59, Z:-0.43 [[ 9.99267700e-01 3.76286532e-02 6.93883248e-03 1.67399055e+01] [-3.76269702e-02 9.99291785e-01 -3.72973443e-04 -5.94429464e-01] [-6.94795279e-03 1.11613071e-04 9.99975856e-01 -4.33546661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125769231000003 meters Centerline goodness [0,1] 0.9999572466866182 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.60, Z:-0.43 [[ 9.99272337e-01 3.75863167e-02 6.48583224e-03 1.67725219e+01] [-3.75848400e-02 9.99293379e-01 -3.49462707e-04 -6.01405723e-01] [-6.49438423e-03 1.05439449e-04 9.99978906e-01 -4.33814161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.155769231000004 meters Centerline goodness [0,1] 0.9998931509776685 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.61, Z:-0.43 [[ 9.99269283e-01 3.76846737e-02 6.38484179e-03 1.68041225e+01] [-3.76832365e-02 9.99289675e-01 -3.45284237e-04 -6.11466659e-01] [-6.39331841e-03 1.04430428e-04 9.99979557e-01 -4.34009824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185769231000002 meters Centerline goodness [0,1] 0.9999359207125617 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.61, Z:-0.43 [[ 9.99205890e-01 3.92089885e-02 7.08831732e-03 1.68365174e+01] [-3.92072445e-02 9.99231026e-01 -3.84896130e-04 -6.13508159e-01] [-7.09795798e-03 1.06677090e-04 9.99974803e-01 -4.33025146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.215769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.61, Z:-0.43 [[ 9.99123918e-01 4.11577614e-02 7.57863121e-03 1.68688645e+01] [-4.11558132e-02 9.99152655e-01 -4.12901907e-04 -6.14578346e-01] [-7.58920362e-03 1.00635440e-04 9.99971197e-01 -4.32429775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.61, Z:-0.44 [[ 9.98931583e-01 4.57546991e-02 6.49618407e-03 1.68996353e+01] [-4.57533571e-02 9.98952704e-01 -3.55123265e-04 -6.14776414e-01] [-6.50562920e-03 5.75216152e-05 9.99978837e-01 -4.35618115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.275769231 meters Centerline goodness [0,1] 0.9999786247141056 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.61, Z:-0.44 [[ 9.98792118e-01 4.88711694e-02 5.09063445e-03 1.69321475e+01] [-4.88703868e-02 9.98805090e-01 -2.78075258e-04 -6.13978206e-01] [-5.09814146e-03 2.89581011e-05 9.99987004e-01 -4.37877175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.61, Z:-0.44 [[ 9.98390425e-01 5.65385291e-02 4.46689102e-03 1.69635523e+01] [-5.65380007e-02 9.98400418e-01 -2.44602529e-04 -6.08391354e-01] [-4.47357533e-03 -8.34026441e-06 9.99989993e-01 -4.39553604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.335769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.61, Z:-0.44 [[ 9.98137154e-01 6.07910212e-02 5.16465332e-03 1.69956046e+01] [-6.07903664e-02 9.98150515e-01 -2.83832435e-04 -6.05229404e-01] [-5.17235584e-03 -3.06574688e-05 9.99986623e-01 -4.38234106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.60, Z:-0.44 [[ 9.97916166e-01 6.42528029e-02 5.90786281e-03 1.70282571e+01] [-6.42519995e-02 9.97933652e-01 -3.25877823e-04 -6.02752450e-01] [-5.91659367e-03 -5.43932499e-05 9.99982495e-01 -4.37305296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.395769231000003 meters Centerline goodness [0,1] 0.9999786948462833 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.60, Z:-0.44 [[ 9.97504803e-01 7.02188664e-02 7.31294573e-03 1.70603757e+01] [-7.02177810e-02 9.97531603e-01 -4.05376852e-04 -5.96936393e-01] [-7.32335958e-03 -1.09133465e-04 9.99973178e-01 -4.35030481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425769231000004 meters Centerline goodness [0,1] 0.9999152937190293 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.59, Z:-0.43 [[ 9.97290326e-01 7.30764687e-02 8.47555543e-03 1.70917734e+01] [-7.30751090e-02 9.97326329e-01 -4.70417276e-04 -5.94739326e-01] [-8.48727102e-03 -1.50209538e-04 9.99963971e-01 -4.33291241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.455769231000005 meters Centerline goodness [0,1] 0.9996616549303221 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.59, Z:-0.43 [[ 9.97053920e-01 7.60660062e-02 9.87128883e-03 1.71227852e+01] [-7.60642893e-02 9.97102764e-01 -5.49784442e-04 -5.90409273e-01] [-9.88450928e-03 -2.02687836e-04 9.99951127e-01 -4.30426873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485769231000003 meters Centerline goodness [0,1] 0.9994286802513807 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.58, Z:-0.43 [[ 9.96487354e-01 8.30228085e-02 1.09620522e-02 1.71541283e+01] [-8.30211004e-02 9.96547602e-01 -6.11573469e-04 -5.82528790e-01] [-1.09749814e-02 -3.00656412e-04 9.99939728e-01 -4.28576599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.515769231000004 meters Centerline goodness [0,1] 0.9988143380406936 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.57, Z:-0.43 [[ 9.96214840e-01 8.63347150e-02 1.01147982e-02 1.71849561e+01] [-8.63334312e-02 9.96266139e-01 -5.64314159e-04 -5.74189160e-01] [-1.01257509e-02 -3.11067095e-04 9.99948685e-01 -4.30996261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545769231000005 meters Centerline goodness [0,1] 0.9982696771470775 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.57, Z:-0.44 [[ 9.95764605e-01 9.15883973e-02 8.02601980e-03 1.72164532e+01] [-9.15877585e-02 9.95796908e-01 -4.47879827e-04 -5.65309967e-01] [-8.03330630e-03 -2.89102285e-04 9.99967691e-01 -4.35141052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.575769231000002 meters Centerline goodness [0,1] 0.9980207392108773 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.56, Z:-0.44 [[ 9.95563635e-01 9.37782059e-02 7.66138728e-03 1.72483874e+01] [-9.37776930e-02 9.95593070e-01 -4.26948131e-04 -5.60965628e-01] [-7.66766252e-03 -2.93413192e-04 9.99970560e-01 -4.36228083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605769231000004 meters Centerline goodness [0,1] 0.9977759243814289 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.56, Z:-0.44 [[ 9.95424531e-01 9.52802619e-02 7.18845776e-03 1.72803478e+01] [-9.52798424e-02 9.95450446e-01 -4.01573701e-04 -5.57185085e-01] [-7.19401553e-03 -2.85178809e-04 9.99974082e-01 -4.37320551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.635769231000005 meters Centerline goodness [0,1] 0.9973074621762544 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.56, Z:-0.44 [[ 9.95393526e-01 9.56498680e-02 6.54448189e-03 1.73115888e+01] [-9.56495208e-02 9.95415006e-01 -3.66750177e-04 -5.55476829e-01] [-6.54955509e-03 -2.60915805e-04 9.99978517e-01 -4.38650531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665769231000002 meters Centerline goodness [0,1] 0.998095523410083 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.56, Z:-0.44 [[ 9.95629850e-01 9.31878129e-02 6.10193443e-03 1.73434462e+01] [-9.31874602e-02 9.95648522e-01 -3.42720754e-04 -5.56653260e-01] [-6.10731940e-03 -2.27400759e-04 9.99981324e-01 -4.39693655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.695769231000003 meters Centerline goodness [0,1] 0.9982085350508648 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.56, Z:-0.44 [[ 9.95784351e-01 9.15006414e-02 6.41557610e-03 1.73745060e+01] [-9.15002146e-02 9.95804991e-01 -3.60638647e-04 -5.58323291e-01] [-6.42166137e-03 -2.27908269e-04 9.99979355e-01 -4.39527343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725769231000005 meters Centerline goodness [0,1] 0.9979661878733952 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.55, Z:-0.44 [[ 9.95786116e-01 9.13574697e-02 7.98901955e-03 1.74061197e+01] [-9.13568049e-02 9.95818122e-01 -4.48871754e-04 -5.53525721e-01] [-7.99661824e-03 -2.82871041e-04 9.99967987e-01 -4.35875335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.755769231000002 meters Centerline goodness [0,1] 0.997163180624947 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.55, Z:-0.43 [[ 9.95649943e-01 9.27284245e-02 9.09009853e-03 1.74384737e+01] [-9.27276065e-02 9.95691382e-01 -5.12307777e-04 -5.49565598e-01] [-9.09843826e-03 -3.32823871e-04 9.99958553e-01 -4.34881491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785769231000003 meters Centerline goodness [0,1] 0.9973629925781001 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.55, Z:-0.43 [[ 9.95545251e-01 9.38266695e-02 9.28487696e-03 1.74707730e+01] [-9.38258498e-02 9.95588487e-01 -5.24794858e-04 -5.47431828e-01] [-9.29315635e-03 -3.48704442e-04 9.99956757e-01 -4.34692735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.815769231000004 meters Centerline goodness [0,1] 0.9965235566361678 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.54, Z:-0.44 [[ 9.95492058e-01 9.45187326e-02 7.85950504e-03 1.75024206e+01] [-9.45181587e-02 9.95523038e-01 -4.45255457e-04 -5.38235450e-01] [-7.86640332e-03 -2.99617674e-04 9.99969014e-01 -4.38291294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845769231000002 meters Centerline goodness [0,1] 0.9958233135046197 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.54, Z:-0.44 [[ 9.95470630e-01 9.47623196e-02 7.63722580e-03 1.75343438e+01] [-9.47617772e-02 9.95499883e-01 -4.33672296e-04 -5.35428023e-01] [-7.64395318e-03 -2.92009055e-04 9.99970742e-01 -4.39424600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.875769231000003 meters Centerline goodness [0,1] 0.9955660719234295 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.53, Z:-0.44 [[ 9.95435724e-01 9.51258583e-02 7.66748324e-03 1.75666406e+01] [-9.51253120e-02 9.95465210e-01 -4.36735876e-04 -5.34327877e-01] [-7.67425769e-03 -2.94629243e-04 9.99970509e-01 -4.38528944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905769231000004 meters Centerline goodness [0,1] 0.9954833647872092 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.53, Z:-0.44 [[ 9.95465383e-01 9.48337087e-02 7.43225061e-03 1.75993116e+01] [-9.48331759e-02 9.95493088e-01 -4.24864064e-04 -5.34467599e-01] [-7.43904555e-03 -2.81886461e-04 9.99972290e-01 -4.39491823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.935769231000002 meters Centerline goodness [0,1] 0.9971260085581078 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.53, Z:-0.44 [[ 9.95398318e-01 9.56664782e-02 5.48750058e-03 1.76315931e+01] [-9.56662033e-02 9.95413421e-01 -3.13177330e-04 -5.29181281e-01] [-5.49229230e-03 -2.13232158e-04 9.99984895e-01 -4.43039118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965769231000003 meters Centerline goodness [0,1] 0.9943148069579975 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.52, Z:-0.44 [[ 9.95311847e-01 9.65490586e-02 5.71023669e-03 1.76627585e+01] [-9.65487646e-02 9.95328201e-01 -3.27774758e-04 -5.19476526e-01] [-5.71520596e-03 -2.25078199e-04 9.99983643e-01 -4.43966665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.995769231000004 meters Centerline goodness [0,1] 0.9927865235286629 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.52, Z:-0.44 [[ 9.95203419e-01 9.75590556e-02 7.23776926e-03 1.76926798e+01] [-9.75586088e-02 9.95229695e-01 -4.15611894e-04 -5.15668829e-01] [-7.24378960e-03 -2.92488322e-04 9.99973721e-01 -4.41447540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025769231 meters Centerline goodness [0,1] 0.9948119881661879 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.52, Z:-0.44 [[ 9.95114862e-01 9.83305876e-02 8.80380146e-03 1.77242859e+01] [-9.83299568e-02 9.95153739e-01 -5.05518629e-04 -5.18669935e-01] [-8.81084388e-03 -3.62628317e-04 9.99961118e-01 -4.37525948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.055769231000003 meters Centerline goodness [0,1] 0.9902820980371125 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.51, Z:-0.44 [[ 9.95101198e-01 9.84045828e-02 9.49442272e-03 1.77550179e+01] [-9.84038500e-02 9.95146414e-01 -5.45435243e-04 -5.10446139e-01] [-9.50201404e-03 -3.91524485e-04 9.99954778e-01 -4.35993314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085769231000004 meters Centerline goodness [0,1] 0.990244733647149 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.51, Z:-0.44 [[ 9.95129085e-01 9.81946226e-02 8.71319798e-03 1.77843450e+01] [-9.81939961e-02 9.95167166e-01 -5.00707955e-04 -5.08700149e-01] [-8.72025537e-03 -3.57314680e-04 9.99961914e-01 -4.38705061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.115769231000005 meters Centerline goodness [0,1] 0.9923625254582484 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.51, Z:-0.44 [[ 9.95277671e-01 9.67817538e-02 7.45988665e-03 1.78154629e+01] [-9.67812560e-02 9.95305584e-01 -4.28533073e-04 -5.07812789e-01] [-7.46634102e-03 -2.95467801e-04 9.99972083e-01 -4.42511029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145769231000003 meters Centerline goodness [0,1] 0.993170419378935 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.51, Z:-0.44 [[ 9.95376526e-01 9.57418550e-02 7.68560202e-03 1.78454411e+01] [-9.57412947e-02 9.95406153e-01 -4.41628753e-04 -5.08097297e-01] [-7.69257790e-03 -2.96242595e-04 9.99970368e-01 -4.43510662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.175769231000004 meters Centerline goodness [0,1] 0.9983262161756186 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.52, Z:-0.44 [[ 9.95461544e-01 9.48140646e-02 8.16128730e-03 1.78759911e+01] [-9.48134024e-02 9.95494952e-01 -4.68877502e-04 -5.22661853e-01] [-8.16897649e-03 -3.07049895e-04 9.99966586e-01 -4.40956174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205769231000005 meters Centerline goodness [0,1] 0.993449503943017 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.50, Z:-0.44 [[ 9.95475778e-01 9.45880093e-02 9.00466908e-03 1.79069900e+01] [-9.45871909e-02 9.95516447e-01 -5.17674392e-04 -5.04419863e-01] [-9.01326196e-03 -3.36394035e-04 9.99959323e-01 -4.39799359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.235769231000003 meters Centerline goodness [0,1] 0.99189520907398 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.50, Z:-0.44 [[ 9.95417765e-01 9.52230363e-02 8.72045659e-03 1.79371560e+01] [-9.52222939e-02 9.95455907e-01 -5.01230471e-04 -5.00916206e-01] [-8.72855871e-03 -3.31448165e-04 9.99961850e-01 -4.41165613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265769231000004 meters Centerline goodness [0,1] 0.991009711208176 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.50, Z:-0.44 [[ 9.95384762e-01 9.56119465e-02 8.21778681e-03 1.79671245e+01] [-9.56113009e-02 9.95418634e-01 -4.72294763e-04 -4.99295584e-01] [-8.22529514e-03 -3.15598278e-04 9.99966122e-01 -4.43130046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.295769231000005 meters Centerline goodness [0,1] 0.997188599879818 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.51, Z:-0.44 [[ 9.95385650e-01 9.55204420e-02 9.12430169e-03 1.79967844e+01] [-9.55196448e-02 9.95427407e-01 -5.24120836e-04 -5.09773620e-01] [-9.13264422e-03 -3.49847697e-04 9.99958235e-01 -4.41410665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325769231000002 meters Centerline goodness [0,1] 0.9951141795007966 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.50, Z:-0.44 [[ 9.95445820e-01 9.47934109e-02 1.00909974e-02 1.80268238e+01] [-9.47923983e-02 9.95496894e-01 -5.79668814e-04 -5.03390141e-01] [-1.01005053e-02 -3.79520942e-04 9.99948917e-01 -4.40204474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.355769231000004 meters Centerline goodness [0,1] 0.9965216277928342 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.50, Z:-0.44 [[ 9.95759532e-01 9.14381757e-02 1.01002077e-02 1.80565403e+01] [-9.14369902e-02 9.95810695e-01 -5.80059949e-04 -5.04756542e-01] [-1.01109345e-02 -3.45932371e-04 9.99948823e-01 -4.40391897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385769231000005 meters Centerline goodness [0,1] 0.9956361479472948 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.50, Z:-0.44 [[ 9.95921626e-01 8.97074254e-02 9.62770767e-03 1.80864548e+01] [-8.97062680e-02 9.95968112e-01 -5.52863842e-04 -5.00085063e-01] [-9.63848582e-03 -3.13056668e-04 9.99953500e-01 -4.41660787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.415769231000002 meters Centerline goodness [0,1] 0.9963860544217688 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.50, Z:-0.44 [[ 9.96089311e-01 8.78187542e-02 9.69281635e-03 1.81166374e+01] [-8.78174882e-02 9.96136426e-01 -5.56967968e-04 -5.02690180e-01] [-9.70427966e-03 -2.96408945e-04 9.99952868e-01 -4.42708353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445769231000003 meters Centerline goodness [0,1] 0.9987882910652409 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.51, Z:-0.44 [[ 9.96390819e-01 8.43337939e-02 9.65128901e-03 1.81473476e+01] [-8.43323767e-02 9.96437526e-01 -5.54439271e-04 -5.09310220e-01] [-9.66366450e-03 -2.61477941e-04 9.99953272e-01 -4.43943391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.475769231000005 meters Centerline goodness [0,1] 0.999448533310709 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.51, Z:-0.45 [[ 9.96532660e-01 8.26705414e-02 9.39352353e-03 1.81778822e+01] [-8.26691239e-02 9.96576904e-01 -5.39755923e-04 -5.13228349e-01] [-9.40599051e-03 -2.38669954e-04 9.99955734e-01 -4.45390293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505769231000002 meters Centerline goodness [0,1] 0.999343929229011 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.51, Z:-0.45 [[ 9.96713888e-01 8.05533637e-02 8.51947045e-03 1.82080270e+01] [-8.05521204e-02 9.96750278e-01 -4.89532455e-04 -5.12476165e-01] [-8.53121802e-03 -1.98337613e-04 9.99963589e-01 -4.46532318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.535769231000003 meters Centerline goodness [0,1] 0.9996537171301807 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.52, Z:-0.45 [[ 9.96798571e-01 7.94571892e-02 8.89738692e-03 1.82385751e+01] [-7.94557898e-02 9.96838260e-01 -5.11214019e-04 -5.20392799e-01] [-8.90987533e-03 -1.97371501e-04 9.99960287e-01 -4.45022310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565769231000004 meters Centerline goodness [0,1] 0.9997655833777305 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.52, Z:-0.44 [[ 9.96848587e-01 7.88361697e-02 8.81772926e-03 1.82690034e+01] [-7.88347700e-02 9.96887568e-01 -5.06742683e-04 -5.19982570e-01] [-8.83023433e-03 -1.89997931e-04 9.99960995e-01 -4.44796236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.595769231000002 meters Centerline goodness [0,1] 0.9997000021428418 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.52, Z:-0.44 [[ 9.96939394e-01 7.75740514e-02 9.70108268e-03 1.83002928e+01] [-7.75722964e-02 9.96986574e-01 -5.57616206e-04 -5.22730195e-01] [-9.71510573e-03 -1.96625699e-04 9.99952788e-01 -4.44319559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625769231000003 meters Centerline goodness [0,1] 0.9995736516734172 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.53, Z:-0.44 [[ 9.96981924e-01 7.68888712e-02 1.07305741e-02 1.83301665e+01] [-7.68866812e-02 9.97039647e-01 -6.17084263e-04 -5.25467143e-01] [-1.07462548e-02 -2.09816377e-04 9.99942235e-01 -4.42701729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.655769231000004 meters Centerline goodness [0,1] 0.999554669607261 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.52, Z:-0.44 [[ 9.97068321e-01 7.56373292e-02 1.15653549e-02 1.83608699e+01] [-7.56346993e-02 9.97135372e-01 -6.65236528e-04 -5.23936335e-01] [-1.15825412e-02 -2.11455875e-04 9.99932898e-01 -4.41664474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685769231000002 meters Centerline goodness [0,1] 0.9997883463500328 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.53, Z:-0.44 [[ 9.97203287e-01 7.38534842e-02 1.14571967e-02 1.83916978e+01] [-7.38507841e-02 9.97269085e-01 -6.59144704e-04 -5.30315451e-01] [-1.14745882e-02 -1.88821698e-04 9.99934147e-01 -4.41773380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.715769231000003 meters Centerline goodness [0,1] 0.9997669787738847 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.53, Z:-0.44 [[ 9.97180746e-01 7.42512010e-02 1.08313691e-02 1.84229385e+01] [-7.42488088e-02 9.97239553e-01 -6.23368522e-04 -5.32292560e-01] [-1.08477555e-02 -1.82605165e-04 9.99941145e-01 -4.43235810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745769231000004 meters Centerline goodness [0,1] 0.9998508003495534 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.53, Z:-0.45 [[ 9.96987713e-01 7.69378901e-02 9.80110279e-03 1.84539199e+01] [-7.69360596e-02 9.97035869e-01 -5.64228978e-04 -5.31169774e-01] [-9.81546163e-03 -1.91528870e-04 9.99951809e-01 -4.45124972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.775769231 meters Centerline goodness [0,1] 0.9999137615074488 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.53, Z:-0.44 [[ 9.96871301e-01 7.84003495e-02 1.00495690e-02 1.84852649e+01] [-7.83984941e-02 9.96921933e-01 -5.79036720e-04 -5.29369283e-01] [-1.00640324e-02 -2.10645986e-04 9.99949334e-01 -4.44888889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805769231000003 meters Centerline goodness [0,1] 0.9998306734961689 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.53, Z:-0.44 [[ 9.96784468e-01 7.94987085e-02 1.00338783e-02 1.85156135e+01] [-7.94969126e-02 9.96834944e-01 -5.78326521e-04 -5.27418657e-01] [-1.00480968e-02 -2.21195456e-04 9.99949492e-01 -4.44762970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.835769231000004 meters Centerline goodness [0,1] 0.9998306734961689 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.53, Z:-0.45 [[ 9.96784468e-01 7.94987154e-02 1.00338445e-02 1.85455689e+01] [-7.94969136e-02 9.96834944e-01 -5.78912750e-04 -5.29146696e-01] [-1.00481097e-02 -2.20608433e-04 9.99949492e-01 -4.45114051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865769231000005 meters Centerline goodness [0,1] 0.9997008291306949 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.53, Z:-0.44 [[ 9.96689735e-01 8.06134666e-02 1.05375610e-02 1.85757727e+01] [-8.06115417e-02 9.96745409e-01 -6.07975179e-04 -5.28979639e-01] [-1.05522765e-02 -2.43486417e-04 9.99944294e-01 -4.44706032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.895769231000003 meters Centerline goodness [0,1] 0.9996376039224046 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.53, Z:-0.45 [[ 9.96692734e-01 8.06094138e-02 1.02818859e-02 1.86060525e+01] [-8.06075810e-02 9.96745738e-01 -5.93223750e-04 -5.30608806e-01] [-1.02962454e-02 -2.37536153e-04 9.99946964e-01 -4.46255315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925769231000004 meters Centerline goodness [0,1] 0.9997235689376541 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.53, Z:-0.45 [[ 9.96706274e-01 8.04843108e-02 9.94377780e-03 1.86361096e+01] [-8.04825903e-02 9.96755849e-01 -5.73716260e-04 -5.32140123e-01] [-9.95769384e-03 -2.28474398e-04 9.99950395e-01 -4.48746211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.955769231000005 meters Centerline goodness [0,1] 0.9997016388551456 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.54, Z:-0.45 [[ 9.96816923e-01 7.92547852e-02 8.64301754e-03 1.86665621e+01] [-7.92534395e-02 9.96854374e-01 -4.98632557e-04 -5.35328414e-01] [-8.65534886e-03 -1.87943497e-04 9.99962524e-01 -4.52949022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985769231000003 meters Centerline goodness [0,1] 0.9997854583681963 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.54, Z:-0.45 [[ 9.96928141e-01 7.78011396e-02 9.01472362e-03 1.86969961e+01] [-7.77996149e-02 9.96968881e-01 -5.20217506e-04 -5.40130668e-01] [-9.02787244e-03 -1.82722556e-04 9.99959231e-01 -4.52526221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.015769231000004 meters Centerline goodness [0,1] 0.9997239680652285 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.55, Z:-0.45 [[ 9.97175992e-01 7.44303601e-02 1.00081189e-02 1.87267823e+01] [-7.44283113e-02 9.97226199e-01 -5.77524669e-04 -5.45943125e-01] [-1.00233438e-02 -1.68993656e-04 9.99949751e-01 -4.49767371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045769231000005 meters Centerline goodness [0,1] 0.9998930069331508 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.55, Z:-0.45 [[ 9.97260891e-01 7.33200226e-02 9.74112453e-03 1.87583561e+01] [-7.33180278e-02 9.97308453e-01 -5.62203490e-04 -5.49294059e-01] [-9.75612661e-03 -1.53536486e-04 9.99952396e-01 -4.50510157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.075769231000002 meters Centerline goodness [0,1] 0.9998521053854768 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.55, Z:-0.45 [[ 9.97326056e-01 7.24203209e-02 9.79971396e-03 1.87883971e+01] [-7.24182562e-02 9.97374191e-01 -5.65834997e-04 -5.50388102e-01] [-9.81495973e-03 -1.45356211e-04 9.99951822e-01 -4.50963163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105769231000004 meters Centerline goodness [0,1] 0.9999155351901514 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.55, Z:-0.44 [[ 9.97314003e-01 7.21010086e-02 1.28927540e-02 1.88200252e+01] [-7.20974056e-02 9.97397318e-01 -7.44630559e-04 -5.53303850e-01] [-1.29128869e-02 -1.86903634e-04 9.99916608e-01 -4.44956079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.135769231000005 meters Centerline goodness [0,1] 0.9999147030600277 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.55, Z:-0.44 [[ 9.97284080e-01 7.23270993e-02 1.39015994e-02 1.88515193e+01] [-7.23229235e-02 9.97380945e-01 -8.03529246e-04 -5.54859036e-01] [-1.39233073e-02 -2.04057388e-04 9.99903045e-01 -4.43679770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165769231000002 meters Centerline goodness [0,1] 0.9997878254227578 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.56, Z:-0.45 [[ 9.97307781e-01 7.21839965e-02 1.29096858e-02 1.88831554e+01] [-7.21803589e-02 9.97391315e-01 -7.48091215e-04 -5.56452805e-01] [-1.29300087e-02 -1.85748565e-04 9.99916387e-01 -4.46210073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.195769231000003 meters Centerline goodness [0,1] 0.9999787973878382 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.56, Z:-0.45 [[ 9.97428007e-01 7.09498826e-02 1.01727347e-02 1.89145263e+01] [-7.09475472e-02 9.97479873e-01 -5.90720264e-04 -5.57097204e-01] [-1.01890096e-02 -1.32529639e-04 9.99948082e-01 -4.53120625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225769231000005 meters Centerline goodness [0,1] 0.9999573669849932 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.56, Z:-0.45 [[ 9.97524044e-01 6.96149835e-02 9.97674666e-03 1.89456057e+01] [-6.96126543e-02 9.97573928e-01 -5.80965449e-04 -5.61730792e-01] [-9.99298625e-03 -1.14980812e-04 9.99950062e-01 -4.53446288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.255769231000002 meters Centerline goodness [0,1] 0.9999360409338024 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.57, Z:-0.45 [[ 9.97727485e-01 6.64884595e-02 1.09155704e-02 1.89759976e+01] [-6.64854817e-02 9.97787190e-01 -6.35852451e-04 -5.71352771e-01] [-1.09336932e-02 -9.13194929e-05 9.99940221e-01 -4.50305683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285769231000003 meters Centerline goodness [0,1] 0.9999787852430151 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.57, Z:-0.45 [[ 9.97787234e-01 6.55932439e-02 1.08702129e-02 1.90072865e+01] [-6.55902276e-02 9.97846441e-01 -6.34132271e-04 -5.74660322e-01] [-1.08883980e-02 -8.02506526e-05 9.99940716e-01 -4.50983310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.315769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.58, Z:-0.45 [[ 9.97822916e-01 6.51597574e-02 1.01800516e-02 1.90388908e+01] [-6.51570758e-02 9.97874842e-01 -5.95202011e-04 -5.77568754e-01] [-1.01972006e-02 -6.93961906e-05 9.99948005e-01 -4.52928835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.58, Z:-0.46 [[ 9.97867721e-01 6.46293153e-02 9.11389131e-03 1.90719580e+01] [-6.46271337e-02 9.97909339e-01 -5.33990154e-04 -5.82977056e-01] [-9.12934866e-03 -5.61531340e-05 9.99958325e-01 -4.55111796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.375769231000003 meters Centerline goodness [0,1] 0.9999571899481998 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.58, Z:-0.46 [[ 9.97871716e-01 6.45941655e-02 8.92372152e-03 1.91040150e+01] [-6.45920575e-02 9.97911615e-01 -5.24529536e-04 -5.84532568e-01] [-8.93896690e-03 -5.29883463e-05 9.99960045e-01 -4.56232566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405769231000004 meters Centerline goodness [0,1] 0.999978770831122 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.58, Z:-0.45 [[ 9.97797609e-01 6.56336076e-02 9.60002540e-03 1.91349877e+01] [-6.56311976e-02 9.97843788e-01 -5.66206691e-04 -5.84738173e-01] [-9.61648790e-03 -6.51014811e-05 9.99953758e-01 -4.54971066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.435769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.58, Z:-0.46 [[ 9.97693729e-01 6.71838682e-02 9.67217857e-03 1.91662637e+01] [-6.71814790e-02 9.97740608e-01 -5.72076134e-04 -5.83602946e-01] [-9.68875962e-03 -7.90344900e-05 9.99953060e-01 -4.55208812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.58, Z:-0.46 [[ 9.97596794e-01 6.85659087e-02 9.96759982e-03 1.91975384e+01] [-6.85634381e-02 9.97646584e-01 -5.89771372e-04 -5.83325966e-01] [-9.98458013e-03 -9.50588842e-05 9.99950148e-01 -4.55378390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.495769231000004 meters Centerline goodness [0,1] 0.9999788650533658 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.58, Z:-0.46 [[ 9.97451585e-01 7.06712798e-02 9.79313718e-03 1.92282854e+01] [-7.06689941e-02 9.97499653e-01 -5.79674308e-04 -5.81078134e-01] [-9.80961727e-03 -1.13874097e-04 9.99951878e-01 -4.55025246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525769231 meters Centerline goodness [0,1] 0.9998944702406078 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.58, Z:-0.45 [[ 9.97428274e-01 7.09898010e-02 9.86335703e-03 1.92595278e+01] [-7.09874971e-02 9.97477034e-01 -5.83917753e-04 -5.80856434e-01] [-9.87992433e-03 -1.17758953e-04 9.99951185e-01 -4.54675064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.555769231000003 meters Centerline goodness [0,1] 0.9999786953001832 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.58, Z:-0.45 [[ 9.97410159e-01 7.11314469e-02 1.06438471e-02 1.92906350e+01] [-7.11287695e-02 9.97466942e-01 -6.30366126e-04 -5.84111317e-01] [-1.06617245e-02 -1.28350168e-04 9.99943154e-01 -4.53286126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.58, Z:-0.45 [[ 9.97367550e-01 7.12172994e-02 1.36406510e-02 1.93217669e+01] [-7.12129047e-02 9.97460811e-01 -8.08246346e-04 -5.83705411e-01] [-1.36635760e-02 -1.65271703e-04 9.99906635e-01 -4.49723666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.615769231000005 meters Centerline goodness [0,1] 0.9998944991876437 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.58, Z:-0.45 [[ 9.97350657e-01 7.12728075e-02 1.45552069e-02 1.93538587e+01] [-7.12677978e-02 9.97456844e-01 -8.63245345e-04 -5.80843367e-01] [-1.45797167e-02 -1.76359234e-04 9.99893695e-01 -4.47639377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645769231000003 meters Centerline goodness [0,1] 0.9999785637727759 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.59, Z:-0.45 [[ 9.97325431e-01 7.16557760e-02 1.44025932e-02 1.93866254e+01] [-7.16508735e-02 9.97429405e-01 -8.56768580e-04 -5.87362627e-01] [-1.44269624e-02 -1.77481294e-04 9.99895910e-01 -4.49495297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.675769231000004 meters Centerline goodness [0,1] 0.9999787897427196 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.59, Z:-0.45 [[ 9.97405867e-01 7.10068438e-02 1.18137806e-02 1.94176312e+01] [-7.10034781e-02 9.97475819e-01 -7.04609433e-04 -5.89461808e-01] [-1.18339926e-02 -1.36037930e-04 9.99929967e-01 -4.54252096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705769231000005 meters Centerline goodness [0,1] 0.9999789305128313 Centerline is valid? [True, True] Translation: X:19.45, Y:-0.59, Z:-0.46 [[ 9.97419276e-01 7.09338695e-02 1.10984099e-02 1.94484844e+01] [-7.09308767e-02 9.97481013e-01 -6.63538498e-04 -5.90249603e-01] [-1.11175205e-02 -1.25393853e-04 9.99938191e-01 -4.55719960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.735769231000003 meters Centerline goodness [0,1] 0.9999786803112675 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.59, Z:-0.46 [[ 9.97367965e-01 7.17209535e-02 1.06417231e-02 1.94801712e+01] [-7.17182289e-02 9.97424728e-01 -6.37913440e-04 -5.88018629e-01] [-1.06600695e-02 -1.26971102e-04 9.99943172e-01 -4.55817808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765769231000004 meters Centerline goodness [0,1] 0.9999576217315761 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.59, Z:-0.46 [[ 9.97304330e-01 7.25857512e-02 1.07415590e-02 1.95115721e+01] [-7.25830228e-02 9.97362166e-01 -6.44143083e-04 -5.86195922e-01] [-1.07599801e-02 -1.37248134e-04 9.99942100e-01 -4.56204332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.795769231000005 meters Centerline goodness [0,1] 0.999978403593642 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.59, Z:-0.46 [[ 9.97226062e-01 7.36178096e-02 1.09817490e-02 1.95417439e+01] [-7.36150174e-02 9.97286516e-01 -6.58816016e-04 -5.87083688e-01] [-1.10004508e-02 -1.51433140e-04 9.99939482e-01 -4.56107235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825769231000002 meters Centerline goodness [0,1] 0.9999155173506241 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.58, Z:-0.45 [[ 9.97002583e-01 7.65026504e-02 1.15409321e-02 1.95722488e+01] [-7.64997598e-02 9.97069359e-01 -6.92364150e-04 -5.77600252e-01] [-1.15600775e-02 -1.92589690e-04 9.99933162e-01 -4.54678768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.855769231000004 meters Centerline goodness [0,1] 0.999978555958227 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.58, Z:-0.45 [[ 9.96904158e-01 7.76828067e-02 1.21442172e-02 1.96024665e+01] [-7.76796953e-02 9.96978101e-01 -7.28407929e-04 -5.78598065e-01] [-1.21641034e-02 -2.17206197e-04 9.99925991e-01 -4.53557108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885769231000005 meters Centerline goodness [0,1] 0.9998932057498024 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.58, Z:-0.45 [[ 9.96874878e-01 7.80678831e-02 1.20781969e-02 1.96322559e+01] [-7.80648337e-02 9.96948021e-01 -7.24443332e-04 -5.76348079e-01] [-1.20978903e-02 -2.20703075e-04 9.99926793e-01 -4.53934736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.915769231000002 meters Centerline goodness [0,1] 0.9999786794021704 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.58, Z:-0.46 [[ 9.97012245e-01 7.64684763e-02 1.09158749e-02 1.96617007e+01] [-7.64658910e-02 9.97071983e-01 -6.54612146e-04 -5.75726707e-01] [-1.09339703e-02 -1.82035779e-04 9.99940206e-01 -4.56905652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.58, Z:-0.46 [[ 9.97159733e-01 7.46018177e-02 1.03458455e-02 1.96920614e+01] [-7.45993962e-02 9.97213390e-01 -6.20298857e-04 -5.81169032e-01] [-1.03632911e-02 -1.53256783e-04 9.99946288e-01 -4.57888198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.975769231000005 meters Centerline goodness [0,1] 0.9999786993844122 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.58, Z:-0.46 [[ 9.97495313e-01 6.99057842e-02 1.07833616e-02 1.97219505e+01] [-6.99028793e-02 9.97553592e-01 -6.46519861e-04 -5.83990386e-01] [-1.08021766e-02 -1.08887495e-04 9.99941649e-01 -4.56732309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.59, Z:-0.45 [[ 9.97600920e-01 6.81995766e-02 1.18836941e-02 1.97529128e+01] [-6.81959256e-02 9.97671693e-01 -7.12651321e-04 -5.87977451e-01] [-1.19046277e-02 -9.94779028e-05 9.99929132e-01 -4.54840353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.035769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.59, Z:-0.45 [[ 9.97678399e-01 6.66604993e-02 1.39351737e-02 1.97833855e+01] [-6.66553240e-02 9.97775711e-01 -8.36018037e-04 -5.90561797e-01] [-1.39599072e-02 -9.47763782e-05 9.99902551e-01 -4.51571156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.59, Z:-0.45 [[ 9.97691939e-01 6.64997111e-02 1.37325758e-02 1.98146238e+01] [-6.64946676e-02 9.97786440e-01 -8.24041291e-04 -5.92371934e-01] [-1.37569764e-02 -9.10037069e-05 9.99905364e-01 -4.52930187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.095769231000002 meters Centerline goodness [0,1] 0.9999785876407863 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.59, Z:-0.46 [[ 9.97670940e-01 6.69364809e-02 1.31226388e-02 1.98464755e+01] [-6.69319067e-02 9.97757235e-01 -7.87935391e-04 -5.93636032e-01] [-1.31459494e-02 -9.22229927e-05 9.99913584e-01 -4.55205323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.59, Z:-0.46 [[ 9.97631764e-01 6.76486632e-02 1.24307027e-02 1.98778798e+01] [-6.76445906e-02 9.97709201e-01 -7.48264810e-04 -5.92789718e-01] [-1.24528456e-02 -9.43770545e-05 9.99922456e-01 -4.56951882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.155769231000004 meters Centerline goodness [0,1] 0.9999785935994863 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.59, Z:-0.46 [[ 9.97513450e-01 6.94268456e-02 1.21173582e-02 1.99086425e+01] [-6.94231035e-02 9.97587039e-01 -7.29688697e-04 -5.88567446e-01] [-1.21387794e-02 -1.13350320e-04 9.99926316e-01 -4.57873656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.59, Z:-0.46 [[ 9.97486723e-01 6.98233087e-02 1.20392223e-02 1.99386393e+01] [-6.98196418e-02 9.97559368e-01 -7.25125741e-04 -5.86717668e-01] [-1.20604696e-02 -1.17270888e-04 9.99927263e-01 -4.57714070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.215769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.59, Z:-0.46 [[ 9.97500853e-01 6.96358386e-02 1.19539864e-02 1.99690051e+01] [-6.96322100e-02 9.97572472e-01 -7.19991958e-04 -5.91299768e-01] [-1.19751050e-02 -1.14189896e-04 9.99928289e-01 -4.58318251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.60, Z:-0.46 [[ 9.97646322e-01 6.75315896e-02 1.18870348e-02 2.00006052e+01] [-6.75278521e-02 9.97717133e-01 -7.15966811e-04 -5.95923505e-01] [-1.19082487e-02 -8.84242749e-05 9.99929090e-01 -4.59529781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.275769231000005 meters Centerline goodness [0,1] 0.9999786993844122 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.60, Z:-0.46 [[ 9.97727160e-01 6.61571392e-02 1.27963380e-02 2.00308757e+01] [-6.61526892e-02 9.97809214e-01 -7.71180067e-04 -6.00802544e-01] [-1.28193230e-02 -7.70848715e-05 9.99917826e-01 -4.58276005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.61, Z:-0.46 [[ 9.97749791e-01 6.55420297e-02 1.41278881e-02 2.00619155e+01] [-6.55365384e-02 9.97849807e-01 -8.51803215e-04 -6.05213627e-01] [-1.41533393e-02 -7.60064002e-05 9.99899834e-01 -4.55430331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.335769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.61, Z:-0.46 [[ 9.97695681e-01 6.65188315e-02 1.33631601e-02 2.00935162e+01] [-6.65139829e-02 9.97785166e-01 -8.07434094e-04 -6.05038675e-01] [-1.33872725e-02 -8.32634963e-05 9.99910383e-01 -4.57245034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.60, Z:-0.46 [[ 9.97535208e-01 6.91007748e-02 1.21898388e-02 2.01240396e+01] [-6.90969298e-02 9.97609679e-01 -7.36800131e-04 -6.00187211e-01] [-1.22116147e-02 -1.07296366e-04 9.99925430e-01 -4.59014461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.395769231000003 meters Centerline goodness [0,1] 0.9999787496281185 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.60, Z:-0.46 [[ 9.97305061e-01 7.25166073e-02 1.11335861e-02 2.01548780e+01] [-7.25136112e-02 9.97367196e-01 -6.73082623e-04 -5.95445586e-01] [-1.11530832e-02 -1.36067824e-04 9.99937793e-01 -4.61126223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425769231000004 meters Centerline goodness [0,1] 0.9999784068579819 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.58, Z:-0.46 [[ 9.96888081e-01 7.81231414e-02 1.05322398e-02 2.01854750e+01] [-7.81207726e-02 9.96943699e-01 -6.36756497e-04 -5.84629634e-01] [-1.05497956e-02 -1.88011751e-04 9.99944332e-01 -4.61835883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.455769231000005 meters Centerline goodness [0,1] 0.9999573160320984 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.58, Z:-0.46 [[ 9.96753578e-01 7.96927577e-02 1.14616650e-02 2.02146624e+01] [-7.96900597e-02 9.96819449e-01 -6.92641324e-04 -5.77610877e-01] [-1.14804091e-02 -2.22988053e-04 9.99934073e-01 -4.60984182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485769231000003 meters Centerline goodness [0,1] 0.9999363395225465 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.57, Z:-0.46 [[ 9.96662685e-01 8.06564657e-02 1.25708693e-02 2.02435488e+01] [-8.06533032e-02 9.96741927e-01 -7.59157482e-04 -5.70752598e-01] [-1.25911435e-02 -2.57258203e-04 9.99920695e-01 -4.60429122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.515769231000004 meters Centerline goodness [0,1] 0.9999153922626224 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.57, Z:-0.46 [[ 9.96763323e-01 7.95742985e-02 1.14371822e-02 2.02720073e+01] [-7.95716151e-02 9.96828913e-01 -6.90202262e-04 -5.71843514e-01] [-1.14558363e-02 -2.22106762e-04 9.99934355e-01 -4.63397919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545769231000005 meters Centerline goodness [0,1] 0.9999575605822688 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.57, Z:-0.47 [[ 9.96931755e-01 7.76457386e-02 9.91040180e-03 2.03012164e+01] [-7.76436327e-02 9.96980997e-01 -5.97649970e-04 -5.74095085e-01] [-9.92688725e-03 -1.73663364e-04 9.99950712e-01 -4.66518771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.575769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.58, Z:-0.47 [[ 9.97392943e-01 7.16956332e-02 8.18862720e-03 2.03309131e+01] [-7.16939970e-02 9.97426552e-01 -4.93568999e-04 -5.79111830e-01] [-8.20294094e-03 -9.47931772e-05 9.99966351e-01 -4.69707691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.58, Z:-0.47 [[ 9.97630567e-01 6.81897362e-02 9.13299649e-03 2.03604598e+01] [-6.81875564e-02 9.97672368e-01 -5.50213115e-04 -5.83866887e-01] [-9.14925712e-03 -7.38472908e-05 9.99958142e-01 -4.68277500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.635769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.59, Z:-0.47 [[ 9.97851439e-01 6.46712503e-02 1.04945531e-02 2.03892817e+01] [-6.46681804e-02 9.97906622e-01 -6.31953630e-04 -5.88270978e-01] [-1.05134532e-02 -4.80678127e-05 9.99944731e-01 -4.66111233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.60, Z:-0.46 [[ 9.98196756e-01 5.87476806e-02 1.23266200e-02 2.04184136e+01] [-5.87429997e-02 9.98272863e-01 -7.41768255e-04 -5.98641435e-01] [-1.23489074e-02 1.63280318e-05 9.99923749e-01 -4.62225698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.695769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.61, Z:-0.46 [[ 9.98466073e-01 5.37198723e-02 1.34043379e-02 2.04493538e+01] [-5.37138854e-02 9.98556042e-01 -8.06513876e-04 -6.07688788e-01] [-1.34283084e-02 8.52776714e-05 9.99909833e-01 -4.60889315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.61, Z:-0.46 [[ 9.98457271e-01 5.38832249e-02 1.34043044e-02 2.04809781e+01] [-5.38772453e-02 9.98547240e-01 -8.07070196e-04 -6.09735173e-01] [-1.34283187e-02 8.36381086e-05 9.99909833e-01 -4.61260107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.755769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.62, Z:-0.46 [[ 9.98559546e-01 5.18005343e-02 1.39835107e-02 2.05121939e+01] [-5.17937896e-02 9.98657444e-01 -8.44294334e-04 -6.16195434e-01] [-1.40084720e-02 1.18819152e-04 9.99901869e-01 -4.60096016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785769231000003 meters Centerline goodness [0,1] 0.9999785274097615 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.62, Z:-0.46 [[ 9.98651361e-01 4.98812973e-02 1.43984574e-02 2.05441391e+01] [-4.98739141e-02 9.98755142e-01 -8.71619537e-04 -6.22453817e-01] [-1.44240109e-02 1.52336609e-04 9.99895957e-01 -4.60312891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.815769231000004 meters Centerline goodness [0,1] 0.9999787111745045 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.63, Z:-0.46 [[ 9.98761291e-01 4.77916613e-02 1.38506454e-02 2.05745996e+01] [-4.77846001e-02 9.98857310e-01 -8.40495653e-04 -6.30472792e-01] [-1.38749870e-02 1.77606975e-04 9.99903722e-01 -4.61488243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845769231000002 meters Centerline goodness [0,1] 0.9999363867684479 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.64, Z:-0.47 [[ 9.98953728e-01 4.42097861e-02 1.17022726e-02 2.06056728e+01] [-4.42044897e-02 9.99022251e-01 -7.10998842e-04 -6.43372710e-01] [-1.17222638e-02 1.92961956e-04 9.99931273e-01 -4.65929998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.875769231000003 meters Centerline goodness [0,1] 0.9999362244897959 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.65, Z:-0.47 [[ 9.99027482e-01 4.26021438e-02 1.13643367e-02 2.06359161e+01] [-4.25970255e-02 9.99092095e-01 -6.92162607e-04 -6.50392759e-01] [-1.13835066e-02 2.07402526e-04 9.99935184e-01 -4.67385508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905769231000004 meters Centerline goodness [0,1] 0.9998708649893464 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.66, Z:-0.47 [[ 9.99178629e-01 3.93488376e-02 9.68173361e-03 2.06673038e+01] [-3.93449710e-02 9.99225513e-01 -5.89592354e-04 -6.58473313e-01] [-9.69743501e-03 2.08180552e-04 9.99952957e-01 -4.70352149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.935769231000002 meters Centerline goodness [0,1] 0.9998716000770399 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.67, Z:-0.47 [[ 9.99248049e-01 3.78978521e-02 8.19084493e-03 2.06983350e+01] [-3.78950275e-02 9.99281600e-01 -4.99825737e-04 -6.66543503e-01] [-8.20390295e-03 1.89057598e-04 9.99966330e-01 -4.73344636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965769231000003 meters Centerline goodness [0,1] 0.9998718167834558 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.67, Z:-0.48 [[ 9.99299834e-01 3.67642072e-02 6.94520193e-03 2.07291775e+01] [-3.67621432e-02 9.99323954e-01 -4.24649898e-04 -6.73750948e-01] [-6.95611856e-03 1.69032064e-04 9.99975792e-01 -4.76041084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.995769231000004 meters Centerline goodness [0,1] 0.9997449196496897 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.69, Z:-0.48 [[ 9.99378888e-01 3.46143978e-02 6.60926260e-03 2.07591111e+01] [-3.46124712e-02 9.99400727e-01 -4.05706083e-04 -6.89023325e-01] [-6.61934511e-03 1.76691183e-04 9.99978076e-01 -4.77970783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025769231000005 meters Centerline goodness [0,1] 0.9996972776612537 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.69, Z:-0.48 [[ 9.99398750e-01 3.38428922e-02 7.53633045e-03 2.07913210e+01] [-3.38403681e-02 9.99427144e-01 -4.62229428e-04 -6.90699137e-01] [-7.54765639e-03 2.06919317e-04 9.99971495e-01 -4.75349494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.055769231000003 meters Centerline goodness [0,1] 0.9990458622225049 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.71, Z:-0.47 [[ 9.99414382e-01 3.25900748e-02 1.04297321e-02 2.08217009e+01] [-3.25851450e-02 9.99468757e-01 -6.42304315e-04 -7.05210381e-01] [-1.04451241e-02 3.02073839e-04 9.99945403e-01 -4.71103799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085769231000004 meters Centerline goodness [0,1] 0.9992068765942852 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.71, Z:-0.47 [[ 9.99410641e-01 3.28495095e-02 9.96400163e-03 2.08548071e+01] [-3.28450162e-02 9.99460268e-01 -6.14302078e-04 -7.11877757e-01] [-9.97880327e-03 2.86672238e-04 9.99950169e-01 -4.71805057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.115769231000005 meters Centerline goodness [0,1] 0.9990711028542476 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.72, Z:-0.47 [[ 9.99400944e-01 3.33690085e-02 9.17941358e-03 2.08852733e+01] [-3.33652021e-02 9.99443066e-01 -5.67543449e-04 -7.18689333e-01] [-9.19323961e-03 2.60930470e-04 9.99957707e-01 -4.74310054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145769231000003 meters Centerline goodness [0,1] 0.9997866848695578 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.72, Z:-0.48 [[ 9.99330640e-01 3.58831971e-02 7.11815584e-03 2.09166911e+01] [-3.58809634e-02 9.99355973e-01 -4.41296295e-04 -7.22469352e-01] [-7.12940668e-03 1.85594619e-04 9.99974568e-01 -4.78356595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.175769231000004 meters Centerline goodness [0,1] 0.9997442618758391 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.73, Z:-0.48 [[ 9.99231482e-01 3.85025543e-02 7.34838852e-03 2.09472534e+01] [-3.85002422e-02 9.99258487e-01 -4.55890016e-04 -7.25457114e-01] [-7.36049252e-03 1.72624918e-04 9.99972896e-01 -4.78298583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205769231000005 meters Centerline goodness [0,1] 0.9999568090528226 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.72, Z:-0.48 [[ 9.98962801e-01 4.50992212e-02 6.27547590e-03 2.09788321e+01] [-4.50976641e-02 9.98982507e-01 -3.89492773e-04 -7.21296310e-01] [-6.28665647e-03 1.06079488e-04 9.99980233e-01 -4.78118723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.235769231000003 meters Centerline goodness [0,1] 0.9999787622647921 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.72, Z:-0.48 [[ 9.98807360e-01 4.85277250e-02 5.37743115e-03 2.10102151e+01] [-4.85266360e-02 9.98821833e-01 -3.32882988e-04 -7.22683592e-01] [-5.38724969e-03 7.15373342e-05 9.99985486e-01 -4.80693120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.72, Z:-0.48 [[ 9.98641026e-01 5.19406044e-02 4.27491487e-03 2.10426052e+01] [-5.19399463e-02 9.98650175e-01 -2.64888468e-04 -7.21945025e-01] [-4.28290295e-03 4.24896431e-05 9.99990827e-01 -4.82430053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.295769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.72, Z:-0.48 [[ 9.98289410e-01 5.81408467e-02 6.15599092e-03 2.10733081e+01] [-5.81395833e-02 9.98308390e-01 -3.84127531e-04 -7.19134272e-01] [-6.16791088e-03 2.55636988e-05 9.99980978e-01 -4.80560466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325769231000002 meters Centerline goodness [0,1] 0.9999787478216517 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.72, Z:-0.48 [[ 9.98096755e-01 6.11094488e-02 8.27663805e-03 2.11052655e+01] [-6.11072704e-02 9.98131071e-01 -5.16076556e-04 -7.17367893e-01] [-8.29270676e-03 9.33157729e-06 9.99965615e-01 -4.75648793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.355769231000004 meters Centerline goodness [0,1] 0.9999362597203927 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.71, Z:-0.47 [[ 9.97675616e-01 6.72082736e-02 1.12433916e-02 2.11374837e+01] [-6.72046118e-02 9.97738966e-01 -7.03606448e-04 -7.10187586e-01] [-1.12652581e-02 -5.36367696e-05 9.99936544e-01 -4.69648641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385769231000005 meters Centerline goodness [0,1] 0.9999788005342265 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.71, Z:-0.47 [[ 9.97503254e-01 6.96343397e-02 1.17607974e-02 2.11702420e+01] [-6.96304798e-02 9.97572580e-01 -7.37853549e-04 -7.07630398e-01] [-1.17836289e-02 -8.28986473e-05 9.99930567e-01 -4.69684454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.415769231000002 meters Centerline goodness [0,1] 0.9999573460726396 Centerline is valid? [True, True] Translation: X:21.20, Y:-0.71, Z:-0.47 [[ 9.97415878e-01 7.09515766e-02 1.12889114e-02 2.12029284e+01] [-7.09480846e-02 9.97479757e-01 -7.10007342e-04 -7.07625467e-01] [-1.13108367e-02 -9.27540453e-05 9.99936026e-01 -4.71520938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445769231000003 meters Centerline goodness [0,1] 0.9999363705777552 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.71, Z:-0.48 [[ 9.97491925e-01 7.00808616e-02 9.92631003e-03 2.12335280e+01] [-7.00781042e-02 9.97541311e-01 -6.25757355e-04 -7.11351611e-01] [-9.94575794e-03 -7.14290808e-05 9.99950537e-01 -4.75407454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.475769231000005 meters Centerline goodness [0,1] 0.9999575965738031 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.71, Z:-0.48 [[ 9.97587858e-01 6.88955223e-02 8.47773334e-03 2.12644968e+01] [-6.88934592e-02 9.97623879e-01 -5.35494915e-04 -7.14226019e-01] [-8.49448242e-03 -4.98571503e-05 9.99963920e-01 -4.78947409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.72, Z:-0.48 [[ 9.97812022e-01 6.58393893e-02 6.02862294e-03 2.12965525e+01] [-6.58382879e-02 9.97830233e-01 -3.81177930e-04 -7.24192203e-01] [-6.04063875e-03 -1.65702915e-05 9.99981755e-01 -4.82713664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.535769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.73, Z:-0.48 [[ 9.97875643e-01 6.48253154e-02 6.47140330e-03 2.13273990e+01] [-6.48240129e-02 9.97896627e-01 -4.11039752e-04 -7.29367079e-01] [-6.48443731e-03 -9.33577386e-06 9.99978976e-01 -4.82242545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565769231000004 meters Centerline goodness [0,1] 0.9999789029535865 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.73, Z:-0.48 [[ 9.97908537e-01 6.42418452e-02 7.17893821e-03 2.13582318e+01] [-6.42402259e-02 9.97934359e-01 -4.56167493e-04 -7.34210428e-01] [-7.19341415e-03 -5.96317748e-06 9.99974127e-01 -4.81353589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.595769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.74, Z:-0.48 [[ 9.97924770e-01 6.39771169e-02 7.28572706e-03 2.13893647e+01] [-6.39754429e-02 9.97951366e-01 -4.62831081e-04 -7.37936575e-01] [-7.30041187e-03 -4.23701585e-06 9.99973352e-01 -4.82165770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.75, Z:-0.48 [[ 9.98019217e-01 6.25171210e-02 7.01793725e-03 2.14211642e+01] [-6.25155298e-02 9.98043892e-01 -4.46084330e-04 -7.45632695e-01] [-7.03209731e-03 6.47066880e-06 9.99975274e-01 -4.83449360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.655769231000004 meters Centerline goodness [0,1] 0.9999789136302294 Centerline is valid? [True, True] Translation: X:21.45, Y:-0.75, Z:-0.48 [[ 9.98101683e-01 6.11451402e-02 7.36902801e-03 2.14522526e+01] [-6.11433393e-02 9.98128885e-01 -4.69637938e-04 -7.53553875e-01] [-7.38395579e-03 1.81794358e-05 9.99972738e-01 -4.84234192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685769231000005 meters Centerline goodness [0,1] 0.9999784807402625 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.77, Z:-0.48 [[ 9.98300671e-01 5.78805850e-02 6.75339155e-03 2.14839074e+01] [-5.78789907e-02 9.98323513e-01 -4.31436991e-04 -7.68455215e-01] [-6.76704140e-03 3.98243508e-05 9.99977103e-01 -4.83525379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.715769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.78, Z:-0.49 [[ 9.98375571e-01 5.66395865e-02 6.17867867e-03 2.15147436e+01] [-5.66382225e-02 9.98394689e-01 -3.95651526e-04 -7.77194835e-01] [-6.19116951e-03 4.50594412e-05 9.99980834e-01 -4.85141214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.78, Z:-0.49 [[ 9.98410405e-01 5.61240971e-02 5.17193479e-03 2.15469394e+01] [-5.61231321e-02 9.98423800e-01 -3.31657578e-04 -7.82632733e-01] [-5.18239677e-03 4.08651971e-05 9.99986570e-01 -4.87054698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.775769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.79, Z:-0.49 [[ 9.98372998e-01 5.68529769e-02 4.36989103e-03 2.15793911e+01] [-5.68522939e-02 9.98382561e-01 -2.80468273e-04 -7.86437764e-01] [-4.37876846e-03 3.15736214e-05 9.99990413e-01 -4.88011424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.79, Z:-0.49 [[ 9.98160124e-01 6.04549553e-02 4.64379162e-03 2.16108070e+01] [-6.04542173e-02 9.98170926e-01 -2.99258706e-04 -7.87095897e-01] [-4.65338946e-03 1.79713193e-05 9.99989173e-01 -4.88256625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.835769231000004 meters Centerline goodness [0,1] 0.9999786830380935 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.79, Z:-0.49 [[ 9.98060906e-01 6.20761396e-02 4.58051957e-03 2.16441689e+01] [-6.20754367e-02 9.98071417e-01 -2.95589847e-04 -7.88400805e-01] [-4.59003473e-03 1.06789175e-05 9.99989466e-01 -4.88593099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865769231000005 meters Centerline goodness [0,1] 0.99997891585317 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.79, Z:-0.49 [[ 9.97929621e-01 6.41546898e-02 4.54403981e-03 2.16775562e+01] [-6.41540160e-02 9.97939966e-01 -2.94022200e-04 -7.90380472e-01] [-4.55354184e-03 1.89505924e-06 9.99989633e-01 -4.90096471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.895769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.80, Z:-0.49 [[ 9.97922387e-01 6.43053821e-02 3.96568843e-03 2.17096057e+01] [-6.43048680e-02 9.97930267e-01 -2.57143025e-04 -7.95108954e-01] [-3.97401619e-03 1.59570986e-06 9.99992104e-01 -4.92648915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925769231000004 meters Centerline goodness [0,1] 0.9999785775492717 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.81, Z:-0.49 [[ 9.98055236e-01 6.22459000e-02 3.34580381e-03 2.17408078e+01] [-6.22455213e-02 9.98060844e-01 -2.17276230e-04 -8.06569480e-01] [-3.35284033e-03 8.59237593e-06 9.99994379e-01 -4.93502006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.955769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.81, Z:-0.49 [[ 9.98122148e-01 6.11554745e-02 3.49093133e-03 2.17739882e+01] [-6.11550541e-02 9.98128252e-01 -2.27128006e-04 -8.12570339e-01] [-3.49828731e-03 1.32133988e-05 9.99993881e-01 -4.92779661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.82, Z:-0.49 [[ 9.98175673e-01 6.02405097e-02 4.05043432e-03 2.18056830e+01] [-6.02399314e-02 9.98183891e-01 -2.64728690e-04 -8.18263362e-01] [-4.05902568e-03 2.02478529e-05 9.99991762e-01 -4.93326077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.015769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.82, Z:-0.49 [[ 9.98179375e-01 6.00880247e-02 5.23113124e-03 2.18378286e+01] [-6.00870497e-02 9.98193082e-01 -3.43492205e-04 -8.23026326e-01] [-5.24231878e-03 2.85435916e-05 9.99986259e-01 -4.91051843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045769231000005 meters Centerline goodness [0,1] 0.9999786178583647 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.83, Z:-0.49 [[ 9.98160110e-01 6.03842965e-02 5.48918502e-03 2.18703617e+01] [-6.03832230e-02 9.98175203e-01 -3.61239099e-04 -8.26520018e-01] [-5.50098154e-03 2.91197754e-05 9.99984869e-01 -4.90005458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.075769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.90, Y:-0.83, Z:-0.49 [[ 9.98124930e-01 6.09248541e-02 5.89796142e-03 2.19026100e+01] [-6.09236169e-02 9.98142355e-01 -3.89376914e-04 -8.31353646e-01] [-5.91072783e-03 2.93216635e-05 9.99982531e-01 -4.90266089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105769231000004 meters Centerline goodness [0,1] 0.9999787351677796 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.83, Z:-0.49 [[ 9.98109034e-01 6.12125616e-02 5.60164983e-03 2.19359686e+01] [-6.12114453e-02 9.98124753e-01 -3.70682363e-04 -8.34232973e-01] [-5.61383577e-03 2.70963328e-05 9.99984242e-01 -4.90085691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.135769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.84, Z:-0.49 [[ 9.98087291e-01 6.16137034e-02 5.05087734e-03 2.19690401e+01] [-6.16127973e-02 9.98100071e-01 -3.34943741e-04 -8.38077475e-01] [-5.06191815e-03 2.31044093e-05 9.99987188e-01 -4.91691073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.84, Z:-0.49 [[ 9.97986454e-01 6.32006306e-02 5.35887017e-03 2.20007602e+01] [-6.31996266e-02 9.98000842e-01 -3.56671719e-04 -8.41613072e-01] [-5.37069882e-03 1.72749511e-05 9.99985578e-01 -4.91318226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.195769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.84, Z:-0.49 [[ 9.97935346e-01 6.39908602e-02 5.49687710e-03 2.20332313e+01] [-6.39898113e-02 9.97950485e-01 -3.66651716e-04 -8.44298301e-01] [-5.50907353e-03 1.41505777e-05 9.99984825e-01 -4.91024484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.85, Z:-0.49 [[ 9.97903190e-01 6.45967318e-02 4.06030953e-03 2.20642606e+01] [-6.45961627e-02 9.97911450e-01 -2.71301162e-04 -8.49434521e-01] [-4.06935454e-03 8.45187972e-06 9.99991720e-01 -4.94455381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.255769231000002 meters Centerline goodness [0,1] 0.9999362407549095 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.85, Z:-0.50 [[ 9.97921256e-01 6.43609064e-02 3.29240290e-03 2.20972583e+01] [-6.43605313e-02 9.97926688e-01 -2.19874318e-04 -8.54157809e-01] [-3.29972803e-03 7.51645555e-06 9.99994556e-01 -4.97095872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285769231000003 meters Centerline goodness [0,1] 0.9999364622161979 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.86, Z:-0.50 [[ 9.97952123e-01 6.38950647e-02 2.99672555e-03 2.21292577e+01] [-6.38947504e-02 9.97956623e-01 -2.00605135e-04 -8.59926798e-01] [-3.00341978e-03 8.71929030e-06 9.99995490e-01 -4.98770673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.315769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.87, Z:-0.50 [[ 9.97912539e-01 6.44439036e-02 4.18906033e-03 2.21614127e+01] [-6.44432874e-02 9.97921331e-01 -2.82054353e-04 -8.65813664e-01] [-4.19852934e-03 1.15087567e-05 9.99991186e-01 -4.95520868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345769231000002 meters Centerline goodness [0,1] 0.9999785052554651 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.87, Z:-0.49 [[ 9.97856395e-01 6.52810828e-02 4.58206866e-03 2.21940196e+01] [-6.52803509e-02 9.97866915e-01 -3.09268097e-04 -8.69656274e-01] [-4.59248407e-03 9.48609917e-06 9.99989454e-01 -4.94801512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.375769231000003 meters Centerline goodness [0,1] 0.9999574504297507 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.87, Z:-0.49 [[ 9.97742405e-01 6.69171074e-02 5.67402540e-03 2.22249440e+01] [-6.69160011e-02 9.97758538e-01 -3.84794555e-04 -8.73083519e-01] [-5.68705663e-03 4.24275481e-06 9.99983829e-01 -4.93896230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.87, Z:-0.49 [[ 9.97638668e-01 6.84191074e-02 5.99286279e-03 2.22584468e+01] [-6.84178957e-02 9.97656667e-01 -4.07214070e-04 -8.74203635e-01] [-6.00668074e-03 -3.76655927e-06 9.99981960e-01 -4.92782233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.435769231000005 meters Centerline goodness [0,1] 0.9999787762378759 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.87, Z:-0.49 [[ 9.97486510e-01 7.05764871e-02 6.29457942e-03 2.22907794e+01] [-7.05751824e-02 9.97506371e-01 -4.29433598e-04 -8.73550785e-01] [-6.30919098e-03 -1.58868701e-05 9.99980097e-01 -4.93187213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465769231000003 meters Centerline goodness [0,1] 0.9999360477510125 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.87, Z:-0.49 [[ 9.97105363e-01 7.57455995e-02 6.59536666e-03 2.23232336e+01] [-7.57442759e-02 9.97127174e-01 -4.50601177e-04 -8.67238951e-01] [-6.61055037e-03 -5.02644219e-05 9.99978149e-01 -4.92044614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.495769231000004 meters Centerline goodness [0,1] 0.999893478770319 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.86, Z:-0.49 [[ 9.96906964e-01 7.82303557e-02 7.51770877e-03 2.23549937e+01] [-7.82286950e-02 9.96935307e-01 -5.15146546e-04 -8.64529925e-01] [-7.53496939e-03 -7.45473675e-05 9.99971609e-01 -4.90906293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525769231000005 meters Centerline goodness [0,1] 0.9999574160030661 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.86, Z:-0.49 [[ 9.96752852e-01 8.00817349e-02 8.40642287e-03 2.23876596e+01] [-8.00797125e-02 9.96788296e-01 -5.77449262e-04 -8.64173844e-01] [-8.42566706e-03 -9.76097277e-05 9.99964499e-01 -4.89504049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.555769231000003 meters Centerline goodness [0,1] 0.9999363840705713 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.86, Z:-0.49 [[ 9.96549943e-01 8.26122290e-02 7.96438907e-03 2.24194659e+01] [-8.26104844e-02 9.96581761e-01 -5.48339303e-04 -8.60209092e-01] [-7.98246442e-03 -1.11494538e-04 9.99968133e-01 -4.91806686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585769231000004 meters Centerline goodness [0,1] 0.9999572402882004 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.86, Z:-0.49 [[ 9.96444505e-01 8.39975169e-02 6.53957124e-03 2.24517834e+01] [-8.39963666e-02 9.96465959e-01 -4.50850548e-04 -8.61154390e-01] [-6.55433045e-03 -1.00052672e-04 9.99978515e-01 -4.94146353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.615769231000005 meters Centerline goodness [0,1] 0.9998066678123388 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.86, Z:-0.50 [[ 9.96378125e-01 8.48733206e-02 5.21075354e-03 2.24829531e+01] [-8.48725994e-02 9.96391746e-01 -3.59785200e-04 -8.58761216e-01] [-5.22248799e-03 -8.37680948e-05 9.99986359e-01 -4.97789971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645769231000003 meters Centerline goodness [0,1] 0.9998066678123388 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.86, Z:-0.50 [[ 9.96365062e-01 8.50265343e-02 5.21070044e-03 2.25145421e+01] [-8.50258112e-02 9.96378684e-01 -3.60551612e-04 -8.61117422e-01] [-5.22248730e-03 -8.38030028e-05 9.99986359e-01 -4.98160712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.675769231000004 meters Centerline goodness [0,1] 0.9998085024894676 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.86, Z:-0.50 [[ 9.96273868e-01 8.61040930e-02 4.94626994e-03 2.25463069e+01] [-8.61034509e-02 9.96286143e-01 -3.43005981e-04 -8.57332002e-01] [-4.95743441e-03 -8.41630152e-05 9.99987708e-01 -4.98593798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705769231000005 meters Centerline goodness [0,1] 0.999661088752383 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.85, Z:-0.50 [[ 9.96190185e-01 8.70273676e-02 5.59938892e-03 2.25781284e+01] [-8.70265495e-02 9.96205916e-01 -3.90051890e-04 -8.54979076e-01] [-5.61208956e-03 -9.87296323e-05 9.99984247e-01 -4.96999618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.735769231000003 meters Centerline goodness [0,1] 0.9998712556862072 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.85, Z:-0.50 [[ 9.95843365e-01 9.09260740e-02 5.33303744e-03 2.26103406e+01] [-9.09253919e-02 9.95857638e-01 -3.70733356e-04 -8.50780957e-01] [-5.34465540e-03 -1.15716166e-04 9.99985711e-01 -4.95547407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765769231000004 meters Centerline goodness [0,1] 0.9996805996209782 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.84, Z:-0.50 [[ 9.95566843e-01 9.39304738e-02 4.87100258e-03 2.26413145e+01] [-9.39299337e-02 9.95578752e-01 -3.40043263e-04 -8.39288639e-01] [-4.88140710e-03 -1.18997152e-04 9.99988079e-01 -4.98179299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.795769231000005 meters Centerline goodness [0,1] 0.9995671183065669 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.84, Z:-0.50 [[ 9.95268849e-01 9.70451778e-02 4.70654117e-03 2.26724107e+01] [-9.70447066e-02 9.95279969e-01 -3.28917341e-04 -8.37141239e-01] [-4.71624600e-03 -1.29383724e-04 9.99988870e-01 -4.96327270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825769231000002 meters Centerline goodness [0,1] 0.9991742899980444 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.83, Z:-0.50 [[ 9.94956442e-01 1.00166932e-01 5.31636631e-03 2.27027941e+01] [-1.00166374e-01 9.94970632e-01 -3.71769569e-04 -8.28760122e-01] [-5.32686736e-03 -1.62626610e-04 9.99985799e-01 -4.96402817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.855769231000004 meters Centerline goodness [0,1] 0.9981221458751227 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.81, Z:-0.49 [[ 9.94482298e-01 1.04685672e-01 6.77262789e-03 2.27332987e+01] [-1.04684872e-01 9.94505331e-01 -4.73431881e-04 -8.11394400e-01] [-6.78497607e-03 -2.38172061e-04 9.99976953e-01 -4.94690229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885769231000005 meters Centerline goodness [0,1] 0.9978749628118492 Centerline is valid? [True, True] Translation: X:22.76, Y:-0.81, Z:-0.50 [[ 9.94446620e-01 1.05026263e-01 6.73831338e-03 2.27624921e+01] [-1.05025478e-01 9.94469420e-01 -4.71252231e-04 -8.06039968e-01] [-6.75054046e-03 -2.39059397e-04 9.99977186e-01 -4.95359657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.915769231000002 meters Centerline goodness [0,1] 0.9986292274411531 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.80, Z:-0.50 [[ 9.94785888e-01 1.01849419e-01 5.26616286e-03 2.27932048e+01] [-1.01848896e-01 9.94799812e-01 -3.68133254e-04 -7.98963333e-01] [-5.27627198e-03 -1.70139105e-04 9.99986066e-01 -4.99251420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945769231000003 meters Centerline goodness [0,1] 0.9993052540165002 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.80, Z:-0.50 [[ 9.95086112e-01 9.89250246e-02 4.17954501e-03 2.28225879e+01] [-9.89246700e-02 9.95094882e-01 -2.91977482e-04 -8.03615748e-01] [-4.18792772e-03 -1.22917373e-04 9.99991223e-01 -4.99615727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.975769231000005 meters Centerline goodness [0,1] 0.9996144371853914 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.80, Z:-0.50 [[ 9.95674485e-01 9.28139997e-02 4.22854717e-03 2.28521253e+01] [-9.28135824e-02 9.95683460e-01 -2.95241789e-04 -7.98214855e-01] [-4.23769704e-03 -9.85018944e-05 9.99991016e-01 -5.01552430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005769231000002 meters Centerline goodness [0,1] 0.9996411079209593 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.80, Z:-0.50 [[ 9.95937707e-01 8.99244917e-02 4.65505654e-03 2.28808847e+01] [-8.99239544e-02 9.95948581e-01 -3.25038263e-04 -7.99234110e-01] [-4.66542586e-03 -9.48832294e-05 9.99989112e-01 -5.00957366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.035769231000003 meters Centerline goodness [0,1] 0.9997184013863316 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.81, Z:-0.50 [[ 9.96197568e-01 8.69587032e-02 5.34688974e-03 2.29105706e+01] [-8.69579530e-02 9.96211913e-01 -3.73074333e-04 -8.05597629e-01] [-5.35907732e-03 -9.32988434e-05 9.99985636e-01 -4.99299341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065769231000004 meters Centerline goodness [0,1] 0.9998285138582238 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.81, Z:-0.50 [[ 9.96683626e-01 8.11567716e-02 5.94369307e-03 2.29389245e+01] [-8.11557424e-02 9.96701346e-01 -4.14525431e-04 -8.09081616e-01] [-5.95772843e-03 -6.92141142e-05 9.99982250e-01 -4.99943988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.095769231000002 meters Centerline goodness [0,1] 0.99980817596658 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.81, Z:-0.50 [[ 9.96844436e-01 7.91258298e-02 6.34607585e-03 2.29682409e+01] [-7.91246176e-02 9.96864634e-01 -4.42246448e-04 -8.12640988e-01] [-6.36117170e-03 -6.12799136e-05 9.99979766e-01 -5.00007099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125769231000003 meters Centerline goodness [0,1] 0.9999134517601749 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.82, Z:-0.50 [[ 9.96930525e-01 7.79569816e-02 7.22749883e-03 2.29975528e+01] [-7.79553799e-02 9.96956722e-01 -5.03478756e-04 -8.16271658e-01] [-7.24475323e-03 -6.14890772e-05 9.99973755e-01 -4.97502131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.155769231000004 meters Centerline goodness [0,1] 0.9999365348000846 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.81, Z:-0.50 [[ 9.96939985e-01 7.77703518e-02 7.90175410e-03 2.30266390e+01] [-7.77684330e-02 9.96971297e-01 -5.50271762e-04 -8.12681030e-01] [-7.92061687e-03 -6.59191124e-05 9.99968629e-01 -4.97081936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.81, Z:-0.50 [[ 9.96911184e-01 7.81478081e-02 7.81091974e-03 2.30563382e+01] [-7.81459474e-02 9.96941781e-01 -5.43606878e-04 -8.13008301e-01] [-7.82951393e-03 -6.84639464e-05 9.99969347e-01 -4.97590751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.215769231000003 meters Centerline goodness [0,1] 0.9999787838927313 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.81, Z:-0.50 [[ 9.96846015e-01 7.89393556e-02 8.16089584e-03 2.30863640e+01] [-7.89373525e-02 9.96879417e-01 -5.67769042e-04 -8.13271352e-01] [-8.18024841e-03 -7.82212046e-05 9.99966538e-01 -4.97248376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245769231000004 meters Centerline goodness [0,1] 0.9999155690645052 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.81, Z:-0.50 [[ 9.96850476e-01 7.87785144e-02 9.11450591e-03 2.31146993e+01] [-7.87760110e-02 9.96892140e-01 -6.33905222e-04 -8.14130884e-01] [-9.13611741e-03 -8.60956959e-05 9.99958261e-01 -4.95601117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.275769231000005 meters Centerline goodness [0,1] 0.99983094543764 Centerline is valid? [True, True] Translation: X:23.14, Y:-0.82, Z:-0.49 [[ 9.96859457e-01 7.85496490e-02 1.00586485e-02 2.31428979e+01] [-7.85465924e-02 9.96910199e-01 -6.99173082e-04 -8.15114033e-01] [-1.00824891e-02 -9.30952679e-05 9.99949166e-01 -4.94193699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.82, Z:-0.50 [[ 9.96912576e-01 7.80308039e-02 8.74693230e-03 2.31735378e+01] [-7.80284747e-02 9.96950946e-01 -6.07757620e-04 -8.19157701e-01] [-8.76768625e-03 -7.66285715e-05 9.99961560e-01 -4.96628063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.335769231000004 meters Centerline goodness [0,1] 0.9999360681939264 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.82, Z:-0.50 [[ 9.96988685e-01 7.72537151e-02 6.73988355e-03 2.32031798e+01] [-7.72523149e-02 9.97011465e-01 -4.68238423e-04 -8.20811657e-01] [-6.75591432e-03 -5.38431964e-05 9.99977177e-01 -5.01987165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365769231000005 meters Centerline goodness [0,1] 0.9999572895978815 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.83, Z:-0.51 [[ 9.97156323e-01 7.52423405e-02 4.22590104e-03 2.32330970e+01] [-7.52417716e-02 9.97165277e-01 -2.93681059e-04 -8.28026222e-01] [-4.23601903e-03 -2.51183562e-05 9.99991028e-01 -5.06692162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.395769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.83, Z:-0.51 [[ 9.97181533e-01 7.49023875e-02 4.31537114e-03 2.32618554e+01] [-7.49017903e-02 9.97190870e-01 -3.00065943e-04 -8.30738239e-01] [-4.32572436e-03 -2.40088067e-05 9.99990644e-01 -5.06206827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.83, Z:-0.50 [[ 9.97194040e-01 7.46074071e-02 6.14665946e-03 2.32900982e+01] [-7.46061910e-02 9.97212983e-01 -4.27219370e-04 -8.34696568e-01] [-6.16140234e-03 -3.25582399e-05 9.99981018e-01 -5.03915495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.455769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.84, Z:-0.50 [[ 9.97237101e-01 7.39796304e-02 6.72145597e-03 2.33190786e+01] [-7.39781642e-02 9.97259752e-01 -4.66840464e-04 -8.39076802e-01] [-6.73757420e-03 -3.16903429e-05 9.99977302e-01 -5.02998735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.84, Z:-0.50 [[ 9.97298673e-01 7.31371641e-02 6.80534788e-03 2.33480361e+01] [-7.31356438e-02 9.97321891e-01 -4.72319911e-04 -8.43085441e-01] [-6.82166656e-03 -2.66694782e-05 9.99976732e-01 -5.03974343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.515769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.38, Y:-0.85, Z:-0.50 [[ 9.97495951e-01 7.04329591e-02 6.40517366e-03 2.33790357e+01] [-7.04315564e-02 9.97516515e-01 -4.44569622e-04 -8.54775817e-01] [-6.42057887e-03 -7.66995283e-06 9.99979388e-01 -5.04820493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.86, Z:-0.51 [[ 9.97619938e-01 6.86427897e-02 6.52895194e-03 2.34090410e+01] [-6.86412940e-02 9.97641302e-01 -4.53159877e-04 -8.62798056e-01] [-6.54465827e-03 3.92561902e-06 9.99978583e-01 -5.05951912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.575769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.87, Z:-0.51 [[ 9.97782033e-01 6.63356529e-02 5.53138963e-03 2.34392677e+01] [-6.63345417e-02 9.97797365e-01 -3.84317903e-04 -8.72899650e-01] [-5.54469998e-03 1.65433020e-05 9.99984628e-01 -5.07603927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.47, Y:-0.88, Z:-0.51 [[ 9.97802252e-01 6.60874916e-02 4.80730241e-03 2.34694719e+01] [-6.60866483e-02 9.97813832e-01 -3.34244111e-04 -8.76949093e-01] [-4.81888220e-03 1.58110228e-05 9.99988389e-01 -5.09701431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.635769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.88, Z:-0.51 [[ 9.97792916e-01 6.62932231e-02 3.80863433e-03 2.34994813e+01] [-6.62926953e-02 9.97800185e-01 -2.64808304e-04 -8.80223370e-01] [-3.81781104e-03 1.17392142e-05 9.99992712e-01 -5.11760580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.88, Z:-0.51 [[ 9.97723067e-01 6.73670279e-02 3.21943665e-03 2.35299722e+01] [-6.73666564e-02 9.97728261e-01 -2.23842324e-04 -8.82607970e-01] [-3.22720253e-03 6.44996690e-06 9.99994793e-01 -5.12912720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.695769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.88, Z:-0.51 [[ 9.97439891e-01 7.13017241e-02 5.45226014e-03 2.35607237e+01] [-7.13007171e-02 9.97454793e-01 -3.79086999e-04 -8.81135116e-01] [-5.46541257e-03 -1.06335631e-05 9.99985064e-01 -5.07860408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.88, Z:-0.50 [[ 9.97227388e-01 7.40854010e-02 6.99215695e-03 2.35916269e+01] [-7.40838133e-02 9.97251900e-01 -4.86153581e-04 -8.79534383e-01] [-7.00895869e-03 -3.31999843e-05 9.99975436e-01 -5.04804690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.755769231000002 meters Centerline goodness [0,1] 0.9999573769793065 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.87, Z:-0.51 [[ 9.96808404e-01 7.95208265e-02 7.03163873e-03 2.36218549e+01] [-7.95193556e-02 9.96833202e-01 -4.88953036e-04 -8.73150035e-01] [-7.04825290e-03 -7.17588858e-05 9.99975158e-01 -5.05200019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785769231000003 meters Centerline goodness [0,1] 0.9999154655733548 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.87, Z:-0.51 [[ 9.96606501e-01 8.20467035e-02 6.61969118e-03 2.36515041e+01] [-8.20454561e-02 9.96628482e-01 -4.60237607e-04 -8.69806158e-01] [-6.63513375e-03 -8.44397907e-05 9.99977984e-01 -5.06918591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.815769231000004 meters Centerline goodness [0,1] 0.9999357849222997 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.87, Z:-0.51 [[ 9.96380122e-01 8.47511468e-02 6.62536488e-03 2.36808601e+01] [-8.47499568e-02 9.96402144e-01 -4.60667754e-04 -8.66850415e-01] [-6.64056989e-03 -1.02499195e-04 9.99977946e-01 -5.07223597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845769231000006 meters Centerline goodness [0,1] 0.99974386339381 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.86, Z:-0.51 [[ 9.95996415e-01 8.91402437e-02 6.71992878e-03 2.37111804e+01] [-8.91391213e-02 9.96019076e-01 -4.66954766e-04 -8.59994401e-01] [-6.73480171e-03 -1.33923274e-04 9.99977312e-01 -5.07808409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.875769231000003 meters Centerline goodness [0,1] 0.9997011675809516 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.86, Z:-0.51 [[ 9.95926925e-01 8.98888555e-02 7.03947640e-03 2.37404876e+01] [-8.98876429e-02 9.95951792e-01 -4.89091391e-04 -8.59183803e-01] [-7.05494300e-03 -1.45662656e-04 9.99975103e-01 -5.07569823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905769231000004 meters Centerline goodness [0,1] 0.9997220618733029 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.86, Z:-0.51 [[ 9.95986204e-01 8.91530093e-02 7.95127194e-03 2.37699662e+01] [-8.91514429e-02 9.96017929e-01 -5.51925763e-04 -8.58348497e-01] [-7.96881526e-03 -1.59156921e-04 9.99968236e-01 -5.06120576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.935769231000005 meters Centerline goodness [0,1] 0.9996822707053591 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.86, Z:-0.51 [[ 9.96138727e-01 8.74177254e-02 8.11035267e-03 2.37986213e+01] [-8.74160399e-02 9.96171732e-01 -5.62762459e-04 -8.61162944e-01] [-8.12849948e-03 -1.48385433e-04 9.99966952e-01 -5.06349884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965769231000003 meters Centerline goodness [0,1] 0.9998291072992544 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.87, Z:-0.51 [[ 9.96368022e-01 8.47421001e-02 8.33918565e-03 2.38281700e+01] [-8.47402256e-02 9.96402910e-01 -5.78502570e-04 -8.68737090e-01] [-8.35821238e-03 -1.30263012e-04 9.99965061e-01 -5.06233349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.995769231000004 meters Centerline goodness [0,1] 0.9999145664246049 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.88, Z:-0.51 [[ 9.96950492e-01 7.75257047e-02 8.91522526e-03 2.38574907e+01] [-7.75232762e-02 9.96990351e-01 -6.18172549e-04 -8.80038550e-01] [-8.93631783e-03 -7.48500432e-05 9.99960068e-01 -5.05462351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025769231000005 meters Centerline goodness [0,1] 0.9999787446595957 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.89, Z:-0.50 [[ 9.97185815e-01 7.43695637e-02 9.46672759e-03 2.38874358e+01] [-7.43666832e-02 9.97230748e-01 -6.56413153e-04 -8.86336696e-01] [-9.48932900e-03 -4.94432462e-05 9.99954974e-01 -5.04916900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.055769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.89, Z:-0.50 [[ 9.97485209e-01 7.01911123e-02 9.82172729e-03 2.39186734e+01] [-7.01878095e-02 9.97533562e-01 -6.80984979e-04 -8.94156568e-01] [-9.84530170e-03 -1.00930795e-05 9.99951534e-01 -5.04469881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.90, Z:-0.50 [[ 9.97567018e-01 6.90024529e-02 9.93511034e-03 2.39497899e+01] [-6.89990121e-02 9.97616490e-01 -6.89082366e-04 -8.98958986e-01] [-9.95897828e-03 1.89304268e-06 9.99950408e-01 -5.04292744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.115769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.90, Z:-0.51 [[ 9.97614060e-01 6.83324909e-02 9.84160440e-03 2.39803943e+01] [-6.83290821e-02 9.97662604e-01 -6.82590200e-04 -9.04410766e-01] [-9.86524375e-03 8.49378663e-06 9.99951337e-01 -5.05122981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145769231000003 meters Centerline goodness [0,1] 0.9999788252233939 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.91, Z:-0.50 [[ 9.97693330e-01 6.71824464e-02 9.72309653e-03 2.40122322e+01] [-6.71790503e-02 9.97740707e-01 -6.75829742e-04 -9.10351128e-01] [-9.74653310e-03 2.10824339e-05 9.99952501e-01 -5.04928630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.175769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.92, Z:-0.51 [[ 9.98028286e-01 6.20984946e-02 9.12785484e-03 2.40436041e+01] [-6.20952762e-02 9.98070024e-01 -6.35844660e-04 -9.24307654e-01] [-9.14972330e-03 6.77942885e-05 9.99958138e-01 -5.06711687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205769231000005 meters Centerline goodness [0,1] 0.9999575767860173 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.94, Z:-0.51 [[ 9.98377640e-01 5.62585055e-02 8.77883048e-03 2.40746365e+01] [-5.62552877e-02 9.98416229e-01 -6.13244889e-04 -9.41063684e-01] [-8.79942706e-03 1.18394352e-04 9.99961277e-01 -5.07862189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.235769231000003 meters Centerline goodness [0,1] 0.9999575767860173 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.95, Z:-0.51 [[ 9.98499028e-01 5.40848861e-02 8.63229865e-03 2.41048841e+01] [-5.40816912e-02 9.98536332e-01 -6.03288592e-04 -9.51374170e-01] [-8.65229263e-03 1.35533763e-04 9.99962559e-01 -5.09049587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265769231000004 meters Centerline goodness [0,1] 0.9999786329351937 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.96, Z:-0.51 [[ 9.98589612e-01 5.24540623e-02 8.20716906e-03 2.41368701e+01] [-5.24511160e-02 9.98623328e-01 -5.73978429e-04 -9.60388553e-01] [-8.22597798e-03 1.42693721e-04 9.99966156e-01 -5.10415563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.295769231000005 meters Centerline goodness [0,1] 0.9999148682586302 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.97, Z:-0.51 [[ 9.98664583e-01 5.11097236e-02 7.53965814e-03 2.41683617e+01] [-5.11071905e-02 9.98693034e-01 -5.28377150e-04 -9.69590368e-01] [-7.55680928e-03 1.42340801e-04 9.99971437e-01 -5.12712717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325769231000002 meters Centerline goodness [0,1] 0.9998523269060378 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.99, Z:-0.51 [[ 9.98704083e-01 5.04435081e-02 6.75330571e-03 2.41984567e+01] [-5.04414542e-02 9.98726907e-01 -4.74230961e-04 -9.86917402e-01] [-6.76863000e-03 1.32969836e-04 9.99977084e-01 -5.14810035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.355769231000004 meters Centerline goodness [0,1] 0.9999786634804131 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.99, Z:-0.51 [[ 9.98657548e-01 5.13078625e-02 7.11368248e-03 2.42307750e+01] [-5.13055975e-02 9.98682875e-01 -5.00643523e-04 -9.86806971e-01] [-7.12999982e-03 1.34999703e-04 9.99974572e-01 -5.13134918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385769231000005 meters Centerline goodness [0,1] 0.9999787410446651 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.99, Z:-0.51 [[ 9.98433290e-01 5.54383390e-02 7.58657181e-03 2.42614454e+01] [-5.54358673e-02 9.98462106e-01 -5.35852183e-04 -9.90877960e-01] [-7.60461122e-03 1.14444470e-04 9.99971078e-01 -5.12592291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.415769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.99, Z:-0.51 [[ 9.98239902e-01 5.88221308e-02 7.55345862e-03 2.42933456e+01] [-5.88197804e-02 9.98268476e-01 -5.33135085e-04 -9.90901028e-01] [-7.57173977e-03 8.79039382e-05 9.99971330e-01 -5.13067710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.99, Z:-0.51 [[ 9.98027201e-01 6.23297416e-02 7.53062583e-03 2.43261018e+01] [-6.23274932e-02 9.98055609e-01 -5.33118316e-04 -9.90101969e-01] [-7.54921248e-03 6.27015501e-05 9.99971502e-01 -5.13987673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.475769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.98, Z:-0.52 [[ 9.97530595e-01 6.99352870e-02 6.46286680e-03 2.43582658e+01] [-6.99337922e-02 9.97551530e-01 -4.57272776e-04 -9.83517528e-01] [-6.47902216e-03 4.17080052e-06 9.99979011e-01 -5.17157160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.98, Z:-0.52 [[ 9.97059026e-01 7.64384637e-02 5.51896851e-03 2.43912797e+01] [-7.64374699e-02 9.97074300e-01 -3.91077180e-04 -9.77576931e-01] [-5.53271501e-03 -3.19289572e-05 9.99984694e-01 -5.18357023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.535769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.98, Z:-0.52 [[ 9.97046984e-01 7.65953817e-02 5.51890634e-03 2.44228633e+01] [-7.65943855e-02 9.97062258e-01 -3.91951541e-04 -9.79987855e-01] [-5.53271490e-03 -3.19231378e-05 9.99984694e-01 -5.18727724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.98, Z:-0.52 [[ 9.96877842e-01 7.87435127e-02 5.83326096e-03 2.44537244e+01] [-7.87424282e-02 9.96894908e-01 -4.15702734e-04 -9.79234981e-01] [-5.84788204e-03 -4.49202884e-05 9.99982900e-01 -5.18549844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.595769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.49, Y:-0.98, Z:-0.52 [[ 9.96759682e-01 8.01470020e-02 6.82597022e-03 2.44861595e+01] [-8.01455470e-02 9.96783053e-01 -4.86875851e-04 -9.81151949e-01] [-6.84303308e-03 -6.17728983e-05 9.99976584e-01 -5.15745174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625769231000003 meters Centerline goodness [0,1] 0.9999357862967957 Centerline is valid? [True, True] Translation: X:24.52, Y:-0.98, Z:-0.51 [[ 9.96653993e-01 8.11240761e-02 9.98511110e-03 2.45176418e+01] [-8.11209859e-02 9.96704006e-01 -7.14771976e-04 -9.79834291e-01] [-1.00101854e-02 -9.76217124e-05 9.99949892e-01 -5.09963149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.655769231000004 meters Centerline goodness [0,1] 0.999914870070445 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.98, Z:-0.51 [[ 9.96639497e-01 8.11400146e-02 1.12254759e-02 2.45499461e+01] [-8.11360882e-02 9.96702707e-01 -8.05497912e-04 -9.82064860e-01] [-1.12538204e-02 -1.08000171e-04 9.99936668e-01 -5.07786838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685769231000005 meters Centerline goodness [0,1] 0.999893730074389 Centerline is valid? [True, True] Translation: X:24.58, Y:-0.99, Z:-0.51 [[ 9.96626079e-01 8.12599775e-02 1.15445093e-02 2.45826364e+01] [-8.12558116e-02 9.96692934e-01 -8.30216412e-04 -9.86213439e-01] [-1.15737943e-02 -1.10643150e-04 9.99933015e-01 -5.07698871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.715769231000003 meters Centerline goodness [0,1] 0.9999787229515522 Centerline is valid? [True, True] Translation: X:24.62, Y:-0.99, Z:-0.51 [[ 9.96604716e-01 8.16211525e-02 1.08179144e-02 2.46150128e+01] [-8.16174953e-02 9.96663422e-01 -7.79861371e-04 -9.86577750e-01] [-1.08454727e-02 -1.05717555e-04 9.99941181e-01 -5.09676993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745769231000004 meters Centerline goodness [0,1] 0.999957153262779 Centerline is valid? [True, True] Translation: X:24.65, Y:-0.99, Z:-0.51 [[ 9.96587252e-01 8.19446712e-02 9.94586929e-03 2.46484217e+01] [-8.19415804e-02 9.96636875e-01 -7.18552688e-04 -9.87083472e-01] [-9.97130165e-03 -9.88797993e-05 9.99950280e-01 -5.11842124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.775769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.68, Y:-0.99, Z:-0.52 [[ 9.96535565e-01 8.28104366e-02 7.70062790e-03 2.46795722e+01] [-8.28085995e-02 9.96565314e-01 -5.57656447e-04 -9.85279330e-01] [-7.72035844e-03 -8.19537291e-05 9.99970194e-01 -5.15513850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805769231000003 meters Centerline goodness [0,1] 0.9999788753221514 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.98, Z:-0.52 [[ 9.96453232e-01 8.38120867e-02 7.51603848e-03 2.47103732e+01] [-8.38103579e-02 9.96481574e-01 -5.45241133e-04 -9.82918431e-01] [-7.53529165e-03 -8.66145855e-05 9.99971606e-01 -5.16513028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.835769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.74, Y:-0.98, Z:-0.51 [[ 9.96344632e-01 8.50589939e-02 7.89567836e-03 2.47421543e+01] [-8.50571248e-02 9.96375912e-01 -5.72835643e-04 -9.83810176e-01] [-7.91578854e-03 -1.00841981e-04 9.99968665e-01 -5.14869364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865769231000005 meters Centerline goodness [0,1] 0.9999149497140184 Centerline is valid? [True, True] Translation: X:24.77, Y:-0.98, Z:-0.51 [[ 9.96257178e-01 8.60049373e-02 8.64785757e-03 2.47737947e+01] [-8.60027288e-02 9.96294704e-01 -6.27627021e-04 -9.80900999e-01] [-8.66979372e-03 -1.18461425e-04 9.99962410e-01 -5.14530261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.895769231000003 meters Centerline goodness [0,1] 0.9998304581867503 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.98, Z:-0.52 [[ 9.96295073e-01 8.55306763e-02 8.97943429e-03 2.48040971e+01] [-8.55282738e-02 9.96335531e-01 -6.51933823e-04 -9.80015172e-01] [-9.00228977e-03 -1.18477058e-04 9.99959472e-01 -5.15693183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925769231000004 meters Centerline goodness [0,1] 0.9999574332233692 Centerline is valid? [True, True] Translation: X:24.84, Y:-0.98, Z:-0.52 [[ 9.96467200e-01 8.34511498e-02 9.43535402e-03 2.48354537e+01] [-8.34484030e-02 9.96511864e-01 -6.85123180e-04 -9.83800337e-01] [-9.45961654e-03 -1.04662449e-04 9.99955251e-01 -5.15749020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.955769231000005 meters Centerline goodness [0,1] 0.999957497449847 Centerline is valid? [True, True] Translation: X:24.87, Y:-0.99, Z:-0.51 [[ 9.96530274e-01 8.26708878e-02 9.64044980e-03 2.48669074e+01] [-8.26679817e-02 9.96576898e-01 -7.00231314e-04 -9.87095994e-01] [-9.66533831e-03 -9.91548246e-05 9.99953285e-01 -5.14769136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985769231000003 meters Centerline goodness [0,1] 0.9999358919565775 Centerline is valid? [True, True] Translation: X:24.90, Y:-0.99, Z:-0.52 [[ 9.96582379e-01 8.20480411e-02 9.57496517e-03 2.48980314e+01] [-8.20451435e-02 9.96628371e-01 -6.95695825e-04 -9.88766994e-01] [-9.59976242e-03 -9.22611904e-05 9.99953917e-01 -5.15005093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.015769231000004 meters Centerline goodness [0,1] 0.999893838379549 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.99, Z:-0.52 [[ 9.96651119e-01 8.12846179e-02 8.90825964e-03 2.49295058e+01] [-8.12820808e-02 9.96690927e-01 -6.47084274e-04 -9.88802089e-01] [-8.93137956e-03 -7.91646141e-05 9.99960111e-01 -5.17008297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.96, Y:-1.00, Z:-0.52 [[ 9.96887386e-01 7.86051879e-02 6.06337931e-03 2.49615230e+01] [-7.86039611e-02 9.96905825e-01 -4.40746704e-04 -9.96022319e-01] [-6.07926313e-03 -3.72308023e-05 9.99981520e-01 -5.22222504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.075769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.99, Y:-1.00, Z:-0.53 [[ 9.97010227e-01 7.70919519e-02 5.23806451e-03 2.49921210e+01] [-7.70910074e-02 9.97023987e-01 -3.82277748e-04 -9.99904992e-01] [-5.25194650e-03 -2.26728452e-05 9.99986208e-01 -5.25120607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.02, Y:-1.01, Z:-0.52 [[ 9.97206700e-01 7.44641003e-02 5.82192693e-03 2.50233170e+01] [-7.44628878e-02 9.97223695e-01 -4.25057456e-04 -1.00534296e+00] [-5.83741501e-03 -9.64734851e-06 9.99982962e-01 -5.24070395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.135769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.05, Y:-1.01, Z:-0.52 [[ 9.97245585e-01 7.38584770e-02 6.79478788e-03 2.50533781e+01] [-7.38568095e-02 9.97268733e-01 -4.96350837e-04 -1.00862715e+00] [-6.81288922e-03 -6.85767386e-06 9.99976792e-01 -5.23192801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.08, Y:-1.01, Z:-0.52 [[ 9.97287972e-01 7.32666394e-02 6.97862163e-03 2.50843687e+01] [-7.32648657e-02 9.97312388e-01 -5.09813216e-04 -1.01203224e+00] [-6.99721811e-03 -2.85718895e-06 9.99975519e-01 -5.22515130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.195769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.02, Z:-0.52 [[ 9.97423433e-01 7.14420494e-02 6.52147808e-03 2.51165221e+01] [-7.14404654e-02 9.97444752e-01 -4.75825667e-04 -1.01668657e+00] [-6.53880805e-03 8.70224065e-06 9.99978622e-01 -5.23843306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.02, Z:-0.52 [[ 9.97465701e-01 7.08780055e-02 6.20351786e-03 2.51490083e+01] [-7.08765555e-02 9.97484991e-01 -4.53538898e-04 -1.01956759e+00] [-6.22006189e-03 1.27055165e-05 9.99980655e-01 -5.24537696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.255769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.18, Y:-1.02, Z:-0.53 [[ 9.97478740e-01 7.06863474e-02 6.29306586e-03 2.51802410e+01] [-7.06848443e-02 9.97498592e-01 -4.61215055e-04 -1.02177410e+00] [-6.30992593e-03 1.52278323e-05 9.99980092e-01 -5.25315875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.21, Y:-1.02, Z:-0.52 [[ 9.97469076e-01 7.08026976e-02 6.51313111e-03 2.52110067e+01] [-7.08010831e-02 9.97490340e-01 -4.78407766e-04 -1.02259896e+00] [-6.53065793e-03 1.60602148e-05 9.99978675e-01 -5.24438928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.315769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.24, Y:-1.02, Z:-0.52 [[ 9.97432623e-01 7.12568297e-02 7.11519992e-03 2.52429147e+01] [-7.12549015e-02 9.97458001e-01 -5.24444886e-04 -1.02272410e+00] [-7.13448337e-03 1.61055693e-05 9.99974549e-01 -5.23287829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.27, Y:-1.02, Z:-0.52 [[ 9.97322619e-01 7.26343311e-02 8.47628424e-03 2.52746213e+01] [-7.26316423e-02 9.97358639e-01 -6.25019795e-04 -1.02098229e+00] [-8.49929321e-03 7.69993300e-06 9.99963880e-01 -5.20733639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.375769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.02, Z:-0.52 [[ 9.97269940e-01 7.32819539e-02 9.07860583e-03 2.53057760e+01] [-7.32788957e-02 9.97311263e-01 -6.69489321e-04 -1.02198004e+00] [-9.10325733e-03 2.39136519e-06 9.99958564e-01 -5.19998051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.02, Z:-0.52 [[ 9.97229695e-01 7.38057726e-02 9.25435465e-03 2.53367858e+01] [-7.38026106e-02 9.97272635e-01 -6.83180523e-04 -1.02303693e+00] [-9.27953731e-03 -1.70762802e-06 9.99956944e-01 -5.20878304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.435769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.02, Z:-0.52 [[ 9.97230823e-01 7.38944095e-02 8.38467566e-03 2.53691884e+01] [-7.38918081e-02 9.97266071e-01 -6.20036648e-04 -1.02287486e+00] [-8.40756979e-03 -1.23918840e-06 9.99964656e-01 -5.23836210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.02, Z:-0.53 [[ 9.97263630e-01 7.35489395e-02 7.47034627e-03 2.54005006e+01] [-7.35468547e-02 9.97291609e-01 -5.53768710e-04 -1.02475658e+00] [-7.49084275e-03 2.83292200e-06 9.99971943e-01 -5.26732407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.495769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.03, Z:-0.53 [[ 9.97351826e-01 7.24670193e-02 6.15363672e-03 2.54320326e+01] [-7.24655794e-02 9.97370809e-01 -4.56923345e-04 -1.02567042e+00] [-6.17056951e-03 9.78648175e-06 9.99980962e-01 -5.27756182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.03, Z:-0.53 [[ 9.97397529e-01 7.18347505e-02 6.15930458e-03 2.54627248e+01] [-7.18332943e-02 9.97416547e-01 -4.57620829e-04 -1.02685629e+00] [-6.17626539e-03 1.39867460e-05 9.99980927e-01 -5.26984947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.555769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.03, Z:-0.52 [[ 9.97553581e-01 6.95436488e-02 7.10869429e-03 2.54938400e+01] [-6.95416516e-02 9.97578909e-01 -5.28049385e-04 -1.03166502e+00] [-7.12820597e-03 3.24072141e-05 9.99974593e-01 -5.24706495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.53, Y:-1.04, Z:-0.52 [[ 9.97672268e-01 6.77951171e-02 7.33944205e-03 2.55257977e+01] [-6.77929440e-02 9.97699263e-01 -5.44755088e-04 -1.03875824e+00] [-7.35948766e-03 4.59246606e-05 9.99972918e-01 -5.24843085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.615769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.56, Y:-1.05, Z:-0.53 [[ 9.97799566e-01 6.58864893e-02 7.41600824e-03 2.55565066e+01] [-6.58842081e-02 9.97827123e-01 -5.51751591e-04 -1.04661580e+00] [-7.43624713e-03 6.19396678e-05 9.99972349e-01 -5.26126726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-1.06, Z:-0.53 [[ 9.98070198e-01 6.16915460e-02 7.07333890e-03 2.55876369e+01] [-6.16893584e-02 9.98095259e-01 -5.27242458e-04 -1.05625811e+00] [-7.09239242e-03 8.98752466e-05 9.99974845e-01 -5.26951176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.675769231000004 meters Centerline goodness [0,1] 0.9999786543715847 Centerline is valid? [True, True] Translation: X:25.62, Y:-1.06, Z:-0.53 [[ 9.98127070e-01 6.06528977e-02 7.97357084e-03 2.56197802e+01] [-6.06500732e-02 9.98158912e-01 -5.95791827e-04 -1.06084943e+00] [-7.99502729e-03 1.11078296e-04 9.99968033e-01 -5.26058782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705769231000005 meters Centerline goodness [0,1] 0.9999570354457572 Centerline is valid? [True, True] Translation: X:25.65, Y:-1.07, Z:-0.52 [[ 9.98094416e-01 6.10746989e-02 8.79875340e-03 2.56523474e+01] [-6.10712615e-02 9.98133191e-01 -6.59071263e-04 -1.06575437e+00] [-8.82258038e-03 1.20464378e-04 9.99961073e-01 -5.24427021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.735769231000003 meters Centerline goodness [0,1] 0.9999577675950757 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.07, Z:-0.53 [[ 9.98018178e-01 6.24084131e-02 8.05640192e-03 2.56831127e+01] [-6.24055626e-02 9.98050690e-01 -6.04970331e-04 -1.07332225e+00] [-8.07845273e-03 1.01007093e-04 9.99967364e-01 -5.26962286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765769231000004 meters Centerline goodness [0,1] 0.9999787861431086 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.07, Z:-0.53 [[ 9.97808010e-01 6.58383098e-02 6.67027228e-03 2.57158131e+01] [-6.58364274e-02 9.97830303e-01 -5.01620905e-04 -1.07020853e+00] [-6.68882568e-03 6.13744606e-05 9.99977628e-01 -5.29292628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.795769231000005 meters Centerline goodness [0,1] 0.9999785770903404 Centerline is valid? [True, True] Translation: X:25.75, Y:-1.07, Z:-0.53 [[ 9.97668360e-01 6.78626894e-02 7.24565991e-03 2.57486699e+01] [-6.78605092e-02 9.97694669e-01 -5.46606899e-04 -1.06885836e+00] [-7.26605048e-03 5.36382371e-05 9.99973600e-01 -5.28207213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.07, Z:-0.53 [[ 9.97523577e-01 6.98358974e-02 8.34627716e-03 2.57811498e+01] [-6.98330715e-02 9.97558492e-01 -6.29882428e-04 -1.06974320e+00] [-8.36988806e-03 4.54764028e-05 9.99964971e-01 -5.26896999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.855769231000004 meters Centerline goodness [0,1] 0.9999784895351589 Centerline is valid? [True, True] Translation: X:25.81, Y:-1.07, Z:-0.52 [[ 9.97354335e-01 7.19686664e-02 1.02392504e-02 2.58136139e+01] [-7.19645036e-02 9.97406893e-01 -7.74891018e-04 -1.07270322e+00] [-1.02684668e-02 3.59783430e-05 9.99947277e-01 -5.24058062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.08, Z:-0.53 [[ 9.97288544e-01 7.29828679e-02 9.43726477e-03 2.58452832e+01] [-7.29793639e-02 9.97333194e-01 -7.15592778e-04 -1.07556137e+00] [-9.46432343e-03 2.49268989e-05 9.99955212e-01 -5.25933028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.915769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.88, Y:-1.08, Z:-0.53 [[ 9.97161501e-01 7.49493128e-02 7.17927526e-03 2.58783522e+01] [-7.49473307e-02 9.97187345e-01 -5.45108161e-04 -1.07905175e+00] [-7.19993791e-03 5.49335478e-06 9.99974080e-01 -5.31349743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.08, Z:-0.53 [[ 9.97064111e-01 7.63286696e-02 6.09035020e-03 2.59095734e+01] [-7.63272627e-02 9.97082712e-01 -4.63437679e-04 -1.08219897e+00] [-6.10795648e-03 -2.78268265e-06 9.99981346e-01 -5.33357510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.975769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.08, Z:-0.54 [[ 9.96961809e-01 7.77054775e-02 5.38610740e-03 2.59407975e+01] [-7.77043896e-02 9.96976358e-01 -4.11268386e-04 -1.08447431e+00] [-5.40177955e-03 -8.50531427e-06 9.99985410e-01 -5.35502590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.08, Z:-0.54 [[ 9.96603025e-01 8.22706775e-02 3.73441655e-03 2.59707066e+01] [-8.22701855e-02 9.96610022e-01 -2.85430950e-04 -1.07929916e+00] [-3.74523956e-03 -2.27697946e-05 9.99992986e-01 -5.38003711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.035769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.00, Y:-1.08, Z:-0.54 [[ 9.96290092e-01 8.59898836e-02 3.43415812e-03 2.60012642e+01] [-8.59894901e-02 9.96296010e-01 -2.62356778e-04 -1.07504283e+00] [-3.44399806e-03 -3.39180468e-05 9.99994069e-01 -5.37488793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065769231000004 meters Centerline goodness [0,1] 0.9999785651512229 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.06, Z:-0.54 [[ 9.95437957e-01 9.53204435e-02 4.15769653e-03 2.60319098e+01] [-9.53199478e-02 9.95446637e-01 -3.17657346e-04 -1.05995883e+00] [-4.16904426e-03 -8.01032358e-05 9.99991306e-01 -5.35849662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.095769231000006 meters Centerline goodness [0,1] 0.9998289209186947 Centerline is valid? [True, True] Translation: X:26.06, Y:-1.05, Z:-0.54 [[ 9.94997546e-01 9.97746829e-02 4.98958183e-03 2.60614289e+01] [-9.97740241e-02 9.95010050e-01 -3.81401806e-04 -1.05124791e+00] [-5.00273831e-03 -1.18336796e-04 9.99987479e-01 -5.35342439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125769231000003 meters Centerline goodness [0,1] 0.9995776402762233 Centerline is valid? [True, True] Translation: X:26.09, Y:-1.04, Z:-0.54 [[ 9.94599869e-01 1.03635881e-01 5.54112178e-03 2.60901922e+01] [-1.03635129e-01 9.94615293e-01 -4.23386128e-04 -1.04295983e+00] [-5.55516245e-03 -1.53155082e-04 9.99984558e-01 -5.36261432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.155769231000004 meters Centerline goodness [0,1] 0.9994390143914385 Centerline is valid? [True, True] Translation: X:26.12, Y:-1.04, Z:-0.54 [[ 9.94195431e-01 1.07463104e-01 5.20827851e-03 2.61209391e+01] [-1.07462495e-01 9.94209060e-01 -3.97458141e-04 -1.03971227e+00] [-5.22082977e-03 -1.64543536e-04 9.99986358e-01 -5.37371931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185769231000005 meters Centerline goodness [0,1] 0.9992135691208978 Centerline is valid? [True, True] Translation: X:26.15, Y:-1.04, Z:-0.54 [[ 9.94177278e-01 1.07643060e-01 4.95098865e-03 2.61493620e+01] [-1.07642510e-01 9.94189593e-01 -3.78213436e-04 -1.03615227e+00] [-4.96293345e-03 -1.56925641e-04 9.99987672e-01 -5.38970564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.215769231000003 meters Centerline goodness [0,1] 0.9993830574820236 Centerline is valid? [True, True] Translation: X:26.18, Y:-1.04, Z:-0.54 [[ 9.94274058e-01 1.06744886e-01 4.96256366e-03 2.61785238e+01] [-1.06744324e-01 9.94286431e-01 -3.78717034e-04 -1.03822988e+00] [-4.97463582e-03 -1.53176979e-04 9.99987615e-01 -5.38917361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245769231000004 meters Centerline goodness [0,1] 0.9997018294890635 Centerline is valid? [True, True] Translation: X:26.21, Y:-1.04, Z:-0.54 [[ 9.94695509e-01 1.02687013e-01 6.01851219e-03 2.62083159e+01] [-1.02686116e-01 9.94713703e-01 -4.58735780e-04 -1.04310925e+00] [-6.03380275e-03 -1.61715221e-04 9.99981783e-01 -5.36877433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.275769231000005 meters Centerline goodness [0,1] 0.9996580831285393 Centerline is valid? [True, True] Translation: X:26.24, Y:-1.05, Z:-0.54 [[ 9.94877507e-01 1.00867662e-01 6.66790630e-03 2.62373463e+01] [-1.00866520e-01 9.94899838e-01 -5.08256698e-04 -1.04612780e+00] [-6.68516556e-03 -1.66915346e-04 9.99977640e-01 -5.36384841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305769231000003 meters Centerline goodness [0,1] 0.9999150743099787 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.05, Z:-0.54 [[ 9.95326807e-01 9.63731877e-02 6.06264062e-03 2.62661984e+01] [-9.63721613e-02 9.95345263e-01 -4.61887711e-04 -1.05280685e+00] [-6.07893422e-03 -1.24540559e-04 9.99981515e-01 -5.38200358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.335769231000004 meters Centerline goodness [0,1] 0.9999568547082299 Centerline is valid? [True, True] Translation: X:26.30, Y:-1.06, Z:-0.54 [[ 9.95631529e-01 9.32219588e-02 5.24644649e-03 2.62953447e+01] [-9.32211472e-02 9.95645348e-01 -3.99550964e-04 -1.05947410e+00] [-5.26084696e-03 -9.12742233e-05 9.99986157e-01 -5.40276416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.07, Z:-0.54 [[ 9.95934866e-01 8.99545019e-02 4.68293761e-03 2.63243093e+01] [-8.99538190e-02 9.95945874e-01 -3.56676045e-04 -1.06661249e+00] [-4.69603701e-03 -6.60220129e-05 9.99988971e-01 -5.42531941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.395769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.35, Y:-1.08, Z:-0.54 [[ 9.96551700e-01 8.27469718e-02 6.13573805e-03 2.63524413e+01] [-8.27456645e-02 9.96570588e-01 -4.67048058e-04 -1.08395550e+00] [-6.15334289e-03 -4.22681864e-05 9.99981067e-01 -5.40876764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.10, Z:-0.54 [[ 9.96852180e-01 7.88376267e-02 8.38810085e-03 2.63828989e+01] [-7.88350472e-02 9.96887470e-01 -6.38240994e-04 -1.09635579e+00] [-8.41231004e-03 -2.50443993e-05 9.99964616e-01 -5.36114163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.455769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.10, Z:-0.54 [[ 9.96850316e-01 7.88611935e-02 8.38808571e-03 2.64136400e+01] [-7.88586131e-02 9.96885606e-01 -6.38439791e-04 -1.09874134e+00] [-8.41231003e-03 -2.50438989e-05 9.99964616e-01 -5.36474947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.12, Z:-0.53 [[ 9.97456594e-01 7.04492134e-02 1.08283073e-02 2.64432465e+01] [-7.04444142e-02 9.97515366e-01 -8.24452854e-04 -1.11916018e+00] [-1.08594850e-02 5.95621701e-05 9.99941032e-01 -5.31480928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.515769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.47, Y:-1.13, Z:-0.53 [[ 9.97735884e-01 6.65153936e-02 9.94019057e-03 2.64749442e+01] [-6.65111472e-02 9.97785394e-01 -7.57530348e-04 -1.13047282e+00] [-9.96856439e-03 9.46817338e-05 9.99950308e-01 -5.33282266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545769231000005 meters Centerline goodness [0,1] 0.9998726222826086 Centerline is valid? [True, True] Translation: X:26.50, Y:-1.15, Z:-0.54 [[ 9.98133347e-01 6.07374671e-02 6.38598310e-03 2.65031470e+01] [-6.07355902e-02 9.98153771e-01 -4.87597785e-04 -1.14943644e+00] [-6.40380857e-03 9.88311560e-05 9.99979491e-01 -5.39531917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.575769231000002 meters Centerline goodness [0,1] 0.9999364204726078 Centerline is valid? [True, True] Translation: X:26.53, Y:-1.16, Z:-0.54 [[ 9.98193980e-01 5.98150675e-02 5.56194430e-03 2.65340472e+01] [-5.98136312e-02 9.98209472e-01 -4.24361810e-04 -1.15750856e+00] [-5.57736871e-03 9.09153191e-05 9.99984442e-01 -5.41522526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605769231000004 meters Centerline goodness [0,1] 0.99991452260877 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.16, Z:-0.54 [[ 9.98185499e-01 5.99719479e-02 5.39210564e-03 2.65671044e+01] [-5.99705975e-02 9.98200059e-01 -4.11913737e-04 -1.16124919e+00] [-5.40710344e-03 8.77985215e-05 9.99985378e-01 -5.41470215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.635769231000005 meters Centerline goodness [0,1] 0.99995754256358 Centerline is valid? [True, True] Translation: X:26.60, Y:-1.17, Z:-0.54 [[ 9.98018242e-01 6.26109001e-02 6.28203875e-03 2.65975975e+01] [-6.26091086e-02 9.98038009e-01 -4.81621860e-04 -1.16654876e+00] [-6.29986823e-03 8.73545556e-05 9.99980152e-01 -5.39747983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.63, Y:-1.17, Z:-0.54 [[ 9.97855176e-01 6.50995634e-02 6.86249425e-03 2.66296242e+01] [-6.50974765e-02 9.97878770e-01 -5.27261365e-04 -1.16721672e+00] [-6.88226181e-03 7.93994235e-05 9.99976314e-01 -5.38639410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.695769231000003 meters Centerline goodness [0,1] 0.9999788846892882 Centerline is valid? [True, True] Translation: X:26.66, Y:-1.17, Z:-0.54 [[ 9.97545426e-01 6.97681370e-02 5.96067888e-03 2.66613602e+01] [-6.97666415e-02 9.97563234e-01 -4.58698209e-04 -1.16670922e+00] [-5.97815662e-03 4.17157533e-05 9.99982130e-01 -5.41372729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.69, Y:-1.17, Z:-0.54 [[ 9.97462009e-01 7.10027972e-02 5.30504748e-03 2.66946569e+01] [-7.10016276e-02 9.97476116e-01 -4.08728057e-04 -1.16828322e+00] [-5.32067899e-03 3.10237034e-05 9.99985845e-01 -5.42623229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.755769231000006 meters Centerline goodness [0,1] 0.9999787600093456 Centerline is valid? [True, True] Translation: X:26.73, Y:-1.17, Z:-0.54 [[ 9.97426264e-01 7.15289993e-02 4.94472881e-03 2.67278028e+01] [-7.15279857e-02 9.97438520e-01 -3.81752776e-04 -1.17198851e+00] [-4.95936938e-03 2.70837531e-05 9.99987702e-01 -5.44141688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.76, Y:-1.18, Z:-0.54 [[ 9.97513728e-01 7.02728716e-02 5.29959556e-03 2.67593852e+01] [-7.02716830e-02 9.97527805e-01 -4.10393046e-04 -1.17877019e+00] [-5.31533343e-03 3.69611987e-05 9.99985873e-01 -5.44102273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.815769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.79, Y:-1.18, Z:-0.54 [[ 9.97545371e-01 6.98119128e-02 5.43410798e-03 2.67921575e+01] [-6.98106511e-02 9.97560171e-01 -4.21754992e-04 -1.18099252e+00] [-5.45029321e-03 4.13611246e-05 9.99985146e-01 -5.43314492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.82, Y:-1.18, Z:-0.54 [[ 9.97530903e-01 6.99844529e-02 5.85442441e-03 2.68245671e+01] [-6.99829839e-02 9.97548081e-01 -4.55654799e-04 -1.18350866e+00] [-5.87195859e-03 4.48196535e-05 9.99982759e-01 -5.43084539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.875769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.86, Y:-1.18, Z:-0.54 [[ 9.97420133e-01 7.14149634e-02 7.27886680e-03 2.68566282e+01] [-7.14127163e-02 9.97446691e-01 -5.68494979e-04 -1.18289571e+00] [-7.30088065e-03 4.72246878e-05 9.99973347e-01 -5.40111048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.89, Y:-1.18, Z:-0.54 [[ 9.97276568e-01 7.33394093e-02 7.79607331e-03 2.68879769e+01] [-7.33368786e-02 9.97307039e-01 -6.10376714e-04 -1.18195736e+00] [-7.81984346e-03 3.69747119e-05 9.99969424e-01 -5.39252525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.935769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.92, Y:-1.18, Z:-0.54 [[ 9.97212711e-01 7.41724342e-02 8.07834184e-03 2.69211589e+01] [-7.41697346e-02 9.97245431e-01 -6.33670955e-04 -1.18178759e+00] [-8.10309040e-03 3.27362604e-05 9.99967169e-01 -5.38529651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.95, Y:-1.18, Z:-0.54 [[ 9.97156505e-01 7.49646585e-02 7.69438698e-03 2.69536662e+01] [-7.49622222e-02 9.97186191e-01 -6.04959927e-04 -1.18284997e+00] [-7.71808706e-03 2.64513809e-05 9.99970215e-01 -5.39349404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.995769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.99, Y:-1.18, Z:-0.54 [[ 9.97075405e-01 7.60995033e-02 7.03576275e-03 2.69865768e+01] [-7.60974874e-02 9.97100228e-01 -5.54177918e-04 -1.18407736e+00] [-7.05753331e-03 1.71533050e-05 9.99975095e-01 -5.40805404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.02, Y:-1.18, Z:-0.54 [[ 9.96900014e-01 7.84413118e-02 6.10916158e-03 2.70184241e+01] [-7.84398281e-02 9.96918733e-01 -4.82465642e-04 -1.18283556e+00] [-6.12818286e-03 1.76842189e-06 9.99981223e-01 -5.43603645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.055769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.05, Y:-1.18, Z:-0.54 [[ 9.96745547e-01 8.03974695e-02 5.87897207e-03 2.70501085e+01] [-8.03961224e-02 9.96762884e-01 -4.65492332e-04 -1.18043682e+00] [-5.89736556e-03 -8.66914947e-06 9.99982610e-01 -5.43749794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.08, Y:-1.18, Z:-0.54 [[ 9.96716684e-01 8.07425119e-02 6.04138363e-03 2.70816683e+01] [-8.07410948e-02 9.96734993e-01 -4.78501295e-04 -1.18244181e+00] [-6.06029387e-03 -1.08577046e-05 9.99981636e-01 -5.43290111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.115769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.11, Y:-1.19, Z:-0.54 [[ 9.96722701e-01 8.06420361e-02 6.38116124e-03 2.71127909e+01] [-8.06404563e-02 9.96743127e-01 -5.04896371e-04 -1.18584131e+00] [-6.40109449e-03 -1.13380797e-05 9.99979513e-01 -5.42814588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.14, Y:-1.19, Z:-0.54 [[ 9.96748457e-01 8.02322487e-02 7.43634062e-03 2.71443909e+01] [-8.02300815e-02 9.96776197e-01 -5.89768807e-04 -1.19041782e+00] [-7.45968580e-03 -8.76706495e-06 9.99972176e-01 -5.41501855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.175769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.17, Y:-1.20, Z:-0.54 [[ 9.96926882e-01 7.78370510e-02 8.84230093e-03 2.71745874e+01] [-7.78338747e-02 9.96966094e-01 -7.03296959e-04 -1.20040048e+00] [-8.87021679e-03 1.29051018e-05 9.99960659e-01 -5.40590420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205769231000005 meters Centerline goodness [0,1] 0.9999365213711384 Centerline is valid? [True, True] Translation: X:27.20, Y:-1.21, Z:-0.55 [[ 9.97214467e-01 7.42395514e-02 7.19691423e-03 2.72045105e+01] [-7.42373521e-02 9.97240436e-01 -5.72626013e-04 -1.21392416e+00] [-7.21956539e-03 3.67510887e-05 9.99973938e-01 -5.45232802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.235769231000003 meters Centerline goodness [0,1] 0.9998727573482631 Centerline is valid? [True, True] Translation: X:27.24, Y:-1.22, Z:-0.55 [[ 9.97343242e-01 7.25571391e-02 6.47445237e-03 2.72360829e+01] [-7.25553187e-02 9.97364256e-01 -5.15903460e-04 -1.22241970e+00] [-6.49481985e-03 4.47768741e-05 9.99978907e-01 -5.46315619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265769231000004 meters Centerline goodness [0,1] 0.9999360259308228 Centerline is valid? [True, True] Translation: X:27.27, Y:-1.23, Z:-0.55 [[ 9.97433598e-01 7.12872699e-02 6.65903104e-03 2.72681117e+01] [-7.12853087e-02 9.97455825e-01 -5.31713783e-04 -1.23026846e+00] [-6.67999372e-03 5.56581080e-05 9.99977687e-01 -5.45548353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.295769231000005 meters Centerline goodness [0,1] 0.9999572877736252 Centerline is valid? [True, True] Translation: X:27.30, Y:-1.24, Z:-0.55 [[ 9.97524605e-01 7.00174178e-02 6.49791219e-03 2.72991961e+01] [-7.00155168e-02 9.97545767e-01 -5.19853798e-04 -1.24227790e+00] [-6.51836362e-03 6.36122747e-05 9.99978753e-01 -5.45764349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325769231000002 meters Centerline goodness [0,1] 0.9997873019249176 Centerline is valid? [True, True] Translation: X:27.33, Y:-1.25, Z:-0.55 [[ 9.97492475e-01 7.05022458e-02 6.18018688e-03 2.73305389e+01] [-7.05005303e-02 9.97511619e-01 -4.95271409e-04 -1.24889447e+00] [-6.19972597e-03 5.83230512e-05 9.99980780e-01 -5.47432678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.355769231000004 meters Centerline goodness [0,1] 0.9997649120557373 Centerline is valid? [True, True] Translation: X:27.36, Y:-1.26, Z:-0.55 [[ 9.97451058e-01 7.11031939e-02 5.97678160e-03 2.73630406e+01] [-7.11015948e-02 9.97468963e-01 -4.79867751e-04 -1.25500118e+00] [-5.99577428e-03 5.36858921e-05 9.99982024e-01 -5.48529475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385769231000005 meters Centerline goodness [0,1] 0.9998098015596272 Centerline is valid? [True, True] Translation: X:27.39, Y:-1.26, Z:-0.55 [[ 9.97306211e-01 7.30987609e-02 6.07388602e-03 2.73934620e+01] [-7.30971384e-02 9.97324706e-01 -4.88990522e-04 -1.26270509e+00] [-6.09338119e-03 4.36895980e-05 9.99981434e-01 -5.48730725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.415769231000006 meters Centerline goodness [0,1] 0.9998064682607948 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.27, Z:-0.55 [[ 9.97204210e-01 7.44742262e-02 6.11166974e-03 2.74254813e+01] [-7.44726041e-02 9.97222938e-01 -4.92882056e-04 -1.26722822e+00] [-6.13140426e-03 3.63521008e-05 9.99981202e-01 -5.48672871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445769231000003 meters Centerline goodness [0,1] 0.9998517859789536 Centerline is valid? [True, True] Translation: X:27.46, Y:-1.27, Z:-0.55 [[ 9.96898783e-01 7.84185714e-02 6.58369975e-03 2.74566633e+01] [-7.84167669e-02 9.96920522e-01 -5.32188634e-04 -1.27009378e+00] [-6.60515887e-03 1.42657525e-05 9.99978186e-01 -5.47508124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.475769231000005 meters Centerline goodness [0,1] 0.9998941507716409 Centerline is valid? [True, True] Translation: X:27.49, Y:-1.27, Z:-0.55 [[ 9.96688733e-01 8.10144075e-02 6.94517331e-03 2.74895836e+01] [-8.10124557e-02 9.96712930e-01 -5.62362734e-04 -1.27064734e+00] [-6.96790353e-03 -2.14494397e-06 9.99975724e-01 -5.46999299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.52, Y:-1.27, Z:-0.55 [[ 9.96421265e-01 8.42463888e-02 6.87078269e-03 2.75230832e+01] [-8.42445473e-02 9.96444954e-01 -5.57507783e-04 -1.26956168e+00] [-6.89332475e-03 -2.33133665e-05 9.99976240e-01 -5.47018010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.535769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.56, Y:-1.26, Z:-0.55 [[ 9.95722838e-01 9.21739956e-02 6.32337603e-03 2.75555653e+01] [-9.21725880e-02 9.95742913e-01 -5.14280539e-04 -1.25993130e+00] [-6.34386016e-03 -7.07610565e-05 9.99979875e-01 -5.48032422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.59, Y:-1.25, Z:-0.55 [[ 9.95298296e-01 9.66575227e-02 6.21500389e-03 2.75868171e+01] [-9.66562423e-02 9.95317695e-01 -5.06747260e-04 -1.25476678e+00] [-6.23488428e-03 -9.63542381e-05 9.99980558e-01 -5.48310903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.595769231000006 meters Centerline goodness [0,1] 0.9998507208052546 Centerline is valid? [True, True] Translation: X:27.62, Y:-1.24, Z:-0.55 [[ 9.94482348e-01 1.04684238e-01 6.78748752e-03 2.76174866e+01] [-1.04682891e-01 9.94505498e-01 -5.54355283e-04 -1.24039965e+00] [-6.80822591e-03 -1.59237273e-04 9.99976811e-01 -5.46950678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625769231000003 meters Centerline goodness [0,1] 0.9998723594358288 Centerline is valid? [True, True] Translation: X:27.65, Y:-1.23, Z:-0.55 [[ 9.94109632e-01 1.08098602e-01 7.79307445e-03 2.76488760e+01] [-1.08096930e-01 9.94140155e-01 -6.36690720e-04 -1.23045326e+00] [-7.81623362e-03 -2.09467044e-04 9.99969431e-01 -5.46273510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.655769231000004 meters Centerline goodness [0,1] 0.9998729136660172 Centerline is valid? [True, True] Translation: X:27.68, Y:-1.23, Z:-0.55 [[ 9.93830714e-01 1.10587912e-01 8.41584662e-03 2.76790718e+01] [-1.10586049e-01 9.93866315e-01 -6.87748550e-04 -1.22983965e+00] [-8.44028315e-03 -2.47169596e-04 9.99964350e-01 -5.45506681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685769231000005 meters Centerline goodness [0,1] 0.9994426939317943 Centerline is valid? [True, True] Translation: X:27.71, Y:-1.22, Z:-0.55 [[ 9.93442113e-01 1.14132493e-01 6.82218750e-03 2.77087162e+01] [-1.14131353e-01 9.93465512e-01 -5.57515216e-04 -1.22092586e+00] [-6.84123860e-03 -2.24766393e-04 9.99976573e-01 -5.47959969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.715769231000003 meters Centerline goodness [0,1] 0.999224488916654 Centerline is valid? [True, True] Translation: X:27.74, Y:-1.22, Z:-0.55 [[ 9.93320349e-01 1.15199295e-01 6.61873702e-03 2.77376959e+01] [-1.15198246e-01 9.93342374e-01 -5.40804875e-04 -1.21667284e+00] [-6.63697229e-03 -2.25274406e-04 9.99977950e-01 -5.48564168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745769231000004 meters Centerline goodness [0,1] 0.9987926286803643 Centerline is valid? [True, True] Translation: X:27.77, Y:-1.21, Z:-0.55 [[ 9.93134360e-01 1.16678171e-01 8.38736065e-03 2.77669605e+01] [-1.16676542e-01 9.93169731e-01 -6.84971150e-04 -1.20642633e+00] [-8.40999390e-03 -2.98339849e-04 9.99964591e-01 -5.45184300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.775769231000005 meters Centerline goodness [0,1] 0.9981556073775705 Centerline is valid? [True, True] Translation: X:27.80, Y:-1.20, Z:-0.54 [[ 9.93027827e-01 1.17529176e-01 9.08991529e-03 2.77963529e+01] [-1.17527303e-01 9.93069375e-01 -7.41902680e-04 -1.20240457e+00] [-9.11411171e-03 -3.31583218e-04 9.99958411e-01 -5.43887929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805769231000003 meters Centerline goodness [0,1] 0.9976364875223576 Centerline is valid? [True, True] Translation: X:27.83, Y:-1.20, Z:-0.54 [[ 9.92946733e-01 1.18206525e-01 9.16525802e-03 2.78258843e+01] [-1.18204652e-01 9.92988973e-01 -7.47645416e-04 -1.19883019e+00] [-9.18937672e-03 -3.41004065e-04 9.99957719e-01 -5.44181704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.835769231000004 meters Centerline goodness [0,1] 0.9974788479617127 Centerline is valid? [True, True] Translation: X:27.85, Y:-1.19, Z:-0.55 [[ 9.92954288e-01 1.18256299e-01 7.56502529e-03 2.78547807e+01] [-1.18255026e-01 9.92983065e-01 -6.16910866e-04 -1.19148960e+00] [-7.58489559e-03 -2.82037973e-04 9.99971194e-01 -5.47051416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865769231000005 meters Centerline goodness [0,1] 0.9979529170931423 Centerline is valid? [True, True] Translation: X:27.88, Y:-1.19, Z:-0.55 [[ 9.93089176e-01 1.17149755e-01 7.05852276e-03 2.78833024e+01] [-1.17148622e-01 9.93114228e-01 -5.75214395e-04 -1.18944630e+00] [-7.07730560e-03 -2.55657025e-04 9.99974923e-01 -5.48902968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.895769231000003 meters Centerline goodness [0,1] 0.9991116939151033 Centerline is valid? [True, True] Translation: X:27.91, Y:-1.19, Z:-0.55 [[ 9.93528263e-01 1.13393623e-01 6.59372898e-03 2.79126603e+01] [-1.13392554e-01 9.93550120e-01 -5.36920396e-04 -1.18747635e+00] [-6.61208356e-03 -2.14234182e-04 9.99978117e-01 -5.50683534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925769231000004 meters Centerline goodness [0,1] 0.9994197292069632 Centerline is valid? [True, True] Translation: X:27.94, Y:-1.19, Z:-0.55 [[ 9.93845986e-01 1.10552738e-01 6.94614053e-03 2.79411460e+01] [-1.10551483e-01 9.93870238e-01 -5.65636585e-04 -1.19116293e+00] [-6.96609502e-03 -2.05750484e-04 9.99975715e-01 -5.50090715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.955769231000005 meters Centerline goodness [0,1] 0.9997245120684906 Centerline is valid? [True, True] Translation: X:27.97, Y:-1.20, Z:-0.55 [[ 9.94172311e-01 1.07533930e-01 7.60716233e-03 2.79710369e+01] [-1.07532339e-01 9.94201395e-01 -6.19098279e-04 -1.19634318e+00] [-7.62962547e-03 -2.02525591e-04 9.99970873e-01 -5.48735706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985769231000003 meters Centerline goodness [0,1] 0.9999787206877474 Centerline is valid? [True, True] Translation: X:28.00, Y:-1.20, Z:-0.55 [[ 9.94806408e-01 1.01545332e-01 6.98259328e-03 2.79998714e+01] [-1.01543844e-01 9.94830903e-01 -5.68230017e-04 -1.20257089e+00] [-7.00420069e-03 -1.43760501e-04 9.99975460e-01 -5.50415942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.015769231000004 meters Centerline goodness [0,1] 0.9999787586558477 Centerline is valid? [True, True] Translation: X:28.03, Y:-1.21, Z:-0.55 [[ 9.95054441e-01 9.91293664e-02 6.32675507e-03 2.80294432e+01] [-9.91280963e-02 9.95074548e-01 -5.14801973e-04 -1.20749774e+00] [-6.34662493e-03 -1.14903195e-04 9.99979853e-01 -5.52900627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.06, Y:-1.22, Z:-0.55 [[ 9.95436720e-01 9.53038784e-02 4.78606175e-03 2.80582975e+01] [-9.53031074e-02 9.95448224e-01 -3.89420392e-04 -1.22231448e+00] [-4.80138994e-03 -6.84831995e-05 9.99988471e-01 -5.52731328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.075769231000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.09, Y:-1.22, Z:-0.55 [[ 9.95572019e-01 9.38733771e-02 4.91356986e-03 2.80873330e+01] [-9.38725478e-02 9.95584143e-01 -3.99653666e-04 -1.22236259e+00] [-4.92938908e-03 -6.33653144e-05 9.99987848e-01 -5.54205511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.12, Y:-1.23, Z:-0.55 [[ 9.95685238e-01 9.26422157e-02 5.32225981e-03 2.81167828e+01] [-9.26412258e-02 9.95699461e-01 -4.32751165e-04 -1.22651025e+00] [-5.33946225e-03 -6.21767265e-05 9.99985743e-01 -5.52551357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.135769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.23, Z:-0.55 [[ 9.95821695e-01 9.10420252e-02 7.10638172e-03 2.81462712e+01] [-9.10402215e-02 9.95847049e-01 -5.77558689e-04 -1.23092677e+00] [-7.12945137e-03 -7.18210929e-05 9.99974583e-01 -5.49397779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.24, Z:-0.55 [[ 9.95909198e-01 9.00181889e-02 7.84822022e-03 2.81767171e+01] [-9.00159596e-02 9.95940119e-01 -6.37545499e-04 -1.23658243e+00] [-7.87374807e-03 -7.15276469e-05 9.99968999e-01 -5.48267233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.195769231000003 meters Centerline goodness [0,1] 0.9999575037715402 Centerline is valid? [True, True] Translation: X:28.21, Y:-1.24, Z:-0.55 [[ 9.96140540e-01 8.73267949e-02 8.83488976e-03 2.82055411e+01] [-8.73238636e-02 9.96179717e-01 -7.17730446e-04 -1.24441922e+00] [-8.86381508e-03 -5.65363150e-05 9.99960714e-01 -5.47984721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225769231000005 meters Centerline goodness [0,1] 0.9998514998514999 Centerline is valid? [True, True] Translation: X:28.24, Y:-1.25, Z:-0.55 [[ 9.96223579e-01 8.63641861e-02 8.93348698e-03 2.82370642e+01] [-8.63611522e-02 9.96263632e-01 -7.25536054e-04 -1.24822732e+00] [-8.96276851e-03 -4.87101035e-05 9.99959832e-01 -5.48902753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.255769231000006 meters Centerline goodness [0,1] 0.9997872793022761 Centerline is valid? [True, True] Translation: X:28.27, Y:-1.25, Z:-0.55 [[ 9.96279419e-01 8.57421831e-02 8.69467796e-03 2.82683545e+01] [-8.57392839e-02 9.96317357e-01 -7.06339311e-04 -1.25220199e+00] [-8.72322164e-03 -4.17641432e-05 9.99961951e-01 -5.49691439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285769231000003 meters Centerline goodness [0,1] 0.999936367878505 Centerline is valid? [True, True] Translation: X:28.30, Y:-1.26, Z:-0.55 [[ 9.96285072e-01 8.57707699e-02 7.70911992e-03 2.82980084e+01] [-8.57684899e-02 9.96314897e-01 -6.26475628e-04 -1.25735060e+00] [-7.73444432e-03 -3.70512582e-05 9.99970088e-01 -5.51062218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.315769231000004 meters Centerline goodness [0,1] 0.9999786966617669 Centerline is valid? [True, True] Translation: X:28.33, Y:-1.26, Z:-0.55 [[ 9.96239437e-01 8.63814348e-02 6.72546980e-03 2.83292976e+01] [-8.63797134e-02 9.96262137e-01 -5.46544117e-04 -1.25955895e+00] [-6.74754218e-03 -3.64553503e-05 9.99977234e-01 -5.51777775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345769231000006 meters Centerline goodness [0,1] 0.9999786966617669 Centerline is valid? [True, True] Translation: X:28.36, Y:-1.26, Z:-0.55 [[ 9.96239437e-01 8.63814380e-02 6.72544732e-03 2.83591977e+01] [-8.63797148e-02 9.96262137e-01 -5.46820569e-04 -1.26198989e+00] [-6.74754367e-03 -3.61780056e-05 9.99977234e-01 -5.52128793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.375769231000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.39, Y:-1.26, Z:-0.56 [[ 9.96012136e-01 8.90977944e-02 4.62688780e-03 2.83902943e+01] [-8.90970085e-02 9.96022882e-01 -3.76111020e-04 -1.25971334e+00] [-4.64199678e-03 -3.76307217e-05 9.99989225e-01 -5.55983794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405769231000004 meters Centerline goodness [0,1] 0.9999783788458628 Centerline is valid? [True, True] Translation: X:28.42, Y:-1.26, Z:-0.56 [[ 9.95855971e-01 9.08291627e-02 4.57690283e-03 2.84199828e+01] [-9.08284105e-02 9.95866488e-01 -3.72354350e-04 -1.26008297e+00] [-4.59180478e-03 -4.49015070e-05 9.99989457e-01 -5.57105582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.435769231000005 meters Centerline goodness [0,1] 0.9999789309567453 Centerline is valid? [True, True] Translation: X:28.45, Y:-1.26, Z:-0.56 [[ 9.95681221e-01 9.26735869e-02 5.52388710e-03 2.84484046e+01] [-9.26725203e-02 9.95696541e-01 -4.49278607e-04 -1.26025171e+00] [-5.54175154e-03 -6.45742672e-05 9.99984642e-01 -5.56659099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465769231000003 meters Centerline goodness [0,1] 0.9998725844128264 Centerline is valid? [True, True] Translation: X:28.48, Y:-1.26, Z:-0.55 [[ 9.95496175e-01 9.45061462e-02 7.48028052e-03 2.84768187e+01] [-9.45042452e-02 9.95524273e-01 -6.07981029e-04 -1.25944786e+00] [-7.50425877e-03 -1.01675476e-04 9.99971837e-01 -5.53659041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.495769231000004 meters Centerline goodness [0,1] 0.9999575632837531 Centerline is valid? [True, True] Translation: X:28.51, Y:-1.26, Z:-0.55 [[ 9.95418205e-01 9.53080944e-02 7.67882609e-03 2.85063931e+01] [-9.53061175e-02 9.95447816e-01 -6.23798951e-04 -1.26107751e+00] [-7.70332375e-03 -1.10898270e-04 9.99970323e-01 -5.53217517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525769231000005 meters Centerline goodness [0,1] 0.9999787973878382 Centerline is valid? [True, True] Translation: X:28.54, Y:-1.26, Z:-0.55 [[ 9.95230052e-01 9.72890645e-02 7.20983506e-03 2.85359513e+01] [-9.72873748e-02 9.95256160e-01 -5.85548005e-04 -1.26157404e+00] [-7.23260017e-03 -1.18670954e-04 9.99973837e-01 -5.54155461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.555769231000003 meters Centerline goodness [0,1] 0.9999361973628244 Centerline is valid? [True, True] Translation: X:28.57, Y:-1.26, Z:-0.56 [[ 9.95112407e-01 9.85495396e-02 6.26788470e-03 2.85650270e+01] [-9.85482878e-02 9.95132140e-01 -5.08997872e-04 -1.26261457e+00] [-6.28753502e-03 -1.11179208e-04 9.99980227e-01 -5.55594865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585769231000004 meters Centerline goodness [0,1] 0.9998935354739801 Centerline is valid? [True, True] Translation: X:28.60, Y:-1.26, Z:-0.56 [[ 9.94886449e-01 1.00855369e-01 5.39895653e-03 2.85950020e+01] [-1.00854476e-01 9.94901092e-01 -4.38228774e-04 -1.26026677e+00] [-5.41562547e-03 -1.08521061e-04 9.99985330e-01 -5.57447168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.615769231000005 meters Centerline goodness [0,1] 0.9999787102680378 Centerline is valid? [True, True] Translation: X:28.62, Y:-1.26, Z:-0.56 [[ 9.94785536e-01 1.01818546e-01 5.89246963e-03 2.86239597e+01] [-1.01817499e-01 9.94802980e-01 -4.78261461e-04 -1.25919542e+00] [-5.91054223e-03 -1.24188934e-04 9.99982525e-01 -5.58157264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645769231000003 meters Centerline goodness [0,1] 0.9998936306003489 Centerline is valid? [True, True] Translation: X:28.65, Y:-1.26, Z:-0.56 [[ 9.94699589e-01 1.02616501e-01 6.52544061e-03 2.86523409e+01] [-1.02615236e-01 9.94720983e-01 -5.29264735e-04 -1.25738250e+00] [-6.54530399e-03 -1.43150216e-04 9.99978569e-01 -5.57938561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.675769231000004 meters Centerline goodness [0,1] 0.9998507144380465 Centerline is valid? [True, True] Translation: X:28.68, Y:-1.26, Z:-0.56 [[ 9.94660481e-01 1.02959511e-01 7.06169173e-03 2.86815712e+01] [-1.02958041e-01 9.94685535e-01 -5.72378130e-04 -1.25870721e+00] [-7.08309439e-03 -1.57736041e-04 9.99974902e-01 -5.56279696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705769231000005 meters Centerline goodness [0,1] 0.9998513232233125 Centerline is valid? [True, True] Translation: X:28.71, Y:-1.26, Z:-0.56 [[ 9.94713764e-01 1.02438201e-01 7.13735843e-03 2.87102747e+01] [-1.02436689e-01 9.94739358e-01 -5.78165094e-04 -1.25927860e+00] [-7.15903753e-03 -1.56018585e-04 9.99974362e-01 -5.56255801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.735769231000003 meters Centerline goodness [0,1] 0.9999149515223678 Centerline is valid? [True, True] Translation: X:28.74, Y:-1.26, Z:-0.56 [[ 9.94821546e-01 1.01370832e-01 7.35159377e-03 2.87390986e+01] [-1.01369200e-01 9.94848698e-01 -5.95151536e-04 -1.25664145e+00] [-7.37405450e-03 -1.53155610e-04 9.99972800e-01 -5.56765762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765769231000004 meters Centerline goodness [0,1] 0.999872351289252 Centerline is valid? [True, True] Translation: X:28.77, Y:-1.26, Z:-0.56 [[ 9.94901134e-01 1.00610635e-01 7.01663705e-03 2.87666766e+01] [-1.00609132e-01 9.94925867e-01 -5.67801980e-04 -1.25698277e+00] [-7.03816062e-03 -1.41030929e-04 9.99975222e-01 -5.58124493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.795769231000005 meters Centerline goodness [0,1] 0.9998716165614636 Centerline is valid? [True, True] Translation: X:28.80, Y:-1.26, Z:-0.56 [[ 9.95009569e-01 9.95699796e-02 6.46349515e-03 2.87952659e+01] [-9.95686847e-02 9.95030554e-01 -5.22609042e-04 -1.25998443e+00] [-6.48341133e-03 -1.23560712e-04 9.99978975e-01 -5.59742973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825769231000006 meters Centerline goodness [0,1] 0.999914842885123 Centerline is valid? [True, True] Translation: X:28.82, Y:-1.26, Z:-0.56 [[ 9.95401821e-01 9.56735076e-02 4.66847612e-03 2.88235769e+01] [-9.56727900e-02 9.95412766e-01 -3.77319948e-04 -1.26182605e+00] [-4.68316025e-03 -7.10611716e-05 9.99989031e-01 -5.63063649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.855769231000004 meters Centerline goodness [0,1] 0.9999355365507757 Centerline is valid? [True, True] Translation: X:28.85, Y:-1.26, Z:-0.57 [[ 9.95563897e-01 9.40172295e-02 3.64521468e-03 2.88524200e+01] [-9.40167807e-02 9.95570569e-01 -2.94676618e-04 -1.26452769e+00] [-3.65677313e-03 -4.93419466e-05 9.99993313e-01 -5.65003846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.88, Y:-1.27, Z:-0.56 [[ 9.95794515e-01 9.15106166e-02 4.36922033e-03 2.88817814e+01] [-9.15099498e-02 9.95804100e-01 -3.52711220e-04 -1.26935085e+00] [-4.38316433e-03 -4.85992340e-05 9.99990393e-01 -5.64403033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.915769231000006 meters Centerline goodness [0,1] 0.999957003117274 Centerline is valid? [True, True] Translation: X:28.91, Y:-1.28, Z:-0.56 [[ 9.95964949e-01 8.95646664e-02 5.65604612e-03 2.89105368e+01] [-8.95635179e-02 9.95981008e-01 -4.56526410e-04 -1.27508199e+00] [-5.67420315e-03 -5.18910856e-05 9.99983900e-01 -5.62197888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945769231000003 meters Centerline goodness [0,1] 0.9999567530164771 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.28, Z:-0.56 [[ 9.96198299e-01 8.68483108e-02 6.80584485e-03 2.89399484e+01] [-8.68465884e-02 9.96221546e-01 -5.48762773e-04 -1.28041260e+00] [-6.82778840e-03 -4.43878651e-05 9.99976689e-01 -5.59978621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.975769231000005 meters Centerline goodness [0,1] 0.9999364702892719 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.29, Z:-0.56 [[ 9.96477138e-01 8.35412986e-02 7.35962419e-03 2.89687863e+01] [-8.35391972e-02 9.96504316e-01 -5.93022256e-04 -1.28579077e+00] [-7.38343911e-03 -2.38839754e-05 9.99972742e-01 -5.60632046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005769231 meters Centerline goodness [0,1] 0.9997863202205175 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.30, Z:-0.56 [[ 9.96995758e-01 7.71694967e-02 6.65788225e-03 2.89988366e+01] [-7.71676343e-02 9.97017988e-01 -5.36548648e-04 -1.29915904e+00] [-6.67943355e-03 2.11637030e-05 9.99977692e-01 -5.62179426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.035769231 meters Centerline goodness [0,1] 0.9996560914796664 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.31, Z:-0.56 [[ 9.97392849e-01 7.16984266e-02 8.17555860e-03 2.90287275e+01] [-7.16954321e-02 9.97426353e-01 -6.59149517e-04 -1.31263986e+00] [-8.20177758e-03 7.12808092e-05 9.99966362e-01 -5.59474924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065769231 meters Centerline goodness [0,1] 0.9994497005100853 Centerline is valid? [True, True] Translation: X:29.06, Y:-1.32, Z:-0.56 [[ 9.97541129e-01 6.94743681e-02 9.21998963e-03 2.90597389e+01] [-6.94704666e-02 9.97583732e-01 -7.43137308e-04 -1.32130193e+00] [-9.24934066e-03 1.00793048e-04 9.99957219e-01 -5.58239082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.095769231 meters Centerline goodness [0,1] 0.9993576429779671 Centerline is valid? [True, True] Translation: X:29.09, Y:-1.33, Z:-0.56 [[ 9.97683068e-01 6.73296389e-02 9.75787415e-03 2.90915670e+01] [-6.73251508e-02 9.97730777e-01 -7.88074757e-04 -1.32793260e+00] [-9.78879214e-03 1.29298493e-04 9.99952080e-01 -5.57266151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125769231 meters Centerline goodness [0,1] 0.999332859879054 Centerline is valid? [True, True] Translation: X:29.12, Y:-1.33, Z:-0.56 [[ 9.97803922e-01 6.54929403e-02 9.89991868e-03 2.91227828e+01] [-6.54882135e-02 9.97853021e-01 -8.01230525e-04 -1.33456886e+00] [-9.93113871e-03 1.51142973e-04 9.99950674e-01 -5.57683712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.155769231 meters Centerline goodness [0,1] 0.9993323569951758 Centerline is valid? [True, True] Translation: X:29.15, Y:-1.35, Z:-0.56 [[ 9.98143441e-01 6.04261367e-02 7.63897933e-03 2.91520192e+01] [-6.04231633e-02 9.98172659e-01 -6.19641988e-04 -1.35016374e+00] [-7.66246288e-03 1.56920291e-04 9.99970631e-01 -5.63413493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185769231 meters Centerline goodness [0,1] 0.9991934970392852 Centerline is valid? [True, True] Translation: X:29.18, Y:-1.37, Z:-0.57 [[ 9.98459700e-01 5.52794568e-02 4.73381472e-03 2.91807947e+01] [-5.52782572e-02 9.98470914e-01 -3.83991755e-04 -1.37167224e+00] [-4.74780317e-03 1.21723265e-04 9.99988722e-01 -5.69808169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.215769231 meters Centerline goodness [0,1] 0.9990458217595046 Centerline is valid? [True, True] Translation: X:29.21, Y:-1.38, Z:-0.57 [[ 9.98577711e-01 5.31490258e-02 4.21153642e-03 2.92107708e+01] [-5.31480592e-02 9.98586585e-01 -3.41161608e-04 -1.38344749e+00] [-4.22371617e-03 1.16841391e-04 9.99991073e-01 -5.71321705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245769231000004 meters Centerline goodness [0,1] 0.9989801338574312 Centerline is valid? [True, True] Translation: X:29.24, Y:-1.39, Z:-0.57 [[ 9.98662539e-01 5.15396274e-02 4.09874837e-03 2.92422841e+01] [-5.15386996e-02 9.98670943e-01 -3.31753155e-04 -1.38680128e+00] [-4.11039934e-03 1.20065287e-04 9.99991545e-01 -5.69990192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.275769231 meters Centerline goodness [0,1] 0.9989510863748261 Centerline is valid? [True, True] Translation: X:29.27, Y:-1.39, Z:-0.57 [[ 9.98710051e-01 5.05928586e-02 4.31238747e-03 2.92742367e+01] [-5.05918197e-02 9.98719353e-01 -3.49721856e-04 -1.39443746e+00] [-4.32455825e-03 1.31099203e-04 9.99990640e-01 -5.69815310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305769231 meters Centerline goodness [0,1] 0.9991878780107286 Centerline is valid? [True, True] Translation: X:29.31, Y:-1.40, Z:-0.57 [[ 9.98660438e-01 5.16119810e-02 3.67865366e-03 2.93050786e+01] [-5.16112286e-02 9.98667208e-01 -2.99227941e-04 -1.40362082e+00] [-3.68919453e-03 1.08967272e-04 9.99993189e-01 -5.71852528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.335769231 meters Centerline goodness [0,1] 0.9994269827458138 Centerline is valid? [True, True] Translation: X:29.33, Y:-1.40, Z:-0.57 [[ 9.98365363e-01 5.70763766e-02 2.98146696e-03 2.93347919e+01] [-5.70759037e-02 9.98369812e-01 -2.43515617e-04 -1.40211141e+00] [-2.99050560e-03 7.29476363e-05 9.99995526e-01 -5.73253176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365769231 meters Centerline goodness [0,1] 0.9995315261600051 Centerline is valid? [True, True] Translation: X:29.37, Y:-1.40, Z:-0.57 [[ 9.98128188e-01 6.10438372e-02 3.71088466e-03 2.93662931e+01] [-6.10431334e-02 9.98135083e-01 -3.02734503e-04 -1.39921516e+00] [-3.72244425e-03 7.56438135e-05 9.99993069e-01 -5.71970564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.395769231 meters Centerline goodness [0,1] 0.9997677561016806 Centerline is valid? [True, True] Translation: X:29.40, Y:-1.40, Z:-0.57 [[ 9.97878502e-01 6.49553915e-02 4.39235367e-03 2.93974199e+01] [-6.49544427e-02 9.97888166e-01 -3.58483832e-04 -1.39720743e+00] [-4.40636320e-03 7.24204250e-05 9.99990289e-01 -5.71028017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425769231000004 meters Centerline goodness [0,1] 0.9997660520215232 Centerline is valid? [True, True] Translation: X:29.43, Y:-1.39, Z:-0.57 [[ 9.97468295e-01 7.09464740e-02 4.85771959e-03 2.94293804e+01] [-7.09453837e-02 9.97480123e-01 -3.96609996e-04 -1.39144057e+00] [-4.87361681e-03 5.09731166e-05 9.99988123e-01 -5.71041244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.455769231 meters Centerline goodness [0,1] 0.9997674172745533 Centerline is valid? [True, True] Translation: X:29.46, Y:-1.39, Z:-0.57 [[ 9.97313077e-01 7.31092398e-02 4.65468298e-03 2.94603743e+01] [-7.31082642e-02 9.97323938e-01 -3.79640596e-04 -1.39070189e+00] [-4.66998199e-03 3.83247386e-05 9.99989095e-01 -5.71812397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485769231 meters Centerline goodness [0,1] 0.9998514052814809 Centerline is valid? [True, True] Translation: X:29.49, Y:-1.39, Z:-0.57 [[ 9.97077027e-01 7.62370005e-02 5.03202238e-03 2.94926885e+01] [-7.62358953e-02 9.97089725e-01 -4.11362435e-04 -1.38563602e+00] [-5.04873885e-03 2.65393021e-05 9.99987255e-01 -5.71505231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.515769231 meters Centerline goodness [0,1] 0.9999152901313003 Centerline is valid? [True, True] Translation: X:29.52, Y:-1.38, Z:-0.57 [[ 9.96929190e-01 7.81043116e-02 5.64856877e-03 2.95244429e+01] [-7.81029472e-02 9.96945192e-01 -4.62084013e-04 -1.38456753e+00] [-5.66740423e-03 1.94951721e-05 9.99983940e-01 -5.70785242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545769231 meters Centerline goodness [0,1] 0.9998723757258631 Centerline is valid? [True, True] Translation: X:29.56, Y:-1.38, Z:-0.57 [[ 9.96745136e-01 8.03424074e-02 6.65069684e-03 2.95565916e+01] [-8.03405647e-02 9.96767324e-01 -5.44204718e-04 -1.38227856e+00] [-6.67292001e-03 8.11266571e-06 9.99977736e-01 -5.69007209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.575769231 meters Centerline goodness [0,1] 0.9999158178297837 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.37, Z:-0.57 [[ 9.96446877e-01 8.38847383e-02 7.54791580e-03 2.95876863e+01] [-8.38824632e-02 9.96475464e-01 -6.18043769e-04 -1.37394290e+00] [-7.57315734e-03 -1.72899858e-05 9.99971323e-01 -5.68303321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-1.37, Z:-0.57 [[ 9.96275316e-01 8.60033736e-02 6.23821614e-03 2.96187559e+01] [-8.60018604e-02 9.96294845e-01 -5.10915764e-04 -1.36922893e+00] [-6.25904306e-03 -2.74854294e-05 9.99980412e-01 -5.70897583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.65, Y:-1.37, Z:-0.57 [[ 9.96205896e-01 8.68061415e-02 6.20529927e-03 2.96494623e+01] [-8.68046598e-02 9.96225222e-01 -5.08219842e-04 -1.36959639e+00] [-6.22599224e-03 -3.23572891e-05 9.99980618e-01 -5.69938894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.68, Y:-1.37, Z:-0.57 [[ 9.96117587e-01 8.77722863e-02 6.76591698e-03 2.96805058e+01] [-8.77705471e-02 9.96140564e-01 -5.54134959e-04 -1.36952497e+00] [-6.78844205e-03 -4.18646560e-05 9.99976957e-01 -5.68585095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.695769231 meters Centerline goodness [0,1] 0.9999788503024407 Centerline is valid? [True, True] Translation: X:29.71, Y:-1.36, Z:-0.57 [[ 9.95945052e-01 8.96148134e-02 7.91451820e-03 2.97102213e+01] [-8.96124919e-02 9.95976496e-01 -6.48172836e-04 -1.36332066e+00] [-7.94075999e-03 -6.36951693e-05 9.99968470e-01 -5.67658829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.74, Y:-1.36, Z:-0.57 [[ 9.95910614e-01 8.99510314e-02 8.41794262e-03 2.97408370e+01] [-8.99484163e-02 9.95946187e-01 -6.89513000e-04 -1.36336489e+00] [-8.44584025e-03 -7.04872920e-05 9.99964331e-01 -5.67294934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.755769231 meters Centerline goodness [0,1] 0.9999573778876482 Centerline is valid? [True, True] Translation: X:29.77, Y:-1.36, Z:-0.57 [[ 9.96031036e-01 8.86446210e-02 8.01919137e-03 2.97699982e+01] [-8.86422058e-02 9.96063315e-01 -6.56796211e-04 -1.36392294e+00] [-8.04584379e-03 -5.66494022e-05 9.99967630e-01 -5.68755304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.80, Y:-1.37, Z:-0.57 [[ 9.96127742e-01 8.76032354e-02 7.42929873e-03 2.98005154e+01] [-8.76011323e-02 9.96155445e-01 -6.08645673e-04 -1.36635777e+00] [-7.45405571e-03 -4.45261403e-05 9.99972217e-01 -5.70082130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.815769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.83, Y:-1.37, Z:-0.57 [[ 9.96258048e-01 8.62091242e-02 6.15532983e-03 2.98304550e+01] [-8.62076540e-02 9.96277063e-01 -5.04275707e-04 -1.36931839e+00] [-6.17588709e-03 -2.82478124e-05 9.99980929e-01 -5.72546099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.86, Y:-1.37, Z:-0.58 [[ 9.96429710e-01 8.43033994e-02 4.55728912e-03 2.98599329e+01] [-8.43025740e-02 9.96440132e-01 -3.73264628e-04 -1.37264686e+00] [-4.57253325e-03 -1.22592373e-05 9.99989546e-01 -5.76231666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.875769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.89, Y:-1.38, Z:-0.58 [[ 9.96759369e-01 8.03495281e-02 3.83571594e-03 2.98894720e+01] [-8.03489132e-02 9.96766750e-01 -3.14381802e-04 -1.37762629e+00] [-3.84857454e-03 5.16739969e-06 9.99992594e-01 -5.78789281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905769231 meters Centerline goodness [0,1] 0.9999141759821486 Centerline is valid? [True, True] Translation: X:29.92, Y:-1.38, Z:-0.58 [[ 9.96897767e-01 7.85718016e-02 4.61675578e-03 2.99198988e+01] [-7.85708925e-02 9.96908457e-01 -3.78233639e-04 -1.37994194e+00] [-4.63220138e-03 1.43176476e-05 9.99989271e-01 -5.76448489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.935769231 meters Centerline goodness [0,1] 0.999787482732972 Centerline is valid? [True, True] Translation: X:29.95, Y:-1.38, Z:-0.57 [[ 9.97139838e-01 7.53143281e-02 6.31632851e-03 2.99497184e+01] [-7.53125614e-02 9.97159842e-01 -5.17424307e-04 -1.38194482e+00] [-6.33735860e-03 4.02455108e-05 9.99979918e-01 -5.74183889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965769231 meters Centerline goodness [0,1] 0.9998511556699058 Centerline is valid? [True, True] Translation: X:29.98, Y:-1.39, Z:-0.57 [[ 9.97249208e-01 7.38210650e-02 6.66842699e-03 2.99798107e+01] [-7.38190621e-02 9.97271501e-01 -5.46322194e-04 -1.38505620e+00] [-6.69056228e-03 5.25623493e-05 9.99977617e-01 -5.74342929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.995769231000004 meters Centerline goodness [0,1] 0.999659769919408 Centerline is valid? [True, True] Translation: X:30.01, Y:-1.39, Z:-0.57 [[ 9.97444478e-01 7.11663276e-02 6.31407175e-03 3.00105952e+01] [-7.11644783e-02 9.97464460e-01 -5.17359239e-04 -1.38758041e+00] [-6.33488073e-03 6.66994938e-05 9.99979932e-01 -5.74476441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025769231 meters Centerline goodness [0,1] 0.9996617693689884 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.39, Z:-0.57 [[ 9.97540362e-01 6.97865918e-02 6.56181285e-03 3.00413970e+01] [-6.97845645e-02 9.97561941e-01 -5.37680992e-04 -1.39046210e+00] [-6.58333769e-03 7.84452389e-05 9.99978327e-01 -5.74152704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.055769231 meters Centerline goodness [0,1] 0.9996818933706578 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.39, Z:-0.57 [[ 9.97612775e-01 6.87187580e-02 6.81787753e-03 3.00711415e+01] [-6.87165443e-02 9.97636068e-01 -5.58697283e-04 -1.39363680e+00] [-6.84015351e-03 8.88625636e-05 9.99976602e-01 -5.73664415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085769231 meters Centerline goodness [0,1] 0.9996132608555529 Centerline is valid? [True, True] Translation: X:30.10, Y:-1.39, Z:-0.57 [[ 9.97698851e-01 6.73578450e-02 7.74107186e-03 3.01018685e+01] [-6.73549451e-02 9.97728875e-01 -6.35007025e-04 -1.39336332e+00] [-7.76626362e-03 1.12146309e-04 9.99969836e-01 -5.71441729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.115769231 meters Centerline goodness [0,1] 0.9996389585014654 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.39, Z:-0.57 [[ 9.97709582e-01 6.72497251e-02 7.28451531e-03 3.01325349e+01] [-6.72471547e-02 9.97736169e-01 -5.97505602e-04 -1.39433183e+00] [-7.30820648e-03 1.06274137e-04 9.99973289e-01 -5.72931236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145769231 meters Centerline goodness [0,1] 0.9997413848839465 Centerline is valid? [True, True] Translation: X:30.16, Y:-1.39, Z:-0.58 [[ 9.97644524e-01 6.84183603e-02 4.93277094e-03 3.01620410e+01] [-6.84171951e-02 9.97656716e-01 -4.04771308e-04 -1.39096401e+00] [-4.94890585e-03 6.63315268e-05 9.99987752e-01 -5.76800492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.175769231000004 meters Centerline goodness [0,1] 0.9997647662632052 Centerline is valid? [True, True] Translation: X:30.19, Y:-1.39, Z:-0.58 [[ 9.97593044e-01 6.91596540e-02 5.00605045e-03 3.01922920e+01] [-6.91584632e-02 9.97605603e-01 -4.10800486e-04 -1.39045977e+00] [-5.02247480e-03 6.36009510e-05 9.99987385e-01 -5.76786630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205769231 meters Centerline goodness [0,1] 0.9999148755054267 Centerline is valid? [True, True] Translation: X:30.22, Y:-1.39, Z:-0.58 [[ 9.97571461e-01 6.94248397e-02 5.60100914e-03 3.02216236e+01] [-6.94233545e-02 9.97587183e-01 -4.59398358e-04 -1.39148995e+00] [-5.61938859e-03 6.94418481e-05 9.99984209e-01 -5.75929252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.235769231 meters Centerline goodness [0,1] 0.9999148755054267 Centerline is valid? [True, True] Translation: X:30.25, Y:-1.39, Z:-0.58 [[ 9.97571461e-01 6.94248382e-02 5.60101974e-03 3.02515241e+01] [-6.94233537e-02 9.97587183e-01 -4.59269113e-04 -1.39394176e+00] [-5.61939018e-03 6.93121865e-05 9.99984209e-01 -5.76280294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265769231 meters Centerline goodness [0,1] 0.9998306268922151 Centerline is valid? [True, True] Translation: X:30.28, Y:-1.39, Z:-0.57 [[ 9.97620204e-01 6.86177310e-02 6.74794466e-03 3.02820156e+01] [-6.86155578e-02 9.97643022e-01 -5.53313987e-04 -1.39412565e+00] [-6.77000706e-03 8.89832260e-05 9.99977079e-01 -5.73566557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.295769231 meters Centerline goodness [0,1] 0.9997439563018755 Centerline is valid? [True, True] Translation: X:30.31, Y:-1.40, Z:-0.57 [[ 9.97668937e-01 6.79286885e-02 6.51035241e-03 3.03107427e+01] [-6.79266502e-02 9.97690175e-01 -5.33951491e-04 -1.39858766e+00] [-6.53158526e-03 9.04803862e-05 9.99978665e-01 -5.74834562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325769231 meters Centerline goodness [0,1] 0.9997231214857727 Centerline is valid? [True, True] Translation: X:30.34, Y:-1.40, Z:-0.58 [[ 9.97751848e-01 6.66913537e-02 6.59647840e-03 3.03410609e+01] [-6.66892363e-02 9.97773648e-01 -5.40685382e-04 -1.40441093e+00] [-6.61785136e-03 9.95557320e-05 9.99978097e-01 -5.75703666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.355769231000004 meters Centerline goodness [0,1] 0.9997024631798185 Centerline is valid? [True, True] Translation: X:30.37, Y:-1.41, Z:-0.57 [[ 9.97754541e-01 6.65867304e-02 7.21682200e-03 3.03714200e+01] [-6.65841922e-02 9.97780635e-01 -5.91672822e-04 -1.40510242e+00] [-7.24020280e-03 1.09817982e-04 9.99973783e-01 -5.73794676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385769231 meters Centerline goodness [0,1] 0.999634093844167 Centerline is valid? [True, True] Translation: X:30.40, Y:-1.41, Z:-0.57 [[ 9.97761248e-01 6.64181368e-02 7.81815692e-03 3.04017294e+01] [-6.64151528e-02 9.97791870e-01 -6.40973405e-04 -1.40701731e+00] [-7.84346568e-03 1.20294338e-04 9.99969232e-01 -5.72557924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.415769231 meters Centerline goodness [0,1] 0.9996190153663802 Centerline is valid? [True, True] Translation: X:30.43, Y:-1.41, Z:-0.57 [[ 9.97761713e-01 6.64253722e-02 7.69637726e-03 3.04316642e+01] [-6.64224810e-02 9.97791389e-01 -6.30943083e-04 -1.41102178e+00] [-7.72128959e-03 1.18318379e-04 9.99970183e-01 -5.72866903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445769231 meters Centerline goodness [0,1] 0.9997011293042717 Centerline is valid? [True, True] Translation: X:30.46, Y:-1.41, Z:-0.57 [[ 9.97777538e-01 6.62218124e-02 7.39301070e-03 3.04623973e+01] [-6.62191381e-02 9.97804920e-01 -6.06203822e-04 -1.41323735e+00] [-7.41692637e-03 1.15297760e-04 9.99972488e-01 -5.73367116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.475769231 meters Centerline goodness [0,1] 0.99968050437709 Centerline is valid? [True, True] Translation: X:30.49, Y:-1.42, Z:-0.57 [[ 9.97836770e-01 6.52898666e-02 7.68200959e-03 3.04923536e+01] [-6.52869519e-02 9.97866332e-01 -6.29854354e-04 -1.42327316e+00] [-7.70674184e-03 1.26956844e-04 9.99970295e-01 -5.74018402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505769231 meters Centerline goodness [0,1] 0.9997207123982211 Centerline is valid? [True, True] Translation: X:30.52, Y:-1.43, Z:-0.57 [[ 9.97907955e-01 6.41290151e-02 8.19656267e-03 3.05237925e+01] [-6.41256571e-02 9.97941606e-01 -6.72104294e-04 -1.42701162e+00] [-8.22279230e-03 1.45088254e-04 9.99966182e-01 -5.72896944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.535769231 meters Centerline goodness [0,1] 0.9995135363790186 Centerline is valid? [True, True] Translation: X:30.55, Y:-1.44, Z:-0.57 [[ 9.98064449e-01 6.16300621e-02 8.31207988e-03 3.05534620e+01] [-6.16265242e-02 9.98099047e-01 -6.81339140e-04 -1.44468615e+00] [-8.33826998e-03 1.67775782e-04 9.99965222e-01 -5.74699617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565769231 meters Centerline goodness [0,1] 0.9996569026890252 Centerline is valid? [True, True] Translation: X:30.59, Y:-1.45, Z:-0.58 [[ 9.98106418e-01 6.10682342e-02 7.36540836e-03 3.05857793e+01] [-6.10654343e-02 9.98133582e-01 -6.04635530e-04 -1.44692321e+00] [-7.38858545e-03 1.53718742e-04 9.99972692e-01 -5.75792377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.595769231 meters Centerline goodness [0,1] 0.9996392496392497 Centerline is valid? [True, True] Translation: X:30.62, Y:-1.45, Z:-0.58 [[ 9.98098486e-01 6.12837616e-02 6.61155152e-03 3.06177153e+01] [-6.12815046e-02 9.98120374e-01 -5.43606533e-04 -1.45469588e+00] [-6.63243853e-03 1.37407033e-04 9.99977996e-01 -5.77788641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625769231 meters Centerline goodness [0,1] 0.9997226252453699 Centerline is valid? [True, True] Translation: X:30.65, Y:-1.46, Z:-0.58 [[ 9.98014970e-01 6.27433183e-02 5.42175389e-03 3.06495539e+01] [-6.27418183e-02 9.98029691e-01 -4.46463401e-04 -1.46179623e+00] [-5.43908396e-03 1.05406460e-04 9.99985203e-01 -5.79212694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.655769231 meters Centerline goodness [0,1] 0.9997657979901209 Centerline is valid? [True, True] Translation: X:30.68, Y:-1.47, Z:-0.58 [[ 9.97925530e-01 6.42157594e-02 4.57956361e-03 3.06817880e+01] [-6.42147027e-02 9.97936035e-01 -3.77568408e-04 -1.46615900e+00] [-4.59435739e-03 8.27098379e-05 9.99989442e-01 -5.80253364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685769231 meters Centerline goodness [0,1] 0.9998070822258424 Centerline is valid? [True, True] Translation: X:30.71, Y:-1.47, Z:-0.58 [[ 9.97696981e-01 6.77621571e-02 3.00411135e-03 3.07128990e+01] [-6.77617155e-02 9.97701502e-01 -2.48633430e-04 -1.46883921e+00] [-3.01405434e-03 4.44970842e-05 9.99995457e-01 -5.83632246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.715769231 meters Centerline goodness [0,1] 0.9998065348237317 Centerline is valid? [True, True] Translation: X:30.74, Y:-1.47, Z:-0.58 [[ 9.97548703e-01 6.99216713e-02 2.74685783e-03 3.07437238e+01] [-6.99213093e-02 9.97552484e-01 -2.27721636e-04 -1.46925527e+00] [-2.75605753e-03 3.50995268e-05 9.99996201e-01 -5.84615519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745769231000004 meters Centerline goodness [0,1] 0.9998942917547569 Centerline is valid? [True, True] Translation: X:30.77, Y:-1.47, Z:-0.58 [[ 9.97365990e-01 7.24714774e-02 2.99463910e-03 3.07736675e+01] [-7.24710583e-02 9.97370485e-01 -2.48365891e-04 -1.46953179e+00] [-3.00476410e-03 3.06870277e-05 9.99995485e-01 -5.84870317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.80, Y:-1.47, Z:-0.58 [[ 9.96906641e-01 7.84964846e-02 3.93077457e-03 3.08045156e+01] [-7.84958100e-02 9.96914390e-01 -3.25824886e-04 -1.46539262e+00] [-3.94422184e-03 1.62676586e-05 9.99992221e-01 -5.82536399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.83, Y:-1.46, Z:-0.58 [[ 9.96604095e-01 8.22252340e-02 4.39190133e-03 3.08342730e+01] [-8.22244277e-02 9.96613772e-01 -3.64133430e-04 -1.46238537e+00] [-4.40697031e-03 1.77529428e-06 9.99990289e-01 -5.82510464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.87, Y:-1.45, Z:-0.58 [[ 9.95714735e-01 9.23163679e-02 5.46393496e-03 3.08651527e+01] [-9.23152719e-02 9.95729725e-01 -4.52995153e-04 -1.44608772e+00] [-5.48242132e-03 -5.33506929e-05 9.99984970e-01 -5.79159365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865769231 meters Centerline goodness [0,1] 0.9999573287817367 Centerline is valid? [True, True] Translation: X:30.89, Y:-1.44, Z:-0.58 [[ 9.95242404e-01 9.72468814e-02 5.96670408e-03 3.08944932e+01] [-9.72456637e-02 9.95260286e-01 -4.94554525e-04 -1.43717826e+00] [-5.98651749e-03 -8.80344642e-05 9.99982077e-01 -5.79024034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.895769231 meters Centerline goodness [0,1] 0.9999571440815976 Centerline is valid? [True, True] Translation: X:30.92, Y:-1.43, Z:-0.58 [[ 9.94909075e-01 1.00524173e-01 7.12905057e-03 3.09247652e+01] [-1.00522521e-01 9.94934608e-01 -5.90554814e-04 -1.43300237e+00] [-7.15230417e-03 -1.29081792e-04 9.99974414e-01 -5.77625295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925769231000004 meters Centerline goodness [0,1] 0.9997866530124595 Centerline is valid? [True, True] Translation: X:30.96, Y:-1.43, Z:-0.57 [[ 9.94508440e-01 1.04126178e-01 1.05215228e-02 3.09552792e+01] [-1.04122785e-01 9.94564069e-01 -8.71193481e-04 -1.42676487e+00] [-1.05550426e-02 -2.29120990e-04 9.99944268e-01 -5.72790279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.955769231 meters Centerline goodness [0,1] 0.9999363557290452 Centerline is valid? [True, True] Translation: X:30.98, Y:-1.42, Z:-0.58 [[ 9.94480487e-01 1.04474239e-01 9.67953526e-03 3.09839236e+01] [-1.04471386e-01 9.94527570e-01 -8.01337106e-04 -1.42147082e+00] [-9.71028376e-03 -2.14320348e-04 9.99952831e-01 -5.76261758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985769231 meters Centerline goodness [0,1] 0.9999571459181487 Centerline is valid? [True, True] Translation: X:31.01, Y:-1.42, Z:-0.58 [[ 9.94523123e-01 1.04189103e-01 8.26977641e-03 3.10126474e+01] [-1.04187014e-01 9.94557489e-01 -6.84195409e-04 -1.42351187e+00] [-8.29605376e-03 -1.81155153e-04 9.99965571e-01 -5.79460196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.015769231 meters Centerline goodness [0,1] 0.9998069994853319 Centerline is valid? [True, True] Translation: X:31.04, Y:-1.43, Z:-0.58 [[ 9.94554929e-01 1.03945794e-01 7.46758858e-03 3.10415759e+01] [-1.03944086e-01 9.94582951e-01 -6.17532845e-04 -1.42516091e+00] [-7.49132622e-03 -1.62041331e-04 9.99971926e-01 -5.81252909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045769231 meters Centerline goodness [0,1] 0.9997245821063113 Centerline is valid? [True, True] Translation: X:31.07, Y:-1.42, Z:-0.58 [[ 9.94566901e-01 1.03875548e-01 6.82270701e-03 3.10701999e+01] [-1.03874122e-01 9.94590292e-01 -5.64021402e-04 -1.42017798e+00] [-6.84438619e-03 -1.47745680e-04 9.99976566e-01 -5.82546712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.075769231 meters Centerline goodness [0,1] 0.9998499657064472 Centerline is valid? [True, True] Translation: X:31.10, Y:-1.42, Z:-0.58 [[ 9.94534918e-01 1.04194674e-01 6.61563878e-03 3.10991741e+01] [-1.04193344e-01 9.94556911e-01 -5.46380638e-04 -1.42093963e+00] [-6.63655922e-03 -1.45910901e-04 9.99977967e-01 -5.82309266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105769231000004 meters Centerline goodness [0,1] 0.999724482875551 Centerline is valid? [True, True] Translation: X:31.13, Y:-1.41, Z:-0.58 [[ 9.94354311e-01 1.05857057e-01 7.33395177e-03 3.11272871e+01] [-1.05855469e-01 9.94381342e-01 -6.05401823e-04 -1.41218083e+00] [-7.35683086e-03 -1.74354993e-04 9.99972923e-01 -5.81652007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.135769231 meters Centerline goodness [0,1] 0.9997647511708976 Centerline is valid? [True, True] Translation: X:31.16, Y:-1.41, Z:-0.58 [[ 9.94270786e-01 1.06585888e-01 8.06555451e-03 3.11562983e+01] [-1.06583998e-01 9.94303479e-01 -6.65072834e-04 -1.41392800e+00] [-8.09049629e-03 -1.98396554e-04 9.99967252e-01 -5.80207152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165769231 meters Centerline goodness [0,1] 0.9997033521210323 Centerline is valid? [True, True] Translation: X:31.18, Y:-1.41, Z:-0.58 [[ 9.94201790e-01 1.07197596e-01 8.45439220e-03 3.11842656e+01] [-1.07195545e-01 9.94237713e-01 -6.96736757e-04 -1.40841924e+00] [-8.48036407e-03 -2.13576247e-04 9.99964018e-01 -5.80238828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.195769231 meters Centerline goodness [0,1] 0.9997440218434693 Centerline is valid? [True, True] Translation: X:31.21, Y:-1.40, Z:-0.58 [[ 9.94230276e-01 1.06958397e-01 8.12772056e-03 3.12133678e+01] [-1.06956497e-01 9.94263476e-01 -6.69310437e-04 -1.40492093e+00] [-8.15268407e-03 -2.03863823e-04 9.99966746e-01 -5.80699155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225769231 meters Centerline goodness [0,1] 0.9998711810550271 Centerline is valid? [True, True] Translation: X:31.24, Y:-1.40, Z:-0.59 [[ 9.94427983e-01 1.05199735e-01 6.78257646e-03 3.12422945e+01] [-1.05198373e-01 9.94451100e-01 -5.58253768e-04 -1.39866205e+00] [-6.80366877e-03 -1.58372841e-04 9.99976842e-01 -5.85142302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.255769231 meters Centerline goodness [0,1] 0.9998304617797275 Centerline is valid? [True, True] Translation: X:31.27, Y:-1.40, Z:-0.59 [[ 9.94603205e-01 1.03620347e-01 5.22372451e-03 3.12704814e+01] [-1.03619518e-01 9.94616917e-01 -4.29926796e-04 -1.40026150e+00] [-5.24015393e-03 -1.13673245e-04 9.99986264e-01 -5.88578813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285769231 meters Centerline goodness [0,1] 0.9998506061123442 Centerline is valid? [True, True] Translation: X:31.30, Y:-1.40, Z:-0.59 [[ 9.94849884e-01 1.01286971e-01 3.82847279e-03 3.12988025e+01] [-1.01286508e-01 9.94857248e-01 -3.15066625e-04 -1.40431672e+00] [-3.84069605e-03 -7.43286437e-05 9.99992622e-01 -5.91104278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.315769231 meters Centerline goodness [0,1] 0.9998310775143057 Centerline is valid? [True, True] Translation: X:31.33, Y:-1.41, Z:-0.59 [[ 9.95121963e-01 9.86151061e-02 2.70934124e-03 3.13270810e+01] [-9.86148644e-02 9.95125650e-01 -2.22997588e-04 -1.40652405e+00] [-2.71812589e-03 -4.52715212e-05 9.99996305e-01 -5.93982214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345769231 meters Centerline goodness [0,1] 0.9999570640389859 Centerline is valid? [True, True] Translation: X:31.36, Y:-1.41, Z:-0.59 [[ 9.95652685e-01 9.30718823e-02 3.65462229e-03 3.13563371e+01] [-9.30714070e-02 9.95659391e-01 -3.00282330e-04 -1.41274346e+00] [-3.66670685e-03 -4.11639310e-05 9.99993277e-01 -5.91822811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.375769231 meters Centerline goodness [0,1] 0.9999575461685417 Centerline is valid? [True, True] Translation: X:31.38, Y:-1.42, Z:-0.59 [[ 9.96254337e-01 8.61437417e-02 7.52011931e-03 3.13843155e+01] [-8.61415347e-02 9.96282718e-01 -6.17497404e-04 -1.41816673e+00] [-7.54535845e-03 -3.26101523e-05 9.99971533e-01 -5.87733243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405769231 meters Centerline goodness [0,1] 0.9999573778876482 Centerline is valid? [True, True] Translation: X:31.41, Y:-1.43, Z:-0.59 [[ 9.96616409e-01 8.16983606e-02 9.00613504e-03 3.14119236e+01] [-8.16950185e-02 9.96657101e-01 -7.38974671e-04 -1.42590460e+00] [-9.03640146e-03 7.17914306e-07 9.99959171e-01 -5.85110689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.435769231 meters Centerline goodness [0,1] 0.9999568881895196 Centerline is valid? [True, True] Translation: X:31.44, Y:-1.43, Z:-0.58 [[ 9.96981571e-01 7.70433964e-02 9.59487475e-03 3.14406026e+01] [-7.70393930e-02 9.97027739e-01 -7.86691648e-04 -1.43377242e+00] [-9.62696568e-03 4.51337480e-05 9.99953659e-01 -5.83288551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465769231 meters Centerline goodness [0,1] 0.9998511398434842 Centerline is valid? [True, True] Translation: X:31.47, Y:-1.45, Z:-0.59 [[ 9.97664861e-01 6.76848345e-02 9.14266160e-03 3.14699404e+01] [-6.76808113e-02 9.97706744e-01 -7.49082559e-04 -1.45192197e+00] [-9.17239667e-03 1.28550593e-04 9.99957924e-01 -5.85491370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.495769231000004 meters Centerline goodness [0,1] 0.9997644690919213 Centerline is valid? [True, True] Translation: X:31.50, Y:-1.46, Z:-0.59 [[ 9.97951011e-01 6.33678376e-02 8.84853846e-03 3.14990260e+01] [-6.33638994e-02 9.97990226e-01 -7.24984269e-04 -1.46336944e+00] [-8.87669558e-03 1.62820883e-04 9.99960588e-01 -5.87527228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525769231 meters Centerline goodness [0,1] 0.9997028042541448 Centerline is valid? [True, True] Translation: X:31.53, Y:-1.48, Z:-0.59 [[ 9.98351811e-01 5.67720513e-02 8.40210201e-03 3.15282954e+01] [-5.67682673e-02 9.98387144e-01 -6.88368259e-04 -1.48007866e+00] [-8.42763071e-03 2.10260926e-04 9.99964465e-01 -5.88060846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.555769231 meters Centerline goodness [0,1] 0.9993828211458244 Centerline is valid? [True, True] Translation: X:31.56, Y:-1.49, Z:-0.59 [[ 9.98465900e-01 5.46482010e-02 8.91183706e-03 3.15579772e+01] [-5.46438584e-02 9.98505641e-01 -7.30243014e-04 -1.48853359e+00] [-8.93842605e-03 2.42145586e-04 9.99960022e-01 -5.86566908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585769231 meters Centerline goodness [0,1] 0.9991727122311315 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.50, Z:-0.59 [[ 9.98524877e-01 5.34599424e-02 9.49233023e-03 3.15885374e+01] [-5.34549636e-02 9.98569959e-01 -7.77626894e-04 -1.49700002e+00] [-9.52032770e-03 2.69067632e-04 9.99954644e-01 -5.85384570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.615769231 meters Centerline goodness [0,1] 0.9994662339603305 Centerline is valid? [True, True] Translation: X:31.62, Y:-1.51, Z:-0.59 [[ 9.98579503e-01 5.27675960e-02 7.38626608e-03 3.16197567e+01] [-5.27645576e-02 9.98606797e-01 -6.05769974e-04 -1.50560251e+00] [-7.40794053e-03 2.15176418e-04 9.99972538e-01 -5.88764687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645769231 meters Centerline goodness [0,1] 0.9996556325599415 Centerline is valid? [True, True] Translation: X:31.65, Y:-1.51, Z:-0.59 [[ 9.98546778e-01 5.36118292e-02 5.48661817e-03 3.16512443e+01] [-5.36101585e-02 9.98561839e-01 -4.51235573e-04 -1.50883586e+00] [-5.50291910e-03 1.56441358e-04 9.99984847e-01 -5.92171437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.675769231000004 meters Centerline goodness [0,1] 0.999533037590474 Centerline is valid? [True, True] Translation: X:31.68, Y:-1.52, Z:-0.60 [[ 9.98395929e-01 5.64068889e-02 4.88185525e-03 3.16805953e+01] [-5.64055987e-02 9.98407856e-01 -4.01663891e-04 -1.51996728e+00] [-4.89673924e-03 1.25655625e-04 9.99988003e-01 -5.95770393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705769231 meters Centerline goodness [0,1] 0.9997216333697351 Centerline is valid? [True, True] Translation: X:31.71, Y:-1.52, Z:-0.59 [[ 9.98291221e-01 5.80564572e-02 6.63964709e-03 3.17113214e+01] [-5.80541059e-02 9.98313289e-01 -5.46479743e-04 -1.52128505e+00] [-6.66017460e-03 1.60087155e-04 9.99977808e-01 -5.92045219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.735769231 meters Centerline goodness [0,1] 0.9994872780875472 Centerline is valid? [True, True] Translation: X:31.74, Y:-1.52, Z:-0.59 [[ 9.98164488e-01 5.99641475e-02 8.48263746e-03 3.17412228e+01] [-5.99603788e-02 9.98200514e-01 -6.98130528e-04 -1.52449375e+00] [-8.50923587e-03 1.88226945e-04 9.99963778e-01 -5.88310729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765769231 meters Centerline goodness [0,1] 0.9998496628151712 Centerline is valid? [True, True] Translation: X:31.77, Y:-1.52, Z:-0.59 [[ 9.97788578e-01 6.57758844e-02 9.56483873e-03 3.17726362e+01] [-6.57713583e-02 9.97834409e-01 -7.87327306e-04 -1.52211407e+00] [-9.59591236e-03 1.56493758e-04 9.99953946e-01 -5.85856276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.795769231 meters Centerline goodness [0,1] 0.9998721173110533 Centerline is valid? [True, True] Translation: X:31.80, Y:-1.52, Z:-0.59 [[ 9.97234051e-01 7.40761401e-02 6.08051601e-03 3.18029209e+01] [-7.40744646e-02 9.97252587e-01 -5.00604156e-04 -1.51691623e+00] [-6.10089315e-03 4.88085429e-05 9.99981388e-01 -5.92545628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825769231 meters Centerline goodness [0,1] 0.9999141262344354 Centerline is valid? [True, True] Translation: X:31.83, Y:-1.51, Z:-0.60 [[ 9.96892145e-01 7.86516302e-02 4.46907772e-03 3.18330690e+01] [-7.86507707e-02 9.96902162e-01 -3.68020619e-04 -1.51266522e+00] [-4.48417866e-03 1.53804571e-05 9.99989946e-01 -5.95487468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.855769231000004 meters Centerline goodness [0,1] 0.9999144366724422 Centerline is valid? [True, True] Translation: X:31.86, Y:-1.51, Z:-0.60 [[ 9.96518984e-01 8.32468880e-02 4.45760877e-03 3.18628521e+01] [-8.32460779e-02 9.96528954e-01 -3.67285537e-04 -1.50707259e+00] [-4.47271158e-03 -5.07143673e-06 9.99989997e-01 -5.96261122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885769231 meters Centerline goodness [0,1] 0.9999151607703402 Centerline is valid? [True, True] Translation: X:31.89, Y:-1.50, Z:-0.59 [[ 9.95945392e-01 8.96655822e-02 7.27050802e-03 3.18915599e+01] [-8.96636026e-02 9.95971927e-01 -5.98430876e-04 -1.49789353e+00] [-7.29488054e-03 -5.58954686e-05 9.99973390e-01 -5.92010470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.92, Y:-1.50, Z:-0.59 [[ 9.95832235e-01 9.07531467e-02 9.05684918e-03 3.19189788e+01] [-9.07501272e-02 9.95873416e-01 -7.44653904e-04 -1.49865877e+00] [-9.08705501e-03 -8.03598527e-05 9.99958709e-01 -5.88932053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945769231 meters Centerline goodness [0,1] 0.9999786557384047 Centerline is valid? [True, True] Translation: X:31.95, Y:-1.50, Z:-0.59 [[ 9.95907297e-01 8.97084289e-02 1.10024768e-02 3.19481328e+01] [-8.97039179e-02 9.95968067e-01 -9.03805673e-04 -1.50234887e+00] [-1.10391945e-02 -8.68586098e-05 9.99939062e-01 -5.85244740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.975769231 meters Centerline goodness [0,1] 0.9999152057320925 Centerline is valid? [True, True] Translation: X:31.98, Y:-1.51, Z:-0.59 [[ 9.96059629e-01 8.80439093e-02 1.06529953e-02 3.19764655e+01] [-8.80395891e-02 9.96116592e-01 -8.74727072e-04 -1.50572753e+00] [-1.06886398e-02 -6.66050108e-05 9.99942873e-01 -5.86567487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.01, Y:-1.51, Z:-0.59 [[ 9.96285647e-01 8.55287250e-02 9.98731840e-03 3.20057607e+01] [-8.55248050e-02 9.96335704e-01 -8.19716247e-04 -1.51258599e+00] [-1.00208312e-02 -3.74919270e-05 9.99949790e-01 -5.89288479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.035769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.03, Y:-1.53, Z:-0.60 [[ 9.96707258e-01 8.07240332e-02 7.63364014e-03 3.20338350e+01] [-8.07216042e-02 9.96736490e-01 -6.26267317e-04 -1.52564502e+00] [-7.65928250e-03 8.00550215e-06 9.99970667e-01 -5.95083700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.06, Y:-1.53, Z:-0.59 [[ 9.96866086e-01 7.87607532e-02 7.39932027e-03 3.20639103e+01] [-7.87584158e-02 9.96893547e-01 -6.07194268e-04 -1.53241211e+00] [-7.42415770e-03 2.25326306e-05 9.99972440e-01 -5.94063884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.09, Y:-1.54, Z:-0.59 [[ 9.97002032e-01 7.69530559e-02 8.07311795e-03 3.20930838e+01] [-7.69502139e-02 9.97034716e-01 -6.62530434e-04 -1.53980110e+00] [-8.10016261e-03 3.93160358e-05 9.99967192e-01 -5.91439616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.12, Y:-1.54, Z:-0.59 [[ 9.97002032e-01 7.69530543e-02 8.07312955e-03 3.21229818e+01] [-7.69502134e-02 9.97034716e-01 -6.62389102e-04 -1.54225426e+00] [-8.10016329e-03 3.91742396e-05 9.99967192e-01 -5.91790632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.155769231 meters Centerline goodness [0,1] 0.9999787188763567 Centerline is valid? [True, True] Translation: X:32.15, Y:-1.55, Z:-0.59 [[ 9.96985227e-01 7.71573714e-02 8.19741727e-03 3.21524187e+01] [-7.71544497e-02 9.97018926e-01 -6.72541778e-04 -1.54675301e+00] [-8.22487171e-03 3.80469990e-05 9.99966174e-01 -5.92711798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185769231 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:32.18, Y:-1.55, Z:-0.59 [[ 9.96921277e-01 7.79723545e-02 8.26311790e-03 3.21825233e+01] [-7.79694124e-02 9.96955521e-01 -6.78084645e-04 -1.55050538e+00] [-8.29083287e-03 3.17265628e-05 9.99965630e-01 -5.93395897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.21, Y:-1.55, Z:-0.60 [[ 9.96918547e-01 7.80569774e-02 7.77939697e-03 3.22130773e+01] [-7.80543723e-02 9.96948899e-01 -6.38389733e-04 -1.55361260e+00] [-7.80549201e-03 2.92066180e-05 9.99969536e-01 -5.95403558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245769231000004 meters Centerline goodness [0,1] 0.999936489118469 Centerline is valid? [True, True] Translation: X:32.24, Y:-1.56, Z:-0.60 [[ 9.96912889e-01 7.81866679e-02 7.17885800e-03 3.22436916e+01] [-7.81844529e-02 9.96938736e-01 -5.89108546e-04 -1.55677096e+00] [-7.20294205e-03 2.60148182e-05 9.99974058e-01 -5.96790997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.275769231 meters Centerline goodness [0,1] 0.999978727477717 Centerline is valid? [True, True] Translation: X:32.27, Y:-1.56, Z:-0.60 [[ 9.96969661e-01 7.74731931e-02 7.02847494e-03 3.22743100e+01] [-7.74710522e-02 9.96994435e-01 -5.76767872e-04 -1.56166287e+00] [-7.05203445e-03 3.05167215e-05 9.99975134e-01 -5.97410177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.30, Y:-1.57, Z:-0.60 [[ 9.97007438e-01 7.70041937e-02 6.82082770e-03 3.23036872e+01] [-7.70021664e-02 9.97030768e-01 -5.59728008e-04 -1.56549385e+00] [-6.84367648e-03 3.28344783e-05 9.99976581e-01 -5.98113091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.33, Y:-1.57, Z:-0.60 [[ 9.97050774e-01 7.64719564e-02 6.46481492e-03 3.23345036e+01] [-7.64701240e-02 9.97071732e-01 -5.30513032e-04 -1.56837363e+00] [-6.48645358e-03 3.45832303e-05 9.99978962e-01 -5.99124939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365769231 meters Centerline goodness [0,1] 0.9999788225328251 Centerline is valid? [True, True] Translation: X:32.36, Y:-1.57, Z:-0.60 [[ 9.97157505e-01 7.51292368e-02 5.70164575e-03 3.23640805e+01] [-7.51277892e-02 9.97173804e-01 -4.67955912e-04 -1.57332991e+00] [-5.72068895e-03 3.82737095e-05 9.99983636e-01 -6.01658245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.395769231 meters Centerline goodness [0,1] 0.9998508639239833 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.58, Z:-0.60 [[ 9.97147130e-01 7.52512454e-02 5.90355341e-03 3.23945120e+01] [-7.52496964e-02 9.97164605e-01 -4.84385907e-04 -1.57685258e+00] [-5.92326514e-03 3.87634149e-05 9.99982457e-01 -6.01941505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425769231000004 meters Centerline goodness [0,1] 0.9999788045782111 Centerline is valid? [True, True] Translation: X:32.42, Y:-1.57, Z:-0.60 [[ 9.96863417e-01 7.88804674e-02 6.41867093e-03 3.24240409e+01] [-7.88787107e-02 9.96884081e-01 -5.26772823e-04 -1.57446861e+00] [-6.44022296e-03 1.88240693e-05 9.99979261e-01 -6.00075000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.45, Y:-1.57, Z:-0.60 [[ 9.96620636e-01 8.18445471e-02 6.98412319e-03 3.24545631e+01] [-8.18425417e-02 9.96645107e-01 -5.72938573e-04 -1.57165123e+00] [-7.00758410e-03 -5.95988012e-07 9.99975447e-01 -5.98959320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485769231 meters Centerline goodness [0,1] 0.9999787672250886 Centerline is valid? [True, True] Translation: X:32.48, Y:-1.57, Z:-0.60 [[ 9.96354418e-01 8.49727355e-02 7.58335911e-03 3.24846480e+01] [-8.49704622e-02 9.96383276e-01 -6.22044326e-04 -1.56816446e+00] [-7.60878900e-03 -2.45849167e-05 9.99971052e-01 -5.98197614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.515769231 meters Centerline goodness [0,1] 0.9999573005401482 Centerline is valid? [True, True] Translation: X:32.51, Y:-1.56, Z:-0.60 [[ 9.96116064e-01 8.77001659e-02 7.84020914e-03 3.25131950e+01] [-8.76978213e-02 9.96146916e-01 -6.43011093e-04 -1.56476439e+00] [-7.86639233e-03 -4.70555807e-05 9.99969058e-01 -5.98074779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545769231 meters Centerline goodness [0,1] 0.9999152183128445 Centerline is valid? [True, True] Translation: X:32.54, Y:-1.56, Z:-0.60 [[ 9.95806129e-01 9.10764549e-02 8.67369031e-03 3.25433755e+01] [-9.10737178e-02 9.95843900e-01 -7.10843037e-04 -1.56172456e+00] [-8.70238264e-03 -8.20833707e-05 9.99962130e-01 -5.97165193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.575769231 meters Centerline goodness [0,1] 0.9999788561158685 Centerline is valid? [True, True] Translation: X:32.57, Y:-1.56, Z:-0.60 [[ 9.95750328e-01 9.16500943e-02 9.03015139e-03 3.25732127e+01] [-9.16471532e-02 9.95791269e-01 -7.39838234e-04 -1.56307116e+00] [-9.05995216e-03 -9.08935032e-05 9.99958954e-01 -5.96784105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605769231000004 meters Centerline goodness [0,1] 0.9999366701146271 Centerline is valid? [True, True] Translation: X:32.60, Y:-1.57, Z:-0.60 [[ 9.95841963e-01 9.06590688e-02 8.92848016e-03 3.26016279e+01] [-9.06561552e-02 9.95881984e-01 -7.31338971e-04 -1.56665691e+00] [-8.95801505e-03 -8.11236469e-05 9.99959873e-01 -5.98626902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.635769231 meters Centerline goodness [0,1] 0.9999577327866773 Centerline is valid? [True, True] Translation: X:32.63, Y:-1.57, Z:-0.60 [[ 9.95962898e-01 8.93994172e-02 8.10250256e-03 3.26310253e+01] [-8.93969784e-02 9.95995853e-01 -6.63402184e-04 -1.57140550e+00] [-8.12936672e-03 -6.36152849e-05 9.99966954e-01 -6.01145842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665769231 meters Centerline goodness [0,1] 0.9999785890161653 Centerline is valid? [True, True] Translation: X:32.66, Y:-1.58, Z:-0.60 [[ 9.96256141e-01 8.61910169e-02 6.69397260e-03 3.26601942e+01] [-8.61892805e-02 9.96278630e-01 -5.47980025e-04 -1.58205829e+00] [-6.71629281e-03 -3.10202170e-05 9.99977445e-01 -6.03455626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.69, Y:-1.59, Z:-0.60 [[ 9.96346257e-01 8.51733572e-02 6.29568265e-03 3.26886996e+01] [-8.51718014e-02 9.96366147e-01 -5.15302788e-04 -1.58659852e+00] [-6.31669513e-03 -2.27946281e-05 9.99980049e-01 -6.04178559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725769231 meters Centerline goodness [0,1] 0.9999572923339739 Centerline is valid? [True, True] Translation: X:32.72, Y:-1.59, Z:-0.60 [[ 9.96430095e-01 8.41638937e-02 6.59578105e-03 3.27175899e+01] [-8.41621661e-02 9.96451925e-01 -5.39537761e-04 -1.59123647e+00] [-6.61778832e-03 -1.75035576e-05 9.99978102e-01 -6.04142540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.755769231 meters Centerline goodness [0,1] 0.9999574123759636 Centerline is valid? [True, True] Translation: X:32.75, Y:-1.60, Z:-0.60 [[ 9.96528198e-01 8.28370519e-02 8.34102972e-03 3.27460599e+01] [-8.28342446e-02 9.96563105e-01 -6.82064143e-04 -1.59849741e+00] [-8.36886267e-03 -1.12267449e-05 9.99964980e-01 -6.01632414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.78, Y:-1.60, Z:-0.60 [[ 9.96524488e-01 8.27870650e-02 9.23290799e-03 3.27764579e+01] [-8.27836271e-02 9.96567259e-01 -7.54563992e-04 -1.60330576e+00] [-9.26368195e-03 -1.23921171e-05 9.99957091e-01 -6.00719017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.815769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.81, Y:-1.61, Z:-0.60 [[ 9.96507969e-01 8.29613856e-02 9.44857281e-03 3.28059098e+01] [-8.29577942e-02 9.96552762e-01 -7.72067761e-04 -1.60910701e+00] [-9.48005314e-03 -1.44610821e-05 9.99955063e-01 -6.02584489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.84, Y:-1.61, Z:-0.60 [[ 9.96495979e-01 8.32027040e-02 8.54827264e-03 3.28369166e+01] [-8.31997689e-02 9.96532644e-01 -6.99006113e-04 -1.61330751e+00] [-8.57679193e-03 -1.46575278e-05 9.99963219e-01 -6.03250685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.875769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.87, Y:-1.62, Z:-0.61 [[ 9.96491643e-01 8.34516510e-02 6.34249029e-03 3.28671795e+01] [-8.34500393e-02 9.96511827e-01 -5.18780738e-04 -1.61758961e+00] [-6.36365970e-03 -1.23203939e-05 9.99979752e-01 -6.06422570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.90, Y:-1.62, Z:-0.61 [[ 9.96456130e-01 8.39067464e-02 5.90249312e-03 3.28965243e+01] [-8.39053575e-02 9.96473611e-01 -4.82990073e-04 -1.61974524e+00] [-5.92220476e-03 -1.39723765e-05 9.99982463e-01 -6.08019120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.935769231 meters Centerline goodness [0,1] 0.9999573387939678 Centerline is valid? [True, True] Translation: X:32.93, Y:-1.62, Z:-0.61 [[ 9.96362861e-01 8.49887626e-02 6.16109202e-03 3.29274760e+01] [-8.49872709e-02 9.96381910e-01 -5.04007542e-04 -1.62140580e+00] [-6.18163561e-03 -2.14399991e-05 9.99980893e-01 -6.07598104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965769231 meters Centerline goodness [0,1] 0.9999362475295918 Centerline is valid? [True, True] Translation: X:32.96, Y:-1.62, Z:-0.61 [[ 9.96088662e-01 8.80587180e-02 7.28281725e-03 3.29566637e+01] [-8.80567145e-02 9.96115284e-01 -5.95925303e-04 -1.61741651e+00] [-7.30700199e-03 -4.77065217e-05 9.99973302e-01 -6.07150490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.995769231000004 meters Centerline goodness [0,1] 0.9999357174998393 Centerline is valid? [True, True] Translation: X:32.99, Y:-1.62, Z:-0.60 [[ 9.95977393e-01 8.92849411e-02 7.56522079e-03 3.29866900e+01] [-8.92828171e-02 9.96006122e-01 -6.18700623e-04 -1.61916982e+00] [-7.59024687e-03 -5.92323903e-05 9.99971192e-01 -6.04935357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025769231 meters Centerline goodness [0,1] 0.9999787748864456 Centerline is valid? [True, True] Translation: X:33.02, Y:-1.62, Z:-0.61 [[ 9.95893264e-01 9.02150595e-02 7.60583869e-03 3.30152316e+01] [-9.02129420e-02 9.95922305e-01 -6.21722757e-04 -1.61552499e+00] [-7.63091316e-03 -6.69755787e-05 9.99970882e-01 -6.06311470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.055769231 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:33.04, Y:-1.62, Z:-0.60 [[ 9.95962594e-01 8.94205152e-02 7.90463466e-03 3.30446427e+01] [-8.94182017e-02 9.95993960e-01 -6.46307440e-04 -1.62180159e+00] [-7.93076151e-03 -6.31201816e-05 9.99968549e-01 -6.04800564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085769231 meters Centerline goodness [0,1] 0.9999361240045991 Centerline is valid? [True, True] Translation: X:33.07, Y:-1.63, Z:-0.60 [[ 9.96216542e-01 8.64887774e-02 8.50254745e-03 3.30740399e+01] [-8.64859962e-02 9.96252824e-01 -6.94931144e-04 -1.62838957e+00] [-8.53079065e-03 -4.30493858e-05 9.99963611e-01 -6.04433445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.115769231 meters Centerline goodness [0,1] 0.9999787928913771 Centerline is valid? [True, True] Translation: X:33.10, Y:-1.63, Z:-0.60 [[ 9.96308285e-01 8.53974858e-02 8.77902467e-03 3.31040312e+01] [-8.53944797e-02 9.96346962e-01 -7.17384368e-04 -1.63284223e+00] [-8.80821738e-03 -3.49442551e-05 9.99961206e-01 -6.04259286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145769231 meters Centerline goodness [0,1] 0.9999576262208945 Centerline is valid? [True, True] Translation: X:33.13, Y:-1.64, Z:-0.61 [[ 9.96479581e-01 8.33393454e-02 9.11030554e-03 3.31341884e+01] [-8.33360224e-02 9.96521226e-01 -7.44425243e-04 -1.63808080e+00] [-9.14065276e-03 -1.74120720e-05 9.99958223e-01 -6.05122786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.175769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.16, Y:-1.64, Z:-0.61 [[ 9.96560525e-01 8.23964300e-02 8.82881931e-03 3.31644624e+01] [-8.23932710e-02 9.96599633e-01 -7.21557135e-04 -1.64239320e+00] [-8.85825182e-03 -8.35994515e-06 9.99960765e-01 -6.05284586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.20, Y:-1.65, Z:-0.61 [[ 9.96627113e-01 8.16650902e-02 8.07536962e-03 3.31950341e+01] [-8.16624237e-02 9.96659828e-01 -6.59937706e-04 -1.64599271e+00] [-8.10229037e-03 -1.74244458e-06 9.99967176e-01 -6.07055359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.23, Y:-1.65, Z:-0.61 [[ 9.96815903e-01 7.95116024e-02 5.99668242e-03 3.32252356e+01] [-7.95100928e-02 9.96833941e-01 -4.90098040e-04 -1.65286401e+00] [-6.01666505e-03 1.17407445e-05 9.99981900e-01 -6.12027698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.26, Y:-1.66, Z:-0.61 [[ 9.96843441e-01 7.91942745e-02 5.60551376e-03 3.32553870e+01] [-7.91929497e-02 9.96859201e-01 -4.58255026e-04 -1.65701068e+00] [-5.62419914e-03 1.28913480e-05 9.99984184e-01 -6.12323352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.28, Y:-1.66, Z:-0.61 [[ 9.96791369e-01 7.97792805e-02 6.49875186e-03 3.32843898e+01] [-7.97775128e-02 9.96812553e-01 -5.31204660e-04 -1.66042800e+00] [-6.52041656e-03 1.10459605e-05 9.99978742e-01 -6.11195873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325769231 meters Centerline goodness [0,1] 0.9999786662115459 Centerline is valid? [True, True] Translation: X:33.31, Y:-1.66, Z:-0.61 [[ 9.96707819e-01 8.07233456e-02 7.56738247e-03 3.33138831e+01] [-8.07209749e-02 9.96736546e-01 -6.18689492e-04 -1.66180594e+00] [-7.59262934e-03 5.80616366e-06 9.99971176e-01 -6.11446838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.355769231000004 meters Centerline goodness [0,1] 0.9999787856930714 Centerline is valid? [True, True] Translation: X:33.34, Y:-1.66, Z:-0.61 [[ 9.96603236e-01 8.18916237e-02 8.70355042e-03 3.33445340e+01] [-8.18885305e-02 9.96641240e-01 -7.11766992e-04 -1.66206454e+00] [-8.73260504e-03 -3.37166625e-06 9.99961870e-01 -6.08390572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385769231 meters Centerline goodness [0,1] 0.9999788050274475 Centerline is valid? [True, True] Translation: X:33.37, Y:-1.66, Z:-0.60 [[ 9.96407302e-01 8.40395440e-02 1.04806716e-02 3.33745142e+01] [-8.40351776e-02 9.96462420e-01 -8.57083102e-04 -1.66024124e+00] [-1.05156243e-02 -2.67412412e-05 9.99944709e-01 -6.04752428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.415769231 meters Centerline goodness [0,1] 0.9999785453765286 Centerline is valid? [True, True] Translation: X:33.40, Y:-1.66, Z:-0.60 [[ 9.96354552e-01 8.46306810e-02 1.07356227e-02 3.34049842e+01] [-8.46261323e-02 9.96412388e-01 -8.78083638e-04 -1.66209695e+00] [-1.07714203e-02 -3.36315986e-05 9.99941986e-01 -6.04004520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445769231 meters Centerline goodness [0,1] 0.9999786766744141 Centerline is valid? [True, True] Translation: X:33.44, Y:-1.67, Z:-0.61 [[ 9.96336336e-01 8.49690720e-02 9.70368490e-03 3.34362249e+01] [-8.49653722e-02 9.96383589e-01 -7.93635164e-04 -1.66683845e+00] [-9.73602683e-03 -3.37496480e-05 9.99952603e-01 -6.06027768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.475769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.47, Y:-1.67, Z:-0.61 [[ 9.96342081e-01 8.49493009e-02 9.27756371e-03 3.34660582e+01] [-8.49459157e-02 9.96385275e-01 -7.59038238e-04 -1.67086208e+00] [-9.30850763e-03 -3.18294065e-05 9.99956674e-01 -6.07876132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-1.67, Z:-0.61 [[ 9.96315539e-01 8.52706823e-02 9.17919067e-03 3.34960189e+01] [-8.52673834e-02 9.96357822e-01 -7.50859163e-04 -1.67387699e+00] [-9.20978470e-03 -3.45929188e-05 9.99957588e-01 -6.08905212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.535769231 meters Centerline goodness [0,1] 0.9999578112475214 Centerline is valid? [True, True] Translation: X:33.53, Y:-1.67, Z:-0.61 [[ 9.96167294e-01 8.70132230e-02 8.91186858e-03 3.35256147e+01] [-8.70101775e-02 9.96207155e-01 -7.29619523e-04 -1.67350920e+00] [-8.94155380e-03 -4.86001613e-05 9.99960022e-01 -6.09189695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565769231000004 meters Centerline goodness [0,1] 0.9999576594123126 Centerline is valid? [True, True] Translation: X:33.56, Y:-1.67, Z:-0.61 [[ 9.95997183e-01 8.89591916e-02 8.71052844e-03 3.35558156e+01] [-8.89563578e-02 9.96035269e-01 -7.13007335e-04 -1.67394717e+00] [-8.73942210e-03 -6.47035869e-05 9.99961808e-01 -6.09418328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.595769231 meters Centerline goodness [0,1] 0.9999149768311865 Centerline is valid? [True, True] Translation: X:33.59, Y:-1.66, Z:-0.61 [[ 9.95439300e-01 9.50953867e-02 7.58078464e-03 3.35860582e+01] [-9.50934180e-02 9.95468160e-01 -6.20532822e-04 -1.66403751e+00] [-7.60543954e-03 -1.03179965e-04 9.99971073e-01 -6.10324923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625769231 meters Centerline goodness [0,1] 0.9998932217144322 Centerline is valid? [True, True] Translation: X:33.62, Y:-1.66, Z:-0.61 [[ 9.95054739e-01 9.90721890e-02 7.12515031e-03 3.36158822e+01] [-9.90705507e-02 9.95080241e-01 -5.83393228e-04 -1.65803299e+00] [-7.14789433e-03 -1.25384368e-04 9.99974446e-01 -6.11347091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.655769231 meters Centerline goodness [0,1] 0.99953354253244 Centerline is valid? [True, True] Translation: X:33.65, Y:-1.64, Z:-0.61 [[ 9.94238449e-01 1.06844707e-01 8.60898923e-03 3.36474430e+01] [-1.06842610e-01 9.94275696e-01 -7.04416308e-04 -1.63726422e+00] [-8.63497192e-03 -2.19449100e-04 9.99962694e-01 -6.10547601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685769231 meters Centerline goodness [0,1] 0.9991703186827213 Centerline is valid? [True, True] Translation: X:33.68, Y:-1.63, Z:-0.61 [[ 9.93942874e-01 1.09429482e-01 1.01366063e-02 3.36775974e+01] [-1.09426711e-01 9.93994521e-01 -8.29311335e-04 -1.63187510e+00] [-1.01664823e-02 -2.84927399e-04 9.99948279e-01 -6.07909736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.715769231 meters Centerline goodness [0,1] 0.9982768523836876 Centerline is valid? [True, True] Translation: X:33.71, Y:-1.63, Z:-0.61 [[ 9.93781099e-01 1.10788821e-01 1.11787200e-02 3.37054193e+01] [-1.10785539e-01 9.93843915e-01 -9.14316358e-04 -1.62680758e+00] [-1.12111989e-02 -3.29810207e-04 9.99937098e-01 -6.05608013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745769231000004 meters Centerline goodness [0,1] 0.9975467907370202 Centerline is valid? [True, True] Translation: X:33.73, Y:-1.62, Z:-0.61 [[ 9.93715278e-01 1.11496638e-01 9.92198540e-03 3.37342687e+01] [-1.11494092e-01 9.93764766e-01 -8.11059991e-04 -1.61669776e+00] [-9.95054995e-03 -3.00280049e-04 9.99950447e-01 -6.08974996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.775769231 meters Centerline goodness [0,1] 0.9980787906937466 Centerline is valid? [True, True] Translation: X:33.76, Y:-1.61, Z:-0.61 [[ 9.93705011e-01 1.11683105e-01 8.78834963e-03 3.37628917e+01] [-1.11681119e-01 9.93743836e-01 -7.17960029e-04 -1.61481374e+00] [-8.81355228e-03 -2.68052243e-04 9.99961124e-01 -6.12247165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805769231 meters Centerline goodness [0,1] 0.9984447569133751 Centerline is valid? [True, True] Translation: X:33.79, Y:-1.61, Z:-0.61 [[ 9.93753800e-01 1.11305614e-01 8.02782888e-03 3.37923490e+01] [-1.11303947e-01 9.93786195e-01 -6.55530028e-04 -1.61291312e+00] [-8.05090969e-03 -2.42093582e-04 9.99967562e-01 -6.13687981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.835769231 meters Centerline goodness [0,1] 0.9998296857702461 Centerline is valid? [True, True] Translation: X:33.82, Y:-1.62, Z:-0.61 [[ 9.94046630e-01 1.08593810e-01 8.87025086e-03 3.38219046e+01] [-1.08591671e-01 9.94086176e-01 -7.23832019e-04 -1.61799450e+00] [-8.89639743e-03 -2.43712583e-04 9.99960397e-01 -6.11428990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865769231 meters Centerline goodness [0,1] 0.9997659624263313 Centerline is valid? [True, True] Translation: X:33.85, Y:-1.62, Z:-0.61 [[ 9.94352849e-01 1.05707890e-01 9.39437569e-03 3.38499422e+01] [-1.05705364e-01 9.94397199e-01 -7.66417792e-04 -1.62060094e+00] [-9.42275727e-03 -2.30946186e-04 9.99955578e-01 -6.11381110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.895769231 meters Centerline goodness [0,1] 0.9999146484583378 Centerline is valid? [True, True] Translation: X:33.88, Y:-1.63, Z:-0.62 [[ 9.95351544e-01 9.59420125e-02 8.39249139e-03 3.38790938e+01] [-9.59396534e-02 9.95386917e-01 -6.84170196e-04 -1.63094641e+00] [-8.41941680e-03 -1.24182854e-04 9.99964548e-01 -6.15886337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925769231000004 meters Centerline goodness [0,1] 0.9999578067973249 Centerline is valid? [True, True] Translation: X:33.91, Y:-1.64, Z:-0.62 [[ 9.95919609e-01 8.98756521e-02 8.15473431e-03 3.39081001e+01] [-8.98732201e-02 9.95952992e-01 -6.64931827e-04 -1.64485526e+00] [-8.18149321e-03 -7.06735863e-05 9.99966529e-01 -6.17102571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.94, Y:-1.67, Z:-0.61 [[ 9.96841625e-01 7.89555084e-02 8.53240725e-03 3.39357300e+01] [-7.89524460e-02 9.96878141e-01 -6.95674798e-04 -1.66785765e+00] [-8.56069763e-03 1.98231740e-05 9.99963356e-01 -6.13609800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985769231 meters Centerline goodness [0,1] 0.9999786712168071 Centerline is valid? [True, True] Translation: X:33.96, Y:-1.68, Z:-0.61 [[ 9.97193594e-01 7.42884019e-02 9.28270173e-03 3.39640219e+01] [-7.42845776e-02 9.97236797e-01 -7.56566943e-04 -1.68164475e+00] [-9.31325589e-03 6.48821326e-05 9.99956629e-01 -6.14046683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.015769231 meters Centerline goodness [0,1] 0.9999788310506149 Centerline is valid? [True, True] Translation: X:33.99, Y:-1.69, Z:-0.61 [[ 9.97456214e-01 7.05764007e-02 1.00036195e-02 3.39942161e+01] [-7.05717744e-02 9.97506371e-01 -8.15152539e-04 -1.69090263e+00] [-1.00362047e-02 1.07105789e-04 9.99949630e-01 -6.12763662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045769231 meters Centerline goodness [0,1] 0.9998514809471272 Centerline is valid? [True, True] Translation: X:34.02, Y:-1.70, Z:-0.61 [[ 9.97808657e-01 6.51913379e-02 1.13125439e-02 3.40247770e+01] [-6.51850739e-02 9.97872766e-01 -9.21950359e-04 -1.70314148e+00] [-1.13485827e-02 1.82521038e-04 9.99935586e-01 -6.09373443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.075769231 meters Centerline goodness [0,1] 0.9998514809471272 Centerline is valid? [True, True] Translation: X:34.06, Y:-1.71, Z:-0.61 [[ 9.97797908e-01 6.53556541e-02 1.13125263e-02 3.40563472e+01] [-6.53493982e-02 9.97862017e-01 -9.22166756e-04 -1.70585832e+00] [-1.13486091e-02 1.80869275e-04 9.99935586e-01 -6.09744204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105769231000004 meters Centerline goodness [0,1] 0.9998932946348542 Centerline is valid? [True, True] Translation: X:34.09, Y:-1.71, Z:-0.61 [[ 9.97890383e-01 6.39548604e-02 1.11605778e-02 3.40883076e+01] [-6.39486634e-02 9.97952773e-01 -9.11604179e-04 -1.71140552e+00] [-1.11960311e-02 1.95977012e-04 9.99937303e-01 -6.10047997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.135769231 meters Centerline goodness [0,1] 0.9999141630901287 Centerline is valid? [True, True] Translation: X:34.12, Y:-1.72, Z:-0.61 [[ 9.97950840e-01 6.34349384e-02 8.37438956e-03 3.41184343e+01] [-6.34314224e-02 9.97985965e-01 -6.85056139e-04 -1.71908565e+00] [-8.40097974e-03 1.52452907e-04 9.99964700e-01 -6.14889822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165769231 meters Centerline goodness [0,1] 0.9998060971668642 Centerline is valid? [True, True] Translation: X:34.15, Y:-1.73, Z:-0.62 [[ 9.97970378e-01 6.32276372e-02 7.57564817e-03 3.41495776e+01] [-6.32247463e-02 9.97999121e-01 -6.20722460e-04 -1.72529637e+00] [-7.59973703e-03 1.40494195e-04 9.99971112e-01 -6.16856382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.195769231 meters Centerline goodness [0,1] 0.9998291912204287 Centerline is valid? [True, True] Translation: X:34.18, Y:-1.73, Z:-0.62 [[ 9.98003967e-01 6.26913218e-02 7.60790750e-03 3.41800939e+01] [-6.26883833e-02 9.98032954e-01 -6.24328289e-04 -1.73114178e+00] [-7.63208236e-03 1.46154688e-04 9.99970865e-01 -6.17508323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225769231 meters Centerline goodness [0,1] 0.999787618137411 Centerline is valid? [True, True] Translation: X:34.21, Y:-1.74, Z:-0.62 [[ 9.98065304e-01 6.17195432e-02 7.50651481e-03 3.42118021e+01] [-6.17166582e-02 9.98093520e-01 -6.15596647e-04 -1.73984229e+00] [-7.53019814e-03 1.51128646e-04 9.99971636e-01 -6.17461327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.255769231 meters Centerline goodness [0,1] 0.9998935309399088 Centerline is valid? [True, True] Translation: X:34.24, Y:-1.74, Z:-0.62 [[ 9.97931046e-01 6.38997910e-02 7.10235387e-03 3.42430813e+01] [-6.38972555e-02 9.97956312e-01 -5.83569391e-04 -1.74437198e+00] [-7.12512883e-03 1.28541093e-04 9.99974608e-01 -6.17976070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285769231 meters Centerline goodness [0,1] 0.9998923411493659 Centerline is valid? [True, True] Translation: X:34.27, Y:-1.75, Z:-0.62 [[ 9.97779886e-01 6.62070926e-02 7.20560318e-03 3.42744560e+01] [-6.62045349e-02 9.97805897e-01 -5.93172246e-04 -1.74570812e+00] [-7.22906555e-03 1.14811729e-04 9.99973863e-01 -6.17751354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.315769231000004 meters Centerline goodness [0,1] 0.9999788220843304 Centerline is valid? [True, True] Translation: X:34.31, Y:-1.75, Z:-0.62 [[ 9.97608851e-01 6.87627259e-02 6.94748801e-03 3.43055544e+01] [-6.87603988e-02 9.97633038e-01 -5.73549066e-04 -1.74513171e+00] [-6.97048237e-03 9.44655790e-05 9.99975701e-01 -6.17873356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.34, Y:-1.74, Z:-0.62 [[ 9.97112988e-01 7.56755908e-02 6.23653287e-03 3.43366114e+01] [-7.56738500e-02 9.97132490e-01 -5.14975919e-04 -1.73723717e+00] [-6.25762066e-03 4.15467249e-05 9.99980420e-01 -6.19229531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.375769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.37, Y:-1.73, Z:-0.62 [[ 9.96807453e-01 7.96177813e-02 5.99258698e-03 3.43665416e+01] [-7.96162448e-02 9.96825465e-01 -4.94898120e-04 -1.73387313e+00] [-6.01296600e-03 1.62108625e-05 9.99981922e-01 -6.20044781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.40, Y:-1.72, Z:-0.62 [[ 9.96147294e-01 8.74915147e-02 5.98366010e-03 3.43964462e+01] [-8.74901244e-02 9.96165264e-01 -4.94219744e-04 -1.72131065e+00] [-6.00395438e-03 -3.11955054e-05 9.99981976e-01 -6.20668849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.435769231 meters Centerline goodness [0,1] 0.9999788824597711 Centerline is valid? [True, True] Translation: X:34.42, Y:-1.72, Z:-0.62 [[ 9.95845036e-01 9.08273963e-02 6.56111061e-03 3.44249088e+01] [-9.08257980e-02 9.95866648e-01 -5.41766511e-04 -1.71530012e+00] [-6.58319847e-03 -5.64026162e-05 9.99978329e-01 -6.20071607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465769231 meters Centerline goodness [0,1] 0.9999144805764009 Centerline is valid? [True, True] Translation: X:34.45, Y:-1.71, Z:-0.62 [[ 9.95532311e-01 9.41270048e-02 7.45150020e-03 3.44544455e+01] [-9.41250399e-02 9.95560194e-01 -6.14728101e-04 -1.70662596e+00] [-7.47627950e-03 -8.93910668e-05 9.99972048e-01 -6.19367750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.495769231000004 meters Centerline goodness [0,1] 0.9999156082535128 Centerline is valid? [True, True] Translation: X:34.48, Y:-1.71, Z:-0.62 [[ 9.95551908e-01 9.39457411e-02 7.11303361e-03 3.44821702e+01] [-9.39439478e-02 9.95577315e-01 -5.86556850e-04 -1.70592961e+00] [-7.13667942e-03 -8.42786667e-05 9.99974530e-01 -6.20670849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525769231 meters Centerline goodness [0,1] 0.9999574721442545 Centerline is valid? [True, True] Translation: X:34.51, Y:-1.71, Z:-0.62 [[ 9.95677818e-01 9.26263463e-02 6.78552692e-03 3.45109493e+01] [-9.26246864e-02 9.95700936e-01 -5.59139254e-04 -1.70698831e+00] [-6.80814653e-03 -7.17847510e-05 9.99976822e-01 -6.21863178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.555769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.54, Y:-1.71, Z:-0.62 [[ 9.96115176e-01 8.77569197e-02 7.29932061e-03 3.45392406e+01] [-8.77548719e-02 9.96141918e-01 -6.00982810e-04 -1.71119024e+00] [-7.32389963e-03 -4.19028474e-05 9.99973179e-01 -6.21747781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.57, Y:-1.72, Z:-0.62 [[ 9.96454571e-01 8.38090126e-02 7.37145358e-03 3.45677969e+01] [-8.38068160e-02 9.96481836e-01 -6.06923791e-04 -1.71799260e+00] [-7.39638528e-03 -1.30060679e-05 9.99972646e-01 -6.21988702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.615769231 meters Centerline goodness [0,1] 0.9999362055033386 Centerline is valid? [True, True] Translation: X:34.60, Y:-1.73, Z:-0.62 [[ 9.97155762e-01 7.48243844e-02 9.03863849e-03 3.45958965e+01] [-7.48207179e-02 9.97196724e-01 -7.43586216e-04 -1.73433372e+00] [-9.06893908e-03 6.51938588e-05 9.99958874e-01 -6.19491855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645769231 meters Centerline goodness [0,1] 0.9999576028660463 Centerline is valid? [True, True] Translation: X:34.63, Y:-1.74, Z:-0.62 [[ 9.97450791e-01 7.07990367e-02 8.91155661e-03 3.46263979e+01] [-7.07953136e-02 9.97490595e-01 -7.32945283e-04 -1.74366104e+00] [-8.94108572e-03 1.00180408e-04 9.99960023e-01 -6.19986129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.675769231000004 meters Centerline goodness [0,1] 0.9999575209209465 Centerline is valid? [True, True] Translation: X:34.66, Y:-1.75, Z:-0.62 [[ 9.97672334e-01 6.77552088e-02 7.69067914e-03 3.46570551e+01] [-6.77523445e-02 9.97701969e-01 -6.32665326e-04 -1.75141781e+00] [-7.71587209e-03 1.10131150e-04 9.99970226e-01 -6.22827072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705769231 meters Centerline goodness [0,1] 0.9998709427631154 Centerline is valid? [True, True] Translation: X:34.69, Y:-1.76, Z:-0.63 [[ 9.97934512e-01 6.40639159e-02 4.74595509e-03 3.46883922e+01] [-6.40627834e-02 9.97945794e-01 -3.90410754e-04 -1.75530072e+00] [-4.76121717e-03 8.55652716e-05 9.99988662e-01 -6.27450018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.735769231 meters Centerline goodness [0,1] 0.9998929954844095 Centerline is valid? [True, True] Translation: X:34.72, Y:-1.76, Z:-0.63 [[ 9.98000292e-01 6.30327310e-02 4.72151857e-03 3.47185853e+01] [-6.30315977e-02 9.98011456e-01 -3.88596397e-04 -1.76080562e+00] [-4.73662391e-03 9.02144587e-05 9.99988778e-01 -6.27602232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765769231 meters Centerline goodness [0,1] 0.9998934288211097 Centerline is valid? [True, True] Translation: X:34.75, Y:-1.77, Z:-0.63 [[ 9.98072090e-01 6.18351315e-02 5.34035627e-03 3.47477455e+01] [-6.18336633e-02 9.98086371e-01 -4.39761539e-04 -1.76916219e+00] [-5.35732952e-03 1.08699927e-04 9.99985643e-01 -6.25560164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.795769231 meters Centerline goodness [0,1] 0.9998925124148161 Centerline is valid? [True, True] Translation: X:34.78, Y:-1.78, Z:-0.63 [[ 9.98131082e-01 6.08690028e-02 5.41358675e-03 3.47775417e+01] [-6.08674806e-02 9.98145756e-01 -4.45650739e-04 -1.77531076e+00] [-5.43067495e-03 1.15306468e-04 9.99985247e-01 -6.25716534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825769231 meters Centerline goodness [0,1] 0.9998286277366009 Centerline is valid? [True, True] Translation: X:34.81, Y:-1.78, Z:-0.63 [[ 9.98228607e-01 5.92423219e-02 5.47677748e-03 3.48080794e+01] [-5.92407403e-02 9.98243623e-01 -4.50706001e-04 -1.78315694e+00] [-5.49385907e-03 1.25459272e-04 9.99984901e-01 -6.25781638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.855769231000004 meters Centerline goodness [0,1] 0.999108772227645 Centerline is valid? [True, True] Translation: X:34.84, Y:-1.80, Z:-0.62 [[ 9.98487494e-01 5.44956851e-02 7.27637245e-03 3.48363280e+01] [-5.44927647e-02 9.98513986e-01 -5.99169288e-04 -1.80130101e+00] [-7.29821179e-03 2.01753389e-04 9.99973347e-01 -6.23983421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885769231 meters Centerline goodness [0,1] 0.9984523118591604 Centerline is valid? [True, True] Translation: X:34.87, Y:-1.82, Z:-0.62 [[ 9.98642021e-01 5.15181437e-02 7.74559441e-03 3.48667081e+01] [-5.15147456e-02 9.98672030e-01 -6.37716174e-04 -1.81759292e+00] [-7.76816245e-03 2.37837844e-04 9.99969799e-01 -6.23506116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.915769231 meters Centerline goodness [0,1] 0.9986525505293552 Centerline is valid? [True, True] Translation: X:34.90, Y:-1.82, Z:-0.62 [[ 9.98639807e-01 5.16214432e-02 7.33230280e-03 3.48993273e+01] [-5.16184049e-02 9.98666699e-01 -6.03142362e-04 -1.82467757e+00] [-7.35366172e-03 2.23840197e-04 9.99972936e-01 -6.24829135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945769231 meters Centerline goodness [0,1] 0.9987085573950968 Centerline is valid? [True, True] Translation: X:34.93, Y:-1.83, Z:-0.63 [[ 9.98599217e-01 5.25617211e-02 6.07193686e-03 3.49316999e+01] [-5.25596460e-02 9.98617661e-01 -5.00934455e-04 -1.82911672e+00] [-6.08987336e-03 1.81093903e-04 9.99981440e-01 -6.26154220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.975769231 meters Centerline goodness [0,1] 0.9991035218783351 Centerline is valid? [True, True] Translation: X:34.96, Y:-1.83, Z:-0.63 [[ 9.98478350e-01 5.49206655e-02 4.97046381e-03 3.49640258e+01] [-5.49193067e-02 9.98490712e-01 -4.09538505e-04 -1.83126454e+00] [-4.98545408e-03 1.35940903e-04 9.99987563e-01 -6.27726689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005769231 meters Centerline goodness [0,1] 0.9997875053123672 Centerline is valid? [True, True] Translation: X:34.99, Y:-1.83, Z:-0.63 [[ 9.98121305e-01 6.11056328e-02 4.46789011e-03 3.49947293e+01] [-6.11045893e-02 9.98131300e-01 -3.69816718e-04 -1.82795553e+00] [-4.48213885e-03 9.61133547e-05 9.99989951e-01 -6.28372433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.035769231 meters Centerline goodness [0,1] 0.9998071772897696 Centerline is valid? [True, True] Translation: X:35.03, Y:-1.82, Z:-0.62 [[ 9.97638879e-01 6.85087595e-02 4.81830114e-03 3.50265959e+01] [-6.85076325e-02 9.97650513e-01 -3.98742235e-04 -1.82055841e+00] [-4.83429794e-03 6.77103521e-05 9.99988312e-01 -6.21989030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065769231000004 meters Centerline goodness [0,1] 0.9999788009836343 Centerline is valid? [True, True] Translation: X:35.06, Y:-1.82, Z:-0.63 [[ 9.97427233e-01 7.14451053e-02 5.87473769e-03 3.50570843e+01] [-7.14434803e-02 9.97444531e-01 -4.86265620e-04 -1.81827774e+00] [-5.89446628e-03 6.53028651e-05 9.99982625e-01 -6.27502758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.095769231 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:35.09, Y:-1.82, Z:-0.63 [[ 9.97270464e-01 7.35254672e-02 6.75475832e-03 3.50882204e+01] [-7.35233656e-02 9.97293338e-01 -5.59260983e-04 -1.81569823e+00] [-6.77759540e-03 6.11018949e-05 9.99977030e-01 -6.26452142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.12, Y:-1.81, Z:-0.63 [[ 9.97103578e-01 7.57938045e-02 6.30513249e-03 3.51183710e+01] [-7.57920191e-02 9.97123512e-01 -5.21971305e-04 -1.81395358e+00] [-6.32655804e-03 4.25807335e-05 9.99979986e-01 -6.27909122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.15, Y:-1.81, Z:-0.63 [[ 9.97046033e-01 7.65799080e-02 5.89281658e-03 3.51494635e+01] [-7.65783614e-02 9.97063447e-01 -4.87976814e-04 -1.81398823e+00] [-5.91288123e-03 3.52731091e-05 9.99982518e-01 -6.28366199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185769231 meters Centerline goodness [0,1] 0.999914757591902 Centerline is valid? [True, True] Translation: X:35.18, Y:-1.81, Z:-0.63 [[ 9.97006296e-01 7.69853075e-02 7.19077339e-03 3.51793024e+01] [-7.69830149e-02 9.97032227e-01 -5.95481881e-04 -1.81239943e+00] [-7.21527616e-03 4.01317698e-05 9.99973969e-01 -6.25607618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.215769231 meters Centerline goodness [0,1] 0.9999574612897737 Centerline is valid? [True, True] Translation: X:35.21, Y:-1.81, Z:-0.62 [[ 9.97012309e-01 7.68194985e-02 8.07592422e-03 3.52095307e+01] [-7.68166024e-02 9.97045015e-01 -6.68634751e-04 -1.81334948e+00] [-8.10342418e-03 4.62720162e-05 9.99967166e-01 -6.24194536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245769231000004 meters Centerline goodness [0,1] 0.9998726303946335 Centerline is valid? [True, True] Translation: X:35.24, Y:-1.82, Z:-0.62 [[ 9.97073115e-01 7.59997659e-02 8.32103776e-03 3.52406895e+01] [-7.59966635e-02 9.97107834e-01 -6.88854554e-04 -1.81583559e+00] [-8.34932472e-03 5.44672494e-05 9.99965142e-01 -6.24752867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.275769231 meters Centerline goodness [0,1] 0.9998929863236522 Centerline is valid? [True, True] Translation: X:35.27, Y:-1.82, Z:-0.63 [[ 9.97135154e-01 7.51909474e-02 8.23438756e-03 3.52719520e+01] [-7.51878803e-02 9.97169152e-01 -6.81861352e-04 -1.81942637e+00] [-8.26234706e-03 6.07817788e-05 9.99965864e-01 -6.25685721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305769231 meters Centerline goodness [0,1] 0.9999141612480954 Centerline is valid? [True, True] Translation: X:35.30, Y:-1.82, Z:-0.62 [[ 9.97203963e-01 7.42498954e-02 8.43850670e-03 3.53024454e+01] [-7.42466386e-02 9.97239664e-01 -6.98992320e-04 -1.82306874e+00] [-8.46711369e-03 7.05071554e-05 9.99964151e-01 -6.24997224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.335769231 meters Centerline goodness [0,1] 0.9998723458576231 Centerline is valid? [True, True] Translation: X:35.33, Y:-1.83, Z:-0.62 [[ 9.97275252e-01 7.32490245e-02 8.75517314e-03 3.53324014e+01] [-7.32454792e-02 9.97313679e-01 -7.25324274e-04 -1.82538921e+00] [-8.78478323e-03 8.20710957e-05 9.99961410e-01 -6.24867024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365769231 meters Centerline goodness [0,1] 0.9999366152545954 Centerline is valid? [True, True] Translation: X:35.36, Y:-1.83, Z:-0.63 [[ 9.97244563e-01 7.37763398e-02 7.76741586e-03 3.53636590e+01] [-7.37735652e-02 9.97274810e-01 -6.43522070e-04 -1.82556797e+00] [-7.79372488e-03 6.87189248e-05 9.99969626e-01 -6.26819913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.395769231 meters Centerline goodness [0,1] 0.9999789096277549 Centerline is valid? [True, True] Translation: X:35.39, Y:-1.82, Z:-0.63 [[ 9.97069990e-01 7.63230578e-02 5.12108802e-03 3.53934477e+01] [-7.63218841e-02 9.97083141e-01 -4.24514119e-04 -1.82038839e+00] [-5.13855074e-03 3.24192023e-05 9.99986797e-01 -6.33120979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425769231000004 meters Centerline goodness [0,1] 0.9999573542581773 Centerline is valid? [True, True] Translation: X:35.42, Y:-1.82, Z:-0.63 [[ 9.97021630e-01 7.70089893e-02 4.18144672e-03 3.54236590e+01] [-7.70082126e-02 9.97030398e-01 -3.46685817e-04 -1.81941192e+00] [-4.19572741e-03 2.36475207e-05 9.99991198e-01 -6.34889369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.455769231 meters Centerline goodness [0,1] 0.9999787991858887 Centerline is valid? [True, True] Translation: X:35.45, Y:-1.82, Z:-0.63 [[ 9.97071525e-01 7.63028401e-02 5.12356302e-03 3.54526036e+01] [-7.63016651e-02 9.97084688e-01 -4.24696462e-04 -1.82207952e+00] [-5.14103178e-03 3.25163592e-05 9.99986784e-01 -6.34912033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485769231 meters Centerline goodness [0,1] 0.9999787215933271 Centerline is valid? [True, True] Translation: X:35.48, Y:-1.83, Z:-0.63 [[ 9.97196782e-01 7.46120085e-02 5.62375990e-03 3.54815545e+01] [-7.46105676e-02 9.97212638e-01 -4.65861644e-04 -1.82712009e+00] [-5.64284333e-03 4.49638136e-05 9.99984078e-01 -6.34499610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.515769231 meters Centerline goodness [0,1] 0.9999355490149742 Centerline is valid? [True, True] Translation: X:35.51, Y:-1.84, Z:-0.63 [[ 9.97580988e-01 6.93270511e-02 5.09240870e-03 3.55119661e+01] [-6.93258023e-02 9.97593983e-01 -4.21543592e-04 -1.83528602e+00] [-5.10938065e-03 6.74885539e-05 9.99986945e-01 -6.33724254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545769231 meters Centerline goodness [0,1] 0.9997425279464458 Centerline is valid? [True, True] Translation: X:35.54, Y:-1.84, Z:-0.64 [[ 9.97766925e-01 6.66511255e-02 4.33474760e-03 3.55416354e+01] [-6.66501953e-02 9.97776339e-01 -3.58856090e-04 -1.84261256e+00] [-4.34902675e-03 6.91429631e-05 9.99990541e-01 -6.36505495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.575769231 meters Centerline goodness [0,1] 0.9996372249845287 Centerline is valid? [True, True] Translation: X:35.57, Y:-1.85, Z:-0.64 [[ 9.97898140e-01 6.47073941e-02 3.50083180e-03 3.55710518e+01] [-6.47067753e-02 9.97904279e-01 -2.89836251e-04 -1.85320747e+00] [-3.51224958e-03 6.26995192e-05 9.99993830e-01 -6.40041073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605769231000004 meters Centerline goodness [0,1] 0.9993023108310958 Centerline is valid? [True, True] Translation: X:35.60, Y:-1.87, Z:-0.64 [[ 9.98077047e-01 6.18517314e-02 4.07073193e-03 3.55999429e+01] [-6.18508705e-02 9.98085345e-01 -3.37171460e-04 -1.86600900e+00] [-4.08379252e-03 8.47447816e-05 9.99991658e-01 -6.38333039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.635769231000005 meters Centerline goodness [0,1] 0.9993584397254122 Centerline is valid? [True, True] Translation: X:35.63, Y:-1.87, Z:-0.63 [[ 9.98162245e-01 6.03644936e-02 5.31609161e-03 3.56317690e+01] [-6.03630094e-02 9.98176394e-01 -4.39357647e-04 -1.86730660e+00] [-5.33291876e-03 1.17654928e-04 9.99985773e-01 -6.33603955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665769231 meters Centerline goodness [0,1] 0.9988551803091014 Centerline is valid? [True, True] Translation: X:35.66, Y:-1.88, Z:-0.63 [[ 9.98253258e-01 5.87459615e-02 6.27255789e-03 3.56614721e+01] [-5.87438529e-02 9.98272953e-01 -5.20032496e-04 -1.88321034e+00] [-6.29227470e-03 1.50649915e-04 9.99980192e-01 -6.33183875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.695769231 meters Centerline goodness [0,1] 0.9990425328198472 Centerline is valid? [True, True] Translation: X:35.69, Y:-1.89, Z:-0.63 [[ 9.98255207e-01 5.87465769e-02 5.94823125e-03 3.56936690e+01] [-5.87446790e-02 9.98272918e-01 -4.93435980e-04 -1.88841983e+00] [-5.96694584e-03 1.43148101e-04 9.99982187e-01 -6.33520331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725769231 meters Centerline goodness [0,1] 0.9993623533412684 Centerline is valid? [True, True] Translation: X:35.72, Y:-1.90, Z:-0.63 [[ 9.98137768e-01 6.07033920e-02 6.00781143e-03 3.57240388e+01] [-6.07014886e-02 9.98155840e-01 -4.98832031e-04 -1.89923611e+00] [-6.02701286e-03 1.33219993e-04 9.99981829e-01 -6.33178377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.755769231 meters Centerline goodness [0,1] 0.9993664336550443 Centerline is valid? [True, True] Translation: X:35.75, Y:-1.90, Z:-0.63 [[ 9.98025089e-01 6.24624622e-02 6.66054005e-03 3.57547756e+01] [-6.24601529e-02 9.98047304e-01 -5.54375622e-04 -1.90395334e+00] [-6.68216171e-03 1.37262430e-04 9.99977665e-01 -6.31633523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785769231 meters Centerline goodness [0,1] 0.9993556009021587 Centerline is valid? [True, True] Translation: X:35.79, Y:-1.91, Z:-0.63 [[ 9.97874791e-01 6.46935706e-02 7.78734769e-03 3.57867669e+01] [-6.46904707e-02 9.97905166e-01 -6.49573979e-04 -1.90522597e+00] [-7.81305776e-03 1.44426311e-04 9.99969467e-01 -6.29643543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.815769231000004 meters Centerline goodness [0,1] 0.9996775025799793 Centerline is valid? [True, True] Translation: X:35.82, Y:-1.91, Z:-0.63 [[ 9.97439262e-01 7.09583553e-02 8.93482318e-03 3.58172804e+01] [-7.09545065e-02 9.97479273e-01 -7.47413328e-04 -1.90758478e+00] [-8.96533615e-03 1.11533429e-04 9.99959804e-01 -6.29059571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845769231 meters Centerline goodness [0,1] 0.9997868848965327 Centerline is valid? [True, True] Translation: X:35.85, Y:-1.91, Z:-0.63 [[ 9.97180836e-01 7.46219893e-02 7.87017550e-03 3.58498500e+01] [-7.46191183e-02 9.97211890e-01 -6.58216287e-04 -1.90912352e+00] [-7.89734999e-03 6.90951110e-05 9.99968813e-01 -6.31699583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.875769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.88, Y:-1.90, Z:-0.64 [[ 9.96610323e-01 8.21856551e-02 3.65826900e-03 3.58817939e+01] [-8.21850884e-02 9.96617037e-01 -3.05218106e-04 -1.90459616e+00] [-3.67097776e-03 3.52835426e-06 9.99993262e-01 -6.38891678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.91, Y:-1.90, Z:-0.64 [[ 9.96233516e-01 8.66698345e-02 2.66852248e-03 3.59119261e+01] [-8.66695451e-02 9.96237090e-01 -2.24103991e-04 -1.90058564e+00] [-2.67790413e-03 -8.01972309e-06 9.99996414e-01 -6.40792386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.935769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.94, Y:-1.90, Z:-0.64 [[ 9.95845862e-01 9.09966014e-02 3.26169239e-03 3.59424032e+01] [-9.09961922e-02 9.95851203e-01 -2.73947599e-04 -1.89625979e+00] [-3.27308859e-03 -2.39920051e-05 9.99994643e-01 -6.39562380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.97, Y:-1.90, Z:-0.64 [[ 9.95847926e-01 9.09740050e-02 3.26169857e-03 3.59714699e+01] [-9.09735959e-02 9.95853267e-01 -2.73873976e-04 -1.89865136e+00] [-3.27308859e-03 -2.39916165e-05 9.99994643e-01 -6.39903634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.995769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.00, Y:-1.89, Z:-0.63 [[ 9.95136309e-01 9.82103269e-02 7.64573350e-03 3.60016425e+01] [-9.82082962e-02 9.95165674e-01 -6.41499211e-04 -1.88529997e+00] [-7.67177338e-03 -1.12495302e-04 9.99970565e-01 -6.31753740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025769231 meters Centerline goodness [0,1] 0.9998099461514096 Centerline is valid? [True, True] Translation: X:36.03, Y:-1.87, Z:-0.63 [[ 9.94416994e-01 1.05076084e-01 9.68807833e-03 3.60336209e+01] [-1.05073154e-01 9.94464163e-01 -8.12353954e-04 -1.87106764e+00] [-9.71980568e-03 -2.10138372e-04 9.99952739e-01 -6.28175346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.055769231 meters Centerline goodness [0,1] 0.9998306806637318 Centerline is valid? [True, True] Translation: X:36.06, Y:-1.87, Z:-0.63 [[ 9.94118898e-01 1.07943306e-01 8.70977194e-03 3.60636923e+01] [-1.07941048e-01 9.94157028e-01 -7.30387326e-04 -1.86678132e+00] [-8.73772141e-03 -2.14050064e-04 9.99961802e-01 -6.31041599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085769231 meters Centerline goodness [0,1] 0.9997235924476952 Centerline is valid? [True, True] Translation: X:36.09, Y:-1.86, Z:-0.63 [[ 9.93894442e-01 1.10099592e-01 7.20535400e-03 3.60940194e+01] [-1.10098103e-01 9.93920541e-01 -6.04114188e-04 -1.86255151e+00] [-7.22806207e-03 -1.92870075e-04 9.99973859e-01 -6.34858297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.115769231 meters Centerline goodness [0,1] 0.9994092203818968 Centerline is valid? [True, True] Translation: X:36.12, Y:-1.86, Z:-0.64 [[ 9.93791208e-01 1.11098136e-01 6.01989066e-03 3.61227624e+01] [-1.11097114e-01 9.93809427e-01 -5.04817506e-04 -1.85706255e+00] [-6.03870837e-03 -1.67109282e-04 9.99981753e-01 -6.37953901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145769231 meters Centerline goodness [0,1] 0.9995113764313484 Centerline is valid? [True, True] Translation: X:36.15, Y:-1.85, Z:-0.64 [[ 9.93818300e-01 1.10830493e-01 6.46440552e-03 3.61522249e+01] [-1.10829313e-01 9.93839308e-01 -5.41632268e-04 -1.84941949e+00] [-6.48460968e-03 -1.78161560e-04 9.99978959e-01 -6.36316316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.175769231000004 meters Centerline goodness [0,1] 0.9994706866253097 Centerline is valid? [True, True] Translation: X:36.18, Y:-1.84, Z:-0.63 [[ 9.93843132e-01 1.10580786e-01 6.90793252e-03 3.61812532e+01] [-1.10579434e-01 9.93867121e-01 -5.78455243e-04 -1.84012920e+00] [-6.92953304e-03 -1.88981499e-04 9.99975973e-01 -6.34877059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205769231 meters Centerline goodness [0,1] 0.9997865801604917 Centerline is valid? [True, True] Translation: X:36.21, Y:-1.85, Z:-0.63 [[ 9.93885993e-01 1.10183868e-01 7.08160380e-03 3.62094617e+01] [-1.10182440e-01 9.93911203e-01 -5.92699544e-04 -1.84604081e+00] [-7.10379128e-03 -1.91192609e-04 9.99974749e-01 -6.33637441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.235769231 meters Centerline goodness [0,1] 0.9998714515265131 Centerline is valid? [True, True] Translation: X:36.24, Y:-1.84, Z:-0.63 [[ 9.94003150e-01 1.09107135e-01 7.30559771e-03 3.62387679e+01] [-1.09105588e-01 9.94029978e-01 -6.11075865e-04 -1.84371783e+00] [-7.32865587e-03 -1.89670200e-04 9.99973127e-01 -6.33896376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.27, Y:-1.84, Z:-0.63 [[ 9.94430563e-01 1.05064323e-01 8.32728069e-03 3.62684056e+01] [-1.05062177e-01 9.94465411e-01 -6.95977307e-04 -1.83885846e+00] [-8.35431500e-03 -1.82781133e-04 9.99965085e-01 -6.33865262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.30, Y:-1.84, Z:-0.63 [[ 9.94695471e-01 1.02516030e-01 8.44882629e-03 3.62959952e+01] [-1.02513730e-01 9.94731339e-01 -7.06044944e-04 -1.83982413e+00] [-8.47669321e-03 -1.63820986e-04 9.99964059e-01 -6.34385962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325769231 meters Centerline goodness [0,1] 0.9999573869689351 Centerline is valid? [True, True] Translation: X:36.32, Y:-1.84, Z:-0.64 [[ 9.95309379e-01 9.64939928e-02 6.93904460e-03 3.63246900e+01] [-9.64922978e-02 9.95333563e-01 -5.79419029e-04 -1.84294955e+00] [-6.96257444e-03 -9.28631645e-05 9.99975757e-01 -6.37896426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.355769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.35, Y:-1.85, Z:-0.64 [[ 9.95630255e-01 9.31857111e-02 6.06789334e-03 3.63533423e+01] [-9.31843534e-02 9.95648743e-01 -5.06701061e-04 -1.84794029e+00] [-6.08870767e-03 -6.09458108e-05 9.99981462e-01 -6.39212463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.38, Y:-1.85, Z:-0.64 [[ 9.96241576e-01 8.64418627e-02 5.52517577e-03 3.63813063e+01] [-8.64406344e-02 9.96256897e-01 -4.61170485e-04 -1.85496146e+00] [-5.54435890e-03 -1.81624882e-05 9.99984630e-01 -6.41016357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.415769231 meters Centerline goodness [0,1] 0.9999575740862519 Centerline is valid? [True, True] Translation: X:36.41, Y:-1.86, Z:-0.64 [[ 9.96553394e-01 8.27271782e-02 6.12749788e-03 3.64090156e+01] [-8.27255990e-02 9.96572232e-01 -5.11159719e-04 -1.86223923e+00] [-6.14878105e-03 2.49702039e-06 9.99981096e-01 -6.41102852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445769231 meters Centerline goodness [0,1] 0.9999153743626632 Centerline is valid? [True, True] Translation: X:36.44, Y:-1.87, Z:-0.64 [[ 9.97061531e-01 7.63425492e-02 6.33395479e-03 3.64365831e+01] [-7.63407364e-02 9.97081648e-01 -5.27832494e-04 -1.87454882e+00] [-6.35576616e-03 4.27427013e-05 9.99979801e-01 -6.40780512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.475769231 meters Centerline goodness [0,1] 0.9999147739378702 Centerline is valid? [True, True] Translation: X:36.47, Y:-1.88, Z:-0.64 [[ 9.97244159e-01 7.39608665e-02 5.82049665e-03 3.64656596e+01] [-7.39592961e-02 9.97261143e-01 -4.84871563e-04 -1.88021577e+00] [-5.84041666e-03 5.30554990e-05 9.99982943e-01 -6.41283124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505769231 meters Centerline goodness [0,1] 0.999871890680047 Centerline is valid? [True, True] Translation: X:36.49, Y:-1.89, Z:-0.64 [[ 9.97516726e-01 7.01712738e-02 6.03105824e-03 3.64947802e+01] [-7.01695194e-02 9.97534955e-01 -5.02263698e-04 -1.88987061e+00] [-6.05143589e-03 7.78199820e-05 9.99981687e-01 -6.40252417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.535769231 meters Centerline goodness [0,1] 0.9996814475025484 Centerline is valid? [True, True] Translation: X:36.52, Y:-1.90, Z:-0.64 [[ 9.97610424e-01 6.86861222e-02 7.46045692e-03 3.65243800e+01] [-6.86833982e-02 9.97638314e-01 -6.21021452e-04 -1.89584649e+00] [-7.48549322e-03 1.07127940e-04 9.99971978e-01 -6.37802051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565769231000004 meters Centerline goodness [0,1] 0.9996191926884996 Centerline is valid? [True, True] Translation: X:36.55, Y:-1.90, Z:-0.64 [[ 9.97685129e-01 6.73562119e-02 9.35547499e-03 3.65542512e+01] [-6.73518714e-02 9.97728981e-01 -7.78600498e-04 -1.90094907e+00] [-9.38667210e-03 1.46689390e-04 9.99955933e-01 -6.35420075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.595769231 meters Centerline goodness [0,1] 0.9994010182689428 Centerline is valid? [True, True] Translation: X:36.58, Y:-1.91, Z:-0.64 [[ 9.97890936e-01 6.42139110e-02 9.50019712e-03 3.65849949e+01] [-6.42092933e-02 9.97936141e-01 -7.90594317e-04 -1.90947761e+00] [-9.53135721e-03 1.78925960e-04 9.99954560e-01 -6.36648791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625769231 meters Centerline goodness [0,1] 0.9993577529918006 Centerline is valid? [True, True] Translation: X:36.62, Y:-1.92, Z:-0.64 [[ 9.98001815e-01 6.26651178e-02 8.09071755e-03 3.66158775e+01] [-6.26617166e-02 9.98034596e-01 -6.73448105e-04 -1.91747437e+00] [-8.11701773e-03 1.65124181e-04 9.99967043e-01 -6.39559496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.655769231 meters Centerline goodness [0,1] 0.9993838308721981 Centerline is valid? [True, True] Translation: X:36.65, Y:-1.93, Z:-0.64 [[ 9.98129502e-01 6.08663987e-02 5.72531348e-03 3.66459261e+01] [-6.08646678e-02 9.98145914e-01 -4.76251506e-04 -1.93160701e+00] [-5.74368597e-03 1.26891376e-04 9.99983497e-01 -6.44636181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685769231 meters Centerline goodness [0,1] 0.9991045157988998 Centerline is valid? [True, True] Translation: X:36.68, Y:-1.94, Z:-0.65 [[ 9.98162986e-01 6.03629365e-02 5.19328856e-03 3.66754891e+01] [-6.03615012e-02 9.98176488e-01 -4.32815977e-04 -1.93767573e+00] [-5.20994459e-03 1.18546194e-04 9.99986421e-01 -6.45682439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.715769231 meters Centerline goodness [0,1] 0.9990799974325509 Centerline is valid? [True, True] Translation: X:36.71, Y:-1.95, Z:-0.64 [[ 9.98217604e-01 5.93259165e-02 6.48460474e-03 3.67051051e+01] [-5.93236561e-02 9.98238655e-01 -5.40539760e-04 -1.94886978e+00] [-6.50525113e-03 1.54885843e-04 9.99978829e-01 -6.44218933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745769231000004 meters Centerline goodness [0,1] 0.9991726771319474 Centerline is valid? [True, True] Translation: X:36.74, Y:-1.95, Z:-0.64 [[ 9.98249422e-01 5.87520615e-02 6.80343685e-03 3.67370683e+01] [-5.87495644e-02 9.98272592e-01 -5.66476547e-04 -1.95389714e+00] [-6.82496620e-03 1.65785934e-04 9.99976696e-01 -6.43608268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.775769231 meters Centerline goodness [0,1] 0.9989951252886342 Centerline is valid? [True, True] Translation: X:36.77, Y:-1.96, Z:-0.64 [[ 9.98295768e-01 5.79425912e-02 6.94370250e-03 3.67684178e+01] [-5.79399625e-02 9.98319901e-01 -5.79305189e-04 -1.96224389e+00] [-6.96560284e-03 1.76000055e-04 9.99975724e-01 -6.44056194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805769231 meters Centerline goodness [0,1] 0.9983347921692535 Centerline is valid? [True, True] Translation: X:36.80, Y:-1.98, Z:-0.65 [[ 9.98389089e-01 5.64194537e-02 6.00599260e-03 3.67978691e+01] [-5.64174506e-02 9.98407141e-01 -5.02545255e-04 -1.97788248e+00] [-6.02477923e-03 1.62892908e-04 9.99981838e-01 -6.47396786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.835769231 meters Centerline goodness [0,1] 0.9985458377239199 Centerline is valid? [True, True] Translation: X:36.83, Y:-1.99, Z:-0.65 [[ 9.98354297e-01 5.71249349e-02 5.04375945e-03 3.68282998e+01] [-5.71235348e-02 9.98367029e-01 -4.21327915e-04 -1.98748636e+00] [-5.05959147e-03 1.32517166e-04 9.99987191e-01 -6.48880793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865769231 meters Centerline goodness [0,1] 0.9988231769941801 Centerline is valid? [True, True] Translation: X:36.86, Y:-1.99, Z:-0.65 [[ 9.98295468e-01 5.81009690e-02 5.51689305e-03 3.68602502e+01] [-5.80993044e-02 9.98310702e-01 -4.61650733e-04 -1.98723788e+00] [-5.53439573e-03 1.40336186e-04 9.99984675e-01 -6.46070270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.895769231 meters Centerline goodness [0,1] 0.9990196078431373 Centerline is valid? [True, True] Translation: X:36.89, Y:-1.99, Z:-0.65 [[ 9.98201903e-01 5.96698717e-02 5.69801611e-03 3.68921679e+01] [-5.96681159e-02 9.98218156e-01 -4.77786330e-04 -1.99109770e+00] [-5.71637259e-03 1.36937338e-04 9.99983652e-01 -6.45730182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925769231000004 meters Centerline goodness [0,1] 0.9992300947411193 Centerline is valid? [True, True] Translation: X:36.92, Y:-1.99, Z:-0.65 [[ 9.97958517e-01 6.35971029e-02 5.84864911e-03 3.69230329e+01] [-6.35953100e-02 9.97975648e-01 -4.92195278e-04 -1.99177685e+00] [-5.86811158e-03 1.19243817e-04 9.99982775e-01 -6.45594673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.955769231 meters Centerline goodness [0,1] 0.9995946147773581 Centerline is valid? [True, True] Translation: X:36.96, Y:-1.99, Z:-0.64 [[ 9.97592876e-01 6.90003882e-02 6.88482873e-03 3.69554425e+01] [-6.89980313e-02 9.97616628e-01 -5.79545948e-04 -1.98849788e+00] [-6.90840852e-03 1.03111280e-04 9.99976131e-01 -6.44254134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985769231 meters Centerline goodness [0,1] 0.9994456053563052 Centerline is valid? [True, True] Translation: X:36.99, Y:-1.99, Z:-0.64 [[ 9.97383358e-01 7.19208673e-02 7.33667941e-03 3.69864073e+01] [-7.19182715e-02 9.97410337e-01 -6.17367389e-04 -1.98805310e+00] [-7.36208149e-03 8.81106577e-05 9.99972896e-01 -6.43972428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.015769231 meters Centerline goodness [0,1] 0.9995130007622597 Centerline is valid? [True, True] Translation: X:37.02, Y:-1.99, Z:-0.64 [[ 9.97223899e-01 7.40494771e-02 7.82111112e-03 3.70179342e+01] [-7.40465789e-02 9.97254566e-01 -6.59877220e-04 -1.98696790e+00] [-7.84850234e-03 7.89188127e-05 9.99969197e-01 -6.43672006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045769231 meters Centerline goodness [0,1] 0.9997436061790911 Centerline is valid? [True, True] Translation: X:37.05, Y:-1.99, Z:-0.64 [[ 9.97047884e-01 7.63391870e-02 8.23682275e-03 3.70496560e+01] [-7.63360525e-02 9.97081905e-01 -6.94720146e-04 -1.98664531e+00] [-8.26582128e-03 6.39027184e-05 9.99965835e-01 -6.44210340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.075769231 meters Centerline goodness [0,1] 0.9997446808510638 Centerline is valid? [True, True] Translation: X:37.08, Y:-1.99, Z:-0.65 [[ 9.97022272e-01 7.67563218e-02 7.42000769e-03 3.70807441e+01] [-7.67537808e-02 9.97049880e-01 -6.27026953e-04 -1.98986937e+00] [-7.44624606e-03 5.56461937e-05 9.99972275e-01 -6.45981167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105769231000004 meters Centerline goodness [0,1] 0.9997668009327962 Centerline is valid? [True, True] Translation: X:37.11, Y:-1.99, Z:-0.65 [[ 9.97070523e-01 7.61899210e-02 6.74304545e-03 3.71120762e+01] [-7.61878037e-02 9.97093322e-01 -5.70686495e-04 -1.99452653e+00] [-6.76692615e-03 5.52768588e-05 9.99977103e-01 -6.47280489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.135769231000005 meters Centerline goodness [0,1] 0.9996597554492291 Centerline is valid? [True, True] Translation: X:37.14, Y:-2.00, Z:-0.64 [[ 9.97062906e-01 7.61603062e-02 8.07278484e-03 3.71429231e+01] [-7.61572686e-02 9.97095584e-01 -6.83462573e-04 -1.99781455e+00] [-8.10139083e-03 6.66539352e-05 9.99967181e-01 -6.44941010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165769231 meters Centerline goodness [0,1] 0.9996808510638298 Centerline is valid? [True, True] Translation: X:37.17, Y:-2.00, Z:-0.64 [[ 9.97028991e-01 7.63624312e-02 1.00980378e-02 3.71745193e+01] [-7.63576856e-02 9.97080123e-01 -8.55224180e-04 -2.00059755e+00] [-1.01338598e-02 8.16205047e-05 9.99948648e-01 -6.41598302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.195769231 meters Centerline goodness [0,1] 0.9997879199185612 Centerline is valid? [True, True] Translation: X:37.21, Y:-2.00, Z:-0.64 [[ 9.96885804e-01 7.81366715e-02 1.06467742e-02 3.72073315e+01] [-7.81314960e-02 9.96942654e-01 -9.01818088e-04 -2.00003004e+00] [-1.06846884e-02 6.71612519e-05 9.99942915e-01 -6.40426639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225769231 meters Centerline goodness [0,1] 0.9998095157466983 Centerline is valid? [True, True] Translation: X:37.24, Y:-2.00, Z:-0.64 [[ 9.96789941e-01 7.95643417e-02 8.90670340e-03 3.72381303e+01] [-7.95607664e-02 9.96829731e-01 -7.55577171e-04 -2.00014688e+00] [-8.93858376e-03 4.45275748e-05 9.99960049e-01 -6.44055351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.255769231 meters Centerline goodness [0,1] 0.9999149930931889 Centerline is valid? [True, True] Translation: X:37.27, Y:-2.00, Z:-0.65 [[ 9.96592662e-01 8.21947192e-02 6.86255357e-03 3.72702128e+01] [-8.21926507e-02 9.96616289e-01 -5.83380166e-04 -1.99577580e+00] [-6.88728344e-03 1.73409238e-05 9.99976282e-01 -6.49021320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-2.00, Z:-0.65 [[ 9.96513858e-01 8.30907529e-02 7.48715388e-03 3.73008691e+01] [-8.30883138e-02 9.96541984e-01 -6.36763662e-04 -1.99511279e+00] [-7.51417235e-03 1.24488226e-05 9.99971768e-01 -6.47047406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.315769231000004 meters Centerline goodness [0,1] 0.9999362231339952 Centerline is valid? [True, True] Translation: X:37.33, Y:-2.00, Z:-0.64 [[ 9.96466354e-01 8.33946327e-02 1.00070564e-02 3.73309776e+01] [-8.33902920e-02 9.96516600e-01 -8.50969312e-04 -1.99533393e+00] [-1.00431641e-02 1.34709296e-05 9.99949566e-01 -6.43631874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345769231 meters Centerline goodness [0,1] 0.9999786352177071 Centerline is valid? [True, True] Translation: X:37.36, Y:-2.00, Z:-0.64 [[ 9.96528692e-01 8.26116425e-02 1.02899657e-02 3.73617253e+01] [-8.26070035e-02 9.96581816e-01 -8.75761791e-04 -1.99837216e+00] [-1.03271408e-02 2.26985178e-05 9.99946673e-01 -6.43207404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.375769231 meters Centerline goodness [0,1] 0.9999363489773402 Centerline is valid? [True, True] Translation: X:37.39, Y:-2.00, Z:-0.65 [[ 9.96633884e-01 8.14285818e-02 9.50196770e-03 3.73912818e+01] [-8.14245702e-02 9.96679179e-01 -8.08930466e-04 -2.00331508e+00] [-9.53628342e-03 3.25138767e-05 9.99954528e-01 -6.46134418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405769231 meters Centerline goodness [0,1] 0.9997881894433619 Centerline is valid? [True, True] Translation: X:37.42, Y:-2.01, Z:-0.65 [[ 9.96826951e-01 7.91871806e-02 8.08830656e-03 3.74223272e+01] [-7.91842032e-02 9.96859764e-01 -6.88191050e-04 -2.01107158e+00] [-8.11740328e-03 4.55412755e-05 9.99967052e-01 -6.49484508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.435769231 meters Centerline goodness [0,1] 0.9997245179063361 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.01, Z:-0.65 [[ 9.96902930e-01 7.81414593e-02 8.85778569e-03 3.74539300e+01] [-7.81378316e-02 9.96942279e-01 -7.55418381e-04 -2.01467900e+00] [-8.88973056e-03 6.09506309e-05 9.99960484e-01 -6.47246885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465769231 meters Centerline goodness [0,1] 0.9995732787130086 Centerline is valid? [True, True] Translation: X:37.49, Y:-2.02, Z:-0.64 [[ 9.97117100e-01 7.51237691e-02 1.06727496e-02 3.74854144e+01] [-7.51183277e-02 9.97174211e-01 -9.10372130e-04 -2.02442809e+00] [-1.07109812e-02 1.06028518e-04 9.99942630e-01 -6.44024752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.495769231000004 meters Centerline goodness [0,1] 0.9995076106270472 Centerline is valid? [True, True] Translation: X:37.52, Y:-2.03, Z:-0.65 [[ 9.97270688e-01 7.30975087e-02 1.03889030e-02 3.75152900e+01] [-7.30922234e-02 9.97324791e-01 -8.88025896e-04 -2.03461737e+00] [-1.04260230e-02 1.26254175e-04 9.99945640e-01 -6.45279916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525769231 meters Centerline goodness [0,1] 0.9991280677129855 Centerline is valid? [True, True] Translation: X:37.54, Y:-2.05, Z:-0.65 [[ 9.97664810e-01 6.78482540e-02 7.84486324e-03 3.75436193e+01] [-6.78450780e-02 9.97695643e-01 -6.70569238e-04 -2.05416705e+00] [-7.87228283e-03 1.36767972e-04 9.99969004e-01 -6.51709889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.555769231 meters Centerline goodness [0,1] 0.9987038374909694 Centerline is valid? [True, True] Translation: X:37.57, Y:-2.06, Z:-0.65 [[ 9.97849852e-01 6.51364575e-02 7.27429411e-03 3.75747892e+01] [-6.51336518e-02 9.97876355e-01 -6.22194375e-04 -2.06498194e+00] [-7.29937363e-03 1.47055225e-04 9.99973348e-01 -6.53933270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585769231 meters Centerline goodness [0,1] 0.9985448008731195 Centerline is valid? [True, True] Translation: X:37.60, Y:-2.07, Z:-0.65 [[ 9.98090272e-01 6.11908951e-02 8.45472827e-03 3.76047341e+01] [-6.11869588e-02 9.98126060e-01 -7.23707659e-04 -2.07490865e+00] [-8.48316894e-03 2.05006464e-04 9.99963996e-01 -6.51242265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.615769231 meters Centerline goodness [0,1] 0.9987228054984306 Centerline is valid? [True, True] Translation: X:37.64, Y:-2.08, Z:-0.65 [[ 9.98134454e-01 6.03968198e-02 8.93514750e-03 3.76364200e+01] [-6.03923944e-02 9.98174421e-01 -7.64513894e-04 -2.07996955e+00] [-8.96500989e-03 2.23472705e-04 9.99959789e-01 -6.50453194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645769231 meters Centerline goodness [0,1] 0.9985184871637495 Centerline is valid? [True, True] Translation: X:37.67, Y:-2.09, Z:-0.65 [[ 9.98142053e-01 6.03405772e-02 8.45319768e-03 3.76675593e+01] [-6.03366034e-02 9.98177824e-01 -7.24562339e-04 -2.08895272e+00] [-8.48151498e-03 2.13178904e-04 9.99964009e-01 -6.50993729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.675769231000004 meters Centerline goodness [0,1] 0.9988100044624832 Centerline is valid? [True, True] Translation: X:37.70, Y:-2.10, Z:-0.65 [[ 9.98111609e-01 6.10762405e-02 6.55054854e-03 3.76990479e+01] [-6.10738649e-02 9.98133091e-01 -5.62263596e-04 -2.09514182e+00] [-6.57266020e-03 1.61134506e-04 9.99978387e-01 -6.53835785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705769231 meters Centerline goodness [0,1] 0.9989168525007964 Centerline is valid? [True, True] Translation: X:37.73, Y:-2.10, Z:-0.66 [[ 9.98079501e-01 6.16643732e-02 5.90043751e-03 3.77296855e+01] [-6.16624509e-02 9.98096932e-01 -5.07330038e-04 -2.10338732e+00] [-5.92049276e-03 1.42520273e-04 9.99982464e-01 -6.56044253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.735769231 meters Centerline goodness [0,1] 0.9979637721121623 Centerline is valid? [True, True] Translation: X:37.76, Y:-2.12, Z:-0.66 [[ 9.98025950e-01 6.24141871e-02 6.97652043e-03 3.77596179e+01] [-6.24115062e-02 9.98050320e-01 -6.01547791e-04 -2.12130587e+00] [-7.00046357e-03 1.64945157e-04 9.99975483e-01 -6.56599778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765769231 meters Centerline goodness [0,1] 0.9989350145903001 Centerline is valid? [True, True] Translation: X:37.79, Y:-2.12, Z:-0.65 [[ 9.97973935e-01 6.30971477e-02 8.17163291e-03 3.77925412e+01] [-6.30934868e-02 9.98007372e-01 -7.05284110e-04 -2.11859433e+00] [-8.19985130e-03 1.88278346e-04 9.99966363e-01 -6.53214847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.795769231 meters Centerline goodness [0,1] 0.9988220175626472 Centerline is valid? [True, True] Translation: X:37.82, Y:-2.13, Z:-0.65 [[ 9.97849888e-01 6.47561271e-02 1.01116626e-02 3.78246839e+01] [-6.47505839e-02 9.97901095e-01 -8.74955567e-04 -2.12700954e+00] [-1.01470979e-02 2.18338258e-04 9.99948493e-01 -6.49770705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825769231 meters Centerline goodness [0,1] 0.9990398975890762 Centerline is valid? [True, True] Translation: X:37.86, Y:-2.13, Z:-0.65 [[ 9.97791801e-01 6.55424465e-02 1.07568624e-02 3.78566265e+01] [-6.55362086e-02 9.97849757e-01 -9.31748667e-04 -2.13256759e+00] [-1.07948016e-02 2.24727202e-04 9.99941709e-01 -6.48743085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.855769231000004 meters Centerline goodness [0,1] 0.99884437596302 Centerline is valid? [True, True] Translation: X:37.89, Y:-2.14, Z:-0.65 [[ 9.97770047e-01 6.57967144e-02 1.12127656e-02 3.78888401e+01] [-6.57899310e-02 9.97833021e-01 -9.73158360e-04 -2.13867368e+00] [-1.12524984e-02 2.33301186e-04 9.99936661e-01 -6.48525030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885769231000005 meters Centerline goodness [0,1] 0.99884437596302 Centerline is valid? [True, True] Translation: X:37.92, Y:-2.14, Z:-0.65 [[ 9.97757721e-01 6.59833992e-02 1.12125830e-02 3.79212068e+01] [-6.59766040e-02 9.97820694e-01 -9.75257372e-04 -2.14168250e+00] [-1.12524982e-02 2.33302421e-04 9.99936661e-01 -6.48905581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.915769231 meters Centerline goodness [0,1] 0.9988275421018973 Centerline is valid? [True, True] Translation: X:37.95, Y:-2.15, Z:-0.65 [[ 9.97709604e-01 6.67078429e-02 1.12075499e-02 3.79520837e+01] [-6.67010756e-02 9.97772525e-01 -9.76942420e-04 -2.15193319e+00] [-1.12477551e-02 2.27149199e-04 9.99936716e-01 -6.50504770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945769231 meters Centerline goodness [0,1] 0.999216217933781 Centerline is valid? [True, True] Translation: X:37.98, Y:-2.16, Z:-0.65 [[ 9.97668370e-01 6.75577268e-02 9.68383313e-03 3.79834576e+01] [-6.75526997e-02 9.97715349e-01 -8.45659574e-04 -2.16337297e+00] [-9.71883979e-03 1.89518738e-04 9.99952753e-01 -6.54726235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.975769231 meters Centerline goodness [0,1] 0.9993592481845365 Centerline is valid? [True, True] Translation: X:38.02, Y:-2.17, Z:-0.66 [[ 9.97655915e-01 6.79005399e-02 8.49660683e-03 3.80158687e+01] [-6.78966824e-02 9.97692082e-01 -7.41965305e-04 -2.16844169e+00] [-8.52737720e-03 1.63334659e-04 9.99963628e-01 -6.56836171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005769231 meters Centerline goodness [0,1] 0.9993581926705603 Centerline is valid? [True, True] Translation: X:38.05, Y:-2.18, Z:-0.66 [[ 9.97632963e-01 6.83688608e-02 7.36000714e-03 3.80486076e+01] [-6.83659709e-02 9.97660102e-01 -6.43830759e-04 -2.17522510e+00] [-7.38680345e-03 1.39132754e-04 9.99972708e-01 -6.59600401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.035769231 meters Centerline goodness [0,1] 0.9996422408350519 Centerline is valid? [True, True] Translation: X:38.08, Y:-2.18, Z:-0.66 [[ 9.97492005e-01 7.04639751e-02 6.67290103e-03 3.80793457e+01] [-7.04616380e-02 9.97514318e-01 -5.84979160e-04 -2.18444808e+00] [-6.69753428e-03 1.13328499e-04 9.99977565e-01 -6.61123823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065769231000004 meters Centerline goodness [0,1] 0.9995930170290244 Centerline is valid? [True, True] Translation: X:38.11, Y:-2.18, Z:-0.66 [[ 9.97346275e-01 7.24204881e-02 7.46199652e-03 3.81119262e+01] [-7.24176106e-02 9.97374183e-01 -6.55458120e-04 -2.18328933e+00] [-7.48987128e-03 1.13338756e-04 9.99971944e-01 -6.58778711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.095769231 meters Centerline goodness [0,1] 0.9999573196756295 Centerline is valid? [True, True] Translation: X:38.14, Y:-2.18, Z:-0.66 [[ 9.96853574e-01 7.88053280e-02 8.52474924e-03 3.81438845e+01] [-7.88017869e-02 9.96890021e-01 -7.51011009e-04 -2.17983709e+00] [-8.55742112e-03 7.68825359e-05 9.99963382e-01 -6.57030174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125769231 meters Centerline goodness [0,1] 0.9999146976030027 Centerline is valid? [True, True] Translation: X:38.18, Y:-2.18, Z:-0.66 [[ 9.96551467e-01 8.24766217e-02 9.09833226e-03 3.81750651e+01] [-8.24727418e-02 9.96592998e-01 -8.01442184e-04 -2.17857598e+00] [-9.13343447e-03 4.83139771e-05 9.99958288e-01 -6.56920454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.155769231 meters Centerline goodness [0,1] 0.9999788931571616 Centerline is valid? [True, True] Translation: X:38.21, Y:-2.17, Z:-0.65 [[ 9.95896213e-01 8.98419992e-02 1.09155214e-02 3.82078167e+01] [-8.98368339e-02 9.95956031e-01 -9.63605365e-04 -2.17080293e+00] [-1.09579516e-02 -2.09649486e-05 9.99939960e-01 -6.53883264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185769231 meters Centerline goodness [0,1] 0.9999786689419795 Centerline is valid? [True, True] Translation: X:38.24, Y:-2.17, Z:-0.65 [[ 9.95612760e-01 9.28627691e-02 1.14777589e-02 3.82401531e+01] [-9.28572351e-02 9.95678916e-01 -1.01527758e-03 -2.16918513e+00] [-1.15224440e-02 -5.49696350e-05 9.99933613e-01 -6.53157329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.215769231 meters Centerline goodness [0,1] 0.9999145883156816 Centerline is valid? [True, True] Translation: X:38.27, Y:-2.17, Z:-0.65 [[ 9.95387075e-01 9.52587066e-02 1.14170853e-02 3.82715178e+01] [-9.52533663e-02 9.95452547e-01 -1.01185729e-03 -2.16732346e+00] [-1.14615549e-02 -8.03261406e-05 9.99934311e-01 -6.54150382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245769231000004 meters Centerline goodness [0,1] 0.9999572558238939 Centerline is valid? [True, True] Translation: X:38.30, Y:-2.16, Z:-0.66 [[ 9.95045186e-01 9.89326976e-02 9.86906541e-03 3.83043839e+01] [-9.89288751e-02 9.95094121e-01 -8.75953675e-04 -2.16357024e+00] [-9.90730944e-03 -1.04722052e-04 9.99950916e-01 -6.57472150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.34, Y:-2.16, Z:-0.66 [[ 9.94910807e-01 1.00304499e-01 9.56522852e-03 3.83358323e+01] [-1.00300956e-01 9.94956780e-01 -8.50572735e-04 -2.16402773e+00] [-9.60230525e-03 -1.13157562e-04 9.99953890e-01 -6.58007622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305769231 meters Centerline goodness [0,1] 0.9999786930304903 Centerline is valid? [True, True] Translation: X:38.37, Y:-2.16, Z:-0.66 [[ 9.94702376e-01 1.02216625e-01 1.09061336e-02 3.83670738e+01] [-1.02212113e-01 9.94762152e-01 -9.71774970e-04 -2.16164891e+00] [-1.09483405e-02 -1.48112094e-04 9.99940054e-01 -6.56307273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.40, Y:-2.16, Z:-0.66 [[ 9.94529451e-01 1.03877772e-01 1.09809061e-02 3.83992849e+01] [-1.03873281e-01 9.94590057e-01 -9.80140267e-04 -2.16258673e+00] [-1.10233149e-02 -1.65844385e-04 9.99939228e-01 -6.56360582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.43, Y:-2.16, Z:-0.66 [[ 9.94304768e-01 1.06114714e-01 9.88409874e-03 3.84305870e+01] [-1.06111170e-01 9.94353880e-01 -8.83774774e-04 -2.15873821e+00] [-9.92207344e-03 -1.70071814e-04 9.99950761e-01 -6.58834197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.395769231 meters Centerline goodness [0,1] 0.999957285949213 Centerline is valid? [True, True] Translation: X:38.46, Y:-2.15, Z:-0.66 [[ 9.93842121e-01 1.10592530e-01 6.86520381e-03 3.84629507e+01] [-1.10590918e-01 9.93865821e-01 -6.15023487e-04 -2.14825035e+00] [-6.89110843e-03 -1.47992948e-04 9.99976245e-01 -6.64659680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425769231000004 meters Centerline goodness [0,1] 0.999872854418309 Centerline is valid? [True, True] Translation: X:38.49, Y:-2.14, Z:-0.66 [[ 9.93478101e-01 1.13750938e-01 7.87322143e-03 3.84948778e+01] [-1.13748916e-01 9.93509278e-01 -7.05599693e-04 -2.13574613e+00] [-7.90238117e-03 -1.94572563e-04 9.99968757e-01 -6.63498186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.455769231 meters Centerline goodness [0,1] 0.999957261304385 Centerline is valid? [True, True] Translation: X:38.53, Y:-2.14, Z:-0.66 [[ 9.93388992e-01 1.14404772e-01 9.47934869e-03 3.85259177e+01] [-1.14401870e-01 9.93434190e-01 -8.49655269e-04 -2.13783273e+00] [-9.51431370e-03 -2.40417021e-04 9.99954709e-01 -6.60852862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485769231 meters Centerline goodness [0,1] 0.9998931532609625 Centerline is valid? [True, True] Translation: X:38.56, Y:-2.14, Z:-0.66 [[ 9.93475145e-01 1.13600437e-01 1.01032718e-02 3.85570002e+01] [-1.13597096e-01 9.93526486e-01 -9.05837083e-04 -2.13860793e+00] [-1.01407717e-02 -2.47775714e-04 9.99948550e-01 -6.60240253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.515769231 meters Centerline goodness [0,1] 0.9999783722992409 Centerline is valid? [True, True] Translation: X:38.59, Y:-2.15, Z:-0.66 [[ 9.93709841e-01 1.11564051e-01 9.70638730e-03 3.85887158e+01] [-1.11560871e-01 9.93757221e-01 -8.70180141e-04 -2.14524343e+00] [-9.74287329e-03 -2.18146451e-04 9.99952513e-01 -6.61300483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.62, Y:-2.15, Z:-0.67 [[ 9.94581082e-01 1.03738033e-01 6.84774327e-03 3.86176743e+01] [-1.03736256e-01 9.94604651e-01 -6.15089856e-04 -2.15260956e+00] [-6.87460551e-03 -9.86025156e-05 9.99976365e-01 -6.67736303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.65, Y:-2.17, Z:-0.67 [[ 9.95407260e-01 9.54315904e-02 7.56293842e-03 3.86480823e+01] [-9.54291796e-02 9.95435990e-01 -6.79819879e-04 -2.16572928e+00] [-7.59329739e-03 -4.50273661e-05 9.99971169e-01 -6.67035181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.68, Y:-2.17, Z:-0.66 [[ 9.95614514e-01 9.31156941e-02 9.01146708e-03 3.86792333e+01] [-9.31121757e-02 9.95655295e-01 -8.10112657e-04 -2.17129946e+00] [-9.04774912e-03 -3.25173869e-05 9.99959068e-01 -6.64897165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.635769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.71, Y:-2.18, Z:-0.66 [[ 9.95713326e-01 9.19216834e-02 1.02653463e-02 3.87113688e+01] [-9.19170357e-02 9.95766239e-01 -9.24630382e-04 -2.17516421e+00] [-1.03068789e-02 -2.28934139e-05 9.99946882e-01 -6.62634171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.74, Y:-2.18, Z:-0.66 [[ 9.95761302e-01 9.12324895e-02 1.16645472e-02 3.87443752e+01] [-9.12264158e-02 9.95829620e-01 -1.05283146e-03 -2.17824720e+00] [-1.17119541e-02 -1.57460160e-05 9.99931413e-01 -6.60175343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.78, Y:-2.18, Z:-0.66 [[ 9.95761117e-01 9.12286165e-02 1.17106036e-02 3.87765419e+01] [-9.12224668e-02 9.95829975e-01 -1.05934154e-03 -2.18031193e+00] [-1.17584124e-02 -1.34190361e-05 9.99930867e-01 -6.60192023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725769231 meters Centerline goodness [0,1] 0.9999783554468518 Centerline is valid? [True, True] Translation: X:38.81, Y:-2.18, Z:-0.66 [[ 9.95765976e-01 9.11152285e-02 1.21711411e-02 3.88094573e+01] [-9.11085481e-02 9.95840356e-01 -1.10336978e-03 -2.18177316e+00] [-1.22210473e-02 -1.01969149e-05 9.99925320e-01 -6.60585142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.755769231 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:38.84, Y:-2.18, Z:-0.66 [[ 9.95754381e-01 9.12807183e-02 1.18761443e-02 3.88411526e+01] [-9.12743418e-02 9.95825201e-01 -1.07895820e-03 -2.18421740e+00] [-1.19250518e-02 -9.60989714e-06 9.99928894e-01 -6.61624933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.87, Y:-2.19, Z:-0.66 [[ 9.95768405e-01 9.12718856e-02 1.07110569e-02 3.88725950e+01] [-9.12666791e-02 9.95826010e-01 -9.74907261e-04 -2.18722108e+00] [-1.07553307e-02 -6.78074239e-06 9.99942160e-01 -6.64117423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.815769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.90, Y:-2.19, Z:-0.67 [[ 9.95886895e-01 9.02344109e-02 8.18799854e-03 3.89048030e+01] [-9.02313247e-02 9.95920555e-01 -7.46310367e-04 -2.19056367e+00] [-8.22193892e-03 4.42675948e-06 9.99966199e-01 -6.68665122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845769231 meters Centerline goodness [0,1] 0.9999786004707897 Centerline is valid? [True, True] Translation: X:38.94, Y:-2.19, Z:-0.67 [[ 9.95996028e-01 8.90706969e-02 7.63695261e-03 3.89374936e+01] [-8.90679691e-02 9.96025306e-01 -6.97223156e-04 -2.19203773e+00] [-7.66870022e-03 1.42236344e-05 9.99970595e-01 -6.69100833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.875769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.97, Y:-2.20, Z:-0.67 [[ 9.96049658e-01 8.84120714e-02 8.26944281e-03 3.89695102e+01] [-8.84088334e-02 9.96083985e-01 -7.57006763e-04 -2.19582523e+00] [-8.30398808e-03 2.29245363e-05 9.99965521e-01 -6.68926398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905769231 meters Centerline goodness [0,1] 0.9999575137018312 Centerline is valid? [True, True] Translation: X:39.00, Y:-2.20, Z:-0.67 [[ 9.96076915e-01 8.79901650e-02 9.40799156e-03 3.90016094e+01] [-8.79859438e-02 9.96121343e-01 -8.62452545e-04 -2.19906622e+00] [-9.44738853e-03 3.12980538e-05 9.99955372e-01 -6.66886796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.935769231 meters Centerline goodness [0,1] 0.99993658711873 Centerline is valid? [True, True] Translation: X:39.03, Y:-2.20, Z:-0.67 [[ 9.96097615e-01 8.76721051e-02 1.01559950e-02 3.90334623e+01] [-8.76671503e-02 9.96149387e-01 -9.32894760e-04 -2.20174337e+00] [-1.01986770e-02 3.89071075e-05 9.99947991e-01 -6.65439343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965769231 meters Centerline goodness [0,1] 0.9999361797179144 Centerline is valid? [True, True] Translation: X:39.07, Y:-2.20, Z:-0.67 [[ 9.96098177e-01 8.76876296e-02 9.96505494e-03 3.90670495e+01] [-8.76828440e-02 9.96148020e-01 -9.16969168e-04 -2.20107144e+00] [-1.00070766e-02 3.96269588e-05 9.99949927e-01 -6.66424900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.995769231000004 meters Centerline goodness [0,1] 0.9999787685774947 Centerline is valid? [True, True] Translation: X:39.10, Y:-2.20, Z:-0.67 [[ 9.96151081e-01 8.71324086e-02 9.53764381e-03 3.91005809e+01] [-8.71279841e-02 9.96196738e-01 -8.79224398e-04 -2.20129050e+00] [-9.57797860e-03 4.48446568e-05 9.99954129e-01 -6.68224178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025769231 meters Centerline goodness [0,1] 0.9998932080307561 Centerline is valid? [True, True] Translation: X:39.13, Y:-2.21, Z:-0.67 [[ 9.96231973e-01 8.61796633e-02 9.74276269e-03 3.91309334e+01] [-8.61749802e-02 9.96279611e-01 -9.00236663e-04 -2.20663991e+00] [-9.78409791e-03 5.72621651e-05 9.99952133e-01 -6.68640758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.055769231 meters Centerline goodness [0,1] 0.9998947678578946 Centerline is valid? [True, True] Translation: X:39.16, Y:-2.21, Z:-0.67 [[ 9.96278806e-01 8.55868799e-02 1.01699329e-02 3.91632422e+01] [-8.55817373e-02 9.96330709e-01 -9.40586604e-04 -2.21045330e+00] [-1.02131184e-02 6.67259709e-05 9.99947843e-01 -6.67742042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.20, Y:-2.21, Z:-0.67 [[ 9.96333492e-01 8.50749533e-02 9.04576540e-03 3.91966360e+01] [-8.50708529e-02 9.96374552e-01 -8.37804813e-04 -2.21163358e+00] [-9.08424666e-03 6.52020171e-05 9.99958735e-01 -6.69256451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.115769231 meters Centerline goodness [0,1] 0.9999786475348579 Centerline is valid? [True, True] Translation: X:39.23, Y:-2.21, Z:-0.67 [[ 9.96215282e-01 8.65922545e-02 7.54279837e-03 3.92300373e+01] [-8.65894389e-02 9.96243835e-01 -6.99668949e-04 -2.21189754e+00] [-7.57505229e-03 4.38942206e-05 9.99971308e-01 -6.72063586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145769231 meters Centerline goodness [0,1] 0.9999786807657869 Centerline is valid? [True, True] Translation: X:39.26, Y:-2.21, Z:-0.67 [[ 9.96104331e-01 8.78189668e-02 7.99943352e-03 3.92627453e+01] [-8.78158255e-02 9.96136450e-01 -7.43764663e-04 -2.21248529e+00] [-8.03384395e-03 3.83903439e-05 9.99967727e-01 -6.71317335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.175769231000004 meters Centerline goodness [0,1] 0.9999575191163976 Centerline is valid? [True, True] Translation: X:39.29, Y:-2.21, Z:-0.67 [[ 9.96001836e-01 8.88916074e-02 8.86701553e-03 3.92941643e+01] [-8.88877752e-02 9.96041305e-01 -8.26130092e-04 -2.21174639e+00] [-8.90534975e-03 3.46578050e-05 9.99960346e-01 -6.70186222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205769231000005 meters Centerline goodness [0,1] 0.999957633401826 Centerline is valid? [True, True] Translation: X:39.33, Y:-2.21, Z:-0.67 [[ 9.95872843e-01 9.03058084e-02 9.06318927e-03 3.93267530e+01] [-9.03018506e-02 9.95914083e-01 -8.45797691e-04 -2.20868703e+00] [-9.10253827e-03 2.38841880e-05 9.99958571e-01 -6.70607878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.235769231 meters Centerline goodness [0,1] 0.9999363395225465 Centerline is valid? [True, True] Translation: X:39.36, Y:-2.21, Z:-0.67 [[ 9.95849337e-01 9.06545960e-02 8.11428274e-03 3.93582226e+01] [-9.06514256e-02 9.95882395e-01 -7.58421293e-04 -2.21087883e+00] [-8.14962570e-03 1.97020440e-05 9.99966791e-01 -6.72899482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.39, Y:-2.21, Z:-0.67 [[ 9.95855222e-01 9.06211634e-02 7.75765136e-03 3.93896959e+01] [-9.06182521e-02 9.95885437e-01 -7.26674392e-04 -2.21045836e+00] [-7.79158409e-03 2.06776809e-05 9.99969645e-01 -6.72912761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.295769231 meters Centerline goodness [0,1] 0.9999786347612435 Centerline is valid? [True, True] Translation: X:39.42, Y:-2.21, Z:-0.67 [[ 9.95874106e-01 9.03224217e-02 8.75354443e-03 3.94213907e+01] [-9.03187014e-02 9.95912576e-01 -8.20198349e-04 -2.21134976e+00] [-8.79184728e-03 2.62055326e-05 9.99961351e-01 -6.71205155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325769231 meters Centerline goodness [0,1] 0.9999358233859582 Centerline is valid? [True, True] Translation: X:39.45, Y:-2.21, Z:-0.67 [[ 9.95920956e-01 8.96667253e-02 1.00662113e-02 3.94517865e+01] [-8.96617691e-02 9.95971825e-01 -9.43486110e-04 -2.20941893e+00] [-1.01102622e-02 3.70832711e-05 9.99948889e-01 -6.69979708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.355769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.48, Y:-2.21, Z:-0.67 [[ 9.95923985e-01 8.97039455e-02 9.41373959e-03 3.94828499e+01] [-8.96996122e-02 9.95968474e-01 -8.82379720e-04 -2.21009659e+00] [-9.45494080e-03 3.43743359e-05 9.99955300e-01 -6.71771777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.51, Y:-2.21, Z:-0.68 [[ 9.95859718e-01 9.06579487e-02 6.67523076e-03 3.95137854e+01] [-9.06557898e-02 9.95882089e-01 -6.25918217e-04 -2.20809343e+00] [-6.70448722e-03 1.81784229e-05 9.99977525e-01 -6.76895424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.54, Y:-2.21, Z:-0.68 [[ 9.95758898e-01 9.18053568e-02 5.99939280e-03 3.95448049e+01] [-9.18036330e-02 9.95776971e-01 -5.62667143e-04 -2.20734450e+00] [-6.02571305e-03 9.51476016e-06 9.99981845e-01 -6.77443419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.57, Y:-2.21, Z:-0.68 [[ 9.95690854e-01 9.25279234e-02 6.18929284e-03 3.95746669e+01] [-9.25261023e-02 9.95710090e-01 -5.80542022e-04 -2.20747833e+00] [-6.21645768e-03 5.36923954e-06 9.99980678e-01 -6.78059394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.475769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.60, Y:-2.21, Z:-0.67 [[ 9.95676490e-01 9.25377654e-02 8.06775429e-03 3.96044069e+01] [-9.25346722e-02 9.95709175e-01 -7.56643481e-04 -2.20638041e+00] [-8.10315507e-03 6.82512678e-06 9.99967169e-01 -6.74227504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.63, Y:-2.21, Z:-0.67 [[ 9.95678513e-01 9.24722206e-02 8.55494031e-03 3.96349129e+01] [-9.24687426e-02 9.95715265e-01 -8.02039031e-04 -2.20786188e+00] [-8.59245098e-03 7.50845656e-06 9.99963084e-01 -6.74462757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.535769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.67, Y:-2.21, Z:-0.68 [[ 9.95810247e-01 9.10787245e-02 8.16198108e-03 3.96650678e+01] [-9.10755119e-02 9.95843695e-01 -7.65198489e-04 -2.21036681e+00] [-8.19775070e-03 1.86358912e-05 9.99966398e-01 -6.76020074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.69, Y:-2.21, Z:-0.68 [[ 9.95906322e-01 9.00290541e-02 8.08495716e-03 3.96947217e+01] [-9.00258669e-02 9.95939139e-01 -7.58020630e-04 -2.21493093e+00] [-8.12036915e-03 2.70622602e-05 9.99967029e-01 -6.77617082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.595769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.72, Y:-2.22, Z:-0.68 [[ 9.96066297e-01 8.81670009e-02 8.86070549e-03 3.97246195e+01] [-8.81631005e-02 9.96105706e-01 -8.30597463e-04 -2.21924038e+00] [-8.89943058e-03 4.61428705e-05 9.99960398e-01 -6.76151675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625769231 meters Centerline goodness [0,1] 0.9999350016249594 Centerline is valid? [True, True] Translation: X:39.76, Y:-2.22, Z:-0.67 [[ 9.96073462e-01 8.79899732e-02 9.76843841e-03 3.97555198e+01] [-8.79852246e-02 9.96121359e-01 -9.15640986e-04 -2.22123464e+00] [-9.81111737e-03 5.25674392e-05 9.99951868e-01 -6.74523538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.655769231 meters Centerline goodness [0,1] 0.9999785724999465 Centerline is valid? [True, True] Translation: X:39.79, Y:-2.22, Z:-0.67 [[ 9.96020669e-01 8.85017268e-02 1.05009940e-02 3.97872887e+01] [-8.84962647e-02 9.96076022e-01 -9.84590220e-04 -2.22305636e+00] [-1.05469263e-02 5.13734644e-05 9.99944378e-01 -6.73828536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685769231 meters Centerline goodness [0,1] 0.9999360586555267 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.22, Z:-0.67 [[ 9.95966930e-01 8.90699086e-02 1.07900325e-02 3.98176706e+01] [-8.90641719e-02 9.96025376e-01 -1.01197741e-03 -2.22450029e+00] [-1.08372829e-02 4.68907264e-05 9.99941274e-01 -6.73760121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.85, Y:-2.23, Z:-0.68 [[ 9.95961691e-01 8.92900740e-02 9.35911662e-03 3.98479924e+01] [-8.92857668e-02 9.96005663e-01 -8.77871784e-04 -2.22626762e+00] [-9.40011839e-03 3.86907628e-05 9.99955817e-01 -6.77053028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.88, Y:-2.23, Z:-0.68 [[ 9.96203984e-01 8.67032979e-02 7.75626061e-03 3.98790672e+01] [-8.67002611e-02 9.96234177e-01 -7.27546583e-04 -2.23381708e+00] [-7.79013259e-03 5.23149849e-05 9.99969655e-01 -6.79677252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.91, Y:-2.24, Z:-0.68 [[ 9.96203984e-01 8.67033012e-02 7.75623390e-03 3.99089348e+01] [-8.67002623e-02 9.96234177e-01 -7.27831140e-04 -2.23661968e+00] [-7.79013066e-03 5.26007678e-05 9.99969655e-01 -6.80028269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.94, Y:-2.24, Z:-0.68 [[ 9.96314736e-01 8.54159086e-02 7.81473907e-03 3.99386832e+01] [-8.54127843e-02 9.96345381e-01 -7.33274216e-04 -2.24363639e+00] [-7.84881246e-03 6.30932831e-05 9.99969196e-01 -6.80440998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.97, Y:-2.25, Z:-0.68 [[ 9.96385948e-01 8.45617124e-02 8.02247012e-03 3.99691987e+01] [-8.45583917e-02 9.96418241e-01 -7.52823980e-04 -2.24882634e+00] [-8.05739565e-03 7.17360636e-05 9.99967536e-01 -6.80006714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865769231 meters Centerline goodness [0,1] 0.999936451448907 Centerline is valid? [True, True] Translation: X:40.00, Y:-2.26, Z:-0.68 [[ 9.96443168e-01 8.38442925e-02 8.43486750e-03 3.99986162e+01] [-8.38405937e-02 9.96478865e-01 -7.91783078e-04 -2.25563687e+00] [-8.47155368e-03 8.17825396e-05 9.99964112e-01 -6.80436669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.895769231 meters Centerline goodness [0,1] 0.9998721309379196 Centerline is valid? [True, True] Translation: X:40.03, Y:-2.26, Z:-0.68 [[ 9.96638620e-01 8.14889376e-02 8.42704793e-03 4.00289665e+01] [-8.14851609e-02 9.96674241e-01 -7.91113194e-04 -2.26329746e+00] [-8.46348857e-03 1.01774606e-04 9.99964179e-01 -6.80559068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925769231000004 meters Centerline goodness [0,1] 0.9998501038566137 Centerline is valid? [True, True] Translation: X:40.06, Y:-2.27, Z:-0.68 [[ 9.96810397e-01 7.92302689e-02 9.57067240e-03 4.00602451e+01] [-7.92252938e-02 9.96856331e-01 -8.98443035e-04 -2.27129856e+00] [-9.61176926e-03 1.37338025e-04 9.99953796e-01 -6.78707301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.955769231000005 meters Centerline goodness [0,1] 0.9998299861863776 Centerline is valid? [True, True] Translation: X:40.09, Y:-2.28, Z:-0.68 [[ 9.96849621e-01 7.86786437e-02 1.00251787e-02 4.00923077e+01] [-7.86731391e-02 9.96900019e-01 -9.42878328e-04 -2.27600222e+00] [-1.00682852e-02 1.51195626e-04 9.99949302e-01 -6.78226985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985769231 meters Centerline goodness [0,1] 0.9997249026578635 Centerline is valid? [True, True] Translation: X:40.12, Y:-2.28, Z:-0.68 [[ 9.96889274e-01 7.81581593e-02 1.01527335e-02 4.01226391e+01] [-7.81524687e-02 9.96940959e-01 -9.56646779e-04 -2.28125642e+00] [-1.01964456e-02 1.60209727e-04 9.99948002e-01 -6.78468494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.015769231 meters Centerline goodness [0,1] 0.9997860733768318 Centerline is valid? [True, True] Translation: X:40.15, Y:-2.29, Z:-0.68 [[ 9.96995612e-01 7.69334024e-02 9.00008544e-03 4.01541769e+01] [-7.69288699e-02 9.97036222e-01 -8.49235607e-04 -2.28943037e+00] [-9.03874577e-03 1.54317772e-04 9.99959138e-01 -6.80566634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045769231 meters Centerline goodness [0,1] 0.9998504720810014 Centerline is valid? [True, True] Translation: X:40.19, Y:-2.29, Z:-0.68 [[ 9.97040529e-01 7.63717542e-02 8.80559094e-03 4.01856560e+01] [-7.63673919e-02 9.97079400e-01 -8.31078612e-04 -2.29483539e+00] [-8.84334427e-03 1.56159045e-04 9.99960885e-01 -6.81369562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.075769231 meters Centerline goodness [0,1] 0.9997050831033684 Centerline is valid? [True, True] Translation: X:40.22, Y:-2.30, Z:-0.68 [[ 9.97037408e-01 7.62529411e-02 1.00943685e-02 4.02172364e+01] [-7.62471826e-02 9.97088489e-01 -9.54648821e-04 -2.30094127e+00] [-1.01377734e-02 1.82153427e-04 9.99948595e-01 -6.79896274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105769231000004 meters Centerline goodness [0,1] 0.9997869439236406 Centerline is valid? [True, True] Translation: X:40.25, Y:-2.30, Z:-0.68 [[ 9.96995352e-01 7.67657585e-02 1.03579046e-02 4.02491699e+01] [-7.67597033e-02 9.97049139e-01 -9.81470188e-04 -2.30492101e+00] [-1.04026831e-02 1.83451536e-04 9.99945874e-01 -6.79803208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.135769231000005 meters Centerline goodness [0,1] 0.9998502353444587 Centerline is valid? [True, True] Translation: X:40.28, Y:-2.31, Z:-0.68 [[ 9.96954867e-01 7.73149718e-02 1.01679713e-02 4.02797697e+01] [-7.73091475e-02 9.97006702e-01 -9.65201814e-04 -2.30977491e+00] [-1.02121601e-02 1.76185455e-04 9.99947839e-01 -6.80799836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165769231 meters Centerline goodness [0,1] 0.9997671070460704 Centerline is valid? [True, True] Translation: X:40.31, Y:-2.32, Z:-0.68 [[ 9.96930129e-01 7.77498224e-02 9.23488799e-03 4.03107327e+01] [-7.77450316e-02 9.96972889e-01 -8.77184046e-04 -2.31727043e+00] [-9.27513386e-03 1.56524546e-04 9.99956973e-01 -6.82742645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.195769231 meters Centerline goodness [0,1] 0.9997016642870842 Centerline is valid? [True, True] Translation: X:40.34, Y:-2.33, Z:-0.68 [[ 9.96935616e-01 7.74302717e-02 1.11324469e-02 4.03426890e+01] [-7.74232636e-02 9.96997751e-01 -1.05976972e-03 -2.32514586e+00] [-1.11810828e-02 1.94611811e-04 9.99937471e-01 -6.79687989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225769231 meters Centerline goodness [0,1] 0.9995586751849361 Centerline is valid? [True, True] Translation: X:40.37, Y:-2.33, Z:-0.68 [[ 9.96935623e-01 7.72190957e-02 1.25130072e-02 4.03736786e+01] [-7.72101955e-02 9.97014123e-01 -1.19352769e-03 -2.33170111e+00] [-1.25678081e-02 2.23738539e-04 9.99920997e-01 -6.77910207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.255769231 meters Centerline goodness [0,1] 0.9996347855976626 Centerline is valid? [True, True] Translation: X:40.41, Y:-2.33, Z:-0.68 [[ 9.96981452e-01 7.65572783e-02 1.29215755e-02 4.04055824e+01] [-7.65477152e-02 9.97065156e-01 -1.23377804e-03 -2.33476481e+00] [-1.29781074e-02 2.40936739e-04 9.99915752e-01 -6.78088043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285769231 meters Centerline goodness [0,1] 0.9996784979423868 Centerline is valid? [True, True] Translation: X:40.44, Y:-2.35, Z:-0.68 [[ 9.97121045e-01 7.50629233e-02 1.07321668e-02 4.04352561e+01] [-7.50562238e-02 9.97178775e-01 -1.02622515e-03 -2.34810553e+00] [-1.07789204e-02 2.17754784e-04 9.99941882e-01 -6.82785138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.315769231000004 meters Centerline goodness [0,1] 0.9993624617477048 Centerline is valid? [True, True] Translation: X:40.47, Y:-2.36, Z:-0.69 [[ 9.97165768e-01 7.46675710e-02 9.22961150e-03 4.04658053e+01] [-7.46625881e-02 9.97208462e-01 -8.83755890e-04 -2.35879793e+00] [-9.26983460e-03 1.92144439e-04 9.99957016e-01 -6.85994522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345769231 meters Centerline goodness [0,1] 0.9993628544122332 Centerline is valid? [True, True] Translation: X:40.50, Y:-2.37, Z:-0.69 [[ 9.97203597e-01 7.42820304e-02 8.19552221e-03 4.04971332e+01] [-7.42780800e-02 9.97237258e-01 -7.85767760e-04 -2.37101432e+00] [-8.23124853e-03 1.74822782e-04 9.99966107e-01 -6.88483722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.375769231 meters Centerline goodness [0,1] 0.9993217752532746 Centerline is valid? [True, True] Translation: X:40.53, Y:-2.38, Z:-0.69 [[ 9.97141353e-01 7.49857470e-02 9.28758995e-03 4.05277290e+01] [-7.49806879e-02 9.97184587e-01 -8.92210606e-04 -2.37835233e+00] [-9.32834463e-03 1.93270208e-04 9.99956471e-01 -6.87027404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405769231 meters Centerline goodness [0,1] 0.9994185295257785 Centerline is valid? [True, True] Translation: X:40.56, Y:-2.39, Z:-0.68 [[ 9.96931353e-01 7.73207001e-02 1.22224014e-02 4.05594267e+01] [-7.73120852e-02 9.97006247e-01 -1.17647777e-03 -2.38666431e+00] [-1.22767766e-02 2.27928241e-04 9.99924612e-01 -6.82034021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.435769231 meters Centerline goodness [0,1] 0.9995271969224818 Centerline is valid? [True, True] Translation: X:40.59, Y:-2.39, Z:-0.68 [[ 9.96771522e-01 7.93380723e-02 1.23289756e-02 4.05897109e+01] [-7.93294353e-02 9.96847745e-01 -1.18878408e-03 -2.39417689e+00] [-1.23844273e-02 2.06895446e-04 9.99923289e-01 -6.81948544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465769231 meters Centerline goodness [0,1] 0.99953216374269 Centerline is valid? [True, True] Translation: X:40.62, Y:-2.40, Z:-0.68 [[ 9.96611603e-01 8.14453855e-02 1.14874366e-02 4.06208951e+01] [-8.14380083e-02 9.96677792e-01 -1.10929370e-03 -2.40111080e+00] [-1.15396198e-02 1.70021013e-04 9.99933402e-01 -6.84658341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.495769231000004 meters Centerline goodness [0,1] 0.9998085432266848 Centerline is valid? [True, True] Translation: X:40.65, Y:-2.40, Z:-0.69 [[ 9.96169317e-01 8.70614794e-02 8.18481968e-03 4.06525959e+01] [-8.70579212e-02 9.96202938e-01 -7.90684912e-04 -2.40438840e+00] [-8.22257961e-03 7.51026613e-05 9.99966191e-01 -6.92063661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525769231 meters Centerline goodness [0,1] 0.9998732063988504 Centerline is valid? [True, True] Translation: X:40.68, Y:-2.41, Z:-0.70 [[ 9.95839190e-01 9.08548493e-02 7.05011848e-03 4.06838956e+01] [-9.08523058e-02 9.95864145e-01 -6.80864659e-04 -2.40709003e+00] [-7.08282007e-03 3.75121903e-05 9.99974916e-01 -6.95378669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.555769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.72, Y:-2.41, Z:-0.70 [[ 9.95128053e-01 9.83787293e-02 6.46410524e-03 4.07159215e+01] [-9.83767450e-02 9.95149047e-01 -6.24999996e-04 -2.40527555e+00] [-6.49423487e-03 -1.39626039e-05 9.99978912e-01 -6.95908691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.75, Y:-2.41, Z:-0.69 [[ 9.94777559e-01 1.01800155e-01 7.37137966e-03 4.07479995e+01] [-1.01797658e-01 9.94804869e-01 -7.14143118e-04 -2.40559999e+00] [-7.40578425e-03 -3.99756350e-05 9.99972576e-01 -6.94387505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.615769231 meters Centerline goodness [0,1] 0.9999788328429609 Centerline is valid? [True, True] Translation: X:40.78, Y:-2.41, Z:-0.69 [[ 9.94408489e-01 1.05213765e-01 9.04551037e-03 4.07802668e+01] [-1.05210127e-01 9.94449625e-01 -8.78411063e-04 -2.40536526e+00] [-9.08772533e-03 -7.81798791e-05 9.99958703e-01 -6.90776151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645769231 meters Centerline goodness [0,1] 0.9999786734911496 Centerline is valid? [True, True] Translation: X:40.81, Y:-2.40, Z:-0.69 [[ 9.93760799e-01 1.10923007e-01 1.16430978e-02 4.08119538e+01] [-1.10917344e-01 9.93828989e-01 -1.13299814e-03 -2.40113507e+00] [-1.16969237e-02 -1.65492349e-04 9.99931575e-01 -6.86176155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.675769231000004 meters Centerline goodness [0,1] 0.9998505231689088 Centerline is valid? [True, True] Translation: X:40.84, Y:-2.40, Z:-0.69 [[ 9.93163262e-01 1.16279155e-01 1.02904467e-02 4.08437311e+01] [-1.16275004e-01 9.93216551e-01 -1.00281543e-03 -2.39678434e+00] [-1.03372485e-02 -2.00562279e-04 9.99946549e-01 -6.90290255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705769231000005 meters Centerline goodness [0,1] 0.9998706645685586 Centerline is valid? [True, True] Translation: X:40.88, Y:-2.39, Z:-0.69 [[ 9.92828227e-01 1.19220303e-01 8.86745275e-03 4.08755913e+01] [-1.19217338e-01 9.92867806e-01 -8.64149541e-04 -2.39416094e+00] [-8.90723252e-03 -1.99202053e-04 9.99960310e-01 -6.92170677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.735769231 meters Centerline goodness [0,1] 0.9997229916897507 Centerline is valid? [True, True] Translation: X:40.91, Y:-2.39, Z:-0.69 [[ 9.92420142e-01 1.22596242e-01 8.51016808e-03 4.09061577e+01] [-1.22593629e-01 9.92456605e-01 -8.30043875e-04 -2.38970803e+00] [-8.54773279e-03 -2.19540125e-04 9.99963443e-01 -6.92933071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765769231 meters Centerline goodness [0,1] 0.9983577887732469 Centerline is valid? [True, True] Translation: X:40.94, Y:-2.38, Z:-0.69 [[ 9.91535833e-01 1.29515813e-01 9.07447033e-03 4.09381466e+01] [-1.29513125e-01 9.91577312e-01 -8.85772176e-04 -2.37597070e+00] [-9.11276040e-03 -2.96988155e-04 9.99958434e-01 -6.90272900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.795769231 meters Centerline goodness [0,1] 0.9975631653199949 Centerline is valid? [True, True] Translation: X:40.97, Y:-2.37, Z:-0.69 [[ 9.91146969e-01 1.32408312e-01 9.78387675e-03 4.09688130e+01] [-1.32405327e-01 9.91195196e-01 -9.55041352e-04 -2.36791847e+00] [-9.82418705e-03 -3.48851057e-04 9.99951681e-01 -6.89734843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825769231 meters Centerline goodness [0,1] 0.9946438022652694 Centerline is valid? [True, True] Translation: X:41.00, Y:-2.35, Z:-0.69 [[ 9.90733030e-01 1.35334541e-01 1.15163047e-02 4.09995833e+01] [-1.35330605e-01 9.90799861e-01 -1.12399995e-03 -2.35459519e+00] [-1.15624691e-02 -4.44924617e-04 9.99933053e-01 -6.87767430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.855769231000004 meters Centerline goodness [0,1] 0.9957939678312514 Centerline is valid? [True, True] Translation: X:41.03, Y:-2.36, Z:-0.69 [[ 9.90808125e-01 1.34784498e-01 1.15064242e-02 4.10288010e+01] [-1.34780534e-01 9.90874839e-01 -1.12278351e-03 -2.35714859e+00] [-1.15527600e-02 -4.38378968e-04 9.99933169e-01 -6.88725665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885769231000005 meters Centerline goodness [0,1] 0.9938924223916431 Centerline is valid? [True, True] Translation: X:41.06, Y:-2.35, Z:-0.69 [[ 9.91060507e-01 1.32949579e-01 1.11122230e-02 4.10577402e+01] [-1.32945769e-01 9.91122721e-01 -1.08408502e-03 -2.35234714e+00] [-1.11577053e-02 -4.02929179e-04 9.99937670e-01 -6.90143340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.915769231 meters Centerline goodness [0,1] 0.9985786414357843 Centerline is valid? [True, True] Translation: X:41.09, Y:-2.36, Z:-0.69 [[ 9.91863964e-01 1.26820338e-01 1.10669707e-02 4.10869627e+01] [-1.26816183e-01 9.91925648e-01 -1.07928536e-03 -2.36493060e+00] [-1.11144875e-02 -3.32966727e-04 9.99938177e-01 -6.90843961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945769231 meters Centerline goodness [0,1] 0.9992579715061058 Centerline is valid? [True, True] Translation: X:41.12, Y:-2.37, Z:-0.69 [[ 9.92245635e-01 1.23826598e-01 1.07505515e-02 4.11161332e+01] [-1.23822501e-01 9.92303829e-01 -1.04842670e-03 -2.36682442e+00] [-1.07976365e-02 -2.90863351e-04 9.99941662e-01 -6.91667503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.975769231 meters Centerline goodness [0,1] 0.9998726871498896 Centerline is valid? [True, True] Translation: X:41.15, Y:-2.37, Z:-0.69 [[ 9.92768860e-01 1.19759930e-01 8.21886131e-03 4.11459505e+01] [-1.19757397e-01 9.92802862e-01 -8.01369271e-04 -2.37039390e+00] [-8.25568096e-03 -1.88694982e-04 9.99965903e-01 -6.94706371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005769231 meters Centerline goodness [0,1] 0.9998935218706078 Centerline is valid? [True, True] Translation: X:41.18, Y:-2.37, Z:-0.70 [[ 9.92980818e-01 1.18014317e-01 7.85601636e-03 4.11762784e+01] [-1.18011949e-01 9.93011880e-01 -7.65904242e-04 -2.37038098e+00] [-7.89150524e-03 -1.66575584e-04 9.99968848e-01 -6.96125231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.035769231 meters Centerline goodness [0,1] 0.9998718468997629 Centerline is valid? [True, True] Translation: X:41.21, Y:-2.37, Z:-0.70 [[ 9.93179012e-01 1.16270702e-01 8.75068691e-03 4.12058618e+01] [-1.16267697e-01 9.93217547e-01 -8.53076985e-04 -2.36580017e+00] [-8.79052364e-03 -1.70164058e-04 9.99961348e-01 -6.95833360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065769231000004 meters Centerline goodness [0,1] 0.9999362204222209 Centerline is valid? [True, True] Translation: X:41.24, Y:-2.37, Z:-0.69 [[ 9.93514717e-01 1.13048249e-01 1.21901683e-02 4.12355623e+01] [-1.13042182e-01 9.93589480e-01 -1.18779792e-03 -2.37168015e+00] [-1.22463015e-02 -1.97908512e-04 9.99924992e-01 -6.91370893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.095769231 meters Centerline goodness [0,1] 0.9999143908911908 Centerline is valid? [True, True] Translation: X:41.27, Y:-2.38, Z:-0.69 [[ 9.93790643e-01 1.10500319e-01 1.30321618e-02 4.12656204e+01] [-1.10493167e-01 9.93876073e-01 -1.26978420e-03 -2.37649419e+00] [-1.30926654e-02 -1.78065174e-04 9.99914272e-01 -6.90963644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.30, Y:-2.39, Z:-0.70 [[ 9.94750787e-01 1.01802068e-01 1.03542368e-02 4.12951549e+01] [-1.01797075e-01 9.94804673e-01 -1.00945230e-03 -2.39034654e+00] [-1.04032075e-02 -4.98775549e-05 9.99945884e-01 -6.96140222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.155769231 meters Centerline goodness [0,1] 0.9998934333638825 Centerline is valid? [True, True] Translation: X:41.33, Y:-2.40, Z:-0.70 [[ 9.95282970e-01 9.67222473e-02 7.52435574e-03 4.13262138e+01] [-9.67194693e-02 9.95311412e-01 -7.33058686e-04 -2.40084296e+00] [-7.55998022e-03 1.84913229e-06 9.99971423e-01 -7.00385077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185769231 meters Centerline goodness [0,1] 0.9997668256491786 Centerline is valid? [True, True] Translation: X:41.36, Y:-2.42, Z:-0.70 [[ 9.96268153e-01 8.61466677e-02 5.34033013e-03 4.13551293e+01] [-8.61451096e-02 9.96282464e-01 -5.21541876e-04 -2.42139123e+00] [-5.36540636e-03 5.95522373e-05 9.99985604e-01 -7.04510503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.215769231 meters Centerline goodness [0,1] 0.9997229739808638 Centerline is valid? [True, True] Translation: X:41.39, Y:-2.43, Z:-0.70 [[ 9.96650600e-01 8.15011955e-02 6.71840323e-03 4.13865411e+01] [-8.14986230e-02 9.96673238e-01 -6.56249417e-04 -2.43344814e+00] [-6.74953782e-03 1.06510762e-04 9.99977216e-01 -7.02160015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245769231000004 meters Centerline goodness [0,1] 0.9996156474205672 Centerline is valid? [True, True] Translation: X:41.42, Y:-2.44, Z:-0.70 [[ 9.96931409e-01 7.77734516e-02 8.89129229e-03 4.14175102e+01] [-7.77687950e-02 9.96971043e-01 -8.68800221e-04 -2.44421082e+00] [-8.93193054e-03 1.74669142e-04 9.99960094e-01 -6.98618993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.275769231 meters Centerline goodness [0,1] 0.9987035895692092 Centerline is valid? [True, True] Translation: X:41.45, Y:-2.46, Z:-0.70 [[ 9.97259893e-01 7.31298540e-02 1.11682643e-02 4.14467680e+01] [-7.31221901e-02 9.97322390e-01 -1.09357132e-03 -2.45839956e+00] [-1.12183328e-02 2.73926872e-04 9.99937035e-01 -6.95331773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305769231 meters Centerline goodness [0,1] 0.9976470084921603 Centerline is valid? [True, True] Translation: X:41.48, Y:-2.47, Z:-0.70 [[ 9.97431590e-01 7.08771863e-02 1.03269940e-02 4.14768662e+01] [-7.08705136e-02 9.97485011e-01 -1.01112520e-03 -2.47287315e+00] [-1.03726875e-02 2.76648847e-04 9.99946164e-01 -6.97643774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.335769231 meters Centerline goodness [0,1] 0.9983886356408354 Centerline is valid? [True, True] Translation: X:41.51, Y:-2.48, Z:-0.70 [[ 9.97476755e-01 7.03341529e-02 9.65556534e-03 4.15089861e+01] [-7.03282815e-02 9.97523452e-01 -9.46709385e-04 -2.47705214e+00] [-9.69823886e-03 2.65261288e-04 9.99952936e-01 -6.99018706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365769231 meters Centerline goodness [0,1] 0.9988625144868438 Centerline is valid? [True, True] Translation: X:41.54, Y:-2.48, Z:-0.70 [[ 9.97533012e-01 6.96178766e-02 9.01339483e-03 4.15410375e+01] [-6.96127188e-02 9.97573700e-01 -8.85094833e-04 -2.48274628e+00] [-9.05314405e-03 2.55464396e-04 9.99958987e-01 -7.00593030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.395769231 meters Centerline goodness [0,1] 0.9984076095033865 Centerline is valid? [True, True] Translation: X:41.57, Y:-2.49, Z:-0.70 [[ 9.97595096e-01 6.88340157e-02 8.11802952e-03 4.15714751e+01] [-6.88297959e-02 9.97628098e-01 -7.98383298e-04 -2.49366780e+00] [-8.15373028e-03 2.37700948e-04 9.99966730e-01 -7.02141333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425769231000004 meters Centerline goodness [0,1] 0.9985964912280701 Centerline is valid? [True, True] Translation: X:41.60, Y:-2.50, Z:-0.70 [[ 9.97567265e-01 6.92362004e-02 8.11788714e-03 4.16032109e+01] [-6.92319841e-02 9.97600267e-01 -7.99595062e-04 -2.49931696e+00] [-8.15376730e-03 2.35632426e-04 9.99966730e-01 -7.02194641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.455769231000005 meters Centerline goodness [0,1] 0.9988265665336775 Centerline is valid? [True, True] Translation: X:41.63, Y:-2.50, Z:-0.70 [[ 9.97348933e-01 7.22567689e-02 8.60609537e-03 4.16349772e+01] [-7.22521260e-02 9.97386038e-01 -8.49590764e-04 -2.50314622e+00] [-8.64498805e-03 2.25529755e-04 9.99962606e-01 -7.01755623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485769231 meters Centerline goodness [0,1] 0.9993981342160698 Centerline is valid? [True, True] Translation: X:41.67, Y:-2.50, Z:-0.70 [[ 9.97170396e-01 7.45911662e-02 9.34664826e-03 4.16665807e+01] [-7.45857887e-02 9.97214174e-01 -9.23086311e-04 -2.50335915e+00] [-9.38946421e-03 2.23347210e-04 9.99955893e-01 -7.01351276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.515769231 meters Centerline goodness [0,1] 0.9995925282549486 Centerline is valid? [True, True] Translation: X:41.70, Y:-2.50, Z:-0.70 [[ 9.96748436e-01 7.98724639e-02 1.06275617e-02 4.16981337e+01] [-7.98658081e-02 9.96805071e-01 -1.04989406e-03 -2.50018982e+00] [-1.06774650e-02 1.97701461e-04 9.99942975e-01 -6.99546600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545769231 meters Centerline goodness [0,1] 0.9995329880275112 Centerline is valid? [True, True] Translation: X:41.73, Y:-2.50, Z:-0.70 [[ 9.96488156e-01 8.30106890e-02 1.09808839e-02 4.17288862e+01] [-8.30037732e-02 9.96548642e-01 -1.08484035e-03 -2.50274364e+00] [-1.10330383e-02 1.69575764e-04 9.99939120e-01 -6.99562715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.575769231 meters Centerline goodness [0,1] 0.999725674734643 Centerline is valid? [True, True] Translation: X:41.76, Y:-2.50, Z:-0.70 [[ 9.96244582e-01 8.58882071e-02 1.09521511e-02 4.17598518e+01] [-8.58814818e-02 9.96304771e-01 -1.08376950e-03 -2.50288219e+00] [-1.10047634e-02 1.39112525e-04 9.99939436e-01 -6.99875697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605769231000004 meters Centerline goodness [0,1] 0.9999152703933571 Centerline is valid? [True, True] Translation: X:41.79, Y:-2.50, Z:-0.71 [[ 9.95818425e-01 9.09746147e-02 8.32374943e-03 4.17920299e+01] [-9.09709053e-02 9.95853210e-01 -8.23961917e-04 -2.50012169e+00] [-8.36419220e-03 6.32974371e-05 9.99965018e-01 -7.06266909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.635769231000005 meters Centerline goodness [0,1] 0.9999789473684211 Centerline is valid? [True, True] Translation: X:41.82, Y:-2.50, Z:-0.71 [[ 9.95310664e-01 9.64491341e-02 7.36522625e-03 4.18244877e+01] [-9.64463726e-02 9.95337915e-01 -7.30043714e-04 -2.49638153e+00] [-7.40130102e-03 1.62709389e-05 9.99972610e-01 -7.08545596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665769231 meters Centerline goodness [0,1] 0.9999789473684211 Centerline is valid? [True, True] Translation: X:41.86, Y:-2.50, Z:-0.71 [[ 9.95293202e-01 9.66291778e-02 7.36512103e-03 4.18568114e+01] [-9.66264132e-02 9.95320452e-01 -7.31103299e-04 -2.49980694e+00] [-7.40130150e-03 1.59969150e-05 9.99972610e-01 -7.08926051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.695769231 meters Centerline goodness [0,1] 0.9999785421539386 Centerline is valid? [True, True] Translation: X:41.89, Y:-2.50, Z:-0.71 [[ 9.95003157e-01 9.95137566e-02 8.10737247e-03 4.18894166e+01] [-9.95104880e-02 9.95036186e-01 -8.06557605e-04 -2.49873496e+00] [-8.14739257e-03 -4.24122815e-06 9.99966809e-01 -7.07224850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.92, Y:-2.50, Z:-0.71 [[ 9.94739382e-01 1.02060412e-01 8.78833046e-03 4.19227712e+01] [-1.02056658e-01 9.94778202e-01 -8.75804027e-04 -2.49786705e+00] [-8.83182450e-03 -2.57108771e-05 9.99960998e-01 -7.06350053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.755769231 meters Centerline goodness [0,1] 0.9999570741758241 Centerline is valid? [True, True] Translation: X:41.96, Y:-2.50, Z:-0.71 [[ 9.94554097e-01 1.03769229e-01 9.70030979e-03 4.19555754e+01] [-1.03764717e-01 9.94601400e-01 -9.68666999e-04 -2.49790728e+00] [-9.74845953e-03 -4.31581639e-05 9.99952482e-01 -7.05411853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.99, Y:-2.50, Z:-0.71 [[ 9.94552579e-01 1.03799040e-01 9.53558666e-03 4.19873511e+01] [-1.03794663e-01 9.94598290e-01 -9.54040462e-04 -2.50051730e+00] [-9.58310667e-03 -4.08996043e-05 9.99954080e-01 -7.06805751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.815769231000004 meters Centerline goodness [0,1] 0.9999578610256626 Centerline is valid? [True, True] Translation: X:42.02, Y:-2.50, Z:-0.71 [[ 9.94626677e-01 1.03185740e-01 8.39507521e-03 4.20186292e+01] [-1.03182315e-01 9.94662105e-01 -8.41218985e-04 -2.50426365e+00] [-8.43706498e-03 -2.95244524e-05 9.99964407e-01 -7.10255637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845769231 meters Centerline goodness [0,1] 0.9999785968066436 Centerline is valid? [True, True] Translation: X:42.05, Y:-2.51, Z:-0.71 [[ 9.94644809e-01 1.03036404e-01 8.07491108e-03 4.20517190e+01] [-1.03033221e-01 9.94677585e-01 -8.10347015e-04 -2.50783966e+00] [-8.11542829e-03 -2.59766430e-05 9.99967069e-01 -7.11417453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.875769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.08, Y:-2.51, Z:-0.71 [[ 9.94541807e-01 1.04034076e-01 7.96900382e-03 4.20844167e+01] [-1.04030995e-01 9.94573733e-01 -8.01233255e-04 -2.50695764e+00] [-8.00911744e-03 -3.21634278e-05 9.99967926e-01 -7.13081418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905769231 meters Centerline goodness [0,1] 0.9999574649085495 Centerline is valid? [True, True] Translation: X:42.12, Y:-2.51, Z:-0.71 [[ 9.94494463e-01 1.04477388e-01 8.07708390e-03 4.21165610e+01] [-1.04474225e-01 9.94527262e-01 -8.13625774e-04 -2.50874595e+00] [-8.11788563e-03 -3.47007572e-05 9.99967049e-01 -7.12735493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.935769231 meters Centerline goodness [0,1] 0.9999789566717872 Centerline is valid? [True, True] Translation: X:42.15, Y:-2.51, Z:-0.71 [[ 9.94473312e-01 1.04700561e-01 7.78612018e-03 4.21489040e+01] [-1.04697620e-01 9.94503792e-01 -7.85438510e-04 -2.51068238e+00] [-7.82556190e-03 -3.40906148e-05 9.99969379e-01 -7.12872749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.18, Y:-2.51, Z:-0.71 [[ 9.94541192e-01 1.04053072e-01 7.79590147e-03 4.21803666e+01] [-1.04050094e-01 9.94571746e-01 -7.87673486e-04 -2.51295911e+00] [-7.83554318e-03 -2.77905572e-05 9.99969301e-01 -7.12891156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.995769231000004 meters Centerline goodness [0,1] 0.9999364729798408 Centerline is valid? [True, True] Translation: X:42.21, Y:-2.52, Z:-0.71 [[ 9.94553031e-01 1.03870449e-01 8.67174792e-03 4.22125589e+01] [-1.03866746e-01 9.94590835e-01 -8.77554724e-04 -2.51646931e+00] [-8.71599301e-03 -2.79315262e-05 9.99962015e-01 -7.11579386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025769231 meters Centerline goodness [0,1] 0.9999787969382778 Centerline is valid? [True, True] Translation: X:42.24, Y:-2.52, Z:-0.71 [[ 9.94702047e-01 1.02305238e-01 1.00734903e-02 4.22447659e+01] [-1.02300141e-01 9.94753054e-01 -1.02123486e-03 -2.52166941e+00] [-1.01251129e-02 -1.46950736e-05 9.99948740e-01 -7.10354764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.055769231 meters Centerline goodness [0,1] 0.999914210955261 Centerline is valid? [True, True] Translation: X:42.28, Y:-2.53, Z:-0.71 [[ 9.94828129e-01 1.01090060e-01 9.88905038e-03 4.22773141e+01] [-1.01085075e-01 9.94877279e-01 -1.00395195e-03 -2.52723419e+00] [-9.93988109e-03 -8.75760991e-07 9.99950598e-01 -7.11191688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085769231 meters Centerline goodness [0,1] 0.999936367878505 Centerline is valid? [True, True] Translation: X:42.31, Y:-2.53, Z:-0.71 [[ 9.94931332e-01 1.00164250e-01 8.87509619e-03 4.23102903e+01] [-1.00160185e-01 9.94970916e-01 -9.02429041e-04 -2.53325748e+00] [-8.92085371e-03 8.92365041e-06 9.99960208e-01 -7.13120294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.115769231 meters Centerline goodness [0,1] 0.9999578539216926 Centerline is valid? [True, True] Translation: X:42.34, Y:-2.54, Z:-0.71 [[ 9.95006578e-01 9.94889063e-02 7.99174231e-03 4.23412549e+01] [-9.94855782e-02 9.95038671e-01 -8.13902400e-04 -2.54030168e+00] [-8.03306691e-03 1.47751377e-05 9.99967734e-01 -7.14461276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145769231 meters Centerline goodness [0,1] 0.9999366232888288 Centerline is valid? [True, True] Translation: X:42.37, Y:-2.54, Z:-0.71 [[ 9.94802396e-01 1.01273752e-01 1.05745104e-02 4.23721121e+01] [-1.01267999e-01 9.94858597e-01 -1.07941710e-03 -2.54104842e+00] [-1.06294592e-02 2.94720295e-06 9.99943506e-01 -7.09687796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.175769231000004 meters Centerline goodness [0,1] 0.9999359644816325 Centerline is valid? [True, True] Translation: X:42.41, Y:-2.54, Z:-0.71 [[ 9.94604931e-01 1.03065877e-01 1.17667102e-02 4.24050305e+01] [-1.03058857e-01 9.94674532e-01 -1.20303473e-03 -2.54094354e+00] [-1.18280388e-02 -1.61194384e-05 9.99930046e-01 -7.08399063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205769231000005 meters Centerline goodness [0,1] 0.999936731551975 Centerline is valid? [True, True] Translation: X:42.44, Y:-2.54, Z:-0.71 [[ 9.94378525e-01 1.05190129e-01 1.20990000e-02 4.24387530e+01] [-1.05182836e-01 9.94452128e-01 -1.23924968e-03 -2.54049478e+00] [-1.21622332e-02 -4.03238652e-05 9.99926036e-01 -7.08110957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.47, Y:-2.54, Z:-0.71 [[ 9.94066732e-01 1.08275700e-01 1.03781238e-02 4.24711921e+01] [-1.08270486e-01 9.94120902e-01 -1.06457441e-03 -2.53886079e+00] [-1.04323773e-02 -6.53865019e-05 9.99945579e-01 -7.12055368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.50, Y:-2.54, Z:-0.71 [[ 9.94003042e-01 1.08927955e-01 9.62566420e-03 4.25033379e+01] [-1.08923487e-01 9.94049645e-01 -9.88840022e-04 -2.54049210e+00] [-9.67610040e-03 -6.55509179e-05 9.99953183e-01 -7.13437603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.54, Y:-2.54, Z:-0.72 [[ 9.93965656e-01 1.09307045e-01 9.17848170e-03 4.25350921e+01] [-1.09302985e-01 9.94008031e-01 -9.44355929e-04 -2.53985890e+00] [-9.22670928e-03 -6.45780855e-05 9.99957431e-01 -7.16297669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.57, Y:-2.54, Z:-0.72 [[ 9.93997703e-01 1.09061661e-01 8.60935154e-03 4.25662508e+01] [-1.09058069e-01 9.94034985e-01 -8.87018993e-04 -2.54197268e+00] [-8.65473639e-03 -5.72244140e-05 9.99962545e-01 -7.17768305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.355769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.60, Y:-2.54, Z:-0.72 [[ 9.94051994e-01 1.08638191e-01 7.64049242e-03 4.25967722e+01] [-1.08635340e-01 9.94081355e-01 -7.88496984e-04 -2.54403372e+00] [-7.68093195e-03 -4.62204894e-05 9.99970500e-01 -7.20653562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.63, Y:-2.55, Z:-0.73 [[ 9.94180411e-01 1.07628641e-01 4.62443590e-03 4.26275916e+01] [-1.07627584e-01 9.94191166e-01 -4.77643290e-04 -2.54585580e+00] [-4.64898142e-03 -2.28532607e-05 9.99989193e-01 -7.26322330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.415769231 meters Centerline goodness [0,1] 0.999978462201163 Centerline is valid? [True, True] Translation: X:42.66, Y:-2.54, Z:-0.72 [[ 9.94123528e-01 1.08119145e-01 5.35357198e-03 4.26575863e+01] [-1.08117734e-01 9.94137943e-01 -5.53097605e-04 -2.54226535e+00] [-5.38198947e-03 -2.89687307e-05 9.99985517e-01 -7.24164849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.69, Y:-2.54, Z:-0.72 [[ 9.94083495e-01 1.08369093e-01 7.35828306e-03 4.26878650e+01] [-1.08366437e-01 9.94110727e-01 -7.59844875e-04 -2.54137973e+00] [-7.39729182e-03 -4.20416687e-05 9.99972639e-01 -7.21193833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.475769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.72, Y:-2.54, Z:-0.72 [[ 9.94039207e-01 1.08659287e-01 8.90026097e-03 4.27178534e+01] [-1.08655413e-01 9.94079049e-01 -9.19075501e-04 -2.54382440e+00] [-8.94742906e-03 -5.34644544e-05 9.99959970e-01 -7.18055745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.75, Y:-2.55, Z:-0.72 [[ 9.94048405e-01 1.08536343e-01 9.36114269e-03 4.27484714e+01] [-1.08532053e-01 9.94092480e-01 -9.66667936e-04 -2.54661227e+00] [-9.41076015e-03 -5.50693106e-05 9.99955716e-01 -7.17344333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.535769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.78, Y:-2.55, Z:-0.72 [[ 9.94115181e-01 1.07919755e-01 9.39861525e-03 4.27787626e+01] [-1.07915402e-01 9.94159607e-01 -9.70537498e-04 -2.54993234e+00] [-9.44846381e-03 -4.94292828e-05 9.99955361e-01 -7.17262088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565769231000004 meters Centerline goodness [0,1] 0.9999572959815519 Centerline is valid? [True, True] Translation: X:42.81, Y:-2.56, Z:-0.72 [[ 9.94387746e-01 1.05371944e-01 9.47436641e-03 4.28088986e+01] [-1.05367406e-01 9.94432880e-01 -9.78228525e-04 -2.55663805e+00] [-9.52469931e-03 -2.55509519e-05 9.99954639e-01 -7.17648208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.595769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.84, Y:-2.56, Z:-0.72 [[ 9.94543069e-01 1.03877521e-01 9.67185832e-03 4.28392916e+01] [-1.03872715e-01 9.94590097e-01 -9.99294848e-04 -2.56344871e+00] [-9.72333877e-03 -1.08004171e-05 9.99952727e-01 -7.17497713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625769231 meters Centerline goodness [0,1] 0.9999787532401309 Centerline is valid? [True, True] Translation: X:42.87, Y:-2.57, Z:-0.72 [[ 9.94756083e-01 1.01769987e-01 1.01589565e-02 4.28706170e+01] [-1.01764574e-01 9.94807956e-01 -1.04966120e-03 -2.57223221e+00] [-1.02130347e-02 1.03349880e-05 9.99947846e-01 -7.16839678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.90, Y:-2.58, Z:-0.72 [[ 9.94735283e-01 1.01994380e-01 9.94298286e-03 4.29026830e+01] [-1.01989190e-01 9.94784975e-01 -1.02894244e-03 -2.57621393e+00] [-9.99607630e-03 9.44858243e-06 9.99950038e-01 -7.17910882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685769231 meters Centerline goodness [0,1] 0.9999786648460669 Centerline is valid? [True, True] Translation: X:42.93, Y:-2.58, Z:-0.72 [[ 9.94496536e-01 1.04458319e-01 8.06846802e-03 4.29338601e+01] [-1.04454974e-01 9.94529265e-01 -8.35973239e-04 -2.57830958e+00] [-8.11165193e-03 -1.14191261e-05 9.99967100e-01 -7.22280354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.96, Y:-2.58, Z:-0.72 [[ 9.94337358e-01 1.05991270e-01 7.68565242e-03 4.29638242e+01] [-1.05988267e-01 9.94367060e-01 -7.98162649e-04 -2.57967636e+00] [-7.72695788e-03 -2.09460408e-05 9.99970146e-01 -7.24309814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.00, Y:-2.58, Z:-0.72 [[ 9.93936072e-01 1.09684574e-01 7.77037501e-03 4.29950743e+01] [-1.09681616e-01 9.93966444e-01 -8.07096012e-04 -2.57817872e+00] [-7.81201800e-03 -5.00654473e-05 9.99969484e-01 -7.22364612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.775769231000005 meters Centerline goodness [0,1] 0.9999787518857701 Centerline is valid? [True, True] Translation: X:43.03, Y:-2.57, Z:-0.72 [[ 9.93390314e-01 1.14449526e-01 8.77436792e-03 4.30259379e+01] [-1.14445940e-01 9.93429060e-01 -9.11379096e-04 -2.57411449e+00] [-8.82101897e-03 -9.88356151e-05 9.99961089e-01 -7.20364270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805769231 meters Centerline goodness [0,1] 0.9999785241817714 Centerline is valid? [True, True] Translation: X:43.06, Y:-2.57, Z:-0.72 [[ 9.93091925e-01 1.17024494e-01 8.58470549e-03 4.30564829e+01] [-1.17021158e-01 9.93129022e-01 -8.91679174e-04 -2.57390510e+00] [-8.63006847e-03 -1.19072789e-04 9.99962753e-01 -7.20949679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.835769231 meters Centerline goodness [0,1] 0.9999571330589849 Centerline is valid? [True, True] Translation: X:43.09, Y:-2.57, Z:-0.72 [[ 9.92805190e-01 1.19456941e-01 8.23978494e-03 4.30857544e+01] [-1.19453950e-01 9.92839373e-01 -8.55977295e-04 -2.57056958e+00] [-8.28303534e-03 -1.34456159e-04 9.99965686e-01 -7.22058934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865769231 meters Centerline goodness [0,1] 0.9999362610746383 Centerline is valid? [True, True] Translation: X:43.12, Y:-2.56, Z:-0.72 [[ 9.92294152e-01 1.23601798e-01 8.65518706e-03 4.31155464e+01] [-1.23598658e-01 9.92331882e-01 -8.98788622e-04 -2.56134104e+00] [-8.69990995e-03 -1.77906810e-04 9.99962139e-01 -7.21884053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.895769231 meters Centerline goodness [0,1] 0.9999154530658833 Centerline is valid? [True, True] Translation: X:43.15, Y:-2.56, Z:-0.72 [[ 9.92067428e-01 1.25418940e-01 8.50341291e-03 4.31455611e+01] [-1.25415979e-01 9.92103852e-01 -8.82696779e-04 -2.55933661e+00] [-8.54697559e-03 -1.90769128e-04 9.99963456e-01 -7.22285691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925769231000004 meters Centerline goodness [0,1] 0.9995560065964735 Centerline is valid? [True, True] Translation: X:43.18, Y:-2.55, Z:-0.72 [[ 9.91705066e-01 1.28219449e-01 8.99083912e-03 4.31761060e+01] [-1.28216255e-01 9.91745795e-01 -9.33066057e-04 -2.55364759e+00] [-9.03626411e-03 -2.27445388e-04 9.99959146e-01 -7.22551211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.955769231000005 meters Centerline goodness [0,1] 0.9995940951526416 Centerline is valid? [True, True] Translation: X:43.20, Y:-2.55, Z:-0.72 [[ 9.91664335e-01 1.28518257e-01 9.21437127e-03 4.32049124e+01] [-1.28514917e-01 9.91707115e-01 -9.56098829e-04 -2.55462112e+00] [-9.26083370e-03 -2.36055053e-04 9.99957090e-01 -7.22035043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985769231 meters Centerline goodness [0,1] 0.9995513874943923 Centerline is valid? [True, True] Translation: X:43.23, Y:-2.55, Z:-0.72 [[ 9.91687959e-01 1.28408363e-01 8.14154897e-03 4.32337440e+01] [-1.28405754e-01 9.91721357e-01 -8.44513417e-04 -2.54997939e+00] [-8.18259057e-03 -2.07927947e-04 9.99966500e-01 -7.23967341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.015769231 meters Centerline goodness [0,1] 0.9995774707398487 Centerline is valid? [True, True] Translation: X:43.26, Y:-2.55, Z:-0.73 [[ 9.91691861e-01 1.28447848e-01 6.95724171e-03 4.32615539e+01] [-1.28445946e-01 9.91716249e-01 -7.21291892e-04 -2.54854073e+00] [-6.99225804e-03 -1.78330197e-04 9.99975538e-01 -7.26766621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045769231 meters Centerline goodness [0,1] 0.9995947531193345 Centerline is valid? [True, True] Translation: X:43.29, Y:-2.55, Z:-0.73 [[ 9.91736704e-01 1.28106763e-01 6.85320941e-03 4.32906349e+01] [-1.28104913e-01 9.91760368e-01 -7.10050633e-04 -2.54667113e+00] [-6.88770378e-03 -1.73746522e-04 9.99976264e-01 -7.26389472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.075769231 meters Centerline goodness [0,1] 0.9996169968295848 Centerline is valid? [True, True] Translation: X:43.32, Y:-2.55, Z:-0.72 [[ 9.91813290e-01 1.27425050e-01 8.32191099e-03 4.33199612e+01] [-1.27422303e-01 9.91848181e-01 -8.61673746e-04 -2.54795419e+00] [-8.36387110e-03 -2.05777593e-04 9.99965001e-01 -7.24240979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105769231000004 meters Centerline goodness [0,1] 0.9996599000956531 Centerline is valid? [True, True] Translation: X:43.35, Y:-2.55, Z:-0.72 [[ 9.92041515e-01 1.25495475e-01 1.02233937e-02 4.33480098e+01] [-1.25491231e-01 9.92094165e-01 -1.05813621e-03 -2.54861981e+00] [-1.02753605e-02 -2.33231211e-04 9.99947180e-01 -7.20860037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.135769231000005 meters Centerline goodness [0,1] 0.9997234572103214 Centerline is valid? [True, True] Translation: X:43.38, Y:-2.55, Z:-0.72 [[ 9.92151898e-01 1.24566717e-01 1.08510490e-02 4.33770853e+01] [-1.24561888e-01 9.92211206e-01 -1.12240521e-03 -2.55264537e+00] [-1.09063467e-02 -2.38030681e-04 9.99940496e-01 -7.19685603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165769231 meters Centerline goodness [0,1] 0.9997878794306684 Centerline is valid? [True, True] Translation: X:43.41, Y:-2.55, Z:-0.72 [[ 9.92291385e-01 1.23410140e-01 1.13024250e-02 4.34053683e+01] [-1.23404830e-01 9.92355724e-01 -1.16867943e-03 -2.55133649e+00] [-1.13602531e-02 -2.35103314e-04 9.99935443e-01 -7.19414988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.195769231 meters Centerline goodness [0,1] 0.9998078155028828 Centerline is valid? [True, True] Translation: X:43.43, Y:-2.56, Z:-0.72 [[ 9.92587590e-01 1.20944420e-01 1.19298941e-02 4.34343543e+01] [-1.20938336e-01 9.92659256e-01 -1.23280965e-03 -2.55624572e+00] [-1.19914213e-02 -2.19109986e-04 9.99928076e-01 -7.18700826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225769231 meters Centerline goodness [0,1] 0.99991452260877 Centerline is valid? [True, True] Translation: X:43.46, Y:-2.56, Z:-0.72 [[ 9.92829242e-01 1.19036606e-01 1.09719507e-02 4.34626988e+01] [-1.19031350e-01 9.92889850e-01 -1.13312034e-03 -2.55816517e+00] [-1.10288213e-02 -1.81011104e-04 9.99939164e-01 -7.20680521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.255769231 meters Centerline goodness [0,1] 0.9999574694311536 Centerline is valid? [True, True] Translation: X:43.49, Y:-2.56, Z:-0.72 [[ 9.92892348e-01 1.18505529e-01 1.10101981e-02 4.34917910e+01] [-1.18500210e-01 9.92953377e-01 -1.13654424e-03 -2.56008173e+00] [-1.10673001e-02 -1.76244703e-04 9.99938740e-01 -7.21201532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285769231 meters Centerline goodness [0,1] 0.9998942425652524 Centerline is valid? [True, True] Translation: X:43.52, Y:-2.56, Z:-0.72 [[ 9.92950472e-01 1.17996847e-01 1.12295744e-02 4.35199867e+01] [-1.17991288e-01 9.93013954e-01 -1.15863819e-03 -2.55828982e+00] [-1.12878397e-02 -1.74521610e-04 9.99936275e-01 -7.20843717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.315769231000004 meters Centerline goodness [0,1] 0.9999360613810742 Centerline is valid? [True, True] Translation: X:43.55, Y:-2.56, Z:-0.72 [[ 9.93085432e-01 1.16807610e-01 1.17177728e-02 4.35490072e+01] [-1.16801482e-01 9.93154547e-01 -1.20827047e-03 -2.55930587e+00] [-1.17786946e-02 -1.68737437e-04 9.99930615e-01 -7.18910245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345769231 meters Centerline goodness [0,1] 0.9999366714514903 Centerline is valid? [True, True] Translation: X:43.58, Y:-2.56, Z:-0.72 [[ 9.93153713e-01 1.16219066e-01 1.17826862e-02 4.35775244e+01] [-1.16212836e-01 9.93223591e-01 -1.21439344e-03 -2.55791811e+00] [-1.18439776e-02 -1.63220027e-04 9.99929844e-01 -7.18858206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.375769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.61, Y:-2.56, Z:-0.72 [[ 9.93409295e-01 1.14065735e-01 1.12685578e-02 4.36059899e+01] [-1.14059905e-01 9.93473196e-01 -1.16075465e-03 -2.55921228e+00] [-1.13274124e-02 -1.32186171e-04 9.99935834e-01 -7.20703787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405769231 meters Centerline goodness [0,1] 0.9999572640441035 Centerline is valid? [True, True] Translation: X:43.63, Y:-2.56, Z:-0.72 [[ 9.93602699e-01 1.12424017e-01 1.07012614e-02 4.36346538e+01] [-1.12418669e-01 9.93660319e-01 -1.10183777e-03 -2.56200451e+00] [-1.07572919e-02 -1.08232589e-04 9.99942133e-01 -7.22937992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.435769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.66, Y:-2.57, Z:-0.73 [[ 9.94078023e-01 1.08176731e-01 1.03285511e-02 4.36633187e+01] [-1.08171525e-01 9.94131677e-01 -1.06298921e-03 -2.56645066e+00] [-1.03829305e-02 -6.05609146e-05 9.99946094e-01 -7.25287759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.69, Y:-2.57, Z:-0.73 [[ 9.94290810e-01 1.06191327e-01 1.04492822e-02 4.36905802e+01] [-1.06185894e-01 9.94345715e-01 -1.07491526e-03 -2.56914842e+00] [-1.05043457e-02 -4.07880084e-05 9.99944827e-01 -7.25387868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.495769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.72, Y:-2.57, Z:-0.73 [[ 9.94656733e-01 1.02794413e-01 9.55472190e-03 4.37180564e+01] [-1.02789719e-01 9.94702623e-01 -9.82372510e-04 -2.57301233e+00] [-9.60508935e-03 -5.00375034e-06 9.99953870e-01 -7.26024748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.75, Y:-2.58, Z:-0.73 [[ 9.94844023e-01 1.01036783e-01 8.77141456e-03 4.37467898e+01] [-1.01032763e-01 9.94882691e-01 -9.01344730e-04 -2.57662236e+00] [-8.81759749e-03 1.04971678e-05 9.99961124e-01 -7.27960244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.555769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.77, Y:-2.58, Z:-0.73 [[ 9.94848712e-01 1.00990605e-01 8.77145624e-03 4.37749760e+01] [-1.00986586e-01 9.94887379e-01 -9.00938880e-04 -2.57942557e+00] [-8.81759748e-03 1.04984602e-05 9.99961124e-01 -7.28291704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585769231 meters Centerline goodness [0,1] 0.9999571716133453 Centerline is valid? [True, True] Translation: X:43.80, Y:-2.58, Z:-0.73 [[ 9.95004473e-01 9.95026213e-02 8.08249390e-03 4.38032560e+01] [-9.94991632e-02 9.95037300e-01 -8.29839940e-04 -2.58263058e+00] [-8.12495416e-03 2.14930728e-05 9.99966992e-01 -7.29828854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.83, Y:-2.59, Z:-0.73 [[ 9.95183178e-01 9.75954238e-02 9.25072322e-03 4.38320545e+01] [-9.75908162e-02 9.95226171e-01 -9.49262609e-04 -2.58534391e+00] [-9.29920554e-03 4.19045499e-05 9.99956761e-01 -7.28456543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645769231 meters Centerline goodness [0,1] 0.9999151427722857 Centerline is valid? [True, True] Translation: X:43.86, Y:-2.59, Z:-0.73 [[ 9.95259827e-01 9.67176819e-02 1.01767272e-02 4.38600214e+01] [-9.67120650e-02 9.95311854e-01 -1.04377646e-03 -2.58833506e+00] [-1.02299688e-02 5.46164775e-05 9.99947671e-01 -7.27153691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.675769231000004 meters Centerline goodness [0,1] 0.9999571201921016 Centerline is valid? [True, True] Translation: X:43.89, Y:-2.59, Z:-0.73 [[ 9.95330681e-01 9.58755243e-02 1.11678115e-02 4.38889979e+01] [-9.58687163e-02 9.95393329e-01 -1.14460200e-03 -2.59065398e+00] [-1.12261044e-02 6.86137329e-05 9.99936983e-01 -7.25516638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705769231000005 meters Centerline goodness [0,1] 0.9999151337703944 Centerline is valid? [True, True] Translation: X:43.92, Y:-2.59, Z:-0.73 [[ 9.95397248e-01 9.52394712e-02 1.06659372e-02 4.39173667e+01] [-9.52332299e-02 9.95454388e-01 -1.09268572e-03 -2.59431502e+00] [-1.07215208e-02 7.19047045e-05 9.99942520e-01 -7.27172392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.735769231 meters Centerline goodness [0,1] 0.9999363989060612 Centerline is valid? [True, True] Translation: X:43.94, Y:-2.60, Z:-0.73 [[ 9.95538001e-01 9.39237230e-02 9.07872048e-03 4.39449771e+01] [-9.39191508e-02 9.95579394e-01 -9.29598469e-04 -2.60096780e+00] [-9.12589838e-03 7.27848839e-05 9.99958355e-01 -7.29703147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.97, Y:-2.60, Z:-0.73 [[ 9.95581716e-01 9.34382486e-02 9.29191798e-03 4.39732058e+01] [-9.34334364e-02 9.95625074e-01 -9.51599086e-04 -2.60447654e+00] [-9.34018228e-03 7.92188234e-05 9.99956376e-01 -7.29239303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.795769231 meters Centerline goodness [0,1] 0.9999358357394931 Centerline is valid? [True, True] Translation: X:44.00, Y:-2.61, Z:-0.73 [[ 9.95603451e-01 9.31518449e-02 9.82358813e-03 4.40004794e+01] [-9.31464570e-02 9.95651910e-01 -1.00557079e-03 -2.60779922e+00] [-9.87454506e-03 8.61173205e-05 9.99951242e-01 -7.28039200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825769231 meters Centerline goodness [0,1] 0.9999576351966786 Centerline is valid? [True, True] Translation: X:44.03, Y:-2.61, Z:-0.72 [[ 9.95507570e-01 9.39511022e-02 1.17417574e-02 4.40294497e+01] [-9.39434701e-02 9.95576809e-01 -1.20108919e-03 -2.60913557e+00] [-1.18026650e-02 9.26319463e-05 9.99930342e-01 -7.24474899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.855769231000004 meters Centerline goodness [0,1] 0.9999576836002793 Centerline is valid? [True, True] Translation: X:44.06, Y:-2.61, Z:-0.72 [[ 9.95301821e-01 9.59789259e-02 1.27408890e-02 4.40585917e+01] [-9.59701139e-02 9.95383363e-01 -1.30265050e-03 -2.60871044e+00] [-1.28070960e-02 7.37858482e-05 9.99917983e-01 -7.22765267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.09, Y:-2.61, Z:-0.72 [[ 9.95190033e-01 9.71911249e-02 1.22753418e-02 4.40868142e+01] [-9.71830443e-02 9.95265734e-01 -1.25448999e-03 -2.60877159e+00] [-1.23391524e-02 5.55008540e-05 9.99923868e-01 -7.24227568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.915769231 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:44.12, Y:-2.61, Z:-0.73 [[ 9.95124364e-01 9.79593232e-02 1.14660792e-02 4.41156817e+01] [-9.79523319e-02 9.95190419e-01 -1.17109373e-03 -2.60825421e+00] [-1.15256517e-02 4.22547024e-05 9.99933577e-01 -7.26702035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.14, Y:-2.61, Z:-0.73 [[ 9.95126493e-01 9.80144355e-02 1.07904730e-02 4.41440128e+01] [-9.80082522e-02 9.95184992e-01 -1.10162617e-03 -2.60877311e+00] [-1.08464920e-02 3.87019879e-05 9.99941174e-01 -7.28574806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.975769231 meters Centerline goodness [0,1] 0.9999570778607606 Centerline is valid? [True, True] Translation: X:44.17, Y:-2.61, Z:-0.72 [[ 9.95262178e-01 9.62191256e-02 1.39670197e-02 4.41729694e+01] [-9.62086026e-02 9.95360173e-01 -1.42493668e-03 -2.61162048e+00] [-1.40393214e-02 7.44381333e-05 9.99901441e-01 -7.23062783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005769231 meters Centerline goodness [0,1] 0.9999787111745045 Centerline is valid? [True, True] Translation: X:44.20, Y:-2.62, Z:-0.72 [[ 9.95382399e-01 9.49143442e-02 1.43229336e-02 4.42011722e+01] [-9.49031527e-02 9.95485439e-01 -1.46057394e-03 -2.61540335e+00] [-1.43969012e-02 9.45380467e-05 9.99896355e-01 -7.22277726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.035769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.23, Y:-2.62, Z:-0.73 [[ 9.95515133e-01 9.36832459e-02 1.31555748e-02 4.42296298e+01] [-9.36737027e-02 9.95602048e-01 -1.34109512e-03 -2.61890679e+00] [-1.32233554e-02 1.02749082e-04 9.99912562e-01 -7.25056386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065769231000004 meters Centerline goodness [0,1] 0.9999144055465206 Centerline is valid? [True, True] Translation: X:44.26, Y:-2.62, Z:-0.73 [[ 9.95699792e-01 9.18889469e-02 1.17620648e-02 4.42586459e+01] [-9.18811975e-02 9.95769255e-01 -1.19867647e-03 -2.62351657e+00] [-1.18224476e-02 1.12809314e-04 9.99930106e-01 -7.28951186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.095769231 meters Centerline goodness [0,1] 0.9998731393775372 Centerline is valid? [True, True] Translation: X:44.29, Y:-2.64, Z:-0.73 [[ 9.96160326e-01 8.70333331e-02 9.47645945e-03 4.42874385e+01] [-8.70280847e-02 9.96205391e-01 -9.65585190e-04 -2.63504451e+00] [-9.52453809e-03 1.37159541e-04 9.99954631e-01 -7.33681763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125769231 meters Centerline goodness [0,1] 0.9997453688968108 Centerline is valid? [True, True] Translation: X:44.32, Y:-2.65, Z:-0.73 [[ 9.96662391e-01 8.11153940e-02 9.18541912e-03 4.43167250e+01] [-8.11102140e-02 9.96704699e-01 -9.35673548e-04 -2.64965982e+00] [-9.23104793e-03 1.87519325e-04 9.99957375e-01 -7.33711199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.155769231 meters Centerline goodness [0,1] 0.9997636137018094 Centerline is valid? [True, True] Translation: X:44.35, Y:-2.66, Z:-0.73 [[ 9.96866592e-01 7.85283015e-02 9.50282288e-03 4.43466866e+01] [-7.85226399e-02 9.96911861e-01 -9.68005910e-04 -2.65780337e+00] [-9.54949270e-03 2.18786014e-04 9.99954379e-01 -7.34017235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185769231 meters Centerline goodness [0,1] 0.9996365502202078 Centerline is valid? [True, True] Translation: X:44.38, Y:-2.67, Z:-0.73 [[ 9.96990929e-01 7.68897780e-02 9.85132584e-03 4.43762770e+01] [-7.68836137e-02 9.97039569e-01 -1.00348532e-03 -2.66684149e+00] [-9.89931944e-03 2.43060231e-04 9.99950971e-01 -7.34294194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.215769231 meters Centerline goodness [0,1] 0.9997845199103603 Centerline is valid? [True, True] Translation: X:44.41, Y:-2.67, Z:-0.73 [[ 9.97048375e-01 7.61945173e-02 9.43045335e-03 4.44062590e+01] [-7.61888361e-02 9.97092944e-01 -9.60744051e-04 -2.67311193e+00] [-9.47624192e-03 2.39413030e-04 9.99955071e-01 -7.34913104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245769231000004 meters Centerline goodness [0,1] 0.9994880982851293 Centerline is valid? [True, True] Translation: X:44.44, Y:-2.69, Z:-0.74 [[ 9.97033108e-01 7.65072543e-02 8.46291119e-03 4.44354242e+01] [-7.65026907e-02 9.97069002e-01 -8.62135328e-04 -2.68728370e+00] [-8.50406602e-03 2.12141989e-04 9.99963817e-01 -7.36992397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.275769231000005 meters Centerline goodness [0,1] 0.9995545562531818 Centerline is valid? [True, True] Translation: X:44.47, Y:-2.69, Z:-0.74 [[ 9.97044363e-01 7.64134029e-02 7.97062686e-03 4.44653195e+01] [-7.64093511e-02 9.97076201e-01 -8.12078113e-04 -2.69421357e+00] [-8.00937600e-03 2.00647478e-04 9.99967904e-01 -7.38349778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305769231 meters Centerline goodness [0,1] 0.9994907053730583 Centerline is valid? [True, True] Translation: X:44.50, Y:-2.70, Z:-0.74 [[ 9.97070383e-01 7.60773014e-02 7.93063855e-03 4.44961407e+01] [-7.60732792e-02 9.97101902e-01 -8.08045761e-04 -2.69664508e+00] [-7.96912873e-03 2.02368816e-04 9.99968226e-01 -7.38129908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.335769231 meters Centerline goodness [0,1] 0.9996802932776333 Centerline is valid? [True, True] Translation: X:44.53, Y:-2.70, Z:-0.74 [[ 9.97083659e-01 7.58610231e-02 8.32356026e-03 4.45264429e+01] [-7.58565826e-02 9.97118378e-01 -8.48363911e-04 -2.70479935e+00] [-8.36393266e-03 2.14492956e-04 9.99964999e-01 -7.37663135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365769231 meters Centerline goodness [0,1] 0.9996168256130791 Centerline is valid? [True, True] Translation: X:44.56, Y:-2.71, Z:-0.74 [[ 9.97089110e-01 7.57871834e-02 8.34319933e-03 4.45564178e+01] [-7.57827196e-02 9.97123992e-01 -8.50327020e-04 -2.71080819e+00] [-8.38364811e-03 2.15581477e-04 9.99964833e-01 -7.37518106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.395769231 meters Centerline goodness [0,1] 0.9991962774957699 Centerline is valid? [True, True] Translation: X:44.59, Y:-2.72, Z:-0.74 [[ 9.97020770e-01 7.66005061e-02 9.05243047e-03 4.45860568e+01] [-7.65952868e-02 9.97061839e-01 -9.22366370e-04 -2.72350036e+00] [-9.09648671e-03 2.26244921e-04 9.99958601e-01 -7.37199264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425769231000004 meters Centerline goodness [0,1] 0.9993597404814751 Centerline is valid? [True, True] Translation: X:44.62, Y:-2.72, Z:-0.74 [[ 9.96927380e-01 7.77354327e-02 9.64374507e-03 4.46176503e+01] [-7.77295443e-02 9.96973996e-01 -9.84472588e-04 -2.71935292e+00] [-9.69109146e-03 2.31843768e-04 9.99953013e-01 -7.35279759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.455769231000005 meters Centerline goodness [0,1] 0.9997678296291606 Centerline is valid? [True, True] Translation: X:44.65, Y:-2.72, Z:-0.74 [[ 9.96795325e-01 7.93880990e-02 9.82907450e-03 4.46483935e+01] [-7.93820615e-02 9.96843760e-01 -1.00348909e-03 -2.72193477e+00] [-9.87771667e-03 2.20021041e-04 9.99951190e-01 -7.35027691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485769231 meters Centerline goodness [0,1] 0.9998933174020653 Centerline is valid? [True, True] Translation: X:44.68, Y:-2.72, Z:-0.73 [[ 9.96416820e-01 8.39147497e-02 1.05752035e-02 4.46792894e+01] [-8.39080123e-02 9.96472919e-01 -1.07995751e-03 -2.72007674e+00] [-1.06285283e-02 1.88743521e-04 9.99943498e-01 -7.34863872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.515769231 meters Centerline goodness [0,1] 0.9997891407485503 Centerline is valid? [True, True] Translation: X:44.71, Y:-2.72, Z:-0.73 [[ 9.96195209e-01 8.64384776e-02 1.11128651e-02 4.47098614e+01] [-8.64311948e-02 9.96257176e-01 -1.13485824e-03 -2.72174737e+00] [-1.11693671e-02 1.70042125e-04 9.99937606e-01 -7.34602031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545769231 meters Centerline goodness [0,1] 0.9998935853232878 Centerline is valid? [True, True] Translation: X:44.74, Y:-2.72, Z:-0.73 [[ 9.95792430e-01 9.07975361e-02 1.23791631e-02 4.47410722e+01] [-9.07888336e-02 9.95869364e-01 -1.26432614e-03 -2.71860448e+00] [-1.24428269e-02 1.35116620e-04 9.99922576e-01 -7.32835659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.575769231 meters Centerline goodness [0,1] 0.9999576019672687 Centerline is valid? [True, True] Translation: X:44.77, Y:-2.72, Z:-0.73 [[ 9.95639987e-01 9.25074509e-02 1.19745001e-02 4.47710568e+01] [-9.24994316e-02 9.95711986e-01 -1.22300050e-03 -2.72042153e+00] [-1.20362899e-02 1.10033746e-04 9.99927555e-01 -7.33748552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:-2.72, Z:-0.74 [[ 9.95538440e-01 9.37137134e-02 1.09979035e-02 4.48018197e+01] [-9.37070211e-02 9.95599183e-01 -1.12338379e-03 -2.72265191e+00] [-1.10547802e-02 8.77909656e-05 9.99938890e-01 -7.36129947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.635769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.83, Y:-2.73, Z:-0.74 [[ 9.95403285e-01 9.54464672e-02 7.89123348e-03 4.48317775e+01] [-9.54430763e-02 9.95434563e-01 -8.06052147e-04 -2.72572091e+00] [-7.93214138e-03 4.91833567e-05 9.99968539e-01 -7.42594385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665769231 meters Centerline goodness [0,1] 0.9999573050977714 Centerline is valid? [True, True] Translation: X:44.86, Y:-2.73, Z:-0.74 [[ 9.95381258e-01 9.57341075e-02 7.15061314e-03 4.48601520e+01] [-9.57313294e-02 9.95406941e-01 -7.30559274e-04 -2.72942900e+00] [-7.18770940e-03 4.26473072e-05 9.99974167e-01 -7.44159580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.695769231 meters Centerline goodness [0,1] 0.999914690325883 Centerline is valid? [True, True] Translation: X:44.89, Y:-2.73, Z:-0.74 [[ 9.95332927e-01 9.61122499e-02 8.64874131e-03 4.48894647e+01] [-9.61082038e-02 9.95370500e-01 -8.83193951e-04 -2.73298571e+00] [-8.69358772e-03 4.78570282e-05 9.99962209e-01 -7.41276305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.92, Y:-2.74, Z:-0.74 [[ 9.95261198e-01 9.67371057e-02 9.85291178e-03 4.49176669e+01] [-9.67318878e-02 9.95309967e-01 -1.00589274e-03 -2.73518306e+00] [-9.90400844e-03 4.80352602e-05 9.99950953e-01 -7.39492472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.755769231 meters Centerline goodness [0,1] 0.9999574123759636 Centerline is valid? [True, True] Translation: X:44.95, Y:-2.73, Z:-0.74 [[ 9.95119632e-01 9.81883803e-02 9.79591953e-03 4.49474664e+01] [-9.81832952e-02 9.95167846e-01 -9.99839784e-04 -2.73492982e+00] [-9.84675678e-03 3.31645390e-05 9.99951519e-01 -7.39584510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.98, Y:-2.74, Z:-0.74 [[ 9.95006123e-01 9.93973221e-02 9.10972374e-03 4.49760967e+01] [-9.93929769e-02 9.95047824e-01 -9.29608743e-04 -2.73651907e+00] [-9.15701140e-03 1.95238310e-05 9.99958074e-01 -7.41948455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.815769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.01, Y:-2.74, Z:-0.74 [[ 9.94901274e-01 1.00486508e-01 8.59745318e-03 4.50054394e+01] [-1.00482681e-01 9.94938421e-01 -8.77123394e-04 -2.73742678e+00] [-8.64207556e-03 8.75604107e-06 9.99962657e-01 -7.42857296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-2.74, Z:-0.74 [[ 9.94763545e-01 1.01858465e-01 8.38703838e-03 4.50342413e+01] [-1.01854872e-01 9.94798901e-01 -8.55502923e-04 -2.73606322e+00] [-8.43055677e-03 -3.23760168e-06 9.99964462e-01 -7.43343140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.875769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:-2.74, Z:-0.74 [[ 9.94776215e-01 1.01736564e-01 8.36381666e-03 4.50641168e+01] [-1.01732990e-01 9.94811375e-01 -8.52803449e-04 -2.73713311e+00] [-8.40718125e-03 -2.52748831e-06 9.99964659e-01 -7.43531787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.09, Y:-2.74, Z:-0.75 [[ 9.94941664e-01 1.00185834e-01 7.34056193e-03 4.50925402e+01] [-1.00183039e-01 9.94968743e-01 -7.48379490e-04 -2.73871985e+00] [-7.37860670e-03 9.19413105e-06 9.99972778e-01 -7.46729832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.935769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.12, Y:-2.74, Z:-0.75 [[ 9.95112060e-01 9.85305906e-02 6.61141218e-03 4.51213990e+01] [-9.85282882e-02 9.95134022e-01 -6.73850712e-04 -2.74324580e+00] [-6.64563611e-03 1.91458445e-05 9.99977917e-01 -7.48169882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965769231 meters Centerline goodness [0,1] 0.999978840904763 Centerline is valid? [True, True] Translation: X:45.15, Y:-2.75, Z:-0.75 [[ 9.95506471e-01 9.43919962e-02 7.55098811e-03 4.51491959e+01] [-9.43888763e-02 9.95535106e-01 -7.69284037e-04 -2.75288054e+00] [-7.58988801e-03 5.30979542e-05 9.99971195e-01 -7.46591181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.995769231000004 meters Centerline goodness [0,1] 0.9999789091829417 Centerline is valid? [True, True] Translation: X:45.18, Y:-2.76, Z:-0.74 [[ 9.95695906e-01 9.22723810e-02 8.68737867e-03 4.51787816e+01] [-9.22681743e-02 9.95733800e-01 -8.84650245e-04 -2.75926213e+00] [-8.73194536e-03 7.92740586e-05 9.99961873e-01 -7.44644715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025769231000005 meters Centerline goodness [0,1] 0.9999358467164211 Centerline is valid? [True, True] Translation: X:45.21, Y:-2.77, Z:-0.74 [[ 9.96030485e-01 8.85311201e-02 9.24731259e-03 4.52087786e+01] [-8.85261955e-02 9.96073404e-01 -9.41319954e-04 -2.77077085e+00] [-9.29433824e-03 1.18953968e-04 9.99956800e-01 -7.43361000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.055769231 meters Centerline goodness [0,1] 0.9999152075295714 Centerline is valid? [True, True] Translation: X:45.24, Y:-2.78, Z:-0.74 [[ 9.96201777e-01 8.66430618e-02 8.66020356e-03 4.52381971e+01] [-8.66386694e-02 9.96239411e-01 -8.81781779e-04 -2.78013382e+00] [-8.70403637e-03 1.28124062e-04 9.99962111e-01 -7.44523083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085769231 meters Centerline goodness [0,1] 0.9998717428015648 Centerline is valid? [True, True] Translation: X:45.27, Y:-2.79, Z:-0.74 [[ 9.96458998e-01 8.34554469e-02 1.02300263e-02 4.52682663e+01] [-8.34491484e-02 9.96511492e-01 -1.04175190e-03 -2.79416534e+00] [-1.02812786e-02 1.84376070e-04 9.99947129e-01 -7.41799763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.115769231 meters Centerline goodness [0,1] 0.9998504688868477 Centerline is valid? [True, True] Translation: X:45.30, Y:-2.80, Z:-0.74 [[ 9.96514769e-01 8.25141371e-02 1.22365094e-02 4.53000225e+01] [-8.25050492e-02 9.96589867e-01 -1.24650572e-03 -2.80277933e+00] [-1.22976357e-02 2.32587547e-04 9.99924354e-01 -7.38231534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145769231 meters Centerline goodness [0,1] 0.9997448491420552 Centerline is valid? [True, True] Translation: X:45.33, Y:-2.81, Z:-0.74 [[ 9.96531976e-01 8.21128951e-02 1.34719138e-02 4.53309135e+01] [-8.21018100e-02 9.96622999e-01 -1.37476854e-03 -2.81136564e+00] [-1.35393053e-02 2.63932306e-04 9.99908305e-01 -7.35740747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.175769231000004 meters Centerline goodness [0,1] 0.9997450280469148 Centerline is valid? [True, True] Translation: X:45.36, Y:-2.82, Z:-0.74 [[ 9.96467744e-01 8.31420769e-02 1.18080461e-02 4.53609419e+01] [-8.31336145e-02 9.96537679e-01 -1.20656315e-03 -2.82492500e+00] [-1.18674790e-02 2.20655715e-04 9.99929555e-01 -7.39456570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205769231000005 meters Centerline goodness [0,1] 0.9998933378842503 Centerline is valid? [True, True] Translation: X:45.39, Y:-2.83, Z:-0.74 [[ 9.96313968e-01 8.50964047e-02 1.08202967e-02 4.53926035e+01] [-8.50894046e-02 9.96372706e-01 -1.10650186e-03 -2.82809421e+00] [-1.08752077e-02 1.81730654e-04 9.99940847e-01 -7.42095822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.235769231 meters Centerline goodness [0,1] 0.9999569818463392 Centerline is valid? [True, True] Translation: X:45.42, Y:-2.83, Z:-0.74 [[ 9.95899477e-01 8.98833303e-02 1.02576355e-02 4.54238199e+01] [-8.98772749e-02 9.95952294e-01 -1.05072540e-03 -2.83245996e+00] [-1.03105583e-02 1.24488557e-04 9.99946837e-01 -7.42092167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265769231 meters Centerline goodness [0,1] 0.9999365897994124 Centerline is valid? [True, True] Translation: X:45.45, Y:-2.83, Z:-0.74 [[ 9.95629583e-01 9.28097172e-02 1.03965860e-02 4.54549342e+01] [-9.28036552e-02 9.95683859e-01 -1.06504679e-03 -2.83477164e+00] [-1.04505596e-02 9.55509056e-05 9.99945387e-01 -7.41384727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.49, Y:-2.83, Z:-0.74 [[ 9.94874785e-01 1.00664277e-01 9.53237622e-03 4.54865740e+01] [-1.00659526e-01 9.94920451e-01 -9.78104387e-04 -2.82895433e+00] [-9.58241621e-03 1.35669170e-05 9.99954088e-01 -7.42618205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.52, Y:-2.83, Z:-0.74 [[ 9.94433707e-01 1.04972710e-01 9.07378168e-03 4.55172435e+01] [-1.04968583e-01 9.94475102e-01 -9.31176116e-04 -2.82673779e+00] [-9.12139805e-03 -2.64690910e-05 9.99958399e-01 -7.43960066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.355769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.55, Y:-2.82, Z:-0.74 [[ 9.93628803e-01 1.12300820e-01 9.50409507e-03 4.55473827e+01] [-1.12296627e-01 9.93674251e-01 -9.75385383e-04 -2.82125049e+00] [-9.55351112e-03 -9.81068070e-05 9.99954359e-01 -7.44601405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385769231000005 meters Centerline goodness [0,1] 0.9999787329065737 Centerline is valid? [True, True] Translation: X:45.58, Y:-2.82, Z:-0.74 [[ 9.93342379e-01 1.14754185e-01 1.01190054e-02 4.55766669e+01] [-1.14749562e-01 9.93393910e-01 -1.03819908e-03 -2.82111833e+00] [-1.01712960e-02 -1.29864294e-04 9.99948263e-01 -7.43957511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.415769231 meters Centerline goodness [0,1] 0.9998095076831901 Centerline is valid? [True, True] Translation: X:45.61, Y:-2.82, Z:-0.74 [[ 9.92701260e-01 1.20138238e-01 1.05362728e-02 4.56065967e+01] [-1.20133528e-01 9.92757154e-01 -1.08110635e-03 -2.81746157e+00] [-1.05898424e-02 -1.92543988e-04 9.99943908e-01 -7.43483416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445769231 meters Centerline goodness [0,1] 0.9997451742371154 Centerline is valid? [True, True] Translation: X:45.64, Y:-2.82, Z:-0.74 [[ 9.92277693e-01 1.23651263e-01 9.76449804e-03 4.56366942e+01] [-1.23647392e-01 9.92325712e-01 -1.00155813e-03 -2.81749904e+00] [-9.81340640e-03 -2.13530925e-04 9.99951825e-01 -7.44999657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.475769231 meters Centerline goodness [0,1] 0.9995722199644943 Centerline is valid? [True, True] Translation: X:45.67, Y:-2.81, Z:-0.75 [[ 9.91779731e-01 1.27673287e-01 8.51448887e-03 4.56656926e+01] [-1.27670492e-01 9.91816255e-01 -8.73248205e-04 -2.81009437e+00] [-8.55629893e-03 -2.20979115e-04 9.99963370e-01 -7.47525989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505769231 meters Centerline goodness [0,1] 0.9995722199644943 Centerline is valid? [True, True] Translation: X:45.69, Y:-2.81, Z:-0.75 [[ 9.91785523e-01 1.27628288e-01 8.51453056e-03 4.56938907e+01] [-1.27625495e-01 9.91822046e-01 -8.72841468e-04 -2.81289183e+00] [-8.55629838e-03 -2.20999645e-04 9.99963370e-01 -7.47857560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.535769231 meters Centerline goodness [0,1] 0.9985208038374574 Centerline is valid? [True, True] Translation: X:45.72, Y:-2.80, Z:-0.75 [[ 9.90713184e-01 1.35784090e-01 7.07581703e-03 4.57248812e+01] [-1.35782371e-01 9.90738423e-01 -7.24960383e-04 -2.79829947e+00] [-7.10872189e-03 -2.42543406e-04 9.99974703e-01 -7.50772406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565769231000004 meters Centerline goodness [0,1] 0.9971309618827793 Centerline is valid? [True, True] Translation: X:45.75, Y:-2.79, Z:-0.75 [[ 9.90214815e-01 1.39356153e-01 7.38124882e-03 4.57547277e+01] [-1.39354383e-01 9.90242286e-01 -7.56167907e-04 -2.79124996e+00] [-7.41460135e-03 -2.79840710e-04 9.99972472e-01 -7.50143251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.595769231 meters Centerline goodness [0,1] 0.991875685086079 Centerline is valid? [True, True] Translation: X:45.79, Y:-2.78, Z:-0.75 [[ 9.89403014e-01 1.44880779e-01 9.55172292e-03 4.57867911e+01] [-1.44878073e-01 9.89449032e-01 -9.78373956e-04 -2.77830191e+00] [-9.59269058e-03 -4.15829067e-04 9.99953903e-01 -7.47141002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625769231 meters Centerline goodness [0,1] 0.993921168510364 Centerline is valid? [True, True] Translation: X:45.82, Y:-2.78, Z:-0.75 [[ 9.89065466e-01 1.47119218e-01 1.02684059e-02 4.58165337e+01] [-1.47116210e-01 9.89118655e-01 -1.05182178e-03 -2.78011510e+00] [-1.03114150e-02 -4.70328353e-04 9.99946725e-01 -7.45476558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.655769231 meters Centerline goodness [0,1] 0.991651823078739 Centerline is valid? [True, True] Translation: X:45.85, Y:-2.78, Z:-0.75 [[ 9.88808283e-01 1.48814952e-01 1.05966704e-02 4.58462331e+01] [-1.48811848e-01 9.88864933e-01 -1.08520182e-03 -2.77679715e+00] [-1.06401701e-02 -5.03853564e-04 9.99943265e-01 -7.45625679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685769231 meters Centerline goodness [0,1] 0.987469848656264 Centerline is valid? [True, True] Translation: X:45.88, Y:-2.77, Z:-0.75 [[ 9.88666016e-01 1.49766294e-01 1.04673348e-02 4.58753237e+01] [-1.49763322e-01 9.88721295e-01 -1.07165396e-03 -2.76735557e+00] [-1.05097744e-02 -5.08114978e-04 9.99944642e-01 -7.46482022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.715769231 meters Centerline goodness [0,1] 0.988590575560928 Centerline is valid? [True, True] Translation: X:45.90, Y:-2.76, Z:-0.75 [[ 9.88899290e-01 1.48160423e-01 1.12554124e-02 4.59044378e+01] [-1.48156895e-01 9.88963199e-01 -1.15127458e-03 -2.76061114e+00] [-1.13017620e-02 -5.29072326e-04 9.99935993e-01 -7.45088882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745769231000004 meters Centerline goodness [0,1] 0.9910842188535631 Centerline is valid? [True, True] Translation: X:45.93, Y:-2.76, Z:-0.75 [[ 9.89155583e-01 1.46496643e-01 1.04864319e-02 4.59333113e+01] [-1.46493492e-01 9.89211053e-01 -1.07217859e-03 -2.76247211e+00] [-1.05303649e-02 -4.75642583e-04 9.99944441e-01 -7.46949381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.775769231000005 meters Centerline goodness [0,1] 0.9943331913080529 Centerline is valid? [True, True] Translation: X:45.96, Y:-2.76, Z:-0.75 [[ 9.89533573e-01 1.44016121e-01 9.09201997e-03 4.59631074e+01] [-1.44013651e-01 9.89575265e-01 -9.29176271e-04 -2.76476409e+00] [-9.13105444e-03 -3.89923877e-04 9.99958235e-01 -7.50343847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805769231 meters Centerline goodness [0,1] 0.9983434214718063 Centerline is valid? [True, True] Translation: X:45.99, Y:-2.77, Z:-0.76 [[ 9.90712183e-01 1.35801441e-01 6.88036946e-03 4.59919670e+01] [-1.35799829e-01 9.90736046e-01 -7.03086182e-04 -2.76967957e+00] [-6.91211015e-03 -2.37796954e-04 9.99976083e-01 -7.56165580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.835769231 meters Centerline goodness [0,1] 0.9996153599589718 Centerline is valid? [True, True] Translation: X:46.02, Y:-2.78, Z:-0.76 [[ 9.91504295e-01 1.29859266e-01 7.47024328e-03 4.60212402e+01] [-1.29857198e-01 9.91532413e-01 -7.63278276e-04 -2.78396695e+00] [-7.50610710e-03 -2.13271169e-04 9.99971806e-01 -7.55530857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865769231 meters Centerline goodness [0,1] 0.999957483897026 Centerline is valid? [True, True] Translation: X:46.05, Y:-2.80, Z:-0.75 [[ 9.93176830e-01 1.16164521e-01 1.02756194e-02 4.60485192e+01] [-1.16159874e-01 9.93229974e-01 -1.04992003e-03 -2.80462046e+00] [-1.03280166e-02 -1.50858401e-04 9.99946653e-01 -7.50227577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.08, Y:-2.82, Z:-0.75 [[ 9.93986576e-01 1.08937992e-01 1.10995739e-02 4.60761150e+01] [-1.08932123e-01 9.94048544e-01 -1.13382325e-03 -2.82015104e+00] [-1.11570317e-02 -8.20950487e-05 9.99937755e-01 -7.48901884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.10, Y:-2.85, Z:-0.75 [[ 9.95425985e-01 9.48006188e-02 1.18300971e-02 4.61040198e+01] [-9.47929547e-02 9.95496276e-01 -1.20816472e-03 -2.85009482e+00] [-1.18913523e-02 8.12287024e-05 9.99929292e-01 -7.48521399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.955769231000005 meters Centerline goodness [0,1] 0.9998932900802459 Centerline is valid? [True, True] Translation: X:46.13, Y:-2.87, Z:-0.75 [[ 9.96054925e-01 8.78842307e-02 1.22860858e-02 4.61349688e+01] [-8.78754376e-02 9.96130681e-01 -1.25476326e-03 -2.86632702e+00] [-1.23488210e-02 1.70167959e-04 9.99923736e-01 -7.48488064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985769231 meters Centerline goodness [0,1] 0.9993446227352487 Centerline is valid? [True, True] Translation: X:46.16, Y:-2.90, Z:-0.75 [[ 9.97057207e-01 7.57773958e-02 1.16065240e-02 4.61633459e+01] [-7.57687219e-02 9.97124714e-01 -1.18587122e-03 -2.89592962e+00] [-1.16630142e-02 3.02969951e-04 9.99931939e-01 -7.50482954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.015769231 meters Centerline goodness [0,1] 0.9989785060651203 Centerline is valid? [True, True] Translation: X:46.19, Y:-2.91, Z:-0.75 [[ 9.97373658e-01 7.16018290e-02 1.09070675e-02 4.61936234e+01] [-7.15939172e-02 9.97433240e-01 -1.11462064e-03 -2.90950759e+00] [-1.09588806e-02 3.30813582e-04 9.99939895e-01 -7.51315346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045769231 meters Centerline goodness [0,1] 0.9978726572638118 Centerline is valid? [True, True] Translation: X:46.22, Y:-2.93, Z:-0.75 [[ 9.97695376e-01 6.70313827e-02 1.05228826e-02 4.62229938e+01] [-6.70237619e-02 9.97750800e-01 -1.07559888e-03 -2.93030220e+00] [-1.05713134e-02 3.67836855e-04 9.99944054e-01 -7.50198341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.075769231 meters Centerline goodness [0,1] 0.9983797381998039 Centerline is valid? [True, True] Translation: X:46.25, Y:-2.94, Z:-0.75 [[ 9.97700187e-01 6.69098786e-02 1.08353168e-02 4.62543981e+01] [-6.69017899e-02 9.97758951e-01 -1.10767463e-03 -2.93679063e+00] [-1.08851487e-02 3.80225096e-04 9.99940683e-01 -7.49407370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105769231000004 meters Centerline goodness [0,1] 0.997920997920998 Centerline is valid? [True, True] Translation: X:46.29, Y:-2.95, Z:-0.75 [[ 9.97592318e-01 6.84545598e-02 1.11148477e-02 4.62852473e+01] [-6.84461226e-02 9.97654165e-01 -1.13816081e-03 -2.94587443e+00] [-1.11666864e-02 3.74652252e-04 9.99937580e-01 -7.48957579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.135769231000005 meters Centerline goodness [0,1] 0.9994859272587071 Centerline is valid? [True, True] Translation: X:46.31, Y:-2.95, Z:-0.75 [[ 9.97135984e-01 7.48403549e-02 1.08972943e-02 4.63149036e+01] [-7.48326049e-02 9.97195483e-01 -1.11777994e-03 -2.95216650e+00] [-1.09503877e-02 2.99105677e-04 9.99939998e-01 -7.48575353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165769231 meters Centerline goodness [0,1] 0.9997452283391011 Centerline is valid? [True, True] Translation: X:46.34, Y:-2.95, Z:-0.75 [[ 9.96793397e-01 7.92786820e-02 1.08542373e-02 4.63444778e+01] [-7.92712561e-02 9.96852461e-01 -1.11335307e-03 -2.95489764e+00] [-1.09083384e-02 2.49353960e-04 9.99940471e-01 -7.49478254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.195769231 meters Centerline goodness [0,1] 0.9999146539216524 Centerline is valid? [True, True] Translation: X:46.38, Y:-2.95, Z:-0.75 [[ 9.96006251e-01 8.85739079e-02 1.12343807e-02 4.63759113e+01] [-8.85665434e-02 9.96069596e-01 -1.15233905e-03 -2.94929646e+00] [-1.12922922e-02 1.52746633e-04 9.99936228e-01 -7.49760870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225769231 meters Centerline goodness [0,1] 0.9999356789091143 Centerline is valid? [True, True] Translation: X:46.41, Y:-2.95, Z:-0.75 [[ 9.95582387e-01 9.31651806e-02 1.16601527e-02 4.64088475e+01] [-9.31575597e-02 9.95650661e-01 -1.19620716e-03 -2.94812199e+00] [-1.17208836e-02 1.04691405e-04 9.99931303e-01 -7.49468698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.255769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.44, Y:-2.95, Z:-0.75 [[ 9.94789188e-01 1.01408995e-01 1.05208412e-02 4.64401262e+01] [-1.01403246e-01 9.94844820e-01 -1.07978971e-03 -2.94672025e+00] [-1.05761047e-02 7.31567668e-06 9.99944071e-01 -7.51439678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.47, Y:-2.95, Z:-0.75 [[ 9.94428777e-01 1.04959661e-01 9.74044408e-03 4.64718840e+01] [-1.04954890e-01 9.94476480e-01 -1.00109628e-03 -2.94744758e+00] [-9.79171726e-03 -2.67882831e-05 9.99952060e-01 -7.53403289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.315769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.50, Y:-2.94, Z:-0.76 [[ 9.93707450e-01 1.11678193e-01 8.57233310e-03 4.65025816e+01] [-1.11674734e-01 9.93744421e-01 -8.82622683e-04 -2.94162618e+00] [-8.61727790e-03 -8.02442796e-05 9.99962867e-01 -7.56342700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345769231000006 meters Centerline goodness [0,1] 0.9999356637357925 Centerline is valid? [True, True] Translation: X:46.53, Y:-2.94, Z:-0.76 [[ 9.93318450e-01 1.15090552e-01 8.52180645e-03 4.65330785e+01] [-1.15087259e-01 9.93354998e-01 -8.77420370e-04 -2.94010799e+00] [-8.56616183e-03 -1.09193503e-04 9.99963304e-01 -7.56679746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.375769231 meters Centerline goodness [0,1] 0.9998088319632957 Centerline is valid? [True, True] Translation: X:46.56, Y:-2.93, Z:-0.76 [[ 9.92519702e-01 1.21725766e-01 9.35303648e-03 4.65632652e+01] [-1.21722093e-01 9.92563753e-01 -9.63059984e-04 -2.93309695e+00] [-9.40071421e-03 -1.82615169e-04 9.99955796e-01 -7.55634373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405769231 meters Centerline goodness [0,1] 0.9996185228356469 Centerline is valid? [True, True] Translation: X:46.59, Y:-2.93, Z:-0.76 [[ 9.92239004e-01 1.23998556e-01 9.27992278e-03 4.65928454e+01] [-1.23995041e-01 9.92282378e-01 -9.55310980e-04 -2.92886570e+00] [-9.32676103e-03 -2.02767595e-04 9.99956484e-01 -7.56282492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.435769231 meters Centerline goodness [0,1] 0.9998106817560319 Centerline is valid? [True, True] Translation: X:46.62, Y:-2.93, Z:-0.76 [[ 9.92068552e-01 1.25396615e-01 8.69926964e-03 4.66226070e+01] [-1.25393582e-01 9.92106672e-01 -8.95348042e-04 -2.93237491e+00] [-8.74287706e-03 -2.02585949e-04 9.99961760e-01 -7.57825815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465769231 meters Centerline goodness [0,1] 0.9999138710649843 Centerline is valid? [True, True] Translation: X:46.65, Y:-2.94, Z:-0.76 [[ 9.92212847e-01 1.24274327e-01 8.34015477e-03 4.66523097e+01] [-1.24271502e-01 9.92247881e-01 -8.58163818e-04 -2.93794963e+00] [-8.38214863e-03 -1.84962392e-04 9.99964852e-01 -7.59279456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.495769231000004 meters Centerline goodness [0,1] 0.9998713136729223 Centerline is valid? [True, True] Translation: X:46.68, Y:-2.95, Z:-0.76 [[ 9.92730133e-01 1.20111656e-01 7.75071615e-03 4.66818887e+01] [-1.20109090e-01 9.92760379e-01 -7.97384950e-04 -2.94736924e+00] [-7.79037913e-03 -1.39343394e-04 9.99969645e-01 -7.61287785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525769231000005 meters Centerline goodness [0,1] 0.9999574422810937 Centerline is valid? [True, True] Translation: X:46.71, Y:-2.96, Z:-0.76 [[ 9.93076719e-01 1.17202072e-01 7.89327436e-03 4.67123013e+01] [-1.17199319e-01 9.93108081e-01 -8.12006932e-04 -2.95523944e+00] [-7.93404345e-03 -1.18701198e-04 9.99968518e-01 -7.60423185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.555769231 meters Centerline goodness [0,1] 0.9999575731862537 Centerline is valid? [True, True] Translation: X:46.74, Y:-2.96, Z:-0.76 [[ 9.93585000e-01 1.12742614e-01 8.82897675e-03 4.67428917e+01] [-1.12738993e-01 9.93624222e-01 -9.08352908e-04 -2.96498191e+00] [-8.87509523e-03 -9.28441244e-05 9.99960611e-01 -7.57742040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.77, Y:-2.97, Z:-0.76 [[ 9.93707918e-01 1.11591840e-01 9.58305821e-03 4.67741098e+01] [-1.11587518e-01 9.93754121e-01 -9.86185916e-04 -2.96983680e+00] [-9.63325389e-03 -8.93689301e-05 9.99953595e-01 -7.56906575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.615769231 meters Centerline goodness [0,1] 0.9999789580001683 Centerline is valid? [True, True] Translation: X:46.80, Y:-2.97, Z:-0.76 [[ 9.93801362e-01 1.10667608e-01 1.05609343e-02 4.68041772e+01] [-1.10662304e-01 9.93857471e-01 -1.08710905e-03 -2.97327705e+00] [-1.06163712e-02 -8.83268688e-05 9.99943641e-01 -7.55843445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.83, Y:-2.98, Z:-0.75 [[ 9.94086062e-01 1.07968062e-01 1.16532949e-02 4.68346384e+01] [-1.07961416e-01 9.94154361e-01 -1.19970451e-03 -2.97897053e+00] [-1.17147037e-02 -6.54966859e-05 9.99931378e-01 -7.54206089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.675769231000004 meters Centerline goodness [0,1] 0.9999786493584132 Centerline is valid? [True, True] Translation: X:46.87, Y:-2.99, Z:-0.76 [[ 9.94355501e-01 1.05498778e-01 1.12758855e-02 4.68658981e+01] [-1.05492395e-01 9.94419432e-01 -1.16104795e-03 -2.98718207e+00] [-1.13354488e-02 -3.50257481e-05 9.99935751e-01 -7.55878961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-3.00, Z:-0.76 [[ 9.95135017e-01 9.80414017e-02 9.70469590e-03 4.68956325e+01] [-9.80363033e-02 9.95182336e-01 -1.00083309e-03 -3.00337519e+00] [-9.75606501e-03 4.45515435e-05 9.99952407e-01 -7.59931744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.735769231 meters Centerline goodness [0,1] 0.9998730212477779 Centerline is valid? [True, True] Translation: X:46.93, Y:-3.02, Z:-0.76 [[ 9.95557967e-01 9.36889073e-02 9.31251405e-03 4.69257007e+01] [-9.36840140e-02 9.95601517e-01 -9.61255006e-04 -3.01582517e+00] [-9.36161205e-03 8.45513827e-05 9.99956176e-01 -7.62182077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765769231 meters Centerline goodness [0,1] 0.9998939352156297 Centerline is valid? [True, True] Translation: X:46.96, Y:-3.03, Z:-0.76 [[ 9.95934793e-01 8.96227862e-02 9.03577001e-03 4.69568653e+01] [-8.96180068e-02 9.95975774e-01 -9.33271049e-04 -3.02628650e+00] [-9.08305038e-03 1.19709410e-04 9.99958741e-01 -7.62583101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.795769231 meters Centerline goodness [0,1] 0.9997863841240681 Centerline is valid? [True, True] Translation: X:46.99, Y:-3.04, Z:-0.76 [[ 9.96548298e-01 8.25571132e-02 8.70704727e-03 4.69859268e+01] [-8.25523903e-02 9.96586319e-01 -9.01043575e-04 -3.04270075e+00] [-8.75171174e-03 1.79145877e-04 9.99961687e-01 -7.62666870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825769231 meters Centerline goodness [0,1] 0.9997660967933997 Centerline is valid? [True, True] Translation: X:47.02, Y:-3.05, Z:-0.76 [[ 9.96730090e-01 8.02321953e-02 9.58764799e-03 4.70163034e+01] [-8.02263609e-02 9.96776177e-01 -9.92208648e-04 -3.05462586e+00] [-9.63634618e-03 2.19782107e-04 9.99953545e-01 -7.61696320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.855769231000004 meters Centerline goodness [0,1] 0.9997242725036056 Centerline is valid? [True, True] Translation: X:47.05, Y:-3.07, Z:-0.76 [[ 9.96874107e-01 7.82950890e-02 1.05779625e-02 4.70456933e+01] [-7.82878569e-02 9.96930193e-01 -1.09668386e-03 -3.07012154e+00] [-1.06313551e-02 2.65129734e-04 9.99943450e-01 -7.59487125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885769231000005 meters Centerline goodness [0,1] 0.9996385593400519 Centerline is valid? [True, True] Translation: X:47.08, Y:-3.07, Z:-0.76 [[ 9.96807253e-01 7.91212236e-02 1.07299663e-02 4.70779891e+01] [-7.91138286e-02 9.96864968e-01 -1.11257322e-03 -3.07403062e+00] [-1.07843556e-02 2.60132341e-04 9.99941813e-01 -7.59498191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.915769231 meters Centerline goodness [0,1] 0.9998077292828302 Centerline is valid? [True, True] Translation: X:47.11, Y:-3.08, Z:-0.76 [[ 9.96588175e-01 8.19924487e-02 9.44705903e-03 4.71077354e+01] [-8.19868306e-02 9.96632930e-01 -9.81099533e-04 -3.07875880e+00] [-9.49569287e-03 2.03217765e-04 9.99954894e-01 -7.62252826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945769231 meters Centerline goodness [0,1] 0.9999149370534195 Centerline is valid? [True, True] Translation: X:47.14, Y:-3.08, Z:-0.76 [[ 9.96454926e-01 8.37153154e-02 8.32620683e-03 4.71392700e+01] [-8.37110100e-02 9.96489698e-01 -8.64870164e-04 -3.08227600e+00] [-8.36938221e-03 1.64808953e-04 9.99964963e-01 -7.64329081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.975769231 meters Centerline goodness [0,1] 0.9999367048547376 Centerline is valid? [True, True] Translation: X:47.17, Y:-3.08, Z:-0.77 [[ 9.96072306e-01 8.81948242e-02 7.85074620e-03 4.71702391e+01] [-8.81911219e-02 9.96103237e-01 -8.17201133e-04 -3.08125353e+00] [-7.89222662e-03 1.21625301e-04 9.99968848e-01 -7.66071211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005769231 meters Centerline goodness [0,1] 0.9998313339377201 Centerline is valid? [True, True] Translation: X:47.20, Y:-3.08, Z:-0.77 [[ 9.95826847e-01 9.09008105e-02 8.11991846e-03 4.72015544e+01] [-9.08969420e-02 9.95859946e-01 -8.44972399e-04 -3.08147128e+00] [-8.16311024e-03 1.03370442e-04 9.99966676e-01 -7.66139121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.035769231 meters Centerline goodness [0,1] 0.9998734070385686 Centerline is valid? [True, True] Translation: X:47.23, Y:-3.08, Z:-0.77 [[ 9.95594590e-01 9.33868628e-02 8.38491556e-03 4.72337048e+01] [-9.33828148e-02 9.95629894e-01 -8.73848417e-04 -3.08096342e+00] [-8.42987855e-03 8.69917394e-05 9.99964464e-01 -7.66042824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.27, Y:-3.08, Z:-0.77 [[ 9.95235110e-01 9.71564241e-02 8.22829640e-03 4.72668935e+01] [-9.71526414e-02 9.95269122e-01 -8.59129494e-04 -3.07758274e+00] [-8.27283928e-03 5.56351080e-05 9.99965778e-01 -7.65339390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.095769231000006 meters Centerline goodness [0,1] 0.9999575200186912 Centerline is valid? [True, True] Translation: X:47.30, Y:-3.08, Z:-0.77 [[ 9.95083071e-01 9.87135043e-02 8.08240232e-03 4.72981945e+01] [-9.87099032e-02 9.95115894e-01 -8.44233083e-04 -3.07732102e+00] [-8.12626421e-03 4.22688986e-05 9.99966980e-01 -7.65612291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125769231 meters Centerline goodness [0,1] 0.9998935241380779 Centerline is valid? [True, True] Translation: X:47.33, Y:-3.08, Z:-0.77 [[ 9.94924271e-01 1.00200490e-01 9.24972764e-03 4.73309381e+01] [-1.00195830e-01 9.94967266e-01 -9.66997863e-04 -3.07535696e+00] [-9.30006989e-03 3.53055087e-05 9.99956753e-01 -7.65190218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.155769231 meters Centerline goodness [0,1] 0.9999577050775055 Centerline is valid? [True, True] Translation: X:47.36, Y:-3.08, Z:-0.77 [[ 9.94923765e-01 1.00140178e-01 9.93209950e-03 4.73626465e+01] [-1.00134785e-01 9.94973338e-01 -1.04007301e-03 -3.08023435e+00] [-9.98632729e-03 4.02447003e-05 9.99950135e-01 -7.65122519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185769231 meters Centerline goodness [0,1] 0.9999573806124405 Centerline is valid? [True, True] Translation: X:47.40, Y:-3.09, Z:-0.76 [[ 9.95042747e-01 9.88997757e-02 1.04290714e-02 4.73953570e+01] [-9.88937413e-02 9.95097398e-01 -1.09400261e-03 -3.08887658e+00] [-1.04861384e-02 5.72094687e-05 9.99945017e-01 -7.64915829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.43, Y:-3.09, Z:-0.77 [[ 9.95081448e-01 9.85759315e-02 9.78247481e-03 4.74269438e+01] [-9.85705893e-02 9.95129530e-01 -1.02792982e-03 -3.09479813e+00] [-9.83615870e-03 5.86095865e-05 9.99951622e-01 -7.66190931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245769231000004 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:47.46, Y:-3.10, Z:-0.77 [[ 9.95056425e-01 9.88824254e-02 9.21827449e-03 4.74600388e+01] [-9.88776811e-02 9.95099122e-01 -9.70119979e-04 -3.09746429e+00] [-9.26902467e-03 5.38425122e-05 9.99957040e-01 -7.66668327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.275769231000005 meters Centerline goodness [0,1] 0.999957387876851 Centerline is valid? [True, True] Translation: X:47.49, Y:-3.10, Z:-0.77 [[ 9.94748194e-01 1.01917730e-01 9.42373815e-03 4.74908029e+01] [-1.01912890e-01 9.94792830e-01 -9.93726166e-04 -3.09889727e+00] [-9.47594546e-03 2.81069230e-05 9.99955102e-01 -7.66605328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305769231 meters Centerline goodness [0,1] 0.9999786393250026 Centerline is valid? [True, True] Translation: X:47.52, Y:-3.10, Z:-0.77 [[ 9.94559969e-01 1.03690820e-01 9.93384345e-03 4.75242563e+01] [-1.03685513e-01 9.94609579e-01 -1.04913278e-03 -3.10001719e+00] [-9.98908128e-03 1.34298125e-05 9.99950108e-01 -7.66367791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.56, Y:-3.10, Z:-0.77 [[ 9.94209880e-01 1.07005632e-01 9.82391861e-03 4.75568671e+01] [-1.07000585e-01 9.94258414e-01 -1.03952083e-03 -3.09737544e+00] [-9.87874832e-03 -1.76631554e-05 9.99951204e-01 -7.67433504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.59, Y:-3.10, Z:-0.77 [[ 9.94052031e-01 1.08506757e-01 9.31899406e-03 4.75901766e+01] [-1.08502273e-01 9.94095711e-01 -9.86972381e-04 -3.09929271e+00] [-9.37106520e-03 -3.00301333e-05 9.99956090e-01 -7.68732605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.62, Y:-3.10, Z:-0.77 [[ 9.94031540e-01 1.08694325e-01 9.31880730e-03 4.76224765e+01] [-1.08689832e-01 9.94075220e-01 -9.88732140e-04 -3.10292128e+00] [-9.37106499e-03 -3.00286725e-05 9.99956090e-01 -7.69113077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.65, Y:-3.10, Z:-0.77 [[ 9.93828319e-01 1.10593988e-01 8.61636202e-03 4.76535128e+01] [-1.10590204e-01 9.93865669e-01 -9.15789791e-04 -3.10288511e+00] [-8.66478724e-03 -4.27474088e-05 9.99962459e-01 -7.69983849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.455769231000005 meters Centerline goodness [0,1] 0.9999787084548726 Centerline is valid? [True, True] Translation: X:47.69, Y:-3.10, Z:-0.77 [[ 9.93742842e-01 1.11378701e-01 8.36352727e-03 4.76861073e+01] [-1.11375155e-01 9.93778035e-01 -8.90041711e-04 -3.10400805e+00] [-8.41062139e-03 -4.70165641e-05 9.99964629e-01 -7.70476431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485769231 meters Centerline goodness [0,1] 0.9999788279132791 Centerline is valid? [True, True] Translation: X:47.72, Y:-3.11, Z:-0.77 [[ 9.93715116e-01 1.11621057e-01 8.42663174e-03 4.77195332e+01] [-1.11617452e-01 9.93750843e-01 -8.98358841e-04 -3.10567456e+00] [-8.47424815e-03 -4.78464037e-05 9.99964092e-01 -7.70936257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.75, Y:-3.11, Z:-0.77 [[ 9.93739723e-01 1.11336689e-01 9.24687356e-03 4.77517763e+01] [-1.11332318e-01 9.93782743e-01 -9.87795939e-04 -3.10610991e+00] [-9.29936130e-03 -4.78638022e-05 9.99956759e-01 -7.69873074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.78, Y:-3.11, Z:-0.77 [[ 9.93801538e-01 1.10731525e-01 9.85052392e-03 4.77841928e+01] [-1.10726516e-01 9.93850355e-01 -1.05412494e-03 -3.10919772e+00] [-9.90667155e-03 -4.31232058e-05 9.99950927e-01 -7.68746257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.82, Y:-3.11, Z:-0.77 [[ 9.93820813e-01 1.10558962e-01 9.84416104e-03 4.78157447e+01] [-1.10553933e-01 9.93869566e-01 -1.05531910e-03 -3.11170850e+00] [-9.90048705e-03 -3.95126319e-05 9.99950988e-01 -7.69522478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.85, Y:-3.12, Z:-0.77 [[ 9.93836717e-01 1.10432331e-01 9.65816326e-03 4.78489133e+01] [-1.10427468e-01 9.93883645e-01 -1.03699968e-03 -3.11571538e+00] [-9.71360879e-03 -3.59181549e-05 9.99952821e-01 -7.69418717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.635769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.88, Y:-3.12, Z:-0.77 [[ 9.93936594e-01 1.09498174e-01 1.00098251e-02 4.78806336e+01] [-1.09492882e-01 9.93986996e-01 -1.07684476e-03 -3.11799838e+00] [-1.00675485e-02 -2.56891843e-05 9.99949321e-01 -7.69690301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.91, Y:-3.12, Z:-0.77 [[ 9.94136118e-01 1.07635936e-01 1.03867743e-02 4.79125851e+01] [-1.07630115e-01 9.94190377e-01 -1.11941835e-03 -3.12375914e+00] [-1.04469207e-02 -5.07549309e-06 9.99945429e-01 -7.69714606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.695769231 meters Centerline goodness [0,1] 0.9999788547745919 Centerline is valid? [True, True] Translation: X:47.95, Y:-3.13, Z:-0.77 [[ 9.94330949e-01 1.05805344e-01 1.05447889e-02 4.79450688e+01] [-1.05799222e-01 9.94386861e-01 -1.13827414e-03 -3.13066678e+00] [-1.06060350e-02 1.61907473e-05 9.99943754e-01 -7.70158957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725769231 meters Centerline goodness [0,1] 0.9999570898324358 Centerline is valid? [True, True] Translation: X:47.98, Y:-3.14, Z:-0.77 [[ 9.94587657e-01 1.03376292e-01 1.04275773e-02 4.79777392e+01] [-1.03370152e-01 9.94642318e-01 -1.12749616e-03 -3.13816745e+00] [-1.04882660e-02 4.34935115e-05 9.99944996e-01 -7.70771242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.755769231 meters Centerline goodness [0,1] 0.9999364164299945 Centerline is valid? [True, True] Translation: X:48.01, Y:-3.15, Z:-0.77 [[ 9.95104903e-01 9.83220788e-02 9.94995637e-03 4.80077730e+01] [-9.83162169e-02 9.95154641e-01 -1.07775125e-03 -3.15286624e+00] [-1.00077120e-02 9.42334796e-05 9.99949917e-01 -7.72674860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785769231 meters Centerline goodness [0,1] 0.9998941642148043 Centerline is valid? [True, True] Translation: X:48.04, Y:-3.16, Z:-0.77 [[ 9.95361348e-01 9.57289457e-02 9.57889093e-03 4.80381505e+01] [-9.57233788e-02 9.95407432e-01 -1.03901811e-03 -3.16291550e+00] [-9.63436332e-03 1.17274659e-04 9.99953582e-01 -7.73373701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.815769231000004 meters Centerline goodness [0,1] 0.9998925332072389 Centerline is valid? [True, True] Translation: X:48.07, Y:-3.17, Z:-0.77 [[ 9.95664005e-01 9.24604597e-02 1.02104001e-02 4.80688198e+01] [-9.24539459e-02 9.95716344e-01 -1.10914163e-03 -3.17440943e+00] [-1.02692141e-02 1.60340619e-04 9.99947257e-01 -7.72017691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845769231000006 meters Centerline goodness [0,1] 0.9998927820903204 Centerline is valid? [True, True] Translation: X:48.10, Y:-3.18, Z:-0.77 [[ 9.95662597e-01 9.24269178e-02 1.06422406e-02 4.81013702e+01] [-9.24198216e-02 9.95719457e-01 -1.15772786e-03 -3.17935932e+00] [-1.07036913e-02 1.69152345e-04 9.99942700e-01 -7.70618785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.875769231 meters Centerline goodness [0,1] 0.9999145737228772 Centerline is valid? [True, True] Translation: X:48.13, Y:-3.18, Z:-0.77 [[ 9.95579832e-01 9.32791478e-02 1.09452821e-02 4.81327465e+01] [-9.32716694e-02 9.95639982e-01 -1.19284675e-03 -3.18241528e+00] [-1.10088282e-02 1.66689434e-04 9.99939387e-01 -7.69768216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905769231 meters Centerline goodness [0,1] 0.9998713853936678 Centerline is valid? [True, True] Translation: X:48.16, Y:-3.18, Z:-0.77 [[ 9.95303135e-01 9.60985835e-02 1.16932270e-02 4.81642197e+01] [-9.60902202e-02 9.95371810e-01 -1.27626354e-03 -3.18257053e+00] [-1.17617557e-02 1.46664341e-04 9.99930817e-01 -7.69805922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.935769231 meters Centerline goodness [0,1] 0.9999156420693001 Centerline is valid? [True, True] Translation: X:48.20, Y:-3.19, Z:-0.77 [[ 9.95191259e-01 9.72505943e-02 1.16910400e-02 4.81955255e+01] [-9.72423007e-02 9.95259918e-01 -1.27711844e-03 -3.18719618e+00] [-1.17598240e-02 1.34113483e-04 9.99930842e-01 -7.71299353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965769231 meters Centerline goodness [0,1] 0.9999786871270248 Centerline is valid? [True, True] Translation: X:48.23, Y:-3.19, Z:-0.77 [[ 9.95197892e-01 9.72250563e-02 1.13332902e-02 4.82278983e+01] [-9.72172409e-02 9.95262413e-01 -1.23978840e-03 -3.19189997e+00] [-1.14001362e-02 1.32043603e-04 9.99935008e-01 -7.72399655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.995769231000004 meters Centerline goodness [0,1] 0.9999787093614938 Centerline is valid? [True, True] Translation: X:48.26, Y:-3.20, Z:-0.78 [[ 9.95252417e-01 9.68051926e-02 1.00687982e-02 4.82585779e+01] [-9.67989851e-02 9.95303340e-01 -1.10317779e-03 -3.19833085e+00] [-1.01283019e-02 1.23290914e-04 9.99948700e-01 -7.75168482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025769231000005 meters Centerline goodness [0,1] 0.9998516854884845 Centerline is valid? [True, True] Translation: X:48.29, Y:-3.21, Z:-0.78 [[ 9.95461437e-01 9.48840007e-02 7.31805550e-03 4.82880644e+01] [-9.48806650e-02 9.95488330e-01 -8.02442046e-04 -3.21149271e+00] [-7.36117776e-03 1.04458140e-04 9.99972901e-01 -7.82037193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.055769231 meters Centerline goodness [0,1] 0.9999357862967957 Centerline is valid? [True, True] Translation: X:48.32, Y:-3.21, Z:-0.78 [[ 9.95584532e-01 9.35681072e-02 7.51323749e-03 4.83199143e+01] [-9.35645454e-02 9.95612874e-01 -8.24944791e-04 -3.21300537e+00] [-7.55746449e-03 1.18329624e-04 9.99971435e-01 -7.80604616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085769231 meters Centerline goodness [0,1] 0.9998083271217123 Centerline is valid? [True, True] Translation: X:48.35, Y:-3.22, Z:-0.78 [[ 9.95809471e-01 9.08393956e-02 1.05688543e-02 4.83506708e+01] [-9.08321654e-02 9.95865536e-01 -1.16311030e-03 -3.22170074e+00] [-1.06308140e-02 1.98244334e-04 9.99943472e-01 -7.76225031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.115769231 meters Centerline goodness [0,1] 0.9996407666462397 Centerline is valid? [True, True] Translation: X:48.38, Y:-3.23, Z:-0.77 [[ 9.95835464e-01 9.03942915e-02 1.18574945e-02 4.83814630e+01] [-9.03851450e-02 9.95906030e-01 -1.30611008e-03 -3.23063080e+00] [-1.19270152e-02 2.28929375e-04 9.99928844e-01 -7.74423511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145769231 meters Centerline goodness [0,1] 0.9999358549466527 Centerline is valid? [True, True] Translation: X:48.41, Y:-3.23, Z:-0.78 [[ 9.95911040e-01 8.97242528e-02 1.05241854e-02 4.84134208e+01] [-8.97169954e-02 9.95966623e-01 -1.16064022e-03 -3.23391629e+00] [-1.05858750e-02 2.11696116e-04 9.99943946e-01 -7.77615252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.175769231000004 meters Centerline goodness [0,1] 0.9998942604576407 Centerline is valid? [True, True] Translation: X:48.44, Y:-3.24, Z:-0.78 [[ 9.95929625e-01 8.97097552e-02 8.73742284e-03 4.84444170e+01] [-8.97047425e-02 9.95967935e-01 -9.64715919e-04 -3.24387494e+00] [-8.78873742e-03 1.77000896e-04 9.99961363e-01 -7.82017587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205769231000005 meters Centerline goodness [0,1] 0.9998936826213612 Centerline is valid? [True, True] Translation: X:48.48, Y:-3.25, Z:-0.78 [[ 9.95959522e-01 8.94902063e-02 7.49228523e-03 4.84765526e+01] [-8.94865056e-02 9.95987690e-01 -8.28387264e-04 -3.24920514e+00] [-7.53635641e-03 1.54581759e-04 9.99971589e-01 -7.84486620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.235769231 meters Centerline goodness [0,1] 0.999871890680047 Centerline is valid? [True, True] Translation: X:48.51, Y:-3.26, Z:-0.79 [[ 9.96010269e-01 8.89765998e-02 6.83437152e-03 4.85067278e+01] [-8.89735016e-02 9.96033706e-01 -7.56642835e-04 -3.25736014e+00] [-6.87458790e-03 1.45546068e-04 9.99976359e-01 -7.86884071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265769231 meters Centerline goodness [0,1] 0.9999151355709255 Centerline is valid? [True, True] Translation: X:48.54, Y:-3.26, Z:-0.79 [[ 9.95990577e-01 8.92106064e-02 6.65117052e-03 4.85398569e+01] [-8.92076721e-02 9.96012775e-01 -7.37135046e-04 -3.26093400e+00] [-6.69041107e-03 1.40844121e-04 9.99977609e-01 -7.86682773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.295769231 meters Centerline goodness [0,1] 0.9999153008935756 Centerline is valid? [True, True] Translation: X:48.57, Y:-3.26, Z:-0.78 [[ 9.95892352e-01 9.01846791e-02 8.07140738e-03 4.85718242e+01] [-9.01803734e-02 9.95925046e-01 -8.96561178e-04 -3.26494719e+00] [-8.11937284e-03 1.64995889e-04 9.99967024e-01 -7.83891967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325769231 meters Centerline goodness [0,1] 0.99989228084538 Centerline is valid? [True, True] Translation: X:48.60, Y:-3.27, Z:-0.78 [[ 9.95819762e-01 9.08882871e-02 9.07312573e-03 4.86043380e+01] [-9.08828570e-02 9.95861078e-01 -1.00985276e-03 -3.26840042e+00] [-9.12735656e-03 1.81039748e-04 9.99958328e-01 -7.82528668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.355769231000004 meters Centerline goodness [0,1] 0.9999146830475215 Centerline is valid? [True, True] Translation: X:48.64, Y:-3.27, Z:-0.78 [[ 9.95714510e-01 9.19805015e-02 9.60217688e-03 4.86363761e+01] [-9.19744666e-02 9.95760792e-01 -1.06913592e-03 -3.27264204e+00] [-9.65981092e-03 1.81399050e-04 9.99953326e-01 -7.81888145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385769231000005 meters Centerline goodness [0,1] 0.9999784240959696 Centerline is valid? [True, True] Translation: X:48.67, Y:-3.28, Z:-0.78 [[ 9.95514104e-01 9.41334723e-02 9.51622650e-03 4.86678495e+01] [-9.41276279e-02 9.95559573e-01 -1.06117196e-03 -3.27968577e+00] [-9.57386219e-03 1.60671823e-04 9.99954157e-01 -7.82235144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.415769231 meters Centerline goodness [0,1] 0.9999785283318661 Centerline is valid? [True, True] Translation: X:48.70, Y:-3.29, Z:-0.78 [[ 9.95404340e-01 9.53160216e-02 9.22260401e-03 4.86987894e+01] [-9.53105687e-02 9.95447053e-01 -1.02998471e-03 -3.28549300e+00] [-9.27878802e-03 1.46239622e-04 9.99956940e-01 -7.82992774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445769231 meters Centerline goodness [0,1] 0.9998931098616841 Centerline is valid? [True, True] Translation: X:48.73, Y:-3.29, Z:-0.78 [[ 9.95223000e-01 9.71215352e-02 9.92913120e-03 4.87290434e+01] [-9.71152872e-02 9.95272519e-01 -1.11061539e-03 -3.29383659e+00] [-9.99005610e-03 1.41039550e-04 9.99950088e-01 -7.81857135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.475769231 meters Centerline goodness [0,1] 0.9999360068259385 Centerline is valid? [True, True] Translation: X:48.76, Y:-3.30, Z:-0.78 [[ 9.95115147e-01 9.82138256e-02 9.99443736e-03 4.87613012e+01] [-9.82075326e-02 9.95165326e-01 -1.11967361e-03 -3.29895133e+00] [-1.00560850e-02 1.32675138e-04 9.99949427e-01 -7.82090755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505769231 meters Centerline goodness [0,1] 0.9999363070847753 Centerline is valid? [True, True] Translation: X:48.79, Y:-3.31, Z:-0.78 [[ 9.94828995e-01 1.01025712e-01 1.04439951e-02 4.87926187e+01] [-1.01018990e-01 9.94883809e-01 -1.17056462e-03 -3.30544570e+00] [-1.05088187e-02 1.09469793e-04 9.99944775e-01 -7.81772061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.535769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.82, Y:-3.31, Z:-0.78 [[ 9.94631031e-01 1.02957959e-01 1.04293642e-02 4.88245915e+01] [-1.02951343e-01 9.94685704e-01 -1.17066600e-03 -3.30966321e+00] [-1.04944688e-02 9.06636798e-05 9.99944927e-01 -7.82284076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.86, Y:-3.31, Z:-0.78 [[ 9.94216682e-01 1.06963812e-01 9.58807968e-03 4.88553799e+01] [-1.06958392e-01 9.94262913e-01 -1.07770487e-03 -3.31269831e+00] [-9.64834746e-03 4.59465745e-05 9.99953453e-01 -7.84963032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.595769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.89, Y:-3.32, Z:-0.79 [[ 9.93965820e-01 1.09275384e-01 9.53093822e-03 4.88872220e+01] [-1.09270121e-01 9.94011514e-01 -1.07271165e-03 -3.31608952e+00] [-9.59108330e-03 2.47919412e-05 9.99954004e-01 -7.85180488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.92, Y:-3.32, Z:-0.78 [[ 9.93562813e-01 1.12797099e-01 1.04762408e-02 4.89192052e+01] [-1.12790916e-01 9.93618043e-01 -1.18104116e-03 -3.32008836e+00] [-1.05425999e-02 -8.18621820e-06 9.99944425e-01 -7.82983053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.95, Y:-3.32, Z:-0.78 [[ 9.93307166e-01 1.15012850e-01 1.06263233e-02 4.89522911e+01] [-1.15006595e-01 9.93364004e-01 -1.19987702e-03 -3.32221074e+00] [-1.06938083e-02 -3.02508136e-05 9.99942819e-01 -7.82030050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685769231 meters Centerline goodness [0,1] 0.9999784964734216 Centerline is valid? [True, True] Translation: X:48.99, Y:-3.32, Z:-0.78 [[ 9.92515692e-01 1.21593590e-01 1.12960480e-02 4.89852200e+01] [-1.21586921e-01 9.92579965e-01 -1.27779340e-03 -3.31738318e+00] [-1.13676024e-02 -1.05221690e-04 9.99935381e-01 -7.81176516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.02, Y:-3.31, Z:-0.78 [[ 9.91954966e-01 1.26060697e-01 1.15777897e-02 4.90171606e+01] [-1.26053973e-01 9.92022518e-01 -1.31164175e-03 -3.31306530e+00] [-1.16507746e-02 -1.58336844e-04 9.99932115e-01 -7.81042750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745769231000004 meters Centerline goodness [0,1] 0.9998736230174611 Centerline is valid? [True, True] Translation: X:49.05, Y:-3.31, Z:-0.78 [[ 9.91337153e-01 1.30788593e-01 1.20412693e-02 4.90493901e+01] [-1.30781645e-01 9.91410256e-01 -1.36603737e-03 -3.30894020e+00] [-1.21165000e-02 -2.20573410e-04 9.99926568e-01 -7.81366532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.775769231000005 meters Centerline goodness [0,1] 0.9996624757404439 Centerline is valid? [True, True] Translation: X:49.08, Y:-3.29, Z:-0.78 [[ 9.90119405e-01 1.39792890e-01 1.10232173e-02 4.90812334e+01] [-1.39787615e-01 9.90180719e-01 -1.25136250e-03 -3.29291732e+00] [-1.10899088e-02 -3.01910956e-04 9.99938459e-01 -7.83937405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805769231 meters Centerline goodness [0,1] 0.998913830557567 Centerline is valid? [True, True] Translation: X:49.11, Y:-3.28, Z:-0.79 [[ 9.89291213e-01 1.45575526e-01 1.05195661e-02 4.91136087e+01] [-1.45571049e-01 9.89347080e-01 -1.19407874e-03 -3.28161046e+00] [-1.05813307e-02 -3.50052677e-04 9.99943955e-01 -7.85181947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.835769231 meters Centerline goodness [0,1] 0.9986449864498645 Centerline is valid? [True, True] Translation: X:49.15, Y:-3.28, Z:-0.78 [[ 9.89057417e-01 1.47124720e-01 1.09426756e-02 4.91460820e+01] [-1.47119972e-01 9.89117875e-01 -1.24203706e-03 -3.28068930e+00] [-1.10063304e-02 -3.81440153e-04 9.99939356e-01 -7.84160479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865769231 meters Centerline goodness [0,1] 0.9986802894848872 Centerline is valid? [True, True] Translation: X:49.18, Y:-3.28, Z:-0.78 [[ 9.89125717e-01 1.46593220e-01 1.18635578e-02 4.91787201e+01] [-1.46587577e-01 9.89196777e-01 -1.34856482e-03 -3.28111901e+00] [-1.19330836e-02 -4.05150045e-04 9.99928716e-01 -7.82936455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.895769231 meters Centerline goodness [0,1] 0.9994867847061842 Centerline is valid? [True, True] Translation: X:49.21, Y:-3.29, Z:-0.78 [[ 9.89389742e-01 1.44791717e-01 1.19706903e-02 4.92099250e+01] [-1.44785817e-01 9.89462081e-01 -1.36262448e-03 -3.28917163e+00] [-1.20418409e-02 -3.85019493e-04 9.99927420e-01 -7.83407592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925769231000004 meters Centerline goodness [0,1] 0.9996582292000428 Centerline is valid? [True, True] Translation: X:49.24, Y:-3.29, Z:-0.78 [[ 9.89622112e-01 1.43207351e-01 1.18207235e-02 4.92408304e+01] [-1.43201480e-01 9.89692641e-01 -1.34599590e-03 -3.29212219e+00] [-1.18916396e-02 -3.60717794e-04 9.99929227e-01 -7.83965268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.955769231000005 meters Centerline goodness [0,1] 0.9998301666489757 Centerline is valid? [True, True] Translation: X:49.27, Y:-3.29, Z:-0.78 [[ 9.90035153e-01 1.40268900e-01 1.24511348e-02 4.92722980e+01] [-1.40262129e-01 9.90113387e-01 -1.41969620e-03 -3.29393974e+00] [-1.25271745e-02 -3.40873527e-04 9.99921474e-01 -7.84158051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985769231 meters Centerline goodness [0,1] 0.999936396209214 Centerline is valid? [True, True] Translation: X:49.30, Y:-3.30, Z:-0.78 [[ 9.90101824e-01 1.39825904e-01 1.21282811e-02 4.93039878e+01] [-1.39819442e-01 9.90176050e-01 -1.38323738e-03 -3.29557433e+00] [-1.22025459e-02 -3.26223642e-04 9.99925493e-01 -7.84956805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.015769231 meters Centerline goodness [0,1] 0.9997668207063213 Centerline is valid? [True, True] Translation: X:49.34, Y:-3.30, Z:-0.79 [[ 9.90023689e-01 1.40490334e-01 1.07499578e-02 4.93367563e+01] [-1.40485280e-01 9.90082006e-01 -1.22759867e-03 -3.29588381e+00] [-1.08158056e-02 -2.94859068e-04 9.99941464e-01 -7.87919900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045769231 meters Centerline goodness [0,1] 0.9997214186220936 Centerline is valid? [True, True] Translation: X:49.37, Y:-3.30, Z:-0.79 [[ 9.89934719e-01 1.41151790e-01 1.02676758e-02 4.93685629e+01] [-1.41147198e-01 9.89987924e-01 -1.17412666e-03 -3.29769519e+00] [-1.03306051e-02 -2.86944925e-04 9.99946597e-01 -7.88803544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.075769231 meters Centerline goodness [0,1] 0.9997238625260206 Centerline is valid? [True, True] Translation: X:49.40, Y:-3.30, Z:-0.79 [[ 9.89892851e-01 1.41386411e-01 1.10465901e-02 4.94003514e+01] [-1.41381088e-01 9.89954437e-01 -1.26520325e-03 -3.29603594e+00] [-1.11145035e-02 -3.09363279e-04 9.99938184e-01 -7.87772963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105769231000004 meters Centerline goodness [0,1] 0.9998086165100157 Centerline is valid? [True, True] Translation: X:49.43, Y:-3.30, Z:-0.79 [[ 9.89938967e-01 1.41091372e-01 1.06801650e-02 4.94318464e+01] [-1.41086370e-01 9.89996534e-01 -1.22410843e-03 -3.30071368e+00] [-1.07460374e-02 -2.95033072e-04 9.99942216e-01 -7.88874309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.135769231000005 meters Centerline goodness [0,1] 0.9998090793381417 Centerline is valid? [True, True] Translation: X:49.46, Y:-3.30, Z:-0.79 [[ 9.90134790e-01 1.39876465e-01 8.22630866e-03 4.94631459e+01] [-1.39873449e-01 9.90168939e-01 -9.43765376e-04 -3.30484726e+00] [-8.27744588e-03 -2.16187228e-04 9.99965718e-01 -7.94109451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165769231 meters Centerline goodness [0,1] 0.9998929886139886 Centerline is valid? [True, True] Translation: X:49.49, Y:-3.31, Z:-0.79 [[ 9.90219488e-01 1.39278688e-01 8.17393816e-03 4.94947673e+01] [-1.39275679e-01 9.90253202e-01 -9.39046814e-04 -3.31310153e+00] [-8.22505765e-03 -2.08568331e-04 9.99966152e-01 -7.94352409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.195769231 meters Centerline goodness [0,1] 0.999851452581542 Centerline is valid? [True, True] Translation: X:49.53, Y:-3.31, Z:-0.79 [[ 9.90289614e-01 1.38738598e-01 8.83639299e-03 4.95259835e+01] [-1.38735043e-01 9.90329013e-01 -1.01699888e-03 -3.31416766e+00] [-8.89203334e-03 -2.18793933e-04 9.99960441e-01 -7.93690868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225769231 meters Centerline goodness [0,1] 0.9998091845821142 Centerline is valid? [True, True] Translation: X:49.56, Y:-3.32, Z:-0.79 [[ 9.90302591e-01 1.38455388e-01 1.14404550e-02 4.95561237e+01] [-1.38449393e-01 9.90368632e-01 -1.31815033e-03 -3.31666961e+00] [-1.15127728e-02 -2.78556369e-04 9.99933687e-01 -7.88936266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.255769231 meters Centerline goodness [0,1] 0.9998090874379534 Centerline is valid? [True, True] Translation: X:49.59, Y:-3.32, Z:-0.79 [[ 9.90203547e-01 1.39164496e-01 1.14095646e-02 4.95883901e+01] [-1.39158580e-01 9.90269237e-01 -1.31468944e-03 -3.31960760e+00] [-1.14814989e-02 -2.85928656e-04 9.99934045e-01 -7.89085880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285769231 meters Centerline goodness [0,1] 0.9997864616698697 Centerline is valid? [True, True] Translation: X:49.62, Y:-3.32, Z:-0.79 [[ 9.89955125e-01 1.41070883e-01 9.37318031e-03 4.96202796e+01] [-1.41066965e-01 9.89999466e-01 -1.08119644e-03 -3.32203186e+00] [-9.43196884e-03 -2.51910140e-04 9.99955486e-01 -7.93375172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.315769231000004 meters Centerline goodness [0,1] 0.9997864616698697 Centerline is valid? [True, True] Translation: X:49.65, Y:-3.33, Z:-0.79 [[ 9.89951832e-01 1.41094001e-01 9.37296696e-03 4.96509135e+01] [-1.41090066e-01 9.89996172e-01 -1.08304271e-03 -3.32561534e+00] [-9.43201224e-03 -2.50272413e-04 9.99955486e-01 -7.93736179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345769231000006 meters Centerline goodness [0,1] 0.999724832782999 Centerline is valid? [True, True] Translation: X:49.68, Y:-3.32, Z:-0.80 [[ 9.89824607e-01 1.42025115e-01 8.72438622e-03 4.96812588e+01] [-1.42021740e-01 9.89863025e-01 -1.00835525e-03 -3.32256108e+00] [-8.77915911e-03 -2.40957670e-04 9.99961433e-01 -7.95743177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.375769231 meters Centerline goodness [0,1] 0.9998075278015398 Centerline is valid? [True, True] Translation: X:49.71, Y:-3.33, Z:-0.79 [[ 9.89756277e-01 1.42413457e-01 1.00458914e-02 4.97117117e+01] [-1.42409002e-01 9.89807218e-01 -1.16109342e-03 -3.32591250e+00] [-1.01088512e-02 -2.81425875e-04 9.99948865e-01 -7.93677956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405769231 meters Centerline goodness [0,1] 0.9995154017951203 Centerline is valid? [True, True] Translation: X:49.74, Y:-3.33, Z:-0.79 [[ 9.89881332e-01 1.41485510e-01 1.08073115e-02 4.97424920e+01] [-1.41480299e-01 9.89940283e-01 -1.24904545e-03 -3.32640881e+00] [-1.08753148e-02 -2.92614894e-04 9.99940819e-01 -7.93082811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.435769231 meters Centerline goodness [0,1] 0.9998301882787459 Centerline is valid? [True, True] Translation: X:49.77, Y:-3.34, Z:-0.79 [[ 9.90153522e-01 1.39584811e-01 1.05869526e-02 4.97726281e+01] [-1.39579695e-01 9.90210084e-01 -1.22426943e-03 -3.33597134e+00] [-1.06541966e-02 -2.65508923e-04 9.99943207e-01 -7.93987492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465769231 meters Centerline goodness [0,1] 0.9999574422810937 Centerline is valid? [True, True] Translation: X:49.80, Y:-3.35, Z:-0.80 [[ 9.90903795e-01 1.34199630e-01 1.00064335e-02 4.98019635e+01] [-1.34194781e-01 9.90954298e-01 -1.15749241e-03 -3.35218088e+00] [-1.00712534e-02 -1.95847531e-04 9.99949264e-01 -7.95985419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.495769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.83, Y:-3.37, Z:-0.80 [[ 9.91661979e-01 1.28501514e-01 9.68924021e-03 4.98318851e+01] [-1.28496694e-01 9.91709304e-01 -1.12088295e-03 -3.36943469e+00] [-9.75294482e-03 -1.33498330e-04 9.99952430e-01 -7.97118750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525769231000005 meters Centerline goodness [0,1] 0.9999785421539386 Centerline is valid? [True, True] Translation: X:49.86, Y:-3.38, Z:-0.80 [[ 9.91959800e-01 1.26215222e-01 9.24517490e-03 4.98633032e+01] [-1.26210735e-01 9.92002876e-01 -1.06951496e-03 -3.37792954e+00] [-9.30622916e-03 -1.05924475e-04 9.99956691e-01 -7.97958882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.555769231 meters Centerline goodness [0,1] 0.9999142072752231 Centerline is valid? [True, True] Translation: X:49.89, Y:-3.39, Z:-0.80 [[ 9.92342240e-01 1.23201793e-01 8.84287534e-03 4.98932178e+01] [-1.23197555e-01 9.92381637e-01 -1.02444718e-03 -3.38810914e+00] [-8.90172083e-03 -7.28184174e-05 9.99960376e-01 -7.99540252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585769231 meters Centerline goodness [0,1] 0.9998712888278702 Centerline is valid? [True, True] Translation: X:49.92, Y:-3.39, Z:-0.80 [[ 9.92417737e-01 1.22582934e-01 8.96993314e-03 4.99247034e+01] [-1.22578535e-01 9.92458271e-01 -1.04059319e-03 -3.39497738e+00] [-9.02984330e-03 -6.68181259e-05 9.99959228e-01 -7.99705710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.615769231 meters Centerline goodness [0,1] 0.9998933265062298 Centerline is valid? [True, True] Translation: X:49.96, Y:-3.40, Z:-0.80 [[ 9.92336428e-01 1.23244028e-01 8.90631604e-03 4.99558873e+01] [-1.23239705e-01 9.92376393e-01 -1.03468007e-03 -3.40105132e+00] [-8.96593593e-03 -7.08610334e-05 9.99959803e-01 -8.00096025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645769231 meters Centerline goodness [0,1] 0.9998729271237055 Centerline is valid? [True, True] Translation: X:49.99, Y:-3.40, Z:-0.80 [[ 9.92154256e-01 1.24719611e-01 8.65743016e-03 4.99867310e+01] [-1.24715568e-01 9.92192024e-01 -1.00735779e-03 -3.40312569e+00] [-8.71547043e-03 -8.02620002e-05 9.99962016e-01 -8.00979055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.675769231000004 meters Centerline goodness [0,1] 0.999893745882653 Centerline is valid? [True, True] Translation: X:50.02, Y:-3.41, Z:-0.80 [[ 9.91739981e-01 1.27987193e-01 8.43140470e-03 5.00186092e+01] [-1.27983467e-01 9.91775815e-01 -9.82266171e-04 -3.40618438e+00] [-8.48778075e-03 -1.04927767e-04 9.99963973e-01 -8.00967382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.05, Y:-3.41, Z:-0.80 [[ 9.91539179e-01 1.29524994e-01 8.56342733e-03 5.00503354e+01] [-1.29521195e-01 9.91576150e-01 -9.99105194e-04 -3.40879492e+00] [-8.62069940e-03 -1.18493394e-04 9.99962834e-01 -8.00725187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.735769231 meters Centerline goodness [0,1] 0.9999142219934809 Centerline is valid? [True, True] Translation: X:50.08, Y:-3.41, Z:-0.80 [[ 9.91358833e-01 1.30859243e-01 9.13906537e-03 5.00822278e+01] [-1.30854957e-01 9.91400948e-01 -1.06792314e-03 -3.41032276e+00] [-9.20022569e-03 -1.37196973e-04 9.99957668e-01 -7.99666886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765769231 meters Centerline goodness [0,1] 0.999956964258817 Centerline is valid? [True, True] Translation: X:50.11, Y:-3.41, Z:-0.79 [[ 9.90970694e-01 1.33508014e-01 1.23569397e-02 5.01144205e+01] [-1.33500350e-01 9.91047710e-01 -1.44670175e-03 -3.40687988e+00] [-1.24394630e-02 -2.16016729e-04 9.99922604e-01 -7.94586035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.795769231 meters Centerline goodness [0,1] 0.9999787098147754 Centerline is valid? [True, True] Translation: X:50.15, Y:-3.41, Z:-0.79 [[ 9.90691291e-01 1.35482370e-01 1.32398285e-02 5.01460997e+01] [-1.35473719e-01 9.90779724e-01 -1.55225686e-03 -3.40761122e+00] [-1.33280571e-02 -2.55841456e-04 9.99911145e-01 -7.93431504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825769231 meters Centerline goodness [0,1] 0.9999153707817624 Centerline is valid? [True, True] Translation: X:50.18, Y:-3.41, Z:-0.80 [[ 9.90637828e-01 1.35985140e-01 1.20305906e-02 5.01789674e+01] [-1.35978014e-01 9.90710849e-01 -1.41216842e-03 -3.41095239e+00] [-1.21108705e-02 -2.36948354e-04 9.99926633e-01 -7.95883493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.855769231000004 meters Centerline goodness [0,1] 0.9998944078391621 Centerline is valid? [True, True] Translation: X:50.21, Y:-3.41, Z:-0.80 [[ 9.90556649e-01 1.36677221e-01 1.08102783e-02 5.02098295e+01] [-1.36671488e-01 9.90615611e-01 -1.27079476e-03 -3.41207681e+00] [-1.08825191e-02 -2.18662617e-04 9.99940760e-01 -7.99268685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885769231000005 meters Centerline goodness [0,1] 0.9998941619745142 Centerline is valid? [True, True] Translation: X:50.24, Y:-3.41, Z:-0.80 [[ 9.90453408e-01 1.37385165e-01 1.12855386e-02 5.02420190e+01] [-1.37378951e-01 9.90517673e-01 -1.32768761e-03 -3.41415843e+00] [-1.13609300e-02 -2.35382730e-04 9.99935435e-01 -7.98455423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.915769231000006 meters Centerline goodness [0,1] 0.9999358851061102 Centerline is valid? [True, True] Translation: X:50.27, Y:-3.42, Z:-0.80 [[ 9.90263451e-01 1.38675680e-01 1.21389178e-02 5.02743688e+01] [-1.38668562e-01 9.90337813e-01 -1.43017043e-03 -3.41545622e+00] [-1.22199591e-02 -2.67040762e-04 9.99925298e-01 -7.97263295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945769231 meters Centerline goodness [0,1] 0.9997026085478801 Centerline is valid? [True, True] Translation: X:50.31, Y:-3.41, Z:-0.80 [[ 9.89820777e-01 1.41822039e-01 1.18885537e-02 5.03069745e+01] [-1.41815417e-01 9.89892126e-01 -1.40250373e-03 -3.41423670e+00] [-1.19672917e-02 -2.97752876e-04 9.99928345e-01 -7.97494834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.975769231 meters Centerline goodness [0,1] 0.9997253617830358 Centerline is valid? [True, True] Translation: X:50.34, Y:-3.41, Z:-0.80 [[ 9.89603250e-01 1.43394378e-01 1.11112807e-02 5.03387571e+01] [-1.43388688e-01 9.89665582e-01 -1.31122509e-03 -3.41412676e+00] [-1.11844744e-02 -2.95639361e-04 9.99937408e-01 -7.99590094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005769231 meters Centerline goodness [0,1] 0.999810510358767 Centerline is valid? [True, True] Translation: X:50.37, Y:-3.41, Z:-0.80 [[ 9.89427203e-01 1.44687006e-01 9.97393016e-03 5.03707776e+01] [-1.44682471e-01 9.89477435e-01 -1.17850713e-03 -3.41244633e+00] [-1.00394935e-02 -2.77005856e-04 9.99949565e-01 -8.02559714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.035769231 meters Centerline goodness [0,1] 0.9996824657592244 Centerline is valid? [True, True] Translation: X:50.40, Y:-3.41, Z:-0.80 [[ 9.89414821e-01 1.44774954e-01 9.92599971e-03 5.04016588e+01] [-1.44770464e-01 9.89464571e-01 -1.17310444e-03 -3.41381756e+00] [-9.99126118e-03 -2.76304664e-04 9.99950048e-01 -8.03016504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065769231000004 meters Centerline goodness [0,1] 0.9996188863010799 Centerline is valid? [True, True] Translation: X:50.43, Y:-3.41, Z:-0.80 [[ 9.89343573e-01 1.45217809e-01 1.05395899e-02 5.04325411e+01] [-1.45212773e-01 9.89399666e-01 -1.24562161e-03 -3.41265535e+00] [-1.06087532e-02 -2.98135339e-04 9.99943681e-01 -8.01634760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.095769231000006 meters Centerline goodness [0,1] 0.9996413426443596 Centerline is valid? [True, True] Translation: X:50.46, Y:-3.42, Z:-0.80 [[ 9.89368896e-01 1.45033421e-01 1.07002376e-02 5.04629455e+01] [-1.45028219e-01 9.89426711e-01 -1.26460776e-03 -3.41529794e+00] [-1.07705113e-02 -3.00672818e-04 9.99941951e-01 -8.01141732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125769231 meters Centerline goodness [0,1] 0.9995561379776801 Centerline is valid? [True, True] Translation: X:50.49, Y:-3.41, Z:-0.80 [[ 9.89672650e-01 1.43025288e-01 9.58186338e-03 5.04932629e+01] [-1.43021022e-01 9.89719003e-01 -1.13245598e-03 -3.41241087e+00] [-9.64532212e-03 -2.49647179e-04 9.99953452e-01 -8.04685619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.155769231 meters Centerline goodness [0,1] 0.9997265805746014 Centerline is valid? [True, True] Translation: X:50.52, Y:-3.42, Z:-0.81 [[ 9.89901275e-01 1.41470066e-01 9.03803918e-03 5.05231765e+01] [-1.41466206e-01 9.89942509e-01 -1.06813483e-03 -3.41566766e+00] [-9.09824828e-03 -2.21229086e-04 9.99958586e-01 -8.06204983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185769231 meters Centerline goodness [0,1] 0.9996805247912762 Centerline is valid? [True, True] Translation: X:50.55, Y:-3.42, Z:-0.81 [[ 9.90347771e-01 1.38264280e-01 9.70981608e-03 5.05539238e+01] [-1.38259675e-01 9.90395349e-01 -1.14713179e-03 -3.42058045e+00] [-9.77516403e-03 -2.06416598e-04 9.99952201e-01 -8.05171256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.215769231 meters Centerline goodness [0,1] 0.9999147066976566 Centerline is valid? [True, True] Translation: X:50.58, Y:-3.42, Z:-0.80 [[ 9.90556304e-01 1.36718810e-01 1.03042000e-02 5.05847873e+01] [-1.36713539e-01 9.90609876e-01 -1.21747396e-03 -3.42411113e+00] [-1.03738939e-02 -2.02747137e-04 9.99946169e-01 -8.04574090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245769231000004 meters Centerline goodness [0,1] 0.9998935943817834 Centerline is valid? [True, True] Translation: X:50.62, Y:-3.43, Z:-0.81 [[ 9.91026895e-01 1.33304566e-01 9.77679665e-03 5.06158962e+01] [-1.33299655e-01 9.91075107e-01 -1.15521474e-03 -3.43250687e+00] [-9.84353518e-03 -1.58394741e-04 9.99951539e-01 -8.05390032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.275769231000005 meters Centerline goodness [0,1] 0.9998292714157668 Centerline is valid? [True, True] Translation: X:50.65, Y:-3.44, Z:-0.81 [[ 9.91239190e-01 1.31774232e-01 8.96770345e-03 5.06474849e+01] [-1.31770038e-01 9.91279746e-01 -1.05954817e-03 -3.43827641e+00] [-9.02912394e-03 -1.31408955e-04 9.99959228e-01 -8.07230799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305769231 meters Centerline goodness [0,1] 0.9997680890538033 Centerline is valid? [True, True] Translation: X:50.68, Y:-3.44, Z:-0.81 [[ 9.91437995e-01 1.30351533e-01 7.69290608e-03 5.06782479e+01] [-1.30348395e-01 9.91467835e-01 -9.09983093e-04 -3.44297134e+00] [-7.74588662e-03 -1.00566149e-04 9.99969995e-01 -8.10128171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.335769231 meters Centerline goodness [0,1] 0.9997683576557794 Centerline is valid? [True, True] Translation: X:50.71, Y:-3.45, Z:-0.81 [[ 9.91786233e-01 1.27719132e-01 6.92039375e-03 5.07099474e+01] [-1.27716523e-01 9.91810374e-01 -8.19450319e-04 -3.45015523e+00] [-6.96837779e-03 -7.11290796e-05 9.99975718e-01 -8.11935493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365769231 meters Centerline goodness [0,1] 0.9997884538088891 Centerline is valid? [True, True] Translation: X:50.74, Y:-3.46, Z:-0.81 [[ 9.92086666e-01 1.25250714e-01 8.73526404e-03 5.07405062e+01] [-1.25246444e-01 9.92125120e-01 -1.03630269e-03 -3.45770879e+00] [-8.79627254e-03 -6.59586819e-05 9.99961310e-01 -8.09906213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.395769231 meters Centerline goodness [0,1] 0.999766934339047 Centerline is valid? [True, True] Translation: X:50.77, Y:-3.46, Z:-0.81 [[ 9.92165064e-01 1.24530477e-01 1.00322184e-02 5.07725022e+01] [-1.24524790e-01 9.92215781e-01 -1.19192769e-03 -3.46444996e+00] [-1.01025567e-02 -6.66708760e-05 9.99948966e-01 -8.07756889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425769231000004 meters Centerline goodness [0,1] 0.9998295115505924 Centerline is valid? [True, True] Translation: X:50.80, Y:-3.47, Z:-0.81 [[ 9.92217566e-01 1.24005687e-01 1.12645855e-02 5.08045242e+01] [-1.23998461e-01 9.92281505e-01 -1.34036417e-03 -3.47118133e+00] [-1.13438527e-02 -6.68583947e-05 9.99935654e-01 -8.05266714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.455769231000005 meters Centerline goodness [0,1] 0.9998731259647713 Centerline is valid? [True, True] Translation: X:50.84, Y:-3.47, Z:-0.80 [[ 9.92298695e-01 1.23152120e-01 1.32986706e-02 5.08365881e+01] [-1.23141932e-01 9.92387803e-01 -1.58534921e-03 -3.47459118e+00] [-1.33926776e-02 -6.44840425e-05 9.99910312e-01 -8.01835814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485769231 meters Centerline goodness [0,1] 0.9998080777924682 Centerline is valid? [True, True] Translation: X:50.87, Y:-3.48, Z:-0.80 [[ 9.92290101e-01 1.23172158e-01 1.37467989e-02 5.08695119e+01] [-1.23161238e-01 9.92385316e-01 -1.64134533e-03 -3.47846429e+00] [-1.38442894e-02 -6.43820414e-05 9.99904161e-01 -8.01154384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.515769231 meters Centerline goodness [0,1] 0.9997849184841054 Centerline is valid? [True, True] Translation: X:50.90, Y:-3.48, Z:-0.80 [[ 9.92281560e-01 1.23288060e-01 1.33176844e-02 5.09023485e+01] [-1.23277789e-01 9.92370924e-01 -1.59260660e-03 -3.48170545e+00] [-1.34124322e-02 -6.14605322e-05 9.99910047e-01 -8.02532533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545769231 meters Centerline goodness [0,1] 0.9998517765637572 Centerline is valid? [True, True] Translation: X:50.93, Y:-3.49, Z:-0.81 [[ 9.92248016e-01 1.23685274e-01 1.20759442e-02 5.09338426e+01] [-1.23676832e-01 9.92321495e-01 -1.44624033e-03 -3.48513054e+00] [-1.21620976e-02 -5.84854261e-05 9.99926037e-01 -8.05023267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.575769231 meters Centerline goodness [0,1] 0.9998913421418637 Centerline is valid? [True, True] Translation: X:50.97, Y:-3.49, Z:-0.81 [[ 9.92247295e-01 1.23970540e-01 8.75270950e-03 5.09664856e+01] [-1.23966108e-01 9.92285898e-01 -1.04922392e-03 -3.48680620e+00] [-8.81526306e-03 -4.39497317e-05 9.99961144e-01 -8.11327454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605769231000004 meters Centerline goodness [0,1] 0.9997665485260723 Centerline is valid? [True, True] Translation: X:51.00, Y:-3.49, Z:-0.81 [[ 9.92275358e-01 1.23778101e-01 8.28227771e-03 5.09986660e+01] [-1.23774113e-01 9.92309921e-01 -9.94367238e-04 -3.49011888e+00] [-8.34166723e-03 -3.84454676e-05 9.99965207e-01 -8.12411185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.635769231000005 meters Centerline goodness [0,1] 0.9997041670188488 Centerline is valid? [True, True] Translation: X:51.03, Y:-3.50, Z:-0.81 [[ 9.92555535e-01 1.21288124e-01 1.10770341e-02 5.10294013e+01] [-1.21280806e-01 9.92617344e-01 -1.33242890e-03 -3.49788681e+00] [-1.11568640e-02 -2.09219417e-05 9.99937760e-01 -8.08232077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665769231000006 meters Centerline goodness [0,1] 0.9997039042341694 Centerline is valid? [True, True] Translation: X:51.06, Y:-3.51, Z:-0.81 [[ 9.92843625e-01 1.18733612e-01 1.28009916e-02 5.10608993e+01] [-1.18723598e-01 9.92926145e-01 -1.54208730e-03 -3.50738290e+00] [-1.28935368e-02 1.12717614e-05 9.99916875e-01 -8.05579284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.695769231 meters Centerline goodness [0,1] 0.9997042670046472 Centerline is valid? [True, True] Translation: X:51.09, Y:-3.53, Z:-0.80 [[ 9.93726325e-01 1.11017029e-01 1.35354989e-02 5.10908195e+01] [-1.11005083e-01 9.93818497e-01 -1.63306198e-03 -3.52725076e+00] [-1.36331269e-02 1.20307502e-04 9.99907057e-01 -8.04978358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725769231 meters Centerline goodness [0,1] 0.9995515790822318 Centerline is valid? [True, True] Translation: X:51.12, Y:-3.54, Z:-0.81 [[ 9.94180672e-01 1.06977779e-01 1.26707178e-02 5.11216264e+01] [-1.06966957e-01 9.94261398e-01 -1.53069251e-03 -3.53962715e+00] [-1.27617557e-02 1.66436782e-04 9.99918552e-01 -8.07700864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.755769231 meters Centerline goodness [0,1] 0.9995124742989169 Centerline is valid? [True, True] Translation: X:51.15, Y:-3.55, Z:-0.81 [[ 9.94589064e-01 1.03281591e-01 1.12029726e-02 5.11514834e+01] [-1.03272878e-01 9.94652138e-01 -1.35501394e-03 -3.55332759e+00] [-1.12830086e-02 1.90718830e-04 9.99936327e-01 -8.11478742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785769231 meters Centerline goodness [0,1] 0.9994278812535757 Centerline is valid? [True, True] Translation: X:51.18, Y:-3.57, Z:-0.82 [[ 9.95248557e-01 9.69964565e-02 8.48516176e-03 5.11797807e+01] [-9.69912187e-02 9.95284707e-01 -1.02758940e-03 -3.57420640e+00] [-8.54482426e-03 1.99720688e-04 9.99963472e-01 -8.16188874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.815769231000004 meters Centerline goodness [0,1] 0.9991261722080136 Centerline is valid? [True, True] Translation: X:51.21, Y:-3.59, Z:-0.82 [[ 9.95420690e-01 9.52450494e-02 8.12587007e-03 5.12106601e+01] [-9.52401911e-02 9.95453835e-01 -9.83640341e-04 -3.58708956e+00] [-8.18261540e-03 2.05226529e-04 9.99966501e-01 -8.16708196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845769231000006 meters Centerline goodness [0,1] 0.9989917408559477 Centerline is valid? [True, True] Translation: X:51.24, Y:-3.60, Z:-0.82 [[ 9.95508557e-01 9.42966989e-02 8.41697888e-03 5.12416064e+01] [-9.42914404e-02 9.95544114e-01 -1.02030185e-03 -3.60260141e+00] [-8.47568488e-03 2.22070161e-04 9.99964056e-01 -8.15574846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.875769231 meters Centerline goodness [0,1] 0.9991695059625213 Centerline is valid? [True, True] Translation: X:51.27, Y:-3.61, Z:-0.82 [[ 9.95450215e-01 9.48738724e-02 8.82146461e-03 5.12715468e+01] [-9.48681030e-02 9.95489275e-01 -1.07112259e-03 -3.61178816e+00] [-8.88329495e-03 2.29373600e-04 9.99960516e-01 -8.15153221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905769231 meters Centerline goodness [0,1] 0.9993625972039264 Centerline is valid? [True, True] Translation: X:51.30, Y:-3.62, Z:-0.82 [[ 9.95114599e-01 9.82987511e-02 9.18093325e-03 5.13024402e+01] [-9.82926379e-02 9.95156928e-01 -1.11580633e-03 -3.62269921e+00] [-9.24615170e-03 2.07937024e-04 9.99957232e-01 -8.15287419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.935769231 meters Centerline goodness [0,1] 0.9993214300860935 Centerline is valid? [True, True] Translation: X:51.33, Y:-3.63, Z:-0.81 [[ 9.94830786e-01 1.01101458e-01 9.49749964e-03 5.13329710e+01] [-1.01095041e-01 9.94876103e-01 -1.15457389e-03 -3.62865903e+00] [-9.56556453e-03 1.88455532e-04 9.99954231e-01 -8.14836048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965769231 meters Centerline goodness [0,1] 0.9995952365735711 Centerline is valid? [True, True] Translation: X:51.36, Y:-3.63, Z:-0.81 [[ 9.94446958e-01 1.04758396e-01 1.00461692e-02 5.13644883e+01] [-1.04751384e-01 9.94497688e-01 -1.22313754e-03 -3.63147223e+00] [-1.01190260e-02 1.63995286e-04 9.99948788e-01 -8.13728744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.995769231000004 meters Centerline goodness [0,1] 0.9997465466987707 Centerline is valid? [True, True] Translation: X:51.40, Y:-3.63, Z:-0.81 [[ 9.93527810e-01 1.13064368e-01 1.09058884e-02 5.13969937e+01] [-1.13056601e-01 9.93587662e-01 -1.32807172e-03 -3.62946063e+00] [-1.09861137e-02 8.64935169e-05 9.99939647e-01 -8.11875957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025769231000005 meters Centerline goodness [0,1] 0.9997683332631313 Centerline is valid? [True, True] Translation: X:51.43, Y:-3.63, Z:-0.81 [[ 9.92811852e-01 1.19211339e-01 1.06434523e-02 5.14283583e+01] [-1.19204289e-01 9.92868902e-01 -1.29655463e-03 -3.62884730e+00] [-1.07221168e-02 1.84896361e-05 9.99942516e-01 -8.12218291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.055769231 meters Centerline goodness [0,1] 0.9997678149273894 Centerline is valid? [True, True] Translation: X:51.46, Y:-3.63, Z:-0.81 [[ 9.92528675e-01 1.21564886e-01 1.04310504e-02 5.14606579e+01] [-1.21558229e-01 9.92583487e-01 -1.27222105e-03 -3.63131091e+00] [-1.05083458e-02 -5.26413824e-06 9.99944786e-01 -8.14262760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085769231 meters Centerline goodness [0,1] 0.9997458111800716 Centerline is valid? [True, True] Translation: X:51.49, Y:-3.63, Z:-0.82 [[ 9.92269213e-01 1.23695267e-01 1.00642838e-02 5.14932888e+01] [-1.23689162e-01 9.92320251e-01 -1.22916786e-03 -3.63362467e+00] [-1.01390348e-02 -2.51774065e-05 9.99948598e-01 -8.15238861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.115769231 meters Centerline goodness [0,1] 0.9998731044984456 Centerline is valid? [True, True] Translation: X:51.53, Y:-3.63, Z:-0.82 [[ 9.91742680e-01 1.27820360e-01 1.04121229e-02 5.15260454e+01] [-1.27814033e-01 9.91797334e-01 -1.27359038e-03 -3.63281917e+00] [-1.04895066e-02 -6.77414870e-05 9.99944981e-01 -8.15319284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145769231 meters Centerline goodness [0,1] 0.9999152811606481 Centerline is valid? [True, True] Translation: X:51.56, Y:-3.63, Z:-0.81 [[ 9.91165087e-01 1.32135499e-01 1.14882791e-02 5.15584627e+01] [-1.32128063e-01 9.91231655e-01 -1.40725659e-03 -3.63088080e+00] [-1.15734945e-02 -1.23100464e-04 9.99933017e-01 -8.12327707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.175769231000004 meters Centerline goodness [0,1] 0.9999158850990453 Centerline is valid? [True, True] Translation: X:51.59, Y:-3.63, Z:-0.81 [[ 9.90866218e-01 1.34305275e-01 1.20926312e-02 5.15898907e+01] [-1.34297171e-01 9.90939993e-01 -1.48341478e-03 -3.62887329e+00] [-1.21823023e-02 -1.54140576e-04 9.99925781e-01 -8.11834675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205769231000005 meters Centerline goodness [0,1] 0.9999158850990453 Centerline is valid? [True, True] Translation: X:51.62, Y:-3.63, Z:-0.81 [[ 9.90842030e-01 1.34483626e-01 1.20924032e-02 5.16221199e+01] [-1.34475513e-01 9.90915804e-01 -1.48527121e-03 -3.63303062e+00] [-1.21822981e-02 -1.54462985e-04 9.99925781e-01 -8.12215132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.235769231 meters Centerline goodness [0,1] 0.9998713081526285 Centerline is valid? [True, True] Translation: X:51.65, Y:-3.64, Z:-0.81 [[ 9.90621733e-01 1.36095844e-01 1.21038786e-02 5.16547044e+01] [-1.36087808e-01 9.90695660e-01 -1.48888615e-03 -3.63504416e+00] [-1.21938912e-02 -1.72267327e-04 9.99925637e-01 -8.12207405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265769231 meters Centerline goodness [0,1] 0.9998929061000685 Centerline is valid? [True, True] Translation: X:51.69, Y:-3.63, Z:-0.82 [[ 9.90326847e-01 1.38324775e-01 1.09083718e-02 5.16867677e+01] [-1.38318366e-01 9.90386907e-01 -1.34346013e-03 -3.63013264e+00] [-1.09893425e-02 -1.78363535e-04 9.99939599e-01 -8.16148362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.295769231 meters Centerline goodness [0,1] 0.9999140727374277 Centerline is valid? [True, True] Translation: X:51.72, Y:-3.63, Z:-0.82 [[ 9.90215935e-01 1.39229886e-01 9.35095237e-03 5.17181013e+01] [-1.39225206e-01 9.90260073e-01 -1.15282452e-03 -3.63487293e+00] [-9.42038241e-03 -1.60343064e-04 9.99955614e-01 -8.19062612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325769231 meters Centerline goodness [0,1] 0.9999365052488994 Centerline is valid? [True, True] Translation: X:51.75, Y:-3.63, Z:-0.82 [[ 9.90215677e-01 1.39344664e-01 7.48182721e-03 5.17506607e+01] [-1.39341666e-01 9.90243934e-01 -9.23111390e-04 -3.63493126e+00] [-7.53746465e-03 -1.28450896e-04 9.99971585e-01 -8.22737129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.355769231000004 meters Centerline goodness [0,1] 0.9999364447174968 Centerline is valid? [True, True] Translation: X:51.78, Y:-3.64, Z:-0.82 [[ 9.90297997e-01 1.38751816e-01 7.60328741e-03 5.17828429e+01] [-1.38748691e-01 9.90327177e-01 -9.39589992e-04 -3.63857539e+00] [-7.66011198e-03 -1.24472088e-04 9.99970653e-01 -8.22537021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385769231000005 meters Centerline goodness [0,1] 0.999936450102739 Centerline is valid? [True, True] Translation: X:51.81, Y:-3.64, Z:-0.82 [[ 9.90406821e-01 1.37940181e-01 8.17533780e-03 5.18138493e+01] [-1.37936527e-01 9.90440554e-01 -1.01183670e-03 -3.64038414e+00] [-8.23675903e-03 -1.25547730e-04 9.99966069e-01 -8.21917124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.415769231000006 meters Centerline goodness [0,1] 0.9999579354730156 Centerline is valid? [True, True] Translation: X:51.85, Y:-3.64, Z:-0.82 [[ 9.90624204e-01 1.36318740e-01 8.99379209e-03 5.18462020e+01] [-1.36314237e-01 9.90665022e-01 -1.11468374e-03 -3.64084887e+00] [-9.06178753e-03 -1.21749207e-04 9.99958934e-01 -8.21039013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.445769231 meters Centerline goodness [0,1] 0.9998944501910452 Centerline is valid? [True, True] Translation: X:51.88, Y:-3.64, Z:-0.82 [[ 9.90693550e-01 1.35825432e-01 8.81714940e-03 5.18770371e+01] [-1.35821072e-01 9.90732779e-01 -1.09419673e-03 -3.64200569e+00] [-8.88405867e-03 -1.13541042e-04 9.99960530e-01 -8.22065955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.475769231 meters Centerline goodness [0,1] 0.9998065306648897 Centerline is valid? [True, True] Translation: X:51.91, Y:-3.65, Z:-0.82 [[ 9.90975469e-01 1.33676306e-01 9.91287466e-03 5.19095387e+01] [-1.33670669e-01 9.91025042e-01 -1.23200823e-03 -3.64545061e+00] [-9.98859733e-03 -1.04170647e-04 9.99950107e-01 -8.20218172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505769231 meters Centerline goodness [0,1] 0.9998936803606362 Centerline is valid? [True, True] Translation: X:51.94, Y:-3.65, Z:-0.82 [[ 9.91164734e-01 1.32209655e-01 1.06337934e-02 5.19404971e+01] [-1.32203078e-01 9.91221770e-01 -1.32219336e-03 -3.64868899e+00] [-1.07152542e-02 -9.53087817e-05 9.99942585e-01 -8.19369510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.535769231 meters Centerline goodness [0,1] 0.9998497144574692 Centerline is valid? [True, True] Translation: X:51.97, Y:-3.65, Z:-0.82 [[ 9.91663370e-01 1.28501765e-01 9.54242321e-03 5.19722115e+01] [-1.28496284e-01 9.91709279e-01 -1.18775266e-03 -3.65387740e+00] [-9.61593796e-03 -4.83151227e-05 9.99953765e-01 -8.22122614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565769231000004 meters Centerline goodness [0,1] 0.99982967489195 Centerline is valid? [True, True] Translation: X:52.00, Y:-3.66, Z:-0.82 [[ 9.91987088e-01 1.26049649e-01 8.55002298e-03 5.20029036e+01] [-1.26045147e-01 9.92023934e-01 -1.06547508e-03 -3.66004621e+00] [-8.61613019e-03 -2.07513833e-05 9.99962880e-01 -8.24337885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.595769231000006 meters Centerline goodness [0,1] 0.9996997834151781 Centerline is valid? [True, True] Translation: X:52.03, Y:-3.67, Z:-0.82 [[ 9.92655273e-01 1.20710380e-01 8.03205863e-03 5.20345236e+01] [-1.20706225e-01 9.92687767e-01 -1.00189024e-03 -3.67066549e+00] [-8.09426490e-03 2.50121550e-05 9.99967241e-01 -8.24897050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625769231 meters Centerline goodness [0,1] 0.9997038666553854 Centerline is valid? [True, True] Translation: X:52.07, Y:-3.68, Z:-0.82 [[ 9.92973132e-01 1.17986031e-01 9.14630157e-03 5.20651936e+01] [-1.17980506e-01 9.93015253e-01 -1.14308445e-03 -3.67963663e+00] [-9.21728497e-03 5.59668525e-05 9.99957518e-01 -8.23491529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.655769231 meters Centerline goodness [0,1] 0.9995970478452664 Centerline is valid? [True, True] Translation: X:52.10, Y:-3.69, Z:-0.82 [[ 9.93253844e-01 1.15477187e-01 1.05745337e-02 5.20968421e+01] [-1.15469640e-01 9.93310128e-01 -1.32355641e-03 -3.68801743e+00] [-1.06566319e-02 9.35898981e-05 9.99943212e-01 -8.21322418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685769231 meters Centerline goodness [0,1] 0.9995973040566317 Centerline is valid? [True, True] Translation: X:52.13, Y:-3.70, Z:-0.82 [[ 9.93652558e-01 1.11894808e-01 1.15821343e-02 5.21274250e+01] [-1.11885486e-01 9.93720046e-01 -1.45173177e-03 -3.69902205e+00] [-1.16718403e-02 1.46644258e-04 9.99931871e-01 -8.19734870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.715769231 meters Centerline goodness [0,1] 0.9994869383043311 Centerline is valid? [True, True] Translation: X:52.16, Y:-3.70, Z:-0.82 [[ 9.93726049e-01 1.11359187e-01 1.03764483e-02 5.21588247e+01] [-1.11351661e-01 9.93780213e-01 -1.30197926e-03 -3.70453470e+00] [-1.04568964e-02 1.38375951e-04 9.99945316e-01 -8.22367293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745769231000004 meters Centerline goodness [0,1] 0.999681339225017 Centerline is valid? [True, True] Translation: X:52.19, Y:-3.71, Z:-0.83 [[ 9.93613019e-01 1.12604213e-01 7.31155159e-03 5.21894830e+01] [-1.12600505e-01 9.93639916e-01 -9.18104356e-04 -3.70818465e+00] [-7.36843193e-03 8.89560382e-05 9.99972849e-01 -8.28468563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.775769231000005 meters Centerline goodness [0,1] 0.9997193255176285 Centerline is valid? [True, True] Translation: X:52.22, Y:-3.71, Z:-0.83 [[ 9.93413757e-01 1.14368370e-01 6.99880991e-03 5.22222273e+01] [-1.14365010e-01 9.93438408e-01 -8.79756549e-04 -3.70859724e+00] [-7.05350290e-03 7.35432965e-05 9.99975121e-01 -8.28935620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805769231 meters Centerline goodness [0,1] 0.99972064037821 Centerline is valid? [True, True] Translation: X:52.25, Y:-3.71, Z:-0.83 [[ 9.93162679e-01 1.16531475e-01 6.95042739e-03 5.22532705e+01] [-1.16528206e-01 9.93186997e-01 -8.74866626e-04 -3.71029550e+00] [-7.00502361e-03 5.89640462e-05 9.99975463e-01 -8.29711218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.835769231 meters Centerline goodness [0,1] 0.9998728166864508 Centerline is valid? [True, True] Translation: X:52.29, Y:-3.71, Z:-0.83 [[ 9.92797720e-01 1.19563702e-01 7.56356992e-03 5.22857572e+01] [-1.19559909e-01 9.92826530e-01 -9.53315179e-04 -3.71024398e+00] [-7.62329477e-03 4.21494079e-05 9.99970941e-01 -8.29076595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865769231 meters Centerline goodness [0,1] 0.9997444688145483 Centerline is valid? [True, True] Translation: X:52.32, Y:-3.71, Z:-0.83 [[ 9.92769809e-01 1.19738135e-01 8.41929158e-03 5.23190259e+01] [-1.19733429e-01 9.92805508e-01 -1.06263995e-03 -3.71422337e+00] [-8.48595758e-03 4.68862069e-05 9.99963993e-01 -8.27544429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.895769231 meters Centerline goodness [0,1] 0.9998081187105577 Centerline is valid? [True, True] Translation: X:52.35, Y:-3.72, Z:-0.83 [[ 9.92775357e-01 1.19616559e-01 9.43239202e-03 5.23512697e+01] [-1.19610626e-01 9.92820163e-01 -1.19256961e-03 -3.72073599e+00] [-9.50732005e-03 5.57394000e-05 9.99954803e-01 -8.26555401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925769231000004 meters Centerline goodness [0,1] 0.9997864434288644 Centerline is valid? [True, True] Translation: X:52.38, Y:-3.73, Z:-0.83 [[ 9.92754019e-01 1.19795668e-01 9.40508362e-03 5.23822832e+01] [-1.19789761e-01 9.92798567e-01 -1.19095398e-03 -3.72731320e+00] [-9.48002466e-03 5.56916328e-05 9.99955062e-01 -8.27495012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.955769231000005 meters Centerline goodness [0,1] 0.9998515156014679 Centerline is valid? [True, True] Translation: X:52.41, Y:-3.73, Z:-0.83 [[ 9.92579483e-01 1.21215482e-01 9.63204656e-03 5.24142540e+01] [-1.21209336e-01 9.92626216e-01 -1.22150054e-03 -3.73190639e+00] [-9.70908670e-03 4.49424042e-05 9.99952865e-01 -8.27466757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985769231 meters Centerline goodness [0,1] 0.9998078770413065 Centerline is valid? [True, True] Translation: X:52.45, Y:-3.74, Z:-0.83 [[ 9.92405369e-01 1.22654946e-01 9.34598632e-03 5.24474462e+01] [-1.22649210e-01 9.92449376e-01 -1.18664289e-03 -3.73541984e+00] [-9.42096590e-03 3.13529363e-05 9.99955621e-01 -8.27752347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.015769231 meters Centerline goodness [0,1] 0.9998936170212765 Centerline is valid? [True, True] Translation: X:52.48, Y:-3.74, Z:-0.83 [[ 9.91914743e-01 1.26661352e-01 7.87678822e-03 5.24797519e+01] [-1.26657394e-01 9.91946018e-01 -1.00131591e-03 -3.73744945e+00] [-7.94017673e-03 -4.43345260e-06 9.99968476e-01 -8.30269137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045769231 meters Centerline goodness [0,1] 0.9999148954277569 Centerline is valid? [True, True] Translation: X:52.51, Y:-3.74, Z:-0.83 [[ 9.91599904e-01 1.29123958e-01 7.52552550e-03 5.25128664e+01] [-1.29120407e-01 9.91628460e-01 -9.57877505e-04 -3.74063014e+00] [-7.58621019e-03 -2.18676746e-05 9.99971224e-01 -8.31723480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.55, Y:-3.74, Z:-0.83 [[ 9.91268805e-01 1.31615400e-01 7.97139483e-03 5.25459245e+01] [-1.31611483e-01 9.91300855e-01 -1.01627038e-03 -3.74399367e+00] [-8.03580734e-03 -4.17299639e-05 9.99967712e-01 -8.31902149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105769231000004 meters Centerline goodness [0,1] 0.9999147539586131 Centerline is valid? [True, True] Translation: X:52.58, Y:-3.75, Z:-0.83 [[ 9.90689989e-01 1.35766440e-01 1.00408694e-02 5.25783498e+01] [-1.35760413e-01 9.90740867e-01 -1.28261357e-03 -3.74540500e+00] [-1.01220355e-02 -9.24801501e-05 9.99948767e-01 -8.27666628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.135769231000005 meters Centerline goodness [0,1] 0.9999570971963018 Centerline is valid? [True, True] Translation: X:52.61, Y:-3.75, Z:-0.83 [[ 9.90384550e-01 1.37876876e-01 1.13318009e-02 5.26106533e+01] [-1.37869313e-01 9.90449368e-01 -1.44962165e-03 -3.74789181e+00] [-1.14234444e-02 -1.26624731e-04 9.99934742e-01 -8.25649623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165769231000006 meters Centerline goodness [0,1] 0.9999367061901346 Centerline is valid? [True, True] Translation: X:52.64, Y:-3.74, Z:-0.83 [[ 9.89528464e-01 1.43928479e-01 1.08633061e-02 5.26415643e+01] [-1.43921873e-01 9.89588075e-01 -1.39151120e-03 -3.74414102e+00] [-1.09504763e-02 -1.86527414e-04 9.99940024e-01 -8.25751307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.195769231 meters Centerline goodness [0,1] 0.9996614043255597 Centerline is valid? [True, True] Translation: X:52.67, Y:-3.74, Z:-0.83 [[ 9.88933088e-01 1.48050967e-01 9.60511102e-03 5.26733976e+01] [-1.48045996e-01 9.88979711e-01 -1.23041927e-03 -3.74067263e+00] [-9.68142469e-03 -2.05195907e-04 9.99953113e-01 -8.27545719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225769231 meters Centerline goodness [0,1] 0.9992781009809334 Centerline is valid? [True, True] Translation: X:52.71, Y:-3.72, Z:-0.83 [[ 9.87375404e-01 1.58146734e-01 8.91194572e-03 5.27066420e+01] [-1.58142863e-01 9.87415582e-01 -1.14186914e-03 -3.72251619e+00] [-8.98037694e-03 -2.81907113e-04 9.99959636e-01 -8.30766035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.255769231 meters Centerline goodness [0,1] 0.9985252601862386 Centerline is valid? [True, True] Translation: X:52.74, Y:-3.72, Z:-0.83 [[ 9.86609725e-01 1.62827975e-01 9.39692407e-03 5.27379727e+01] [-1.62823882e-01 9.86654414e-01 -1.20404555e-03 -3.71508889e+00] [-9.46756892e-03 -3.42120607e-04 9.99955123e-01 -8.30713223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285769231 meters Centerline goodness [0,1] 0.9969282264214897 Centerline is valid? [True, True] Translation: X:52.77, Y:-3.71, Z:-0.83 [[ 9.85633252e-01 1.68575044e-01 1.04664794e-02 5.27701211e+01] [-1.68570291e-01 9.85688723e-01 -1.34100963e-03 -3.70646895e+00] [-1.05427514e-02 -4.42593796e-04 9.99944326e-01 -8.29228964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.315769231000004 meters Centerline goodness [0,1] 0.9966473243068987 Centerline is valid? [True, True] Translation: X:52.80, Y:-3.71, Z:-0.83 [[ 9.85558064e-01 1.69046227e-01 9.93355656e-03 5.28000351e+01] [-1.69041969e-01 9.85608032e-01 -1.27277553e-03 -3.70698557e+00] [-1.00057510e-02 -4.24793775e-04 9.99949851e-01 -8.30136292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345769231000006 meters Centerline goodness [0,1] 0.9965204107612662 Centerline is valid? [True, True] Translation: X:52.83, Y:-3.70, Z:-0.83 [[ 9.85659113e-01 1.68517060e-01 8.83813817e-03 5.28296876e+01] [-1.68513670e-01 9.85698666e-01 -1.13224076e-03 -3.70467409e+00] [-8.90254290e-03 -3.73343674e-04 9.99960302e-01 -8.32017541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.375769231 meters Centerline goodness [0,1] 0.9979143611134758 Centerline is valid? [True, True] Translation: X:52.86, Y:-3.70, Z:-0.83 [[ 9.85850226e-01 1.67453342e-01 7.66223237e-03 5.28595952e+01] [-1.67450762e-01 9.85879952e-01 -9.81547194e-04 -3.69911200e+00] [-7.71840464e-03 -3.15388126e-04 9.99970163e-01 -8.34285776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405769231 meters Centerline goodness [0,1] 0.993731343283582 Centerline is valid? [True, True] Translation: X:52.89, Y:-3.69, Z:-0.83 [[ 9.85967200e-01 1.66740686e-01 8.13780322e-03 5.28887183e+01] [-1.66737755e-01 9.86000728e-01 -1.04208734e-03 -3.68849728e+00] [-8.19763826e-03 -3.29415102e-04 9.99966345e-01 -8.34070217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.435769231 meters Centerline goodness [0,1] 0.997536108751062 Centerline is valid? [True, True] Translation: X:52.92, Y:-3.69, Z:-0.83 [[ 9.86387798e-01 1.64013441e-01 1.17772353e-02 5.29196424e+01] [-1.64007119e-01 9.86458004e-01 -1.50713747e-03 -3.68687196e+00] [-1.18649389e-02 -4.44928432e-04 9.99929510e-01 -8.27994811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465769231 meters Centerline goodness [0,1] 0.9983541525995948 Centerline is valid? [True, True] Translation: X:52.95, Y:-3.69, Z:-0.83 [[ 9.86727907e-01 1.61857158e-01 1.30498024e-02 5.29483683e+01] [-1.61849212e-01 9.86814088e-01 -1.66977206e-03 -3.68875439e+00] [-1.31479935e-02 -4.64489544e-04 9.99913454e-01 -8.26193192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.495769231000004 meters Centerline goodness [0,1] 0.9989008201572672 Centerline is valid? [True, True] Translation: X:52.98, Y:-3.69, Z:-0.83 [[ 9.87667825e-01 1.56163972e-01 1.11840192e-02 5.29777832e+01] [-1.56157775e-01 9.87731088e-01 -1.43057925e-03 -3.68737783e+00] [-1.12702084e-02 -3.33534461e-04 9.99936434e-01 -8.30113167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525769231000005 meters Centerline goodness [0,1] 0.9995546979367671 Centerline is valid? [True, True] Translation: X:53.01, Y:-3.69, Z:-0.83 [[ 9.88276213e-01 1.52370222e-01 9.66655852e-03 5.30070746e+01] [-1.52365412e-01 9.88323455e-01 -1.23633760e-03 -3.69316531e+00] [-9.74206755e-03 -2.51006138e-04 9.99952513e-01 -8.34071830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.555769231 meters Centerline goodness [0,1] 0.999682216855218 Centerline is valid? [True, True] Translation: X:53.03, Y:-3.70, Z:-0.84 [[ 9.88895390e-01 1.48387857e-01 8.18241833e-03 5.30349288e+01] [-1.48384274e-01 9.88929225e-01 -1.04663717e-03 -3.69913847e+00] [-8.24714086e-03 -1.79127535e-04 9.99965976e-01 -8.36100917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585769231 meters Centerline goodness [0,1] 0.9999156029116996 Centerline is valid? [True, True] Translation: X:53.06, Y:-3.71, Z:-0.83 [[ 9.90022036e-01 1.40642210e-01 8.72560029e-03 5.30634928e+01] [-1.40637837e-01 9.90060480e-01 -1.11575621e-03 -3.70985579e+00] [-8.79579443e-03 -1.22526316e-04 9.99961309e-01 -8.33374103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.615769231 meters Centerline goodness [0,1] 0.9998724327082537 Centerline is valid? [True, True] Translation: X:53.09, Y:-3.72, Z:-0.83 [[ 9.90821667e-01 1.34545609e-01 1.30347225e-02 5.30924518e+01] [-1.34535330e-01 9.90907397e-01 -1.66632394e-03 -3.71730206e+00] [-1.31403995e-02 -1.02600826e-04 9.99913656e-01 -8.25965075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645769231 meters Centerline goodness [0,1] 0.9999365415124273 Centerline is valid? [True, True] Translation: X:53.12, Y:-3.72, Z:-0.82 [[ 9.91175276e-01 1.31824921e-01 1.39198411e-02 5.31218738e+01] [-1.31812934e-01 9.91273012e-01 -1.77914657e-03 -3.72241744e+00] [-1.40328987e-02 -7.13690055e-05 9.99901531e-01 -8.24542609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.675769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.15, Y:-3.73, Z:-0.83 [[ 9.91509372e-01 1.29321861e-01 1.36022633e-02 5.31513955e+01] [-1.29310181e-01 9.91602670e-01 -1.73841862e-03 -3.72971590e+00] [-1.37128562e-02 -3.52527770e-05 9.99905974e-01 -8.26473916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705769231000005 meters Centerline goodness [0,1] 0.9998943833041127 Centerline is valid? [True, True] Translation: X:53.18, Y:-3.74, Z:-0.83 [[ 9.92038039e-01 1.25482761e-01 1.07054235e-02 5.31814269e+01] [-1.25475303e-01 9.92095800e-01 -1.36817048e-03 -3.73928204e+00] [-1.07924875e-02 1.40109010e-05 9.99941759e-01 -8.33110692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.735769231 meters Centerline goodness [0,1] 0.9999786953001832 Centerline is valid? [True, True] Translation: X:53.21, Y:-3.75, Z:-0.84 [[ 9.92259201e-01 1.23787583e-01 9.91520792e-03 5.32112546e+01] [-1.23781098e-01 9.92308739e-01 -1.26741621e-03 -3.74633660e+00] [-9.99583785e-03 3.02900691e-05 9.99950040e-01 -8.35239845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765769231 meters Centerline goodness [0,1] 0.9999154655733548 Centerline is valid? [True, True] Translation: X:53.24, Y:-3.76, Z:-0.84 [[ 9.92676535e-01 1.20450542e-01 9.21755494e-03 5.32420164e+01] [-1.20444793e-01 9.92719328e-01 -1.17831034e-03 -3.75612678e+00] [-9.29237306e-03 5.94745311e-05 9.99956823e-01 -8.35904071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.795769231 meters Centerline goodness [0,1] 0.9999152237034525 Centerline is valid? [True, True] Translation: X:53.27, Y:-3.76, Z:-0.84 [[ 9.92833250e-01 1.19165484e-01 9.04014480e-03 5.32732642e+01] [-1.19159903e-01 9.92874404e-01 -1.15547473e-03 -3.76268227e+00] [-9.11342108e-03 6.99709535e-05 9.99958469e-01 -8.36670366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825769231 meters Centerline goodness [0,1] 0.9997869484628331 Centerline is valid? [True, True] Translation: X:53.31, Y:-3.77, Z:-0.84 [[ 9.92920138e-01 1.18396531e-01 9.58445181e-03 5.33052740e+01] [-1.18390205e-01 9.92966391e-01 -1.22674822e-03 -3.76974091e+00] [-9.66228127e-03 8.33577963e-05 9.99953316e-01 -8.36625460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.855769231000004 meters Centerline goodness [0,1] 0.9998502641767738 Centerline is valid? [True, True] Translation: X:53.34, Y:-3.78, Z:-0.84 [[ 9.92923449e-01 1.18301628e-01 1.03801824e-02 5.33376745e+01] [-1.18294184e-01 9.92977702e-01 -1.33042734e-03 -3.77834634e+00] [-1.04646814e-02 9.30972943e-05 9.99945239e-01 -8.35380658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885769231000005 meters Centerline goodness [0,1] 0.9997877128179 Centerline is valid? [True, True] Translation: X:53.37, Y:-3.79, Z:-0.84 [[ 9.92870281e-01 1.18746386e-01 1.03875838e-02 5.33686697e+01] [-1.18738933e-01 9.92924613e-01 -1.33345143e-03 -3.78653310e+00] [-1.04724302e-02 9.05336677e-05 9.99945159e-01 -8.36186777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.915769231000006 meters Centerline goodness [0,1] 0.9999574341293151 Centerline is valid? [True, True] Translation: X:53.40, Y:-3.79, Z:-0.84 [[ 9.92803284e-01 1.19324664e-01 1.01619149e-02 5.34009227e+01] [-1.19317544e-01 9.92855285e-01 -1.30631486e-03 -3.79452883e+00] [-1.02451865e-02 8.44189525e-05 9.99947513e-01 -8.37157309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945769231 meters Centerline goodness [0,1] 0.9998932741360541 Centerline is valid? [True, True] Translation: X:53.43, Y:-3.80, Z:-0.84 [[ 9.92711904e-01 1.20100998e-01 9.94110435e-03 5.34329492e+01] [-1.20094204e-01 9.92761676e-01 -1.27977442e-03 -3.80078553e+00] [-1.00228496e-02 7.65782834e-05 9.99949767e-01 -8.38137953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.975769231 meters Centerline goodness [0,1] 0.9999361851481569 Centerline is valid? [True, True] Translation: X:53.46, Y:-3.81, Z:-0.84 [[ 9.92592502e-01 1.21113560e-01 9.57235275e-03 5.34635175e+01] [-1.21107289e-01 9.92638656e-01 -1.23425689e-03 -3.80671738e+00] [-9.65137262e-03 6.58324468e-05 9.99953422e-01 -8.39308049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005769231 meters Centerline goodness [0,1] 0.9999364554870687 Centerline is valid? [True, True] Translation: X:53.50, Y:-3.81, Z:-0.84 [[ 9.92065998e-01 1.25443281e-01 8.30898154e-03 5.34951656e+01] [-1.25438704e-01 9.92100793e-01 -1.07175763e-03 -3.80949474e+00] [-8.37779196e-03 2.09864221e-05 9.99964905e-01 -8.40890959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.035769231 meters Centerline goodness [0,1] 0.9999786329351937 Centerline is valid? [True, True] Translation: X:53.53, Y:-3.81, Z:-0.84 [[ 9.91358447e-01 1.30900776e-01 8.56830483e-03 5.35265590e+01] [-1.30896096e-01 9.91395474e-01 -1.10714098e-03 -3.80819739e+00] [-8.63950424e-03 -2.39840891e-05 9.99962678e-01 -8.39944187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065769231000004 meters Centerline goodness [0,1] 0.9999359590137689 Centerline is valid? [True, True] Translation: X:53.56, Y:-3.81, Z:-0.84 [[ 9.91029677e-01 1.33346914e-01 8.87580982e-03 5.35571326e+01] [-1.33341987e-01 9.91069422e-01 -1.14716395e-03 -3.80962548e+00] [-8.94951448e-03 -4.66446019e-05 9.99959951e-01 -8.39719084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.095769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.59, Y:-3.81, Z:-0.84 [[ 9.90728854e-01 1.35567418e-01 8.82118538e-03 5.35870917e+01] [-1.35562641e-01 9.90768122e-01 -1.14008193e-03 -3.80972920e+00] [-8.89430724e-03 -6.63111194e-05 9.99960443e-01 -8.40922907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.62, Y:-3.81, Z:-0.84 [[ 9.90728854e-01 1.35567419e-01 8.82117371e-03 5.36168432e+01] [-1.35562641e-01 9.90768121e-01 -1.14017227e-03 -3.81357465e+00] [-8.89430791e-03 -6.62200394e-05 9.99960443e-01 -8.41273928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.65, Y:-3.81, Z:-0.84 [[ 9.90246093e-01 1.39078379e-01 8.35945695e-03 5.36470574e+01] [-1.39074213e-01 9.90281372e-01 -1.08049352e-03 -3.81497145e+00] [-8.42848779e-03 -9.26304137e-05 9.99964475e-01 -8.43185384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185769231 meters Centerline goodness [0,1] 0.9999573769793065 Centerline is valid? [True, True] Translation: X:53.68, Y:-3.82, Z:-0.84 [[ 9.89993481e-01 1.40898798e-01 7.77405961e-03 5.36773980e+01] [-1.40895251e-01 9.90023999e-01 -1.00482855e-03 -3.81762449e+00] [-7.83808471e-03 -1.00554364e-04 9.99969277e-01 -8.44453541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.215769231 meters Centerline goodness [0,1] 0.9999575443661374 Centerline is valid? [True, True] Translation: X:53.71, Y:-3.82, Z:-0.84 [[ 9.90053789e-01 1.40473378e-01 7.79259054e-03 5.37062616e+01] [-1.40469800e-01 9.90084451e-01 -1.00726950e-03 -3.82193061e+00] [-7.85681728e-03 -9.73726465e-05 9.99969130e-01 -8.44809480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245769231000004 meters Centerline goodness [0,1] 0.9999784798140656 Centerline is valid? [True, True] Translation: X:53.74, Y:-3.83, Z:-0.84 [[ 9.90245197e-01 1.39064711e-01 8.68654951e-03 5.37370204e+01] [-1.39060213e-01 9.90283291e-01 -1.12259437e-03 -3.83117475e+00] [-8.75825810e-03 -9.63097443e-05 9.99961641e-01 -8.43761815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.275769231000005 meters Centerline goodness [0,1] 0.9999361783602093 Centerline is valid? [True, True] Translation: X:53.77, Y:-3.84, Z:-0.84 [[ 9.90637242e-01 1.36185577e-01 9.55734337e-03 5.37666006e+01] [-1.36179999e-01 9.90683341e-01 -1.23511816e-03 -3.84277197e+00] [-9.63650614e-03 -7.79649551e-05 9.99953565e-01 -8.42078452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.80, Y:-3.85, Z:-0.84 [[ 9.90755443e-01 1.35300586e-01 9.86934902e-03 5.37971381e+01] [-1.35294576e-01 9.90804596e-01 -1.27710758e-03 -3.84918562e+00] [-9.95138977e-03 -6.99681129e-05 9.99950481e-01 -8.42408087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.335769231 meters Centerline goodness [0,1] 0.9999785223367698 Centerline is valid? [True, True] Translation: X:53.83, Y:-3.86, Z:-0.84 [[ 9.90670677e-01 1.35876917e-01 1.04438530e-02 5.38290893e+01] [-1.35870202e-01 9.90725723e-01 -1.35316631e-03 -3.85621322e+00] [-1.05308579e-02 -7.84662318e-05 9.99944546e-01 -8.42257653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.86, Y:-3.86, Z:-0.84 [[ 9.90453768e-01 1.37431341e-01 1.06752142e-02 5.38615046e+01] [-1.37424395e-01 9.90511291e-01 -1.38499061e-03 -3.85987472e+00] [-1.07642614e-02 -9.52656894e-05 9.99942059e-01 -8.42123730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.89, Y:-3.86, Z:-0.84 [[ 9.90082582e-01 1.40128906e-01 1.00185511e-02 5.38929525e+01] [-1.40122908e-01 9.90133262e-01 -1.30159581e-03 -3.86147251e+00] [-1.01020919e-02 -1.15141167e-04 9.99948966e-01 -8.42934091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425769231000004 meters Centerline goodness [0,1] 0.9999359959037378 Centerline is valid? [True, True] Translation: X:53.92, Y:-3.86, Z:-0.84 [[ 9.89922063e-01 1.41270139e-01 9.85179469e-03 5.39235591e+01] [-1.41264393e-01 9.89971077e-01 -1.28018314e-03 -3.86398761e+00] [-9.93384345e-03 -1.24426270e-04 9.99950650e-01 -8.43819308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.455769231000005 meters Centerline goodness [0,1] 0.9999578663520687 Centerline is valid? [True, True] Translation: X:53.95, Y:-3.87, Z:-0.84 [[ 9.89815786e-01 1.42014138e-01 9.83329075e-03 5.39535635e+01] [-1.42008450e-01 9.89864621e-01 -1.27789559e-03 -3.86568736e+00] [-9.91510586e-03 -1.31529144e-04 9.99950835e-01 -8.44121500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485769231000006 meters Centerline goodness [0,1] 0.9999570169782935 Centerline is valid? [True, True] Translation: X:53.98, Y:-3.87, Z:-0.84 [[ 9.89817602e-01 1.41946053e-01 1.06034064e-02 5.39844525e+01] [-1.41939433e-01 9.89874385e-01 -1.37809991e-03 -3.87372629e+00] [-1.06916562e-02 -1.40973935e-04 9.99942833e-01 -8.43070661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.01, Y:-3.88, Z:-0.84 [[ 9.89873734e-01 1.41513860e-01 1.11273182e-02 5.40147978e+01] [-1.41506540e-01 9.89936264e-01 -1.44640922e-03 -3.87976927e+00] [-1.12200228e-02 -1.42825807e-04 9.99937043e-01 -8.42750101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545769231 meters Centerline goodness [0,1] 0.9999787243096039 Centerline is valid? [True, True] Translation: X:54.05, Y:-3.89, Z:-0.84 [[ 9.90283539e-01 1.38615648e-01 1.11451610e-02 5.40451512e+01] [-1.38608101e-01 9.90346248e-01 -1.45045433e-03 -3.89129867e+00] [-1.12386241e-02 -1.08448560e-04 9.99936839e-01 -8.44545783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.575769231 meters Centerline goodness [0,1] 0.9999787798408488 Centerline is valid? [True, True] Translation: X:54.08, Y:-3.90, Z:-0.85 [[ 9.90577681e-01 1.36544770e-01 1.05538033e-02 5.40757131e+01] [-1.36537868e-01 9.90633898e-01 -1.37514332e-03 -3.90143726e+00] [-1.06427239e-02 -7.88075172e-05 9.99943362e-01 -8.46802338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.11, Y:-3.92, Z:-0.85 [[ 9.91197726e-01 1.32053850e-01 9.42596069e-03 5.41055913e+01] [-1.32048128e-01 9.91242543e-01 -1.22953685e-03 -3.92038008e+00] [-9.50577833e-03 -2.59663435e-05 9.99954819e-01 -8.48835346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.635769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.14, Y:-3.93, Z:-0.85 [[ 9.91412555e-01 1.30415911e-01 9.63509688e-03 5.41373020e+01] [-1.30409840e-01 9.91459374e-01 -1.25839874e-03 -3.93156858e+00] [-9.71692234e-03 -8.91912850e-06 9.99952790e-01 -8.48007144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665769231000006 meters Centerline goodness [0,1] 0.99997860001284 Centerline is valid? [True, True] Translation: X:54.17, Y:-3.94, Z:-0.85 [[ 9.91506882e-01 1.29694690e-01 9.66384747e-03 5.41696364e+01] [-1.29688531e-01 9.91553976e-01 -1.26397790e-03 -3.94095333e+00] [-9.74615760e-03 -4.73994923e-08 9.99952505e-01 -8.47168736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.20, Y:-3.95, Z:-0.85 [[ 9.91240742e-01 1.31762761e-01 8.96476881e-03 5.42005692e+01] [-1.31757531e-01 9.91281279e-01 -1.17417295e-03 -3.94815385e+00] [-9.04131977e-03 -1.72877350e-05 9.99959126e-01 -8.48657040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.23, Y:-3.95, Z:-0.85 [[ 9.90885738e-01 1.34402910e-01 9.01732065e-03 5.42312852e+01] [-1.34397710e-01 9.90926766e-01 -1.18296504e-03 -3.95066690e+00] [-9.09449834e-03 -3.97240652e-05 9.99958643e-01 -8.49778746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.755769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.26, Y:-3.95, Z:-0.85 [[ 9.89928487e-01 1.41224210e-01 9.86476733e-03 5.42638456e+01] [-1.41218314e-01 9.89977631e-01 -1.29519003e-03 -3.94860737e+00] [-9.94881118e-03 -1.10940306e-04 9.99950503e-01 -8.47881559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785769231 meters Centerline goodness [0,1] 0.9999788668399586 Centerline is valid? [True, True] Translation: X:54.30, Y:-3.95, Z:-0.85 [[ 9.89375926e-01 1.45031842e-01 1.00519211e-02 5.42952704e+01] [-1.45025914e-01 9.89426976e-01 -1.32009199e-03 -3.94629170e+00] [-1.01370973e-02 -1.51721808e-04 9.99948607e-01 -8.47949216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.815769231000004 meters Centerline goodness [0,1] 0.9998498305230188 Centerline is valid? [True, True] Translation: X:54.33, Y:-3.94, Z:-0.85 [[ 9.88335129e-01 1.52012980e-01 9.25884914e-03 5.43270258e+01] [-1.52008241e-01 9.88378476e-01 -1.21756770e-03 -3.94388022e+00] [-9.33633330e-03 -2.04056438e-04 9.99956395e-01 -8.49140908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845769231000006 meters Centerline goodness [0,1] 0.9997880278107513 Centerline is valid? [True, True] Translation: X:54.36, Y:-3.94, Z:-0.85 [[ 9.87780825e-01 1.55578498e-01 9.18542223e-03 5.43577907e+01] [-1.55573988e-01 9.87823504e-01 -1.20796691e-03 -3.94290426e+00] [-9.26150966e-03 -2.35806213e-04 9.99957083e-01 -8.50145793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.875769231 meters Centerline goodness [0,1] 0.9996143958868895 Centerline is valid? [True, True] Translation: X:54.39, Y:-3.94, Z:-0.85 [[ 9.87300590e-01 1.58594880e-01 9.23085752e-03 5.43882908e+01] [-1.58590453e-01 9.87343706e-01 -1.21430977e-03 -3.94187101e+00] [-9.30661238e-03 -2.65037118e-04 9.99956657e-01 -8.50791860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905769231 meters Centerline goodness [0,1] 0.998680766857459 Centerline is valid? [True, True] Translation: X:54.42, Y:-3.93, Z:-0.85 [[ 9.86400740e-01 1.64048188e-01 1.00882059e-02 5.44195663e+01] [-1.64043183e-01 9.86452266e-01 -1.32724503e-03 -3.93441641e+00] [-1.01692657e-02 -3.45705932e-04 9.99948232e-01 -8.49852230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.935769231 meters Centerline goodness [0,1] 0.9979759672745867 Centerline is valid? [True, True] Translation: X:54.45, Y:-3.93, Z:-0.85 [[ 9.86045953e-01 1.66141313e-01 1.05091372e-02 5.44494526e+01] [-1.66136001e-01 9.86101880e-01 -1.38260446e-03 -3.93232736e+00] [-1.05927876e-02 -3.82634492e-04 9.99943822e-01 -8.49108838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965769231 meters Centerline goodness [0,1] 0.996711573140978 Centerline is valid? [True, True] Translation: X:54.48, Y:-3.93, Z:-0.85 [[ 9.85761271e-01 1.67740509e-01 1.17404915e-02 5.44790062e+01] [-1.67733994e-01 9.85831082e-01 -1.54444992e-03 -3.92885611e+00] [-1.18332083e-02 -4.46820619e-04 9.99929885e-01 -8.47757149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.995769231000004 meters Centerline goodness [0,1] 0.9966760309665245 Centerline is valid? [True, True] Translation: X:54.51, Y:-3.93, Z:-0.85 [[ 9.85795199e-01 1.67569359e-01 1.13285155e-02 5.45084815e+01] [-1.67563287e-01 9.85860196e-01 -1.48987670e-03 -3.92975391e+00] [-1.14179902e-02 -4.29529990e-04 9.99934720e-01 -8.48853984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025769231000005 meters Centerline goodness [0,1] 0.9968430196834545 Centerline is valid? [True, True] Translation: X:54.54, Y:-3.93, Z:-0.85 [[ 9.85852100e-01 1.67282161e-01 1.05978983e-02 5.45385342e+01] [-1.67276832e-01 9.85908981e-01 -1.39356558e-03 -3.93156896e+00] [-1.06816818e-02 -3.98933301e-04 9.99942870e-01 -8.50878308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.055769231 meters Centerline goodness [0,1] 0.9977772603145706 Centerline is valid? [True, True] Translation: X:54.57, Y:-3.93, Z:-0.85 [[ 9.86140245e-01 1.65632894e-01 9.65204046e-03 5.45671837e+01] [-1.65628397e-01 9.86187418e-01 -1.26899467e-03 -3.93128168e+00] [-9.72890812e-03 -3.47245271e-04 9.99952613e-01 -8.53380641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085769231 meters Centerline goodness [0,1] 0.9975792112084664 Centerline is valid? [True, True] Translation: X:54.60, Y:-3.93, Z:-0.85 [[ 9.86331791e-01 1.64482296e-01 9.75561665e-03 5.45963628e+01] [-1.64477647e-01 9.86379977e-01 -1.28245975e-03 -3.93350677e+00] [-9.83368685e-03 -3.39650042e-04 9.99951590e-01 -8.53841801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.115769231 meters Centerline goodness [0,1] 0.9984751254844654 Centerline is valid? [True, True] Translation: X:54.63, Y:-3.93, Z:-0.85 [[ 9.86741694e-01 1.61992671e-01 9.96006794e-03 5.46256211e+01] [-1.61987706e-01 9.86791908e-01 -1.30865517e-03 -3.93474108e+00] [-1.00405070e-02 -3.22103936e-04 9.99949541e-01 -8.54068243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145769231 meters Centerline goodness [0,1] 0.9991081098299038 Centerline is valid? [True, True] Translation: X:54.65, Y:-3.94, Z:-0.85 [[ 9.86921923e-01 1.60902288e-01 9.77603875e-03 5.46542626e+01] [-1.60897453e-01 9.86970294e-01 -1.28426353e-03 -3.94153125e+00] [-9.85530077e-03 -3.05471904e-04 9.99951389e-01 -8.54117475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.175769231000004 meters Centerline goodness [0,1] 0.9994847020933978 Centerline is valid? [True, True] Translation: X:54.68, Y:-3.94, Z:-0.85 [[ 9.87282237e-01 1.58657029e-01 1.00862367e-02 5.46837742e+01] [-1.58651767e-01 9.87333713e-01 -1.32476841e-03 -3.94248907e+00] [-1.01686653e-02 -2.92278957e-04 9.99948255e-01 -8.53495307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205769231000005 meters Centerline goodness [0,1] 0.9995511094010517 Centerline is valid? [True, True] Translation: X:54.71, Y:-3.95, Z:-0.85 [[ 9.87441408e-01 1.57621931e-01 1.07141590e-02 5.47129930e+01] [-1.57615935e-01 9.87499487e-01 -1.40697217e-03 -3.94570083e+00] [-1.08019961e-02 -2.99419606e-04 9.99941612e-01 -8.53341775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.235769231000006 meters Centerline goodness [0,1] 0.999336586200993 Centerline is valid? [True, True] Translation: X:54.74, Y:-3.94, Z:-0.85 [[ 9.87639408e-01 1.56374836e-01 1.07382704e-02 5.47423807e+01] [-1.56368743e-01 9.87697741e-01 -1.40989376e-03 -3.94416711e+00] [-1.08266373e-02 -2.86663201e-04 9.99941349e-01 -8.52755868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265769231 meters Centerline goodness [0,1] 0.9997439836149513 Centerline is valid? [True, True] Translation: X:54.77, Y:-3.95, Z:-0.85 [[ 9.88048881e-01 1.53771550e-01 1.06638800e-02 5.47715817e+01] [-1.53765394e-01 9.88106393e-01 -1.39974199e-03 -3.95115721e+00] [-1.07522885e-02 -2.56722199e-04 9.99942160e-01 -8.52600739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.295769231 meters Centerline goodness [0,1] 0.9998095117150295 Centerline is valid? [True, True] Translation: X:54.80, Y:-3.95, Z:-0.85 [[ 9.88265785e-01 1.52382584e-01 1.05016926e-02 5.48008793e+01] [-1.52376537e-01 9.88321553e-01 -1.37821032e-03 -3.95325020e+00] [-1.05890644e-02 -2.38173455e-04 9.99943906e-01 -8.53412789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325769231 meters Centerline goodness [0,1] 0.9998937187798916 Centerline is valid? [True, True] Translation: X:54.83, Y:-3.96, Z:-0.85 [[ 9.88687923e-01 1.49551521e-01 1.14251514e-02 5.48302777e+01] [-1.49544178e-01 9.88753908e-01 -1.49911034e-03 -3.95533861e+00] [-1.15208574e-02 -2.26412595e-04 9.99933607e-01 -8.52130578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.355769231000004 meters Centerline goodness [0,1] 0.9999364285562925 Centerline is valid? [True, True] Translation: X:54.86, Y:-3.96, Z:-0.85 [[ 9.88882586e-01 1.48231568e-01 1.17742996e-02 5.48598772e+01] [-1.48223679e-01 9.88952656e-01 -1.54463473e-03 -3.95843046e+00] [-1.18731885e-02 -2.17767628e-04 9.99929488e-01 -8.51077009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385769231000005 meters Centerline goodness [0,1] 0.9999150003187488 Centerline is valid? [True, True] Translation: X:54.89, Y:-3.96, Z:-0.85 [[ 9.89031498e-01 1.47211175e-01 1.20650333e-02 5.48892746e+01] [-1.47202820e-01 9.89105063e-01 -1.58247749e-03 -3.96047132e+00] [-1.21665439e-02 -2.10886847e-04 9.99925963e-01 -8.50827900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.415769231000006 meters Centerline goodness [0,1] 0.9999786725814708 Centerline is valid? [True, True] Translation: X:54.92, Y:-3.96, Z:-0.85 [[ 9.89396053e-01 1.44879200e-01 1.02697053e-02 5.49177990e+01] [-1.44873023e-01 9.89449338e-01 -1.34678357e-03 -3.96296002e+00] [-1.03564740e-02 -1.55300897e-04 9.99946358e-01 -8.54358837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445769231 meters Centerline goodness [0,1] 0.9999788453808889 Centerline is valid? [True, True] Translation: X:54.95, Y:-3.96, Z:-0.86 [[ 9.89598499e-01 1.43519972e-01 9.84014638e-03 5.49463783e+01] [-1.43514235e-01 9.89647412e-01 -1.29029551e-03 -3.96481330e+00] [-9.92345857e-03 -1.35326582e-04 9.99950752e-01 -8.56255951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.475769231 meters Centerline goodness [0,1] 0.9999786055069425 Centerline is valid? [True, True] Translation: X:54.98, Y:-3.97, Z:-0.86 [[ 9.90115129e-01 1.39942375e-01 9.38951865e-03 5.49754291e+01] [-1.39936993e-01 9.90159645e-01 -1.23102141e-03 -3.97068093e+00] [-9.46939452e-03 -9.50880864e-05 9.99955160e-01 -8.56091396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505769231 meters Centerline goodness [0,1] 0.9999786903062203 Centerline is valid? [True, True] Translation: X:55.00, Y:-3.97, Z:-0.86 [[ 9.90358217e-01 1.38199729e-01 9.56226213e-03 5.50039958e+01] [-1.38194067e-01 9.90404376e-01 -1.25346008e-03 -3.97424422e+00] [-9.64373410e-03 -8.00734035e-05 9.99953495e-01 -8.56304593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.535769231 meters Centerline goodness [0,1] 0.9999786725814708 Centerline is valid? [True, True] Translation: X:55.03, Y:-3.98, Z:-0.86 [[ 9.90689758e-01 1.35776419e-01 9.92809147e-03 5.50334908e+01] [-1.35770198e-01 9.90739502e-01 -1.30102352e-03 -3.97922590e+00] [-1.00128007e-02 -5.90282763e-05 9.99949869e-01 -8.56263519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.06, Y:-3.99, Z:-0.85 [[ 9.91287216e-01 1.31258069e-01 1.09988587e-02 5.50629516e+01] [-1.31250159e-01 9.91348233e-01 -1.44103850e-03 -3.98744650e+00] [-1.10928471e-02 -1.51189203e-05 9.99938472e-01 -8.54364926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.595769231000006 meters Centerline goodness [0,1] 0.9999573387939678 Centerline is valid? [True, True] Translation: X:55.09, Y:-3.99, Z:-0.85 [[ 9.91817707e-01 1.27180683e-01 1.10774706e-02 5.50926302e+01] [-1.27172405e-01 9.91879566e-01 -1.45133799e-03 -3.99370828e+00] [-1.11720988e-02 3.07141399e-05 9.99937590e-01 -8.54287699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625769231 meters Centerline goodness [0,1] 0.9999786091681105 Centerline is valid? [True, True] Translation: X:55.12, Y:-4.00, Z:-0.86 [[ 9.92149872e-01 1.24618472e-01 1.04339714e-02 5.51236861e+01] [-1.24610987e-01 9.92204734e-01 -1.36700073e-03 -4.00031100e+00] [-1.05229893e-02 5.60821263e-05 9.99944630e-01 -8.56360278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.15, Y:-4.01, Z:-0.86 [[ 9.92511711e-01 1.21747679e-01 9.89981563e-03 5.51542194e+01] [-1.21740797e-01 9.92561079e-01 -1.29712858e-03 -4.00912316e+00] [-9.98409408e-03 8.22038626e-05 9.99950154e-01 -8.57888421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685769231 meters Centerline goodness [0,1] 0.9998305910255596 Centerline is valid? [True, True] Translation: X:55.18, Y:-4.02, Z:-0.86 [[ 9.93304402e-01 1.15154984e-01 9.25714051e-03 5.51837754e+01] [-1.15148671e-01 9.93347527e-01 -1.21384285e-03 -4.02499254e+00] [-9.33533769e-03 1.39768024e-04 9.99956415e-01 -8.60448191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.715769231 meters Centerline goodness [0,1] 0.9997233159518996 Centerline is valid? [True, True] Translation: X:55.21, Y:-4.04, Z:-0.86 [[ 9.93699364e-01 1.11713423e-01 9.03800676e-03 5.52145845e+01] [-1.11707261e-01 9.93740450e-01 -1.18525220e-03 -4.03573477e+00] [-9.11384149e-03 1.68173372e-04 9.99958454e-01 -8.61367329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745769231000004 meters Centerline goodness [0,1] 0.9991906628045664 Centerline is valid? [True, True] Translation: X:55.24, Y:-4.05, Z:-0.86 [[ 9.94320885e-01 1.06093230e-01 8.37883239e-03 5.52433624e+01] [-1.06087731e-01 9.94356166e-01 -1.09922093e-03 -4.05067187e+00] [-8.44816355e-03 2.04087008e-04 9.99964293e-01 -8.62103848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.775769231000005 meters Centerline goodness [0,1] 0.998958532593679 Centerline is valid? [True, True] Translation: X:55.27, Y:-4.06, Z:-0.86 [[ 9.94472642e-01 1.04677517e-01 8.17196881e-03 5.52744452e+01] [-1.04672242e-01 9.94506196e-01 -1.07181640e-03 -4.05856639e+00] [-8.23926869e-03 2.10513790e-04 9.99966034e-01 -8.63165226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805769231 meters Centerline goodness [0,1] 0.9990015083597119 Centerline is valid? [True, True] Translation: X:55.30, Y:-4.07, Z:-0.86 [[ 9.94551314e-01 1.03931440e-01 8.12030407e-03 5.53046676e+01] [-1.03926195e-01 9.94584440e-01 -1.06636377e-03 -4.06566688e+00] [-8.18715680e-03 2.16641185e-04 9.99966461e-01 -8.63809260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.835769231 meters Centerline goodness [0,1] 0.9990640886563291 Centerline is valid? [True, True] Translation: X:55.34, Y:-4.07, Z:-0.86 [[ 9.94546430e-01 1.03957722e-01 8.37797495e-03 5.53366207e+01] [-1.03952130e-01 9.94581692e-01 -1.10138735e-03 -4.07406411e+00] [-8.44707822e-03 2.24472516e-04 9.99964298e-01 -8.63824514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865769231 meters Centerline goodness [0,1] 0.9988711875958426 Centerline is valid? [True, True] Translation: X:55.37, Y:-4.08, Z:-0.87 [[ 9.94530008e-01 1.04132087e-01 8.15913710e-03 5.53689695e+01] [-1.04126778e-01 9.94563452e-01 -1.07404311e-03 -4.08126005e+00] [-8.22662191e-03 2.18583448e-04 9.99966137e-01 -8.65406290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.895769231 meters Centerline goodness [0,1] 0.9990210891447299 Centerline is valid? [True, True] Translation: X:55.40, Y:-4.09, Z:-0.87 [[ 9.94617574e-01 1.03371047e-01 7.09280225e-03 5.54000637e+01] [-1.03367008e-01 9.94642844e-01 -9.34769658e-04 -4.09233766e+00] [-7.15143312e-03 1.96576586e-04 9.99974409e-01 -8.68512182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925769231000004 meters Centerline goodness [0,1] 0.9991456642460487 Centerline is valid? [True, True] Translation: X:55.43, Y:-4.10, Z:-0.87 [[ 9.94715153e-01 1.02442441e-01 6.87822681e-03 5.54312758e+01] [-1.02438613e-01 9.94738914e-01 -9.07535088e-04 -4.10036485e+00] [-6.93500998e-03 1.98142891e-04 9.99975933e-01 -8.68356697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.955769231000005 meters Centerline goodness [0,1] 0.9985035060714896 Centerline is valid? [True, True] Translation: X:55.46, Y:-4.11, Z:-0.87 [[ 9.94842845e-01 1.01154089e-01 7.45417662e-03 5.54621667e+01] [-1.01149546e-01 9.94870745e-01 -9.84926429e-04 -4.11076683e+00] [-7.51557158e-03 2.25860432e-04 9.99971732e-01 -8.67389374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985769231000006 meters Centerline goodness [0,1] 0.9969957813099246 Centerline is valid? [True, True] Translation: X:55.49, Y:-4.13, Z:-0.86 [[ 9.95185529e-01 9.75532109e-02 9.44111652e-03 5.54899797e+01] [-9.75457382e-02 9.95230258e-01 -1.24987892e-03 -4.13047999e+00] [-9.51801453e-03 3.22920737e-04 9.99954651e-01 -8.63634095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.015769231 meters Centerline goodness [0,1] 0.9969957813099246 Centerline is valid? [True, True] Translation: X:55.52, Y:-4.13, Z:-0.86 [[ 9.95168117e-01 9.77306644e-02 9.44116750e-03 5.55221859e+01] [-9.77232033e-02 9.95212849e-01 -1.24949412e-03 -4.13494560e+00] [-9.51808509e-03 3.20835582e-04 9.99954651e-01 -8.64014538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045769231 meters Centerline goodness [0,1] 0.9958647171761926 Centerline is valid? [True, True] Translation: X:55.55, Y:-4.14, Z:-0.86 [[ 9.95337528e-01 9.58824767e-02 1.04764968e-02 5.55531726e+01] [-9.58731631e-02 9.95392590e-01 -1.38879893e-03 -4.14485876e+00] [-1.05613888e-02 3.77908800e-04 9.99944156e-01 -8.62837995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.075769231 meters Centerline goodness [0,1] 0.9956312523743194 Centerline is valid? [True, True] Translation: X:55.58, Y:-4.16, Z:-0.86 [[ 9.95614447e-01 9.29810374e-02 1.03150211e-02 5.55828483e+01] [-9.29718478e-02 9.95667798e-01 -1.36790409e-03 -4.15779548e+00] [-1.03975235e-02 4.02898508e-04 9.99945863e-01 -8.63770927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105769231000004 meters Centerline goodness [0,1] 0.9944246586958365 Centerline is valid? [True, True] Translation: X:55.61, Y:-4.17, Z:-0.86 [[ 9.95646982e-01 9.26549386e-02 1.01069030e-02 5.56128231e+01] [-9.26460993e-02 9.95698199e-01 -1.34030551e-03 -4.17188578e+00] [-1.01876110e-02 3.98105997e-04 9.99948026e-01 -8.64950733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.135769231000005 meters Centerline goodness [0,1] 0.9944639310315683 Centerline is valid? [True, True] Translation: X:55.64, Y:-4.18, Z:-0.87 [[ 9.95605352e-01 9.31448669e-02 9.69625413e-03 5.56430098e+01] [-9.31367474e-02 9.95652495e-01 -1.28657632e-03 -4.18116085e+00] [-9.77393760e-03 3.77844696e-04 9.99952163e-01 -8.66126627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165769231000006 meters Centerline goodness [0,1] 0.9956879155426217 Centerline is valid? [True, True] Translation: X:55.67, Y:-4.19, Z:-0.87 [[ 9.95339925e-01 9.59920709e-02 9.16275193e-03 5.56717276e+01] [-9.59849258e-02 9.95382043e-01 -1.21740271e-03 -4.19052021e+00] [-9.23729975e-03 3.32243458e-04 9.99957280e-01 -8.67773528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.195769231 meters Centerline goodness [0,1] 0.9982604637349116 Centerline is valid? [True, True] Translation: X:55.70, Y:-4.19, Z:-0.87 [[ 9.95080060e-01 9.86605310e-02 9.04290152e-03 5.57037732e+01] [-9.86536826e-02 9.95121102e-01 -1.20138707e-03 -4.18889290e+00] [-9.11731162e-03 3.03360786e-04 9.99958390e-01 -8.68546673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225769231 meters Centerline goodness [0,1] 0.9994242088202678 Centerline is valid? [True, True] Translation: X:55.73, Y:-4.19, Z:-0.87 [[ 9.94453468e-01 1.04797347e-01 8.93392774e-03 5.57348633e+01] [-1.04790906e-01 9.94493568e-01 -1.18731698e-03 -4.19046235e+00] [-9.00916134e-03 2.44537108e-04 9.99959387e-01 -8.69011457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.255769231 meters Centerline goodness [0,1] 0.999487606481778 Centerline is valid? [True, True] Translation: X:55.77, Y:-4.19, Z:-0.87 [[ 9.94099181e-01 1.08068775e-01 9.37864530e-03 5.57651501e+01] [-1.08061823e-01 9.94143395e-01 -1.24638500e-03 -4.19355681e+00] [-9.45841357e-03 2.25556799e-04 9.99955243e-01 -8.68378562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285769231 meters Centerline goodness [0,1] 0.9996810410819087 Centerline is valid? [True, True] Translation: X:55.80, Y:-4.20, Z:-0.87 [[ 9.93751968e-01 1.11178478e-01 9.81696013e-03 5.57955266e+01] [-1.11171009e-01 9.93800435e-01 -1.30488522e-03 -4.19966093e+00] [-9.90117440e-03 2.05370886e-04 9.99950961e-01 -8.68253832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.315769231000004 meters Centerline goodness [0,1] 0.9999364554870687 Centerline is valid? [True, True] Translation: X:55.83, Y:-4.20, Z:-0.87 [[ 9.93055363e-01 1.17274414e-01 9.36790963e-03 5.58268075e+01] [-1.17267882e-01 9.93099538e-01 -1.24543769e-03 -4.19721266e+00] [-9.44932471e-03 1.38233658e-04 9.99955345e-01 -8.70286367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345769231000006 meters Centerline goodness [0,1] 0.9999574359410913 Centerline is valid? [True, True] Translation: X:55.86, Y:-4.20, Z:-0.87 [[ 9.92726547e-01 1.20072614e-01 8.75047295e-03 5.58590843e+01] [-1.20067026e-01 9.92765106e-01 -1.16299913e-03 -4.19832924e+00] [-8.82680855e-03 1.03896849e-04 9.99961038e-01 -8.71094686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.375769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.89, Y:-4.20, Z:-0.87 [[ 9.92204500e-01 1.24375825e-01 7.80285616e-03 5.58903197e+01] [-1.24371504e-01 9.92235179e-01 -1.03842634e-03 -4.19794261e+00] [-7.87142351e-03 5.98783306e-05 9.99969018e-01 -8.72427194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.92, Y:-4.20, Z:-0.87 [[ 9.92059813e-01 1.25532174e-01 7.68119263e-03 5.59222875e+01] [-1.25528018e-01 9.92089548e-01 -1.02268000e-03 -4.20056376e+00] [-7.74881016e-03 5.03548467e-05 9.99969976e-01 -8.72782346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.435769231 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:55.95, Y:-4.20, Z:-0.87 [[ 9.91958866e-01 1.26301124e-01 8.10148654e-03 5.59529303e+01] [-1.26296514e-01 9.91991947e-01 -1.08012284e-03 -4.20490594e+00] [-8.17303014e-03 4.82479200e-05 9.99966599e-01 -8.72823739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465769231 meters Centerline goodness [0,1] 0.999957141326476 Centerline is valid? [True, True] Translation: X:55.98, Y:-4.21, Z:-0.87 [[ 9.91970402e-01 1.26178779e-01 8.58117864e-03 5.59848057e+01] [-1.26173592e-01 9.92007517e-01 -1.14539132e-03 -4.21180793e+00] [-8.65711779e-03 5.34761566e-05 9.99962525e-01 -8.72903660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.495769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.02, Y:-4.22, Z:-0.87 [[ 9.92072939e-01 1.25346349e-01 8.92053399e-03 5.60162886e+01] [-1.25340694e-01 9.92113042e-01 -1.19247560e-03 -4.22004441e+00] [-8.99965057e-03 6.49168591e-05 9.99959500e-01 -8.73418695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525769231000005 meters Centerline goodness [0,1] 0.9999357986646122 Centerline is valid? [True, True] Translation: X:56.05, Y:-4.23, Z:-0.87 [[ 9.92403893e-01 1.22710758e-01 8.75115746e-03 5.60460750e+01] [-1.22705197e-01 9.92442473e-01 -1.17157601e-03 -4.23319328e+00] [-8.82878533e-03 8.88640865e-05 9.99961022e-01 -8.73797574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.555769231 meters Centerline goodness [0,1] 0.9998717510259918 Centerline is valid? [True, True] Translation: X:56.08, Y:-4.24, Z:-0.87 [[ 9.92581382e-01 1.21271296e-01 8.68754339e-03 5.60772727e+01] [-1.21265756e-01 9.92619395e-01 -1.16358459e-03 -4.24228618e+00] [-8.76453347e-03 1.01450886e-04 9.99961586e-01 -8.74101714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585769231 meters Centerline goodness [0,1] 0.9998087832239149 Centerline is valid? [True, True] Translation: X:56.11, Y:-4.26, Z:-0.87 [[ 9.92867843e-01 1.18839328e-01 9.52154068e-03 5.61078014e+01] [-1.18832545e-01 9.92913488e-01 -1.27701062e-03 -4.25690065e+00] [-9.60582525e-03 1.36433865e-04 9.99953854e-01 -8.71795833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.615769231 meters Centerline goodness [0,1] 0.9998289538389172 Centerline is valid? [True, True] Translation: X:56.14, Y:-4.27, Z:-0.87 [[ 9.92954467e-01 1.18082543e-01 9.89641205e-03 5.61394339e+01] [-1.18075161e-01 9.93003772e-01 -1.32896198e-03 -4.26581906e+00] [-9.98410170e-03 1.51078297e-04 9.99950146e-01 -8.70951469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645769231 meters Centerline goodness [0,1] 0.9998943877658788 Centerline is valid? [True, True] Translation: X:56.17, Y:-4.27, Z:-0.87 [[ 9.92885529e-01 1.18572080e-01 1.09082039e-02 5.61697826e+01] [-1.18563119e-01 9.92945434e-01 -1.46679483e-03 -4.27424273e+00] [-1.10051722e-02 1.63048677e-04 9.99939428e-01 -8.69386693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.675769231000004 meters Centerline goodness [0,1] 0.9998095278406807 Centerline is valid? [True, True] Translation: X:56.20, Y:-4.28, Z:-0.87 [[ 9.92667999e-01 1.20328229e-01 1.14612535e-02 5.62007209e+01] [-1.20318433e-01 9.92734151e-01 -1.54296071e-03 -4.27800243e+00] [-1.15636395e-02 1.52647659e-04 9.99933127e-01 -8.69023457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705769231000005 meters Centerline goodness [0,1] 0.9999156456272802 Centerline is valid? [True, True] Translation: X:56.23, Y:-4.28, Z:-0.87 [[ 9.92375337e-01 1.22683868e-01 1.18262063e-02 5.62333020e+01] [-1.22673584e-01 9.92445793e-01 -1.59387969e-03 -4.28051788e+00] [-1.19324120e-02 1.30963782e-04 9.99928798e-01 -8.68424596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.735769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.27, Y:-4.28, Z:-0.87 [[ 9.91601462e-01 1.28779672e-01 1.19305216e-02 5.62665901e+01] [-1.28769638e-01 9.91673229e-01 -1.60865522e-03 -4.27600301e+00] [-1.20383410e-02 5.88559105e-05 9.99927535e-01 -8.67290654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.30, Y:-4.28, Z:-0.87 [[ 9.91250650e-01 1.31506537e-01 1.13216480e-02 5.62979191e+01] [-1.31497659e-01 9.91315303e-01 -1.52827178e-03 -4.27545434e+00] [-1.14243006e-02 2.61301797e-05 9.99934740e-01 -8.69138569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.33, Y:-4.27, Z:-0.87 [[ 9.90630557e-01 1.36175110e-01 1.03652534e-02 5.63316901e+01] [-1.36167917e-01 9.90684783e-01 -1.39989853e-03 -4.27410139e+00] [-1.04593301e-02 -2.46326957e-05 9.99945299e-01 -8.72352215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825769231 meters Centerline goodness [0,1] 0.9999789074035014 Centerline is valid? [True, True] Translation: X:56.36, Y:-4.28, Z:-0.87 [[ 9.90401877e-01 1.37881515e-01 9.63377463e-03 5.63635572e+01] [-1.37875366e-01 9.90448730e-01 -1.30271040e-03 -4.27590066e+00] [-9.72137953e-03 -3.80533818e-05 9.99952746e-01 -8.73938201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.855769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.40, Y:-4.28, Z:-0.88 [[ 9.90184722e-01 1.39461310e-01 9.20646385e-03 5.63966539e+01] [-1.39455749e-01 9.90227520e-01 -1.24634964e-03 -4.27760966e+00] [-9.29031141e-03 -4.97779389e-05 9.99956843e-01 -8.75313361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885769231000005 meters Centerline goodness [0,1] 0.999978747369987 Centerline is valid? [True, True] Translation: X:56.43, Y:-4.28, Z:-0.87 [[ 9.89878793e-01 1.41599292e-01 9.46650589e-03 5.64284920e+01] [-1.41593493e-01 9.89924055e-01 -1.28336671e-03 -4.27609130e+00] [-9.55284572e-03 -7.00181442e-05 9.99954368e-01 -8.74632133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.915769231000006 meters Centerline goodness [0,1] 0.9999366928336287 Centerline is valid? [True, True] Translation: X:56.46, Y:-4.27, Z:-0.87 [[ 9.89412152e-01 1.44745743e-01 1.05954446e-02 5.64611883e+01] [-1.44738641e-01 9.89468877e-01 -1.43812023e-03 -4.27343032e+00] [-1.06920244e-02 -1.10676612e-04 9.99942833e-01 -8.72185426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945769231 meters Centerline goodness [0,1] 0.9999360313872659 Centerline is valid? [True, True] Translation: X:56.49, Y:-4.27, Z:-0.87 [[ 9.89019167e-01 1.47358728e-01 1.12469274e-02 5.64940445e+01] [-1.47350874e-01 9.89083103e-01 -1.52836422e-03 -4.27176577e+00] [-1.13493636e-02 -1.45663071e-04 9.99935583e-01 -8.71221578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.975769231 meters Centerline goodness [0,1] 0.9997678002237561 Centerline is valid? [True, True] Translation: X:56.53, Y:-4.27, Z:-0.87 [[ 9.88577005e-01 1.50312678e-01 1.10274333e-02 5.65265613e+01] [-1.50305293e-01 9.88638492e-01 -1.50018227e-03 -4.26857831e+00] [-1.11276414e-02 -1.74435888e-04 9.99938071e-01 -8.72229449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005769231 meters Centerline goodness [0,1] 0.9997460102442535 Centerline is valid? [True, True] Translation: X:56.56, Y:-4.26, Z:-0.88 [[ 9.87738301e-01 1.55898959e-01 8.28030988e-03 5.65585425e+01] [-1.55894981e-01 9.87772992e-01 -1.12768108e-03 -4.25631971e+00] [-8.35487077e-03 -1.77004957e-04 9.99965082e-01 -8.78636243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.035769231 meters Centerline goodness [0,1] 0.9997235395444782 Centerline is valid? [True, True] Translation: X:56.59, Y:-4.26, Z:-0.88 [[ 9.87336614e-01 1.58511922e-01 6.35462516e-03 5.65902832e+01] [-1.58509639e-01 9.87357051e-01 -8.64647645e-04 -4.25881181e+00] [-6.41134092e-03 -1.53571059e-04 9.99979435e-01 -8.81634069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065769231000004 meters Centerline goodness [0,1] 0.9991751443497388 Centerline is valid? [True, True] Translation: X:56.62, Y:-4.25, Z:-0.88 [[ 9.86805484e-01 1.61821886e-01 5.34921475e-03 5.66217850e+01] [-1.61820308e-01 9.86819971e-01 -7.29365475e-04 -4.24567470e+00] [-5.39673925e-03 -1.45869731e-04 9.99985427e-01 -8.84946323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.095769231000006 meters Centerline goodness [0,1] 0.9995329681993801 Centerline is valid? [True, True] Translation: X:56.65, Y:-4.25, Z:-0.88 [[ 9.86580354e-01 1.63133264e-01 6.83683734e-03 5.66515210e+01] [-1.63130719e-01 9.86604024e-01 -9.32034467e-04 -4.25073539e+00] [-6.89729705e-03 -1.95771295e-04 9.99976194e-01 -8.81507048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125769231 meters Centerline goodness [0,1] 0.9992372719761012 Centerline is valid? [True, True] Translation: X:56.68, Y:-4.25, Z:-0.88 [[ 9.86447710e-01 1.63875937e-01 8.09893326e-03 5.66819329e+01] [-1.63872390e-01 9.86480928e-01 -1.10409018e-03 -4.25145357e+00] [-8.17037701e-03 -2.38064327e-04 9.99966594e-01 -8.79699806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.155769231 meters Centerline goodness [0,1] 0.9992356525616255 Centerline is valid? [True, True] Translation: X:56.71, Y:-4.25, Z:-0.88 [[ 9.86440509e-01 1.63918234e-01 8.12006068e-03 5.67129465e+01] [-1.63914670e-01 9.86473900e-01 -1.10697038e-03 -4.25306949e+00] [-8.19168055e-03 -2.39036644e-04 9.99966419e-01 -8.80084161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185769231 meters Centerline goodness [0,1] 0.9995321935867993 Centerline is valid? [True, True] Translation: X:56.74, Y:-4.26, Z:-0.88 [[ 9.86509418e-01 1.63553645e-01 7.02665884e-03 5.67437243e+01] [-1.63550967e-01 9.86534421e-01 -9.57911956e-04 -4.25551992e+00] [-7.08871080e-03 -2.04227684e-04 9.99974854e-01 -8.82898783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.215769231 meters Centerline goodness [0,1] 0.9995314263806948 Centerline is valid? [True, True] Translation: X:56.77, Y:-4.26, Z:-0.89 [[ 9.86694525e-01 1.62493629e-01 5.45306353e-03 5.67744601e+01] [-1.62492000e-01 9.86709581e-01 -7.43390973e-04 -4.25630128e+00] [-5.50138633e-03 -1.52579396e-04 9.99984856e-01 -8.86629913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245769231000004 meters Centerline goodness [0,1] 0.9996151790486371 Centerline is valid? [True, True] Translation: X:56.80, Y:-4.26, Z:-0.89 [[ 9.86803940e-01 1.61832514e-01 5.31245575e-03 5.68042149e+01] [-1.61830958e-01 9.86818229e-01 -7.24295886e-04 -4.25868324e+00] [-5.35964279e-03 -1.44981769e-04 9.99985627e-01 -8.86703441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.275769231000005 meters Centerline goodness [0,1] 0.9996993062565777 Centerline is valid? [True, True] Translation: X:56.83, Y:-4.26, Z:-0.89 [[ 9.86894596e-01 1.61260456e-01 5.84146086e-03 5.68346187e+01] [-1.61258566e-01 9.86911871e-01 -7.96271188e-04 -4.26440162e+00] [-5.89341412e-03 -1.56149867e-04 9.99982621e-01 -8.85071534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305769231 meters Centerline goodness [0,1] 0.9990643473822991 Centerline is valid? [True, True] Translation: X:56.86, Y:-4.25, Z:-0.88 [[ 9.87135102e-01 1.59696222e-01 7.83631251e-03 5.68645518e+01] [-1.59692770e-01 9.87166186e-01 -1.06833181e-03 -4.25451298e+00] [-7.90635128e-03 -1.96814614e-04 9.99968725e-01 -8.83015055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.335769231 meters Centerline goodness [0,1] 0.9998725411054935 Centerline is valid? [True, True] Translation: X:56.89, Y:-4.27, Z:-0.88 [[ 9.87301070e-01 1.58614488e-01 8.83415384e-03 5.68927666e+01] [-1.58610061e-01 9.87340569e-01 -1.20396191e-03 -4.26681767e+00] [-8.91328428e-03 -2.12512796e-04 9.99960253e-01 -8.80381130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365769231 meters Centerline goodness [0,1] 0.9997867076188038 Centerline is valid? [True, True] Translation: X:56.92, Y:-4.27, Z:-0.88 [[ 9.87435583e-01 1.57689726e-01 1.02429982e-02 5.69222598e+01] [-1.57683727e-01 9.87488681e-01 -1.39568932e-03 -4.26835715e+00] [-1.03349306e-02 -2.37000840e-04 9.99946565e-01 -8.78628025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.395769231 meters Centerline goodness [0,1] 0.9995966714783052 Centerline is valid? [True, True] Translation: X:56.95, Y:-4.27, Z:-0.88 [[ 9.87433455e-01 1.57688656e-01 1.04622726e-02 5.69532081e+01] [-1.57682401e-01 9.87488850e-01 -1.42529772e-03 -4.27067487e+00] [-1.05561308e-02 -2.42329612e-04 9.99944253e-01 -8.78772271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425769231000004 meters Centerline goodness [0,1] 0.9998290196413687 Centerline is valid? [True, True] Translation: X:56.98, Y:-4.27, Z:-0.88 [[ 9.87407876e-01 1.57825567e-01 1.08063467e-02 5.69838358e+01] [-1.57818901e-01 9.87466975e-01 -1.47217167e-03 -4.27461683e+00] [-1.09032568e-02 -2.51811866e-04 9.99940526e-01 -8.77840545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.455769231000005 meters Centerline goodness [0,1] 0.9997662210698574 Centerline is valid? [True, True] Translation: X:57.01, Y:-4.27, Z:-0.88 [[ 9.87453444e-01 1.57504595e-01 1.13136637e-02 5.70137437e+01] [-1.57497268e-01 9.87518220e-01 -1.54128783e-03 -4.27376286e+00] [-1.14152090e-02 -2.59921153e-04 9.99934811e-01 -8.76979394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485769231000006 meters Centerline goodness [0,1] 0.9997862471410555 Centerline is valid? [True, True] Translation: X:57.04, Y:-4.28, Z:-0.88 [[ 9.87536095e-01 1.56973977e-01 1.14731196e-02 5.70431992e+01] [-1.56966408e-01 9.87602706e-01 -1.56287573e-03 -4.27698844e+00] [-1.15762147e-02 -2.57498174e-04 9.99932960e-01 -8.76954843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.515769231 meters Centerline goodness [0,1] 0.9998923318762247 Centerline is valid? [True, True] Translation: X:57.07, Y:-4.28, Z:-0.88 [[ 9.87764043e-01 1.55623674e-01 1.01719175e-02 5.70734566e+01] [-1.55617655e-01 9.87816393e-01 -1.38538377e-03 -4.28258277e+00] [-1.02635854e-02 -2.14497682e-04 9.99947305e-01 -8.79848219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545769231 meters Centerline goodness [0,1] 0.9995546412741501 Centerline is valid? [True, True] Translation: X:57.10, Y:-4.27, Z:-0.88 [[ 9.87956029e-01 1.54437325e-01 9.59147314e-03 5.71033472e+01] [-1.54431918e-01 9.88002569e-01 -1.30636880e-03 -4.27477594e+00] [-9.67815221e-03 -1.90594655e-04 9.99953147e-01 -8.82867821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.575769231 meters Centerline goodness [0,1] 0.9999785885577253 Centerline is valid? [True, True] Translation: X:57.13, Y:-4.29, Z:-0.88 [[ 9.88175152e-01 1.53039496e-01 9.42244724e-03 5.71321092e+01] [-1.53034216e-01 9.88220058e-01 -1.28312104e-03 -4.29225953e+00] [-9.50781955e-03 -1.74008496e-04 9.99954785e-01 -8.82828621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605769231000004 meters Centerline goodness [0,1] 0.9997886371322287 Centerline is valid? [True, True] Translation: X:57.16, Y:-4.29, Z:-0.88 [[ 9.88431739e-01 1.51356984e-01 9.68297142e-03 5.71620605e+01] [-1.51351327e-01 9.88479154e-01 -1.31859846e-03 -4.29477834e+00] [-9.77099448e-03 -1.62186006e-04 9.99952250e-01 -8.83641061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.635769231000005 meters Centerline goodness [0,1] 0.999810110557853 Centerline is valid? [True, True] Translation: X:57.19, Y:-4.30, Z:-0.88 [[ 9.88080352e-01 1.53588304e-01 1.03851010e-02 5.71905112e+01] [-1.53581919e-01 9.88134907e-01 -1.41426513e-03 -4.29559818e+00] [-1.04790954e-02 -1.97556159e-04 9.99945073e-01 -8.81039948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665769231000006 meters Centerline goodness [0,1] 0.9998507589971004 Centerline is valid? [True, True] Translation: X:57.22, Y:-4.30, Z:-0.88 [[ 9.87660348e-01 1.56263521e-01 1.04282840e-02 5.72202507e+01] [-1.56257238e-01 9.87715374e-01 -1.41965130e-03 -4.29965519e+00] [-1.05220161e-02 -2.27361551e-04 9.99944616e-01 -8.80597102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.695769231 meters Centerline goodness [0,1] 0.9998497757366354 Centerline is valid? [True, True] Translation: X:57.25, Y:-4.30, Z:-0.88 [[ 9.87265323e-01 1.58765523e-01 1.00344993e-02 5.72506305e+01] [-1.58759835e-01 9.87316286e-01 -1.36591324e-03 -4.30241774e+00] [-1.01240845e-02 -2.44556684e-04 9.99948720e-01 -8.81585752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725769231 meters Centerline goodness [0,1] 0.9993851112100587 Centerline is valid? [True, True] Translation: X:57.28, Y:-4.29, Z:-0.88 [[ 9.86767573e-01 1.61853128e-01 9.66032777e-03 5.72807028e+01] [-1.61848003e-01 9.86814823e-01 -1.31505084e-03 -4.29389546e+00] [-9.74579973e-03 -2.65855241e-04 9.99952473e-01 -8.83570573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.755769231 meters Centerline goodness [0,1] 0.9990500717723549 Centerline is valid? [True, True] Translation: X:57.31, Y:-4.29, Z:-0.88 [[ 9.86783393e-01 1.61757065e-01 9.65337336e-03 5.73087902e+01] [-1.61751946e-01 9.86830574e-01 -1.31378969e-03 -4.29352659e+00] [-9.73875874e-03 -2.65026078e-04 9.99952542e-01 -8.84841710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785769231 meters Centerline goodness [0,1] 0.9996588849802793 Centerline is valid? [True, True] Translation: X:57.34, Y:-4.31, Z:-0.89 [[ 9.87111891e-01 1.59782959e-01 8.91748331e-03 5.73366052e+01] [-1.59778516e-01 9.87152143e-01 -1.21310417e-03 -4.30880936e+00] [-8.99674614e-03 -2.27352693e-04 9.99959503e-01 -8.85783922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.815769231000004 meters Centerline goodness [0,1] 0.9998925839993126 Centerline is valid? [True, True] Translation: X:57.37, Y:-4.32, Z:-0.89 [[ 9.87336442e-01 1.58413438e-01 8.48135472e-03 5.73663074e+01] [-1.58409371e-01 9.87372848e-01 -1.15350215e-03 -4.32024488e+00] [-8.55698961e-03 -2.04631360e-04 9.99963367e-01 -8.86340595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845769231000006 meters Centerline goodness [0,1] 0.9998299681190224 Centerline is valid? [True, True] Translation: X:57.40, Y:-4.32, Z:-0.89 [[ 9.87504462e-01 1.57416063e-01 7.42428242e-03 5.73957023e+01] [-1.57412917e-01 9.87532356e-01 -1.00983972e-03 -4.32367824e+00] [-7.49068410e-03 -1.71456726e-04 9.99971930e-01 -8.88596742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.875769231 meters Centerline goodness [0,1] 0.999935710612035 Centerline is valid? [True, True] Translation: X:57.42, Y:-4.33, Z:-0.89 [[ 9.87646219e-01 1.56598459e-01 5.64524512e-03 5.74248570e+01] [-1.56596627e-01 9.87662345e-01 -7.67892440e-04 -4.33137316e+00] [-5.69584680e-03 -1.25620277e-04 9.99983771e-01 -8.91128430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905769231 meters Centerline goodness [0,1] 0.9997870392060821 Centerline is valid? [True, True] Translation: X:57.45, Y:-4.33, Z:-0.89 [[ 9.87322560e-01 1.58600678e-01 6.32351241e-03 5.74549424e+01] [-1.58598421e-01 9.87342798e-01 -8.60011719e-04 -4.32567930e+00] [-6.37987288e-03 -1.53790109e-04 9.99979637e-01 -8.92221876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.935769231 meters Centerline goodness [0,1] 0.9997870392060821 Centerline is valid? [True, True] Translation: X:57.48, Y:-4.33, Z:-0.89 [[ 9.87329566e-01 1.58557058e-01 6.32353095e-03 5.74830346e+01] [-1.58554801e-01 9.87349804e-01 -8.59875404e-04 -4.32940478e+00] [-6.37987636e-03 -1.53645779e-04 9.99979637e-01 -8.92553442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965769231 meters Centerline goodness [0,1] 0.9997470329068027 Centerline is valid? [True, True] Translation: X:57.51, Y:-4.33, Z:-0.89 [[ 9.86970908e-01 1.60733444e-01 7.29297215e-03 5.75130971e+01] [-1.60730504e-01 9.86997833e-01 -9.91195828e-04 -4.32991400e+00] [-7.35746603e-03 -1.93921647e-04 9.99972915e-01 -8.91337544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.995769231000004 meters Centerline goodness [0,1] 0.9994929220367631 Centerline is valid? [True, True] Translation: X:57.54, Y:-4.33, Z:-0.89 [[ 9.86538690e-01 1.63328426e-01 8.07707513e-03 5.75433327e+01] [-1.63324910e-01 9.86571725e-01 -1.09755339e-03 -4.33018574e+00] [-8.14787561e-03 -2.36408686e-04 9.99966778e-01 -8.90093184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025769231000005 meters Centerline goodness [0,1] 0.9988351653006332 Centerline is valid? [True, True] Translation: X:57.57, Y:-4.33, Z:-0.89 [[ 9.85982968e-01 1.66596877e-01 9.11410654e-03 5.75726940e+01] [-1.66592540e-01 9.86025046e-01 -1.23825848e-03 -4.33050431e+00] [-9.19302732e-03 -2.97440393e-04 9.99957699e-01 -8.88604872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.055769231000006 meters Centerline goodness [0,1] 0.9994615666257457 Centerline is valid? [True, True] Translation: X:57.60, Y:-4.34, Z:-0.89 [[ 9.85947928e-01 1.66794656e-01 9.28583826e-03 5.76002054e+01] [-1.66790166e-01 9.85991607e-01 -1.26132868e-03 -4.33855990e+00] [-9.36614148e-03 -3.05182103e-04 9.99956090e-01 -8.87441283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085769231 meters Centerline goodness [0,1] 0.999615622797839 Centerline is valid? [True, True] Translation: X:57.63, Y:-4.35, Z:-0.89 [[ 9.86385323e-01 1.64190529e-01 9.24476787e-03 5.76295162e+01] [-1.64185970e-01 9.86428605e-01 -1.25509335e-03 -4.34697671e+00] [-9.32537791e-03 -2.79855527e-04 9.99956479e-01 -8.88507819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.115769231 meters Centerline goodness [0,1] 0.9996362780547294 Centerline is valid? [True, True] Translation: X:57.66, Y:-4.35, Z:-0.89 [[ 9.86705984e-01 1.62281115e-01 8.72581414e-03 5.76582130e+01] [-1.62276980e-01 9.86744536e-01 -1.18457591e-03 -4.35186064e+00] [-8.80238372e-03 -2.47170621e-04 9.99961228e-01 -8.91008787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145769231 meters Centerline goodness [0,1] 0.9997018040852841 Centerline is valid? [True, True] Translation: X:57.69, Y:-4.36, Z:-0.89 [[ 9.87123078e-01 1.59780987e-01 7.62001793e-03 5.76871801e+01] [-1.59777761e-01 9.87152469e-01 -1.03426350e-03 -4.36218381e+00] [-7.68737515e-03 -1.96564032e-04 9.99970432e-01 -8.92064442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.175769231000004 meters Centerline goodness [0,1] 0.9996381823986379 Centerline is valid? [True, True] Translation: X:57.72, Y:-4.36, Z:-0.89 [[ 9.87134121e-01 1.59722644e-01 7.40972700e-03 5.77162633e+01] [-1.59719592e-01 9.87161912e-01 -1.00568874e-03 -4.36236872e+00] [-7.47523154e-03 -1.90728903e-04 9.99972042e-01 -8.92382680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205769231000005 meters Centerline goodness [0,1] 0.9998073300222641 Centerline is valid? [True, True] Translation: X:57.75, Y:-4.36, Z:-0.89 [[ 9.86989568e-01 1.60597731e-01 7.74346837e-03 5.77450911e+01] [-1.60594426e-01 9.87019922e-01 -1.05086589e-03 -4.36493001e+00] [-7.81172422e-03 -2.06364187e-04 9.99969467e-01 -8.91676026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.235769231000006 meters Centerline goodness [0,1] 0.9993186125247535 Centerline is valid? [True, True] Translation: X:57.77, Y:-4.36, Z:-0.89 [[ 9.86372641e-01 1.64251766e-01 9.50635433e-03 5.77746277e+01] [-1.64246959e-01 9.86418407e-01 -1.28952792e-03 -4.35721701e+00] [-9.58905013e-03 -2.89434736e-04 9.99953982e-01 -8.88689540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265769231 meters Centerline goodness [0,1] 0.9991297888146026 Centerline is valid? [True, True] Translation: X:57.80, Y:-4.36, Z:-0.89 [[ 9.86054157e-01 1.66103631e-01 1.03335552e-02 5.78041626e+01] [-1.66098059e-01 9.86108245e-01 -1.40119275e-03 -4.35771557e+00] [-1.04227472e-02 -3.34731521e-04 9.99945626e-01 -8.87938818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.295769231 meters Centerline goodness [0,1] 0.9981471733866722 Centerline is valid? [True, True] Translation: X:57.83, Y:-4.35, Z:-0.89 [[ 9.85647449e-01 1.68532915e-01 9.78580943e-03 5.78338677e+01] [-1.68528041e-01 9.85695967e-01 -1.32654328e-03 -4.34928460e+00] [-9.86939910e-03 -3.41679296e-04 9.99951238e-01 -8.90940716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325769231 meters Centerline goodness [0,1] 0.9980407189709515 Centerline is valid? [True, True] Translation: X:57.86, Y:-4.35, Z:-0.89 [[ 9.85683510e-01 1.68367086e-01 8.97450864e-03 5.78630414e+01] [-1.68362982e-01 9.85724316e-01 -1.21627868e-03 -4.35144478e+00] [-9.05117268e-03 -3.12109198e-04 9.99958989e-01 -8.93211514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.355769231000004 meters Centerline goodness [0,1] 0.9986653673417507 Centerline is valid? [True, True] Translation: X:57.89, Y:-4.36, Z:-0.89 [[ 9.85913204e-01 1.67055312e-01 8.22658090e-03 5.78915932e+01] [-1.67051821e-01 9.85947487e-01 -1.11458404e-03 -4.35513343e+00] [-8.29717395e-03 -2.75382197e-04 9.99965540e-01 -8.94552646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385769231000005 meters Centerline goodness [0,1] 0.9994732517224668 Centerline is valid? [True, True] Translation: X:57.92, Y:-4.36, Z:-0.89 [[ 9.86706607e-01 1.62286693e-01 8.54994723e-03 5.79208098e+01] [-1.62282747e-01 9.86743619e-01 -1.15789307e-03 -4.36468413e+00] [-8.62451650e-03 -2.45008175e-04 9.99962778e-01 -8.93230920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.415769231000006 meters Centerline goodness [0,1] 0.9998296966471527 Centerline is valid? [True, True] Translation: X:57.95, Y:-4.37, Z:-0.89 [[ 9.87211298e-01 1.59132352e-01 9.52618464e-03 5.79502075e+01] [-1.59127309e-01 9.87257229e-01 -1.28992887e-03 -4.37179034e+00] [-9.61006406e-03 -2.42443774e-04 9.99953793e-01 -8.92069581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445769231 meters Centerline goodness [0,1] 0.9999362813814197 Centerline is valid? [True, True] Translation: X:57.98, Y:-4.38, Z:-0.89 [[ 9.88263881e-01 1.52386137e-01 1.06286160e-02 5.79790876e+01] [-1.52379470e-01 9.88321014e-01 -1.43907089e-03 -4.38329330e+00] [-1.07237790e-02 -1.97401094e-04 9.99942479e-01 -8.91487033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.475769231 meters Centerline goodness [0,1] 0.999851446276607 Centerline is valid? [True, True] Translation: X:58.01, Y:-4.39, Z:-0.89 [[ 9.88694616e-01 1.49626751e-01 9.73613943e-03 5.80073297e+01] [-1.49621023e-01 9.88742541e-01 -1.31813369e-03 -4.38926085e+00] [-9.82376329e-03 -1.53499463e-04 9.99951734e-01 -8.94147608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505769231 meters Centerline goodness [0,1] 0.9999785656106658 Centerline is valid? [True, True] Translation: X:58.04, Y:-4.40, Z:-0.90 [[ 9.89050303e-01 1.47331169e-01 8.54547448e-03 5.80357321e+01] [-1.47326673e-01 9.89087212e-01 -1.15664608e-03 -4.39789678e+00] [-8.62262955e-03 -1.14995176e-04 9.99962818e-01 -8.97304535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.535769231 meters Centerline goodness [0,1] 0.9999575091886379 Centerline is valid? [True, True] Translation: X:58.06, Y:-4.41, Z:-0.90 [[ 9.89512796e-01 1.44295357e-01 6.57847803e-03 5.80646570e+01] [-1.44292627e-01 9.89534661e-01 -8.90198293e-04 -4.40703969e+00] [-6.63808351e-03 -6.83632739e-05 9.99977965e-01 -9.01040570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565769231000004 meters Centerline goodness [0,1] 0.9999786128280258 Centerline is valid? [True, True] Translation: X:58.09, Y:-4.42, Z:-0.90 [[ 9.89650950e-01 1.43337423e-01 6.73654211e-03 5.80939976e+01] [-1.43334539e-01 9.89673875e-01 -9.11587492e-04 -4.41530070e+00] [-6.79764434e-03 -6.34257275e-05 9.99976894e-01 -9.00157983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.595769231000006 meters Centerline goodness [0,1] 0.9999787757874183 Centerline is valid? [True, True] Translation: X:58.12, Y:-4.42, Z:-0.90 [[ 9.89738924e-01 1.42721213e-01 6.89325538e-03 5.81232941e+01] [-1.42718178e-01 9.89762927e-01 -9.32732036e-04 -4.42186208e+00] [-6.95580926e-03 -6.06316464e-05 9.99975806e-01 -8.99450690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625769231 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:58.15, Y:-4.43, Z:-0.90 [[ 9.89747362e-01 1.42650763e-01 7.13579395e-03 5.81531432e+01] [-1.42647508e-01 9.89773083e-01 -9.65708070e-04 -4.42712858e+00] [-7.20057577e-03 -6.20962071e-05 9.99974074e-01 -8.99657733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.655769231 meters Centerline goodness [0,1] 0.9999786657564056 Centerline is valid? [True, True] Translation: X:58.18, Y:-4.43, Z:-0.90 [[ 9.89758184e-01 1.42574738e-01 7.15408985e-03 5.81835455e+01] [-1.42571464e-01 9.89784037e-01 -9.68184108e-04 -4.43209126e+00] [-7.21904253e-03 -6.17009175e-05 9.99973940e-01 -9.00005337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685769231 meters Centerline goodness [0,1] 0.9999578005654725 Centerline is valid? [True, True] Translation: X:58.21, Y:-4.43, Z:-0.90 [[ 9.89574779e-01 1.43755236e-01 8.72863581e-03 5.82129516e+01] [-1.43750408e-01 9.89613270e-01 -1.18130634e-03 -4.43382074e+00] [-8.80779280e-03 -8.57539984e-05 9.99961207e-01 -8.98441216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.715769231 meters Centerline goodness [0,1] 0.9999787582046434 Centerline is valid? [True, True] Translation: X:58.24, Y:-4.43, Z:-0.90 [[ 9.89176616e-01 1.46457153e-01 8.94009466e-03 5.82415713e+01] [-1.46452198e-01 9.89217008e-01 -1.20990490e-03 -4.43298843e+00] [-9.02089292e-03 -1.12486885e-04 9.99959305e-01 -8.97453322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745769231000004 meters Centerline goodness [0,1] 0.999957625323107 Centerline is valid? [True, True] Translation: X:58.27, Y:-4.43, Z:-0.90 [[ 9.88855147e-01 1.48651368e-01 8.26251983e-03 5.82714761e+01] [-1.48647216e-01 9.88889658e-01 -1.11779106e-03 -4.43457726e+00] [-8.33688158e-03 -1.22867128e-04 9.99965240e-01 -8.97803667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.775769231000005 meters Centerline goodness [0,1] 0.9998933901918976 Centerline is valid? [True, True] Translation: X:58.30, Y:-4.43, Z:-0.90 [[ 9.88496325e-01 1.51046725e-01 7.73965967e-03 5.83016630e+01] [-1.51043156e-01 9.88526615e-01 -1.04688920e-03 -4.43329874e+00] [-7.80898876e-03 -1.34176494e-04 9.99969500e-01 -8.98766446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805769231000006 meters Centerline goodness [0,1] 0.999957373345553 Centerline is valid? [True, True] Translation: X:58.33, Y:-4.43, Z:-0.90 [[ 9.87804569e-01 1.55484067e-01 8.17546886e-03 5.83311759e+01] [-1.55480239e-01 9.87838384e-01 -1.10563436e-03 -4.42549354e+00] [-8.24795047e-03 -1.78973176e-04 9.99965969e-01 -8.97984313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.835769231 meters Centerline goodness [0,1] 0.9998072598779313 Centerline is valid? [True, True] Translation: X:58.36, Y:-4.42, Z:-0.90 [[ 9.87496292e-01 1.57381076e-01 9.07024813e-03 5.83606432e+01] [-1.57376446e-01 9.87537923e-01 -1.22641803e-03 -4.42430046e+00] [-9.15022899e-03 -2.16360163e-04 9.99958112e-01 -8.96814973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865769231 meters Centerline goodness [0,1] 0.99955672823219 Centerline is valid? [True, True] Translation: X:58.39, Y:-4.42, Z:-0.90 [[ 9.87007369e-01 1.60414905e-01 9.13846173e-03 5.83903373e+01] [-1.60410340e-01 9.87049643e-01 -1.23519944e-03 -4.41663315e+00] [-9.21825979e-03 -2.46752801e-04 9.99957480e-01 -8.96774510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.895769231 meters Centerline goodness [0,1] 0.9994051033632906 Centerline is valid? [True, True] Translation: X:58.42, Y:-4.41, Z:-0.90 [[ 9.86788710e-01 1.61793731e-01 8.41611107e-03 5.84188168e+01] [-1.61789912e-01 9.86824570e-01 -1.13724123e-03 -4.41301709e+00] [-8.48922368e-03 -2.39425055e-04 9.99963937e-01 -8.98296260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925769231000004 meters Centerline goodness [0,1] 0.9992571052575722 Centerline is valid? [True, True] Translation: X:58.45, Y:-4.41, Z:-0.90 [[ 9.86521433e-01 1.63430808e-01 8.11374571e-03 5.84485294e+01] [-1.63427317e-01 9.86554768e-01 -1.09589674e-03 -4.41033533e+00] [-8.18375781e-03 -2.44882067e-04 9.99966483e-01 -8.98533582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.955769231000005 meters Centerline goodness [0,1] 0.9985618813975129 Centerline is valid? [True, True] Translation: X:58.48, Y:-4.40, Z:-0.90 [[ 9.85778475e-01 1.67757689e-01 9.90736908e-03 5.84809017e+01] [-1.67752709e-01 9.85828200e-01 -1.33749728e-03 -4.39959648e+00] [-9.99133927e-03 -3.43511977e-04 9.99950026e-01 -8.95502746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985769231000006 meters Centerline goodness [0,1] 0.998403168114461 Centerline is valid? [True, True] Translation: X:58.51, Y:-4.40, Z:-0.89 [[ 9.85447174e-01 1.69616369e-01 1.11424412e-02 5.85116396e+01] [-1.69610188e-01 9.85510082e-01 -1.50424315e-03 -4.39639489e+00] [-1.12361324e-02 -4.07519384e-04 9.99936790e-01 -8.93669312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.015769231 meters Centerline goodness [0,1] 0.995062303975587 Centerline is valid? [True, True] Translation: X:58.54, Y:-4.38, Z:-0.89 [[ 9.84951699e-01 1.72434619e-01 1.16813379e-02 5.85434957e+01] [-1.72428027e-01 9.85020857e-01 -1.57670282e-03 -4.38062680e+00] [-1.17782396e-02 -4.61213919e-04 9.99930528e-01 -8.91608084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045769231 meters Centerline goodness [0,1] 0.9965299818035631 Centerline is valid? [True, True] Translation: X:58.57, Y:-4.38, Z:-0.89 [[ 9.84850342e-01 1.73035830e-01 1.13316071e-02 5.85729358e+01] [-1.73029668e-01 9.84915425e-01 -1.52937626e-03 -4.38021813e+00] [-1.14253115e-02 -4.54497470e-04 9.99934626e-01 -8.92424672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.075769231 meters Centerline goodness [0,1] 0.9966727098219047 Centerline is valid? [True, True] Translation: X:58.60, Y:-4.37, Z:-0.89 [[ 9.84777049e-01 1.73487550e-01 1.07811532e-02 5.86026487e+01] [-1.73482004e-01 9.84835965e-01 -1.45460420e-03 -4.37345346e+00] [-1.08700232e-02 -4.37875238e-04 9.99940824e-01 -8.94266701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105769231000004 meters Centerline goodness [0,1] 0.9961338289962826 Centerline is valid? [True, True] Translation: X:58.63, Y:-4.37, Z:-0.89 [[ 9.84792685e-01 1.73376697e-01 1.11305626e-02 5.86301101e+01] [-1.73370785e-01 9.84855480e-01 -1.50121468e-03 -4.37057002e+00] [-1.12222712e-02 -4.51329150e-04 9.99936926e-01 -8.94246311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.135769231000005 meters Centerline goodness [0,1] 0.9956111241944807 Centerline is valid? [True, True] Translation: X:58.66, Y:-4.37, Z:-0.89 [[ 9.84829630e-01 1.73137770e-01 1.15720502e-02 5.86590158e+01] [-1.73131375e-01 9.84897504e-01 -1.55975971e-03 -4.36842843e+00] [-1.16673367e-02 -4.67387391e-04 9.99931825e-01 -8.94091325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165769231000006 meters Centerline goodness [0,1] 0.9957063299749181 Centerline is valid? [True, True] Translation: X:58.69, Y:-4.36, Z:-0.89 [[ 9.84909282e-01 1.72651659e-01 1.20461586e-02 5.86885427e+01] [-1.72644700e-01 9.84982829e-01 -1.62307392e-03 -4.36241210e+00] [-1.21454857e-02 -4.81124860e-04 9.99926125e-01 -8.93173214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.195769231 meters Centerline goodness [0,1] 0.9959175039661555 Centerline is valid? [True, True] Translation: X:58.72, Y:-4.36, Z:-0.90 [[ 9.84993318e-01 1.72291622e-01 1.01863028e-02 5.87177116e+01] [-1.72286631e-01 9.85045905e-01 -1.37210090e-03 -4.35604367e+00] [-1.02703774e-02 -4.03453581e-04 9.99947177e-01 -8.97044928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225769231 meters Centerline goodness [0,1] 0.9972598666043587 Centerline is valid? [True, True] Translation: X:58.75, Y:-4.36, Z:-0.90 [[ 9.85076934e-01 1.71813464e-01 1.01768395e-02 5.87468019e+01] [-1.71808462e-01 9.85129420e-01 -1.37027605e-03 -4.35973203e+00] [-1.02609359e-02 -3.98639813e-04 9.99947276e-01 -8.98013882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.255769231 meters Centerline goodness [0,1] 0.9949906605535744 Centerline is valid? [True, True] Translation: X:58.78, Y:-4.35, Z:-0.90 [[ 9.85242616e-01 1.70850231e-01 1.03530371e-02 5.87755328e+01] [-1.70845012e-01 9.85296931e-01 -1.39300484e-03 -4.35464112e+00] [-1.04388109e-02 -3.96317017e-04 9.99945436e-01 -8.98392281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285769231 meters Centerline goodness [0,1] 0.9986802052068033 Centerline is valid? [True, True] Translation: X:58.80, Y:-4.37, Z:-0.90 [[ 9.85973682e-01 1.66507327e-01 1.14546652e-02 5.88046638e+01] [-1.66500654e-01 9.86040141e-01 -1.54047106e-03 -4.36707072e+00] [-1.15512594e-02 -3.88345317e-04 9.99933207e-01 -8.96681721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.315769231000004 meters Centerline goodness [0,1] 0.9990436722983742 Centerline is valid? [True, True] Translation: X:58.83, Y:-4.37, Z:-0.90 [[ 9.86475103e-01 1.63494646e-01 1.16778142e-02 5.88335337e+01] [-1.63487500e-01 9.86544156e-01 -1.57040016e-03 -4.37004530e+00] [-1.17774314e-02 -3.60015994e-04 9.99930579e-01 -8.96864627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345769231000006 meters Centerline goodness [0,1] 0.9998084372738496 Centerline is valid? [True, True] Translation: X:58.86, Y:-4.38, Z:-0.90 [[ 9.87451779e-01 1.57484391e-01 1.17324450e-02 5.88631722e+01] [-1.57476758e-01 9.87521434e-01 -1.57746430e-03 -4.37839272e+00] [-1.18344669e-02 -2.89917466e-04 9.99929928e-01 -8.98146378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.375769231 meters Centerline goodness [0,1] 0.9999147248811479 Centerline is valid? [True, True] Translation: X:58.89, Y:-4.39, Z:-0.90 [[ 9.87940721e-01 1.54431364e-01 1.11393484e-02 5.88910741e+01] [-1.54424289e-01 9.88003490e-01 -1.49769991e-03 -4.38595287e+00] [-1.12370070e-02 -2.40547233e-04 9.99936834e-01 -8.99958005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405769231 meters Centerline goodness [0,1] 0.9999787924416262 Centerline is valid? [True, True] Translation: X:58.92, Y:-4.39, Z:-0.90 [[ 9.88859211e-01 1.48543285e-01 9.61002532e-03 5.89192188e+01] [-1.48537745e-01 9.88905895e-01 -1.29164293e-03 -4.39394880e+00] [-9.69527558e-03 -1.50198485e-04 9.99952988e-01 -9.01981649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.435769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.95, Y:-4.40, Z:-0.90 [[ 9.89281420e-01 1.45724237e-01 9.31224113e-03 5.89480100e+01] [-1.45718912e-01 9.89325241e-01 -1.25143149e-03 -4.40043436e+00] [-9.39519910e-03 -1.18951729e-04 9.99955857e-01 -9.02404804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.98, Y:-4.41, Z:-0.90 [[ 9.89631792e-01 1.43329019e-01 9.25794900e-03 5.89752894e+01] [-1.43323653e-01 9.89675090e-01 -1.24385661e-03 -4.40510013e+00] [-9.34064225e-03 -9.59230231e-05 9.99956371e-01 -9.02792831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.495769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.00, Y:-4.41, Z:-0.90 [[ 9.90309277e-01 1.38414272e-01 1.13588887e-02 5.90026344e+01] [-1.38405882e-01 9.90374417e-01 -1.52528539e-03 -4.41286788e+00] [-1.14606741e-02 -6.16327321e-05 9.99934322e-01 -9.00542936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.03, Y:-4.42, Z:-0.90 [[ 9.90603164e-01 1.36216694e-01 1.22631201e-02 5.90308270e+01] [-1.36206755e-01 9.90679065e-01 -1.64593308e-03 -4.41889822e+00] [-1.23730199e-02 -3.98532828e-05 9.99923450e-01 -8.98834635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.555769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.06, Y:-4.43, Z:-0.90 [[ 9.91080866e-01 1.32744914e-01 1.17262784e-02 5.90590000e+01] [-1.32735590e-01 9.91150235e-01 -1.57334862e-03 -4.42507408e+00] [-1.18313577e-02 2.82122366e-06 9.99930007e-01 -9.00575103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.09, Y:-4.43, Z:-0.90 [[ 9.91310015e-01 1.31127929e-01 1.04842992e-02 5.90877466e+01] [-1.31120389e-01 9.91365455e-01 -1.40626065e-03 -4.42962406e+00] [-1.05781721e-02 1.93348733e-05 9.99944049e-01 -9.03011636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.12, Y:-4.44, Z:-0.91 [[ 9.91764778e-01 1.27761139e-01 8.92842968e-03 5.91160060e+01] [-1.27755538e-01 9.91804965e-01 -1.19721950e-03 -4.43549389e+00] [-9.00821901e-03 4.67037890e-05 9.99959424e-01 -9.05348837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.14, Y:-4.44, Z:-0.91 [[ 9.91991459e-01 1.25995331e-01 8.83861987e-03 5.91431147e+01] [-1.25989776e-01 9.92030833e-01 -1.18478407e-03 -4.44169230e+00] [-8.91746069e-03 6.17199443e-05 9.99960237e-01 -9.06301982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.675769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.17, Y:-4.45, Z:-0.90 [[ 9.92256680e-01 1.23822695e-01 9.72733588e-03 5.91718291e+01] [-1.23815868e-01 9.92304355e-01 -1.30322766e-03 -4.44687748e+00] [-9.81384691e-03 8.87378165e-05 9.99951839e-01 -9.04816167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.20, Y:-4.46, Z:-0.90 [[ 9.92758030e-01 1.19546783e-01 1.18346872e-02 5.91995086e+01] [-1.19536382e-01 9.92828556e-01 -1.58487915e-03 -4.45728723e+00] [-1.19392826e-02 1.58725804e-04 9.99928712e-01 -9.01855182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.735769231000006 meters Centerline goodness [0,1] 0.9999786137428088 Centerline is valid? [True, True] Translation: X:59.23, Y:-4.47, Z:-0.90 [[ 9.93002141e-01 1.17441355e-01 1.24208283e-02 5.92262281e+01] [-1.17429742e-01 9.93079801e-01 -1.66274162e-03 -4.46520591e+00] [-1.25301483e-02 1.92531329e-04 9.99921476e-01 -9.01649483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765769231 meters Centerline goodness [0,1] 0.9999786539159391 Centerline is valid? [True, True] Translation: X:59.25, Y:-4.47, Z:-0.90 [[ 9.93199667e-01 1.15818085e-01 1.18571925e-02 5.92544666e+01] [-1.15807394e-01 9.93270421e-01 -1.58661670e-03 -4.47305122e+00] [-1.19611575e-02 2.02676627e-04 9.99928442e-01 -9.03397392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.795769231 meters Centerline goodness [0,1] 0.9999785757134287 Centerline is valid? [True, True] Translation: X:59.28, Y:-4.48, Z:-0.91 [[ 9.93557564e-01 1.12970267e-01 9.00481213e-03 5.92821027e+01] [-1.12963987e-01 9.93598353e-01 -1.20461328e-03 -4.48305549e+00] [-9.08325198e-03 1.79633152e-04 9.99958730e-01 -9.08796659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825769231 meters Centerline goodness [0,1] 0.9999785757134287 Centerline is valid? [True, True] Translation: X:59.31, Y:-4.49, Z:-0.91 [[ 9.93562734e-01 1.12924783e-01 9.00485015e-03 5.93101955e+01] [-1.12918503e-01 9.93603523e-01 -1.20432896e-03 -4.48672340e+00] [-9.08324942e-03 1.79762172e-04 9.99958730e-01 -9.09128177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.855769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.34, Y:-4.49, Z:-0.91 [[ 9.93693539e-01 1.11853080e-01 7.87644777e-03 5.93385750e+01] [-1.11848244e-01 9.93724741e-01 -1.05311402e-03 -4.49433701e+00] [-7.94481507e-03 1.65505741e-04 9.99968426e-01 -9.11343422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885769231000005 meters Centerline goodness [0,1] 0.9999788721979253 Centerline is valid? [True, True] Translation: X:59.37, Y:-4.50, Z:-0.91 [[ 9.93695720e-01 1.11834057e-01 7.87143339e-03 5.93674864e+01] [-1.11829231e-01 9.93726882e-01 -1.05208025e-03 -4.49891844e+00] [-7.93971337e-03 1.65191300e-04 9.99968466e-01 -9.11111755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.915769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.40, Y:-4.50, Z:-0.91 [[ 9.93681844e-01 1.11970146e-01 7.68635363e-03 5.93960368e+01] [-1.11965550e-01 9.93711558e-01 -1.02699685e-03 -4.50374114e+00] [-7.75301143e-03 1.59901315e-04 9.99969932e-01 -9.11390502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.945769231 meters Centerline goodness [0,1] 0.9999574449976595 Centerline is valid? [True, True] Translation: X:59.42, Y:-4.51, Z:-0.91 [[ 9.93689101e-01 1.11945062e-01 7.09033950e-03 5.94226691e+01] [-1.11941152e-01 9.93714386e-01 -9.47148364e-04 -4.51362200e+00] [-7.15180095e-03 1.47470235e-04 9.99974415e-01 -9.13280602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.975769231 meters Centerline goodness [0,1] 0.9999360354789877 Centerline is valid? [True, True] Translation: X:59.45, Y:-4.52, Z:-0.91 [[ 9.93754070e-01 1.11335547e-01 7.56599350e-03 5.94506194e+01] [-1.11331082e-01 9.93782859e-01 -1.01006566e-03 -4.51942029e+00] [-7.63141086e-03 1.61426620e-04 9.99970867e-01 -9.12958218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005769231 meters Centerline goodness [0,1] 0.9999363840705713 Centerline is valid? [True, True] Translation: X:59.48, Y:-4.53, Z:-0.91 [[ 9.94022771e-01 1.08810010e-01 8.89450792e-03 5.94776919e+01] [-1.08803743e-01 9.94062542e-01 -1.18687998e-03 -4.53354775e+00] [-8.97084157e-03 2.12029978e-04 9.99959739e-01 -9.11350116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.035769231 meters Centerline goodness [0,1] 0.9998069994853319 Centerline is valid? [True, True] Translation: X:59.51, Y:-4.54, Z:-0.91 [[ 9.94200406e-01 1.07156246e-01 9.11541613e-03 5.95056490e+01] [-1.07149598e-01 9.94242166e-01 -1.21599938e-03 -4.54266405e+00] [-9.19323301e-03 2.32233908e-04 9.99957714e-01 -9.10826901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065769231000004 meters Centerline goodness [0,1] 0.9995542442317081 Centerline is valid? [True, True] Translation: X:59.53, Y:-4.56, Z:-0.91 [[ 9.94562770e-01 1.03683943e-01 9.72294737e-03 5.95331411e+01] [-1.03676216e-01 9.94610256e-01 -1.29680513e-03 -4.55716038e+00] [-9.80500103e-03 2.81715716e-04 9.99951890e-01 -9.08740481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.095769231000006 meters Centerline goodness [0,1] 0.9994064023743905 Centerline is valid? [True, True] Translation: X:59.56, Y:-4.57, Z:-0.91 [[ 9.94713319e-01 1.02209572e-01 9.93060426e-03 5.95626349e+01] [-1.02201441e-01 9.94762842e-01 -1.32423391e-03 -4.56625483e+00] [-1.00139455e-02 3.02311047e-04 9.99949813e-01 -9.08498059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.125769231 meters Centerline goodness [0,1] 0.999020338622085 Centerline is valid? [True, True] Translation: X:59.59, Y:-4.58, Z:-0.91 [[ 9.94807386e-01 1.01261535e-01 1.02160068e-02 5.95915363e+01] [-1.01252880e-01 9.94859788e-01 -1.36227652e-03 -4.57732135e+00] [-1.03014405e-02 3.20802644e-04 9.99946887e-01 -9.08525795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.155769231 meters Centerline goodness [0,1] 0.9991423854548573 Centerline is valid? [True, True] Translation: X:59.62, Y:-4.58, Z:-0.91 [[ 9.94758311e-01 1.01722687e-01 1.04114165e-02 5.96222741e+01] [-1.01713721e-01 9.94812742e-01 -1.38843943e-03 -4.58162679e+00] [-1.04986456e-02 3.22177742e-04 9.99944836e-01 -9.08756848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185769231 meters Centerline goodness [0,1] 0.9994089709762533 Centerline is valid? [True, True] Translation: X:59.65, Y:-4.59, Z:-0.91 [[ 9.94639765e-01 1.02869729e-01 1.04668862e-02 5.96523751e+01] [-1.02860729e-01 9.94694788e-01 -1.39608670e-03 -4.58707277e+00] [-1.05549722e-02 3.11971811e-04 9.99944246e-01 -9.09328822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.215769231 meters Centerline goodness [0,1] 0.9995331664049569 Centerline is valid? [True, True] Translation: X:59.68, Y:-4.59, Z:-0.91 [[ 9.94353247e-01 1.05522573e-01 1.12519738e-02 5.96826920e+01] [-1.05512339e-01 9.94416861e-01 -1.50093867e-03 -4.59260311e+00] [-1.13475354e-02 3.05241171e-04 9.99935568e-01 -9.07920364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245769231000004 meters Centerline goodness [0,1] 0.9996171108889409 Centerline is valid? [True, True] Translation: X:59.71, Y:-4.60, Z:-0.91 [[ 9.94207186e-01 1.06855942e-01 1.15706278e-02 5.97131448e+01] [-1.06845209e-01 9.94274468e-01 -1.54357811e-03 -4.59661500e+00] [-1.16693203e-02 2.98370302e-04 9.99931867e-01 -9.07381668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.275769231000005 meters Centerline goodness [0,1] 0.9997456279809221 Centerline is valid? [True, True] Translation: X:59.74, Y:-4.60, Z:-0.91 [[ 9.93790063e-01 1.10759946e-01 1.06557169e-02 5.97428815e+01] [-1.10751068e-01 9.93847161e-01 -1.42152454e-03 -4.59998393e+00] [-1.07476020e-02 2.32564935e-04 9.99942216e-01 -9.09702807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.305769231000006 meters Centerline goodness [0,1] 0.9999355822292844 Centerline is valid? [True, True] Translation: X:59.77, Y:-4.60, Z:-0.91 [[ 9.93529269e-01 1.13125713e-01 1.01076673e-02 5.97735542e+01] [-1.13117847e-01 9.93580663e-01 -1.34841205e-03 -4.60197533e+00] [-1.01953229e-02 1.96329273e-04 9.99948007e-01 -9.10809799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.335769231 meters Centerline goodness [0,1] 0.9999786589269708 Centerline is valid? [True, True] Translation: X:59.80, Y:-4.60, Z:-0.91 [[ 9.92932636e-01 1.18292426e-01 9.57504917e-03 5.98039875e+01] [-1.18285606e-01 9.92978793e-01 -1.27740543e-03 -4.59976249e+00] [-9.65892815e-03 1.35787043e-04 9.99953342e-01 -9.11630074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365769231 meters Centerline goodness [0,1] 0.9999788556687952 Centerline is valid? [True, True] Translation: X:59.83, Y:-4.60, Z:-0.91 [[ 9.92576540e-01 1.21228059e-01 9.77594683e-03 5.98328363e+01] [-1.21221095e-01 9.92624675e-01 -1.30396361e-03 -4.60260613e+00] [-9.86192303e-03 1.09232708e-04 9.99951364e-01 -9.12024373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.86, Y:-4.60, Z:-0.91 [[ 9.91860668e-01 1.26945540e-01 9.86130282e-03 5.98635588e+01] [-1.26938738e-01 9.91909687e-01 -1.31517974e-03 -4.59778586e+00] [-9.94847799e-03 5.26937167e-05 9.99950511e-01 -9.12056018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.89, Y:-4.60, Z:-0.91 [[ 9.91545308e-01 1.29425261e-01 9.32762441e-03 5.98916039e+01] [-1.29419287e-01 9.91589180e-01 -1.24387328e-03 -4.60002468e+00] [-9.41016006e-03 2.61822196e-05 9.99955723e-01 -9.14069651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.455769231000005 meters Centerline goodness [0,1] 0.9999786957540638 Centerline is valid? [True, True] Translation: X:59.92, Y:-4.60, Z:-0.91 [[ 9.90924650e-01 1.34123745e-01 8.89715791e-03 5.99209082e+01] [-1.34118503e-01 9.90964591e-01 -1.18591299e-03 -4.59651256e+00] [-8.97582754e-03 -1.81230886e-05 9.99959716e-01 -9.14597190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.485769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.95, Y:-4.60, Z:-0.91 [[ 9.90593584e-01 1.36543259e-01 8.96042697e-03 5.99487315e+01] [-1.36538045e-01 9.90634108e-01 -1.19395915e-03 -4.59566971e+00] [-9.03953165e-03 -4.07109050e-05 9.99959142e-01 -9.14706509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.515769231 meters Centerline goodness [0,1] 0.9999788529859583 Centerline is valid? [True, True] Translation: X:59.98, Y:-4.59, Z:-0.91 [[ 9.89919354e-01 1.41317964e-01 9.42897893e-03 5.99775807e+01] [-1.41312412e-01 9.89964255e-01 -1.25580860e-03 -4.59065528e+00] [-9.51182041e-03 -8.92825146e-05 9.99954758e-01 -9.14288482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.01, Y:-4.59, Z:-0.91 [[ 9.89664838e-01 1.43107313e-01 9.15456735e-03 6.00058391e+01] [-1.43102161e-01 9.89707172e-01 -1.21876239e-03 -4.59431895e+00] [-9.23475477e-03 -1.03872092e-04 9.99957353e-01 -9.14203955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.575769231 meters Centerline goodness [0,1] 0.9999789442654707 Centerline is valid? [True, True] Translation: X:60.03, Y:-4.59, Z:-0.92 [[ 9.89434048e-01 1.44706018e-01 8.96846317e-03 6.00346492e+01] [-1.44701143e-01 9.89474686e-01 -1.19358964e-03 -4.58832484e+00] [-9.04678688e-03 -1.16768637e-04 9.99959070e-01 -9.16569303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605769231000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.06, Y:-4.59, Z:-0.92 [[ 9.89151925e-01 1.46671655e-01 8.11759961e-03 6.00630610e+01] [-1.46667731e-01 9.89185226e-01 -1.07988037e-03 -4.59348105e+00] [-8.18819744e-03 -1.22424163e-04 9.99966469e-01 -9.16851533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.635769231000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.09, Y:-4.59, Z:-0.92 [[ 9.89123183e-01 1.46895696e-01 7.54871683e-03 6.00910065e+01] [-1.46892310e-01 9.89151981e-01 -1.00398421e-03 -4.59275532e+00] [-7.61430916e-03 -1.15784393e-04 9.99971004e-01 -9.18897458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.665769231000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.12, Y:-4.59, Z:-0.92 [[ 9.89252275e-01 1.46027554e-01 7.47590028e-03 6.01194465e+01] [-1.46024214e-01 9.89280517e-01 -9.93659278e-04 -4.59324510e+00] [-7.54086413e-03 -1.08682760e-04 9.99971561e-01 -9.20537310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.15, Y:-4.60, Z:-0.92 [[ 9.89423367e-01 1.44860338e-01 7.54207762e-03 6.01470485e+01] [-1.44856908e-01 9.89452107e-01 -1.00197553e-03 -4.60151843e+00] [-7.60767111e-03 -1.01144042e-04 9.99971056e-01 -9.19494881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725769231 meters Centerline goodness [0,1] 0.9999150526673463 Centerline is valid? [True, True] Translation: X:60.17, Y:-4.61, Z:-0.92 [[ 9.89912287e-01 1.41449171e-01 8.11145069e-03 6.01740683e+01] [-1.41445092e-01 9.89945516e-01 -1.07722498e-03 -4.60693790e+00] [-8.18226682e-03 -8.09666430e-05 9.99966521e-01 -9.20452298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.755769231 meters Centerline goodness [0,1] 0.9997846544781102 Centerline is valid? [True, True] Translation: X:60.20, Y:-4.62, Z:-0.92 [[ 9.90262330e-01 1.38940543e-01 8.72027532e-03 6.02022464e+01] [-1.38935737e-01 9.90300723e-01 -1.15743877e-03 -4.61714067e+00] [-8.79651012e-03 -6.53898705e-05 9.99961308e-01 -9.18897508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785769231 meters Centerline goodness [0,1] 0.999831212945967 Centerline is valid? [True, True] Translation: X:60.23, Y:-4.63, Z:-0.92 [[ 9.90977745e-01 1.33727547e-01 8.94723548e-03 6.02294115e+01] [-1.33722277e-01 9.91018134e-01 -1.18728412e-03 -4.62688040e+00] [-9.02564521e-03 -1.98725657e-05 9.99959268e-01 -9.19100073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.815769231000004 meters Centerline goodness [0,1] 0.9999154173098476 Centerline is valid? [True, True] Translation: X:60.26, Y:-4.63, Z:-0.92 [[ 9.91291850e-01 1.31385246e-01 8.85359660e-03 6.02572048e+01] [-1.31379998e-01 9.91331386e-01 -1.17428036e-03 -4.63409418e+00] [-8.93113130e-03 8.69042103e-07 9.99960117e-01 -9.20206768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845769231000006 meters Centerline goodness [0,1] 0.9999151985414149 Centerline is valid? [True, True] Translation: X:60.29, Y:-4.64, Z:-0.92 [[ 9.91523668e-01 1.29659047e-01 8.32754409e-03 6.02853619e+01] [-1.29654347e-01 9.91558637e-01 -1.10414570e-03 -4.64051346e+00] [-8.40041075e-03 1.50843064e-05 9.99964716e-01 -9.21782606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.875769231 meters Centerline goodness [0,1] 0.9998942716373094 Centerline is valid? [True, True] Translation: X:60.31, Y:-4.65, Z:-0.92 [[ 9.91690517e-01 1.28430151e-01 7.45755541e-03 6.03128815e+01] [-1.28426348e-01 9.91718557e-01 -9.88542249e-04 -4.64713129e+00] [-7.52275472e-03 2.25813657e-05 9.99971703e-01 -9.23578771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905769231 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:60.34, Y:-4.65, Z:-0.92 [[ 9.91692181e-01 1.28406593e-01 7.63972320e-03 6.03410303e+01] [-1.28402606e-01 9.91721607e-01 -1.01216990e-03 -4.65068022e+00] [-7.70644786e-03 2.28006067e-05 9.99970305e-01 -9.22953424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.935769231 meters Centerline goodness [0,1] 0.9999569485104185 Centerline is valid? [True, True] Translation: X:60.37, Y:-4.66, Z:-0.92 [[ 9.91675242e-01 1.28532242e-01 7.72510326e-03 6.03694190e+01] [-1.28528172e-01 9.91705330e-01 -1.02310517e-03 -4.65529314e+00] [-7.79252808e-03 2.16946623e-05 9.99969638e-01 -9.22044938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.40, Y:-4.66, Z:-0.92 [[ 9.91595258e-01 1.29132139e-01 7.98347002e-03 6.03973705e+01] [-1.29127814e-01 9.91627395e-01 -1.05696688e-03 -4.65909526e+00] [-8.05311598e-03 1.71953093e-05 9.99967573e-01 -9.21814065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.995769231000004 meters Centerline goodness [0,1] 0.9998508321435421 Centerline is valid? [True, True] Translation: X:60.43, Y:-4.66, Z:-0.92 [[ 9.91361305e-01 1.30782631e-01 9.93311131e-03 6.04255247e+01] [-1.30776027e-01 9.91411067e-01 -1.31433037e-03 -4.66092572e+00] [-1.00196881e-02 3.96344003e-06 9.99949802e-01 -9.19776096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025769231000005 meters Centerline goodness [0,1] 0.9997662608104375 Centerline is valid? [True, True] Translation: X:60.45, Y:-4.66, Z:-0.92 [[ 9.91231653e-01 1.31720534e-01 1.04647627e-02 6.04548584e+01] [-1.31713263e-01 9.91286891e-01 -1.38400611e-03 -4.66293324e+00] [-1.05558841e-02 -6.47737861e-06 9.99944285e-01 -9.18766313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.055769231000006 meters Centerline goodness [0,1] 0.9997446808510638 Centerline is valid? [True, True] Translation: X:60.48, Y:-4.66, Z:-0.92 [[ 9.91124559e-01 1.32530447e-01 1.03821982e-02 6.04833112e+01] [-1.32523338e-01 9.91178935e-01 -1.37274642e-03 -4.66483236e+00] [-1.04725468e-02 -1.53208760e-05 9.99945161e-01 -9.19219342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085769231 meters Centerline goodness [0,1] 0.9998294897480711 Centerline is valid? [True, True] Translation: X:60.51, Y:-4.67, Z:-0.92 [[ 9.90911573e-01 1.34181275e-01 9.46782629e-03 6.05124117e+01] [-1.34175443e-01 9.90956803e-01 -1.25145342e-03 -4.66531235e+00] [-9.55012848e-03 -3.02701045e-05 9.99954396e-01 -9.20940108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.115769231 meters Centerline goodness [0,1] 0.9996796651432964 Centerline is valid? [True, True] Translation: X:60.54, Y:-4.67, Z:-0.92 [[ 9.90852727e-01 1.34633498e-01 9.20295879e-03 6.05404512e+01] [-1.34628010e-01 9.90895464e-01 -1.21607101e-03 -4.66751217e+00] [-9.28289401e-03 -3.40287494e-05 9.99956912e-01 -9.21701980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145769231 meters Centerline goodness [0,1] 0.9997442455242966 Centerline is valid? [True, True] Translation: X:60.57, Y:-4.67, Z:-0.92 [[ 9.90769175e-01 1.35233556e-01 9.39820343e-03 6.05688627e+01] [-1.35227866e-01 9.90813748e-01 -1.24121991e-03 -4.67035273e+00] [-9.47972375e-03 -4.11365703e-05 9.99955066e-01 -9.22405902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.175769231000004 meters Centerline goodness [0,1] 0.9997230330016831 Centerline is valid? [True, True] Translation: X:60.60, Y:-4.68, Z:-0.92 [[ 9.90828296e-01 1.34816927e-01 9.14788784e-03 6.05974381e+01] [-1.34811522e-01 9.90870524e-01 -1.20775568e-03 -4.67537035e+00] [-9.22719832e-03 -3.65621757e-05 9.99957428e-01 -9.22803194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205769231000005 meters Centerline goodness [0,1] 0.9997203820012045 Centerline is valid? [True, True] Translation: X:60.62, Y:-4.68, Z:-0.92 [[ 9.91090082e-01 1.32937276e-01 8.25409358e-03 6.06248353e+01] [-1.32932813e-01 9.91124452e-01 -1.08945211e-03 -4.68241166e+00] [-8.32566278e-03 -1.74947030e-05 9.99965341e-01 -9.24890114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.235769231000006 meters Centerline goodness [0,1] 0.9998503666018256 Centerline is valid? [True, True] Translation: X:60.65, Y:-4.69, Z:-0.92 [[ 9.91213340e-01 1.32006308e-01 8.39335712e-03 6.06528918e+01] [-1.32001664e-01 9.91248876e-01 -1.10727929e-03 -4.68770611e+00] [-8.46607366e-03 -1.03870976e-05 9.99964162e-01 -9.24645030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265769231 meters Centerline goodness [0,1] 0.9998497338141852 Centerline is valid? [True, True] Translation: X:60.68, Y:-4.69, Z:-0.92 [[ 9.91366722e-01 1.30807888e-01 9.01766331e-03 6.06804365e+01] [-1.30802482e-01 9.91407735e-01 -1.18922304e-03 -4.69317999e+00] [-9.09574091e-03 -5.76592336e-07 9.99958633e-01 -9.22984558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.295769231 meters Centerline goodness [0,1] 0.9998300259210471 Centerline is valid? [True, True] Translation: X:60.71, Y:-4.70, Z:-0.92 [[ 9.91333074e-01 1.31053836e-01 9.14483674e-03 6.07089360e+01] [-1.31048292e-01 9.91375253e-01 -1.20538285e-03 -4.69624986e+00] [-9.22393489e-03 -3.47934806e-06 9.99957459e-01 -9.23154345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325769231 meters Centerline goodness [0,1] 0.9998301017265913 Centerline is valid? [True, True] Translation: X:60.74, Y:-4.70, Z:-0.92 [[ 9.91241895e-01 1.31748166e-01 9.05128523e-03 6.07375944e+01] [-1.31742768e-01 9.91283219e-01 -1.19265302e-03 -4.69798983e+00] [-9.12951701e-03 -1.02337289e-05 9.99958325e-01 -9.23402607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.355769231000004 meters Centerline goodness [0,1] 0.9997434417292027 Centerline is valid? [True, True] Translation: X:60.77, Y:-4.69, Z:-0.92 [[ 9.90547367e-01 1.36833823e-01 9.61351386e-03 6.07666606e+01] [-1.36827977e-01 9.90594014e-01 -1.26628166e-03 -4.68932587e+00] [-9.69635945e-03 -6.10856855e-05 9.99952987e-01 -9.22303752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385769231000005 meters Centerline goodness [0,1] 0.9997232629427792 Centerline is valid? [True, True] Translation: X:60.80, Y:-4.69, Z:-0.92 [[ 9.90041038e-01 1.40460451e-01 9.46598445e-03 6.07959907e+01] [-1.40454955e-01 9.90086285e-01 -1.24629538e-03 -4.68539324e+00] [-9.54719659e-03 -9.56608455e-05 9.99954420e-01 -9.22093914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.415769231000006 meters Centerline goodness [0,1] 0.9996192168560005 Centerline is valid? [True, True] Translation: X:60.83, Y:-4.67, Z:-0.93 [[ 9.89071831e-01 1.47241063e-01 7.54868414e-03 6.08266897e+01] [-1.47237767e-01 9.89100628e-01 -9.93572216e-04 -4.67034860e+00] [-7.61270285e-03 -1.28737103e-04 9.99971015e-01 -9.26015307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.445769231 meters Centerline goodness [0,1] 0.999445640817893 Centerline is valid? [True, True] Translation: X:60.86, Y:-4.67, Z:-0.93 [[ 9.88686538e-01 1.49842504e-01 6.79360212e-03 6.08562621e+01] [-1.49839897e-01 9.88709869e-01 -8.94045846e-04 -4.66589099e+00] [-6.85086754e-03 -1.34021550e-04 9.99976524e-01 -9.28006361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.475769231 meters Centerline goodness [0,1] 0.9994063646193313 Centerline is valid? [True, True] Translation: X:60.89, Y:-4.66, Z:-0.93 [[ 9.88244265e-01 1.52699124e-01 7.50006809e-03 6.08861901e+01] [-1.52696032e-01 9.88272710e-01 -9.86569294e-04 -4.65605219e+00] [-7.56276088e-03 -1.70259190e-04 9.99971387e-01 -9.27629313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505769231 meters Centerline goodness [0,1] 0.9993808446133481 Centerline is valid? [True, True] Translation: X:60.92, Y:-4.66, Z:-0.92 [[ 9.88246089e-01 1.52589912e-01 9.27292988e-03 6.09150624e+01] [-1.52585184e-01 9.88289570e-01 -1.21938778e-03 -4.65915493e+00] [-9.35040616e-03 -2.09856509e-04 9.99956262e-01 -9.24738989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.535769231 meters Centerline goodness [0,1] 0.999446973242013 Centerline is valid? [True, True] Translation: X:60.94, Y:-4.66, Z:-0.92 [[ 9.88626539e-01 1.49969966e-01 1.12505568e-02 6.09437842e+01] [-1.49962844e-01 9.88690527e-01 -1.47879591e-03 -4.65991020e+00] [-1.13450939e-02 -2.25188610e-04 9.99935617e-01 -9.20701547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565769231000004 meters Centerline goodness [0,1] 0.9995142350257666 Centerline is valid? [True, True] Translation: X:60.97, Y:-4.66, Z:-0.92 [[ 9.88888843e-01 1.48233657e-01 1.12088627e-02 6.09730519e+01] [-1.48226482e-01 9.88952345e-01 -1.47277949e-03 -4.66275434e+00] [-1.13033465e-02 -2.05035080e-04 9.99936094e-01 -9.21783288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.595769231000006 meters Centerline goodness [0,1] 0.9995964658907485 Centerline is valid? [True, True] Translation: X:61.00, Y:-4.67, Z:-0.92 [[ 9.89187779e-01 1.46285427e-01 1.03976402e-02 6.10009999e+01] [-1.46279148e-01 9.89242410e-01 -1.36587525e-03 -4.66521277e+00] [-1.04855943e-02 -1.69850843e-04 9.99945010e-01 -9.23596776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62576923100001 meters Centerline goodness [0,1] 0.9996401659469986 Centerline is valid? [True, True] Translation: X:61.03, Y:-4.67, Z:-0.93 [[ 9.89722342e-01 1.42719914e-01 8.98399093e-03 6.10288644e+01] [-1.42715083e-01 9.89763110e-01 -1.17979213e-03 -4.66712415e+00] [-9.06040263e-03 -1.14484389e-04 9.99958947e-01 -9.28406808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.655769231 meters Centerline goodness [0,1] 0.9996165970861378 Centerline is valid? [True, True] Translation: X:61.06, Y:-4.67, Z:-0.93 [[ 9.89840409e-01 1.41952216e-01 8.09519703e-03 6.10576502e+01] [-1.41948274e-01 9.89873506e-01 -1.06237268e-03 -4.66945016e+00] [-8.16402723e-03 -9.75198404e-05 9.99966669e-01 -9.30143477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685769231 meters Centerline goodness [0,1] 0.999722577891592 Centerline is valid? [True, True] Translation: X:61.09, Y:-4.67, Z:-0.93 [[ 9.89645264e-01 1.43357201e-01 7.13891974e-03 6.10864329e+01] [-1.43354173e-01 9.89671008e-01 -9.36688703e-04 -4.66774082e+00] [-7.19946297e-03 -9.64043970e-05 9.99974079e-01 -9.29781122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.715769231 meters Centerline goodness [0,1] 0.9996612681274478 Centerline is valid? [True, True] Translation: X:61.12, Y:-4.66, Z:-0.93 [[ 9.89460829e-01 1.44631122e-01 7.00759751e-03 6.11153569e+01] [-1.44628239e-01 9.89485638e-01 -9.19050909e-04 -4.66233056e+00] [-7.06684046e-03 -1.04131614e-04 9.99975024e-01 -9.31480635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745769231000004 meters Centerline goodness [0,1] 0.9996612681274478 Centerline is valid? [True, True] Translation: X:61.14, Y:-4.67, Z:-0.93 [[ 9.89470178e-01 1.44567145e-01 7.00764768e-03 6.11426318e+01] [-1.44564264e-01 9.89494987e-01 -9.18668192e-04 -4.66575885e+00] [-7.06684149e-03 -1.04060648e-04 9.99975024e-01 -9.31802353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.775769231000005 meters Centerline goodness [0,1] 0.9996326548251869 Centerline is valid? [True, True] Translation: X:61.17, Y:-4.66, Z:-0.93 [[ 9.89158202e-01 1.46634658e-01 8.02053420e-03 6.11721437e+01] [-1.46630957e-01 9.89190709e-01 -1.05074426e-03 -4.66179918e+00] [-8.08791344e-03 -1.36706299e-04 9.99967283e-01 -9.30003038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.805769231000006 meters Centerline goodness [0,1] 0.9995506195031135 Centerline is valid? [True, True] Translation: X:61.20, Y:-4.66, Z:-0.93 [[ 9.88982229e-01 1.47747954e-01 9.20292841e-03 6.12009641e+01] [-1.47743134e-01 9.89025032e-01 -1.20514654e-03 -4.66166630e+00] [-9.27998450e-03 -1.67800976e-04 9.99956926e-01 -9.27620614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.835769231 meters Centerline goodness [0,1] 0.9996161064664733 Centerline is valid? [True, True] Translation: X:61.23, Y:-4.65, Z:-0.93 [[ 9.88836510e-01 1.48667180e-01 1.00212655e-02 6.12301890e+01] [-1.48661517e-01 9.88887270e-01 -1.31180509e-03 -4.65486583e+00] [-1.01049242e-02 -1.92615759e-04 9.99948925e-01 -9.26804180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865769231 meters Centerline goodness [0,1] 0.9995540643846088 Centerline is valid? [True, True] Translation: X:61.26, Y:-4.65, Z:-0.93 [[ 9.88665637e-01 1.49850452e-01 9.22502840e-03 6.12598373e+01] [-1.49845707e-01 9.88708656e-01 -1.20732400e-03 -4.64999104e+00] [-9.30178348e-03 -1.88691152e-04 9.99956720e-01 -9.28920788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.895769231 meters Centerline goodness [0,1] 0.9996407210938986 Centerline is valid? [True, True] Translation: X:61.29, Y:-4.65, Z:-0.93 [[ 9.88911037e-01 1.48265422e-01 8.50444623e-03 6.12886860e+01] [-1.48261344e-01 9.88947591e-01 -1.11146864e-03 -4.65172013e+00] [-8.57524398e-03 -1.61737028e-04 9.99963219e-01 -9.31355151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925769231000004 meters Centerline goodness [0,1] 0.9995305765373619 Centerline is valid? [True, True] Translation: X:61.32, Y:-4.65, Z:-0.93 [[ 9.89191732e-01 1.46364058e-01 8.79093667e-03 6.13167738e+01] [-1.46359629e-01 9.89230782e-01 -1.14850166e-03 -4.65107882e+00] [-8.86436452e-03 -1.50549877e-04 9.99960699e-01 -9.31482980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.955769231000005 meters Centerline goodness [0,1] 0.999702955591861 Centerline is valid? [True, True] Translation: X:61.34, Y:-4.66, Z:-0.93 [[ 9.89581655e-01 1.43666484e-01 9.38557422e-03 6.13449286e+01] [-1.43661321e-01 9.89626153e-01 -1.22555278e-03 -4.65915741e+00] [-9.46428057e-03 -1.35559440e-04 9.99955204e-01 -9.30654602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.985769231000006 meters Centerline goodness [0,1] 0.9998101385988228 Centerline is valid? [True, True] Translation: X:61.37, Y:-4.66, Z:-0.93 [[ 9.90082797e-01 1.40113258e-01 1.02142408e-02 6.13724254e+01] [-1.40106958e-01 9.90135477e-01 -1.33327459e-03 -4.66313666e+00] [-1.03002917e-02 -1.11033981e-04 9.99946944e-01 -9.30067346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01576923100001 meters Centerline goodness [0,1] 0.9998291547430914 Centerline is valid? [True, True] Translation: X:61.40, Y:-4.68, Z:-0.93 [[ 9.91314541e-01 1.30975914e-01 1.18654972e-02 6.13996322e+01] [-1.30966771e-01 9.91385550e-01 -1.54763175e-03 -4.67963291e+00] [-1.19659849e-02 -1.97960015e-05 9.99928405e-01 -9.27644007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04576923100001 meters Centerline goodness [0,1] 0.9996419243407195 Centerline is valid? [True, True] Translation: X:61.43, Y:-4.70, Z:-0.93 [[ 9.92612260e-01 1.20726134e-01 1.20872668e-02 6.14252391e+01] [-1.20715893e-01 9.92685846e-01 -1.57594414e-03 -4.70114510e+00] [-1.21891163e-02 1.05176272e-04 9.99925704e-01 -9.26918224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07576923100001 meters Centerline goodness [0,1] 0.9997003168079459 Centerline is valid? [True, True] Translation: X:61.45, Y:-4.71, Z:-0.93 [[ 9.93122704e-01 1.16441878e-01 1.21895163e-02 6.14528056e+01] [-1.16431153e-01 9.93197495e-01 -1.58830739e-03 -4.70831463e+00] [-1.22915425e-02 1.58144698e-04 9.99924444e-01 -9.27677658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.105769231 meters Centerline goodness [0,1] 0.9997016897146875 Centerline is valid? [True, True] Translation: X:61.48, Y:-4.72, Z:-0.93 [[ 9.93524920e-01 1.12990130e-01 1.18938774e-02 6.14790911e+01] [-1.12979682e-01 9.93596091e-01 -1.54886707e-03 -4.71893467e+00] [-1.19927168e-02 1.95071542e-04 9.99928066e-01 -9.28109760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.135769231 meters Centerline goodness [0,1] 0.9995095948827292 Centerline is valid? [True, True] Translation: X:61.51, Y:-4.73, Z:-0.93 [[ 9.93831771e-01 1.10251073e-01 1.19629082e-02 6.15068964e+01] [-1.10240312e-01 9.93903742e-01 -1.55720116e-03 -4.72768337e+00] [-1.20616624e-02 2.28801246e-04 9.99927229e-01 -9.28322304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.165769231 meters Centerline goodness [0,1] 0.999337578528997 Centerline is valid? [True, True] Translation: X:61.53, Y:-4.75, Z:-0.93 [[ 9.94328315e-01 1.05734299e-01 1.14655946e-02 6.15329318e+01] [-1.05724120e-01 9.94394381e-01 -1.49193797e-03 -4.75057357e+00] [-1.15590718e-02 2.71286271e-04 9.99933155e-01 -9.30041303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.195769231 meters Centerline goodness [0,1] 0.9995758578275438 Centerline is valid? [True, True] Translation: X:61.56, Y:-4.76, Z:-0.93 [[ 9.94375824e-01 1.05492586e-01 9.38271986e-03 6.15610202e+01] [-1.05485762e-01 9.94420064e-01 -1.22066796e-03 -4.75946461e+00] [-9.45913631e-03 2.24059354e-04 9.99955236e-01 -9.32581515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.225769231 meters Centerline goodness [0,1] 0.9997002526441999 Centerline is valid? [True, True] Translation: X:61.59, Y:-4.76, Z:-0.93 [[ 9.94186724e-01 1.07379544e-01 7.89881414e-03 6.15900279e+01] [-1.07374769e-01 9.94218086e-01 -1.02734882e-03 -4.76000498e+00] [-7.96346013e-03 1.73243215e-04 9.99968276e-01 -9.34133966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.255769231 meters Centerline goodness [0,1] 0.9997446862832706 Centerline is valid? [True, True] Translation: X:61.62, Y:-4.76, Z:-0.94 [[ 9.93887384e-01 1.10214172e-01 6.37994895e-03 6.16181724e+01] [-1.10211117e-01 9.93907854e-01 -8.29600439e-04 -4.76197630e+00] [-6.43251509e-03 1.21388111e-04 9.99979304e-01 -9.36856387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.285769231 meters Centerline goodness [0,1] 0.9998720873217217 Centerline is valid? [True, True] Translation: X:61.65, Y:-4.76, Z:-0.94 [[ 9.93117882e-01 1.17028729e-01 4.59882947e-03 6.16494045e+01] [-1.17027214e-01 9.93128528e-01 -5.98006261e-04 -4.75697784e+00] [-4.63721266e-03 5.57025104e-05 9.99989247e-01 -9.40017708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.315769231 meters Centerline goodness [0,1] 0.9999786109982247 Centerline is valid? [True, True] Translation: X:61.68, Y:-4.76, Z:-0.94 [[ 9.92663771e-01 1.20786001e-01 5.42031951e-03 6.16781158e+01] [-1.20783956e-01 9.92678568e-01 -7.04332768e-04 -4.75562613e+00] [-5.46570855e-03 4.44779900e-05 9.99985062e-01 -9.39889564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.345769231 meters Centerline goodness [0,1] 0.9998722071947349 Centerline is valid? [True, True] Translation: X:61.71, Y:-4.75, Z:-0.94 [[ 9.91725628e-01 1.28141622e-01 7.74613913e-03 6.17086926e+01] [-1.28137674e-01 9.91755880e-01 -1.00590387e-03 -4.74770444e+00] [-7.81117718e-03 5.00839539e-06 9.99969492e-01 -9.35739131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.375769231 meters Centerline goodness [0,1] 0.9999148845621875 Centerline is valid? [True, True] Translation: X:61.74, Y:-4.75, Z:-0.94 [[ 9.91264083e-01 1.31626876e-01 8.35959542e-03 6.17361667e+01] [-1.31622403e-01 9.91299332e-01 -1.08538657e-03 -4.74570382e+00] [-8.42972740e-03 -2.44053114e-05 9.99964469e-01 -9.35169882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40576923100001 meters Centerline goodness [0,1] 0.9997668207063213 Centerline is valid? [True, True] Translation: X:61.77, Y:-4.74, Z:-0.94 [[ 9.90829628e-01 1.34847452e-01 8.53309663e-03 6.17651624e+01] [-1.34842918e-01 9.90866369e-01 -1.10706610e-03 -4.74448193e+00] [-8.60444352e-03 -5.37137595e-05 9.99962980e-01 -9.35668573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43576923100001 meters Centerline goodness [0,1] 0.9997032578053795 Centerline is valid? [True, True] Translation: X:61.79, Y:-4.74, Z:-0.94 [[ 9.90231799e-01 1.39182021e-01 8.32757909e-03 6.17936020e+01] [-1.39177858e-01 9.90266811e-01 -1.08018710e-03 -4.73829020e+00] [-8.39686781e-03 -8.93789991e-05 9.99964742e-01 -9.37328098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46576923100001 meters Centerline goodness [0,1] 0.999742018703644 Centerline is valid? [True, True] Translation: X:61.82, Y:-4.74, Z:-0.94 [[ 9.90073794e-01 1.40267252e-01 8.88705909e-03 6.18230571e+01] [-1.40262565e-01 9.90113674e-01 -1.15162981e-03 -4.73894031e+00] [-8.96073467e-03 -1.06323209e-04 9.99959846e-01 -9.36941418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.495769231 meters Centerline goodness [0,1] 0.9997840545909994 Centerline is valid? [True, True] Translation: X:61.85, Y:-4.74, Z:-0.93 [[ 9.89913054e-01 1.41330102e-01 9.89687750e-03 6.18519842e+01] [-1.41324347e-01 9.89962517e-01 -1.28196034e-03 -4.74074802e+00] [-9.97871735e-03 -1.29640482e-04 9.99950203e-01 -9.34740098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.525769231 meters Centerline goodness [0,1] 0.9998076923076923 Centerline is valid? [True, True] Translation: X:61.88, Y:-4.74, Z:-0.94 [[ 9.89973188e-01 1.40944751e-01 9.36289173e-03 6.18789233e+01] [-1.40939585e-01 9.90017456e-01 -1.21255367e-03 -4.74335679e+00] [-9.44032933e-03 -1.19206457e-04 9.99955432e-01 -9.36211111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.555769231 meters Centerline goodness [0,1] 0.9998301053346925 Centerline is valid? [True, True] Translation: X:61.91, Y:-4.75, Z:-0.94 [[ 9.90076725e-01 1.40281370e-01 8.31961596e-03 6.19059213e+01] [-1.40277278e-01 9.90111674e-01 -1.07626442e-03 -4.74803248e+00] [-8.38832873e-03 -1.01468729e-04 9.99964812e-01 -9.39143995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.585769231 meters Centerline goodness [0,1] 0.9998092977920923 Centerline is valid? [True, True] Translation: X:61.93, Y:-4.75, Z:-0.94 [[ 9.90296723e-01 1.38791470e-01 7.02336186e-03 6.19334322e+01] [-1.38788517e-01 9.90321626e-01 -9.08400208e-04 -4.75476619e+00] [-7.08146533e-03 -7.51762298e-05 9.99974923e-01 -9.43090977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.615769231 meters Centerline goodness [0,1] 0.9998486486486486 Centerline is valid? [True, True] Translation: X:61.96, Y:-4.76, Z:-0.94 [[ 9.90405619e-01 1.37989952e-01 7.44864508e-03 6.19615122e+01] [-1.37986615e-01 9.90433626e-01 -9.62534158e-04 -4.76232119e+00] [-7.51020860e-03 -7.45140836e-05 9.99971795e-01 -9.41746798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.645769231 meters Centerline goodness [0,1] 0.9999139155511557 Centerline is valid? [True, True] Translation: X:61.99, Y:-4.77, Z:-0.94 [[ 9.90624555e-01 1.36369498e-01 8.14567386e-03 6.19894722e+01] [-1.36365456e-01 9.90658042e-01 -1.05215874e-03 -4.77095515e+00] [-8.21305968e-03 -6.84942448e-05 9.99966270e-01 -9.39657035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.675769231 meters Centerline goodness [0,1] 0.9998270793705689 Centerline is valid? [True, True] Translation: X:62.02, Y:-4.78, Z:-0.94 [[ 9.90724140e-01 1.35660020e-01 7.87636336e-03 6.20177577e+01] [-1.35656221e-01 9.90755447e-01 -1.01701349e-03 -4.77752485e+00] [-7.94151797e-03 -6.08978735e-05 9.99968464e-01 -9.39531290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.705769231 meters Centerline goodness [0,1] 0.9998516131767499 Centerline is valid? [True, True] Translation: X:62.05, Y:-4.78, Z:-0.94 [[ 9.90776202e-01 1.35333686e-01 6.87830351e-03 6.20451121e+01] [-1.35330783e-01 9.90800076e-01 -8.87934064e-04 -4.78492538e+00] [-6.93519103e-03 -5.11022593e-05 9.99975950e-01 -9.42566014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.735769231 meters Centerline goodness [0,1] 0.9999350860110354 Centerline is valid? [True, True] Translation: X:62.07, Y:-4.79, Z:-0.94 [[ 9.90725953e-01 1.35722172e-01 6.44813382e-03 6.20730216e+01] [-1.35719631e-01 9.90746935e-01 -8.32048943e-04 -4.78999552e+00] [-6.50139631e-03 -5.08058583e-05 9.99978864e-01 -9.43733863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76576923100001 meters Centerline goodness [0,1] 0.9998709344346928 Centerline is valid? [True, True] Translation: X:62.10, Y:-4.79, Z:-0.94 [[ 9.90607231e-01 1.36562260e-01 6.93275962e-03 6.21002539e+01] [-1.36559347e-01 9.90631488e-01 -8.94123764e-04 -4.79365397e+00] [-6.98991354e-03 -6.10076587e-05 9.99975568e-01 -9.43180389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79576923100001 meters Centerline goodness [0,1] 0.9998093947223516 Centerline is valid? [True, True] Translation: X:62.13, Y:-4.79, Z:-0.94 [[ 9.90209481e-01 1.39298118e-01 9.01206309e-03 6.21279105e+01] [-1.39293315e-01 9.90250485e-01 -1.16159201e-03 -4.79314020e+00] [-9.08600742e-03 -1.05100723e-04 9.99958716e-01 -9.38598974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82576923100001 meters Centerline goodness [0,1] 0.9998302783435167 Centerline is valid? [True, True] Translation: X:62.16, Y:-4.79, Z:-0.94 [[ 9.90052917e-01 1.40344718e-01 9.92885235e-03 6.21555687e+01] [-1.40338948e-01 9.90102694e-01 -1.27897023e-03 -4.79380182e+00] [-1.00100802e-02 -1.27156481e-04 9.99949890e-01 -9.36834572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.855769231 meters Centerline goodness [0,1] 0.9997015625333078 Centerline is valid? [True, True] Translation: X:62.18, Y:-4.79, Z:-0.94 [[ 9.89781133e-01 1.42263941e-01 9.70979993e-03 6.21844279e+01] [-1.42258520e-01 9.89828748e-01 -1.25019450e-03 -4.79485827e+00] [-9.78889670e-03 -1.43882840e-04 9.99952077e-01 -9.38210321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.885769231 meters Centerline goodness [0,1] 0.9996592337017869 Centerline is valid? [True, True] Translation: X:62.21, Y:-4.80, Z:-0.94 [[ 9.89720721e-01 1.42724652e-01 9.08674944e-03 6.22128656e+01] [-1.42719927e-01 9.89762423e-01 -1.16959100e-03 -4.79697235e+00] [-9.16065262e-03 -1.39291769e-04 9.99958031e-01 -9.40373356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.915769231 meters Centerline goodness [0,1] 0.9997646706458722 Centerline is valid? [True, True] Translation: X:62.24, Y:-4.80, Z:-0.94 [[ 9.89686162e-01 1.43025142e-01 8.06906558e-03 6.22412332e+01] [-1.43021429e-01 9.89719047e-01 -1.03830018e-03 -4.80016725e+00] [-8.13461093e-03 -1.26457963e-04 9.99966906e-01 -9.42545517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.945769231 meters Centerline goodness [0,1] 0.9998287084618019 Centerline is valid? [True, True] Translation: X:62.27, Y:-4.80, Z:-0.94 [[ 9.89716521e-01 1.42813612e-01 8.09198461e-03 6.22684237e+01] [-1.42809873e-01 9.89749593e-01 -1.04098415e-03 -4.80102665e+00] [-8.15770518e-03 -1.25336083e-04 9.99966718e-01 -9.42848756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.975769231 meters Centerline goodness [0,1] 0.999745271604152 Centerline is valid? [True, True] Translation: X:62.30, Y:-4.80, Z:-0.94 [[ 9.89603446e-01 1.43577046e-01 8.40544601e-03 6.22973227e+01] [-1.43573046e-01 9.89639133e-01 -1.08048733e-03 -4.79764347e+00] [-8.47349148e-03 -1.37541503e-04 9.99964090e-01 -9.42112170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.005769231 meters Centerline goodness [0,1] 0.9997238742565845 Centerline is valid? [True, True] Translation: X:62.33, Y:-4.80, Z:-0.94 [[ 9.89455423e-01 1.44630041e-01 7.75357362e-03 6.23268608e+01] [-1.44626673e-01 9.89485792e-01 -9.96246914e-04 -4.79550232e+00] [-7.81613817e-03 -1.35631647e-04 9.99969444e-01 -9.43486200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.035769231 meters Centerline goodness [0,1] 0.9997229090289027 Centerline is valid? [True, True] Translation: X:62.36, Y:-4.79, Z:-0.95 [[ 9.89219896e-01 1.46285317e-01 6.67860106e-03 6.23553128e+01] [-1.46282857e-01 9.89242432e-01 -8.57952158e-04 -4.79087509e+00] [-6.73226136e-03 -1.28261501e-04 9.99977330e-01 -9.46243778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.065769231 meters Centerline goodness [0,1] 0.9997446862832706 Centerline is valid? [True, True] Translation: X:62.39, Y:-4.78, Z:-0.95 [[ 9.88640103e-01 1.50158010e-01 6.58170573e-03 6.23869273e+01] [-1.50155710e-01 9.88661999e-01 -8.44979933e-04 -4.77767688e+00] [-6.63396285e-03 -1.52899650e-04 9.99977983e-01 -9.47451461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.095769231 meters Centerline goodness [0,1] 0.999721376827125 Centerline is valid? [True, True] Translation: X:62.42, Y:-4.78, Z:-0.95 [[ 9.88398207e-01 1.51714625e-01 7.18726444e-03 6.24159618e+01] [-1.51711921e-01 9.88424322e-01 -9.23200372e-04 -4.77991461e+00] [-7.24412998e-03 -1.77904101e-04 9.99973745e-01 -9.45619232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.125769231 meters Centerline goodness [0,1] 0.9995471112165455 Centerline is valid? [True, True] Translation: X:62.45, Y:-4.77, Z:-0.95 [[ 9.88152665e-01 1.53318851e-01 6.90223117e-03 6.24457892e+01] [-1.53316407e-01 9.88176754e-01 -8.84962920e-04 -4.76862366e+00] [-6.95630589e-03 -1.83746816e-04 9.99975788e-01 -9.46221948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15576923100001 meters Centerline goodness [0,1] 0.9992830634278003 Centerline is valid? [True, True] Translation: X:62.47, Y:-4.76, Z:-0.95 [[ 9.88247444e-01 1.52736438e-01 6.21040154e-03 6.24745555e+01] [-1.52734450e-01 9.88266945e-01 -7.95948479e-04 -4.75967626e+00] [-6.25910490e-03 -1.61948214e-04 9.99980398e-01 -9.49733607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18576923100001 meters Centerline goodness [0,1] 0.9995572702548858 Centerline is valid? [True, True] Translation: X:62.50, Y:-4.76, Z:-0.95 [[ 9.88533639e-01 1.50887852e-01 5.83960480e-03 6.25035001e+01] [-1.50886060e-01 9.88550877e-01 -7.48612144e-04 -4.76403973e+00] [-5.88570292e-03 -1.41086676e-04 9.99982669e-01 -9.50283075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21576923100001 meters Centerline goodness [0,1] 0.9997049401450009 Centerline is valid? [True, True] Translation: X:62.53, Y:-4.77, Z:-0.95 [[ 9.89483318e-01 1.44458648e-01 7.37991417e-03 6.25321727e+01] [-1.44455624e-01 9.89510829e-01 -9.44005237e-04 -4.76920487e+00] [-7.43887471e-03 -1.31992672e-04 9.99972322e-01 -9.48033988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.245769231 meters Centerline goodness [0,1] 0.9998094915541256 Centerline is valid? [True, True] Translation: X:62.56, Y:-4.78, Z:-0.94 [[ 9.90007813e-01 1.40744959e-01 8.68251012e-03 6.25600662e+01] [-1.40740631e-01 9.90045878e-01 -1.11051038e-03 -4.78057028e+00] [-8.75238210e-03 -1.22568001e-04 9.99961690e-01 -9.44721574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.275769231 meters Centerline goodness [0,1] 0.9998726493186738 Centerline is valid? [True, True] Translation: X:62.59, Y:-4.79, Z:-0.94 [[ 9.91026364e-01 1.33281764e-01 1.01349559e-02 6.25883208e+01] [-1.33275483e-01 9.91078184e-01 -1.29567818e-03 -4.79132053e+00] [-1.02172239e-02 -6.66899060e-05 9.99947801e-01 -9.42248493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.305769231 meters Centerline goodness [0,1] 0.9999785430747774 Centerline is valid? [True, True] Translation: X:62.62, Y:-4.80, Z:-0.94 [[ 9.91462039e-01 1.29963117e-01 1.06119909e-02 6.26151715e+01] [-1.29956043e-01 9.91518828e-01 -1.35646458e-03 -4.79831206e+00] [-1.06982792e-02 -3.42092093e-05 9.99942771e-01 -9.42085627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.64, Y:-4.81, Z:-0.94 [[ 9.92185471e-01 1.24393342e-01 9.71018512e-03 6.26411982e+01] [-1.24387159e-01 9.92232985e-01 -1.24043150e-03 -4.80994246e+00] [-9.78906738e-03 2.29157706e-05 9.99952086e-01 -9.44189925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.365769231 meters Centerline goodness [0,1] 0.9999785384697929 Centerline is valid? [True, True] Translation: X:62.67, Y:-4.82, Z:-0.94 [[ 9.92494222e-01 1.21919708e-01 9.52916156e-03 6.26689170e+01] [-1.21913648e-01 9.92539965e-01 -1.21648513e-03 -4.81812821e+00] [-9.60638719e-03 4.56196207e-05 9.99953857e-01 -9.44957966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.70, Y:-4.83, Z:-0.95 [[ 9.92726723e-01 1.20040572e-01 9.16049130e-03 6.26961961e+01] [-1.20034895e-01 9.92768985e-01 -1.16911447e-03 -4.82566085e+00] [-9.23459282e-03 6.10325701e-05 9.99957358e-01 -9.45091576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.72, Y:-4.83, Z:-0.95 [[ 9.92844807e-01 1.19060783e-01 9.14987099e-03 6.27238049e+01] [-1.19055084e-01 9.92886965e-01 -1.16692866e-03 -4.83245329e+00] [-9.22372308e-03 6.92403986e-05 9.99957458e-01 -9.45558293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.455769231 meters Centerline goodness [0,1] 0.9998943632214992 Centerline is valid? [True, True] Translation: X:62.75, Y:-4.84, Z:-0.95 [[ 9.92888323e-01 1.18685669e-01 9.29996908e-03 6.27507835e+01] [-1.18679771e-01 9.92931874e-01 -1.18554247e-03 -4.84001017e+00] [-9.37494262e-03 7.33930794e-05 9.99956052e-01 -9.45488718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.485769231 meters Centerline goodness [0,1] 0.9999577577831285 Centerline is valid? [True, True] Translation: X:62.78, Y:-4.85, Z:-0.94 [[ 9.92962378e-01 1.17821859e-01 1.19885507e-02 6.27784278e+01] [-1.17812004e-01 9.93034742e-01 -1.52746833e-03 -4.84858201e+00] [-1.20850165e-02 1.04323412e-04 9.99926968e-01 -9.40574336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51576923100001 meters Centerline goodness [0,1] 0.9998711146435246 Centerline is valid? [True, True] Translation: X:62.81, Y:-4.86, Z:-0.94 [[ 9.93068456e-01 1.16808787e-01 1.30670976e-02 6.28066465e+01] [-1.16796999e-01 9.93154415e-01 -1.66426008e-03 -4.85555159e+00] [-1.31720459e-02 1.26526402e-04 9.99913237e-01 -9.38976886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54576923100001 meters Centerline goodness [0,1] 0.9998073300222641 Centerline is valid? [True, True] Translation: X:62.84, Y:-4.86, Z:-0.94 [[ 9.93215116e-01 1.15509095e-01 1.34678417e-02 6.28350872e+01] [-1.15496462e-01 9.93306412e-01 -1.71467621e-03 -4.86366699e+00] [-1.35757542e-02 1.47554266e-04 9.99907834e-01 -9.39355131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57576923100001 meters Centerline goodness [0,1] 0.9998719508291184 Centerline is valid? [True, True] Translation: X:62.86, Y:-4.87, Z:-0.94 [[ 9.93444390e-01 1.13773112e-01 1.11320794e-02 6.28617046e+01] [-1.13764376e-01 9.93506748e-01 -1.41689994e-03 -4.87474122e+00] [-1.12210011e-02 1.41177221e-04 9.99937033e-01 -9.43733805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.605769231 meters Centerline goodness [0,1] 0.9998719508291184 Centerline is valid? [True, True] Translation: X:62.89, Y:-4.88, Z:-0.94 [[ 9.93451877e-01 1.13707710e-01 1.11321808e-02 6.28889896e+01] [-1.13698979e-01 9.93514236e-01 -1.41610296e-03 -4.87807474e+00] [-1.12210019e-02 1.41112548e-04 9.99937033e-01 -9.44055525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.635769231 meters Centerline goodness [0,1] 0.999870731444576 Centerline is valid? [True, True] Translation: X:62.92, Y:-4.88, Z:-0.95 [[ 9.93445419e-01 1.13921971e-01 9.38001456e-03 6.29151465e+01] [-1.13915786e-01 9.93489693e-01 -1.19279209e-03 -4.88404680e+00] [-9.45483302e-03 1.16442112e-04 9.99955295e-01 -9.47542182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.665769231 meters Centerline goodness [0,1] 0.9999151031496731 Centerline is valid? [True, True] Translation: X:62.94, Y:-4.89, Z:-0.95 [[ 9.93311359e-01 1.15191491e-01 7.96640133e-03 6.29438558e+01] [-1.15187078e-01 9.93343301e-01 -1.01216279e-03 -4.88891829e+00] [-8.02996393e-03 8.77663107e-05 9.99967755e-01 -9.50544684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.695769231 meters Centerline goodness [0,1] 0.9998934538015684 Centerline is valid? [True, True] Translation: X:62.97, Y:-4.89, Z:-0.95 [[ 9.92966675e-01 1.18172071e-01 7.24871546e-03 6.29714709e+01] [-1.18168498e-01 9.92993131e-01 -9.20749339e-04 -4.89276661e+00] [-7.30673152e-03 5.77035951e-05 9.99973304e-01 -9.51972561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.725769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.00, Y:-4.89, Z:-0.95 [[ 9.92738324e-01 1.20085974e-01 7.06954229e-03 6.29988329e+01] [-1.20082626e-01 9.92763495e-01 -8.97615811e-04 -4.89450368e+00] [-7.12617458e-03 4.21684104e-05 9.99974608e-01 -9.52783839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.755769231 meters Centerline goodness [0,1] 0.9999568165133653 Centerline is valid? [True, True] Translation: X:63.03, Y:-4.89, Z:-0.95 [[ 9.92177315e-01 1.24657297e-01 6.68831516e-03 6.30265077e+01] [-1.24654407e-01 9.92199858e-01 -8.48998822e-04 -4.89386858e+00] [-6.74197925e-03 8.62941472e-06 9.99977273e-01 -9.54010487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.785769231 meters Centerline goodness [0,1] 0.9999356250804686 Centerline is valid? [True, True] Translation: X:63.05, Y:-4.90, Z:-0.95 [[ 9.91924832e-01 1.26648196e-01 6.73514215e-03 6.30542014e+01] [-1.26645314e-01 9.91947697e-01 -8.54335037e-04 -4.89523291e+00] [-6.78910874e-03 -5.53805721e-06 9.99976954e-01 -9.54433505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.815769231 meters Centerline goodness [0,1] 0.9998938338712418 Centerline is valid? [True, True] Translation: X:63.08, Y:-4.89, Z:-0.95 [[ 9.91448016e-01 1.30280064e-01 7.61166427e-03 6.30822981e+01] [-1.30276495e-01 9.91477233e-01 -9.64877647e-04 -4.89499537e+00] [-7.67249615e-03 -3.49949174e-05 9.99970565e-01 -9.52168199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.845769231 meters Centerline goodness [0,1] 0.9998929313261526 Centerline is valid? [True, True] Translation: X:63.11, Y:-4.90, Z:-0.95 [[ 9.91239475e-01 1.31849052e-01 7.75439074e-03 6.31110952e+01] [-1.31845400e-01 9.91269804e-01 -9.82492452e-04 -4.89640488e+00] [-7.81623409e-03 -4.84954465e-05 9.99969452e-01 -9.52086088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.875769231 meters Centerline goodness [0,1] 0.9998939104604286 Centerline is valid? [True, True] Translation: X:63.14, Y:-4.90, Z:-0.95 [[ 9.91072532e-01 1.33104615e-01 7.64190331e-03 6.31390156e+01] [-1.33101108e-01 9.91101992e-01 -9.67958016e-04 -4.89862578e+00] [-7.70274527e-03 -5.78291936e-05 9.99970332e-01 -9.52693574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90576923100001 meters Centerline goodness [0,1] 0.999893130423631 Centerline is valid? [True, True] Translation: X:63.17, Y:-4.90, Z:-0.95 [[ 9.90883110e-01 1.34525129e-01 7.32471934e-03 6.31676050e+01] [-1.34521948e-01 9.90910180e-01 -9.27377135e-04 -4.90450379e+00] [-7.38289449e-03 -6.64131775e-05 9.99972744e-01 -9.53528111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93576923100001 meters Centerline goodness [0,1] 0.9999138302455838 Centerline is valid? [True, True] Translation: X:63.20, Y:-4.91, Z:-0.95 [[ 9.90850949e-01 1.34745830e-01 7.61300577e-03 6.31957548e+01] [-1.34742403e-01 9.90880193e-01 -9.63596634e-04 -4.90890894e+00] [-7.67341725e-03 -7.10140531e-05 9.99970556e-01 -9.53213413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96576923100001 meters Centerline goodness [0,1] 0.9998718687936446 Centerline is valid? [True, True] Translation: X:63.22, Y:-4.91, Z:-0.95 [[ 9.90789139e-01 1.35114003e-01 9.00488995e-03 6.32229701e+01] [-1.35109230e-01 9.90830055e-01 -1.13914597e-03 -4.91041877e+00] [-9.07623017e-03 -8.79902945e-05 9.99958806e-01 -9.51508519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.995769231 meters Centerline goodness [0,1] 0.9999575920782002 Centerline is valid? [True, True] Translation: X:63.25, Y:-4.91, Z:-0.95 [[ 9.90761100e-01 1.35279342e-01 9.58863278e-03 6.32510061e+01] [-1.35273952e-01 9.90807494e-01 -1.21155486e-03 -4.91341317e+00] [-9.66438756e-03 -9.67308212e-05 9.99953294e-01 -9.50429328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.025769231 meters Centerline goodness [0,1] 0.9999575209209465 Centerline is valid? [True, True] Translation: X:63.28, Y:-4.92, Z:-0.95 [[ 9.90689185e-01 1.35843949e-01 9.01996213e-03 6.32796289e+01] [-1.35839208e-01 9.90730242e-01 -1.13911658e-03 -4.91637381e+00] [-9.09109136e-03 -9.67540323e-05 9.99958670e-01 -9.52025857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.055769231 meters Centerline goodness [0,1] 0.9999572622176636 Centerline is valid? [True, True] Translation: X:63.31, Y:-4.92, Z:-0.95 [[ 9.90708483e-01 1.35727239e-01 8.64971964e-03 6.33068270e+01] [-1.35722876e-01 9.90746238e-01 -1.09207698e-03 -4.92076797e+00] [-8.71790179e-03 -9.20349033e-05 9.99961994e-01 -9.53081147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.085769231 meters Centerline goodness [0,1] 0.9999787310972627 Centerline is valid? [True, True] Translation: X:63.34, Y:-4.93, Z:-0.95 [[ 9.90766502e-01 1.35279555e-01 9.00997065e-03 6.33356920e+01] [-1.35274809e-01 9.90807465e-01 -1.13690561e-03 -4.92588677e+00] [-9.08094627e-03 -9.24140646e-05 9.99958763e-01 -9.52835667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.36, Y:-4.93, Z:-0.95 [[ 9.91006205e-01 1.33387323e-01 1.07015388e-02 6.33641290e+01] [-1.33380523e-01 9.91063981e-01 -1.34984249e-03 -4.93465215e+00] [-1.07859615e-02 -8.96745511e-05 9.99941826e-01 -9.49877376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.39, Y:-4.95, Z:-0.95 [[ 9.91506661e-01 1.29658519e-01 1.01591824e-02 6.33909915e+01] [-1.29652203e-01 9.91558705e-01 -1.28062051e-03 -4.94905068e+00] [-1.02394692e-02 -4.74166194e-05 9.99947574e-01 -9.51154405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.42, Y:-4.96, Z:-0.95 [[ 9.91748531e-01 1.27805307e-01 1.00327268e-02 6.34184832e+01] [-1.27799057e-01 9.91799275e-01 -1.26425518e-03 -4.95712694e+00] [-1.01120297e-02 -2.83498149e-05 9.99948872e-01 -9.52003027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.205769231 meters Centerline goodness [0,1] 0.9999788086206531 Centerline is valid? [True, True] Translation: X:63.45, Y:-4.96, Z:-0.95 [[ 9.91958322e-01 1.26163094e-01 1.00777811e-02 6.34466569e+01] [-1.26156709e-01 9.92009513e-01 -1.26935309e-03 -4.96470329e+00] [-1.01574002e-02 -1.22343317e-05 9.99948412e-01 -9.51893964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.47, Y:-4.98, Z:-0.95 [[ 9.92301868e-01 1.23496368e-01 9.25471636e-03 6.34747272e+01] [-1.23490871e-01 9.92345024e-01 -1.16532092e-03 -4.97573099e+00] [-9.32778463e-03 1.34771390e-05 9.99956495e-01 -9.53704950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.50, Y:-4.98, Z:-0.96 [[ 9.92465442e-01 1.22230145e-01 8.49336152e-03 6.35015341e+01] [-1.22225471e-01 9.92501784e-01 -1.06915624e-03 -4.98355890e+00] [-8.56035958e-03 2.29955098e-05 9.99963359e-01 -9.55786766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29576923100001 meters Centerline goodness [0,1] 0.9999788744296096 Centerline is valid? [True, True] Translation: X:63.53, Y:-5.00, Z:-0.96 [[ 9.92789511e-01 1.19607616e-01 7.93755240e-03 6.35288905e+01] [-1.19603453e-01 9.92821241e-01 -9.98757047e-04 -4.99738976e+00] [-8.00002958e-03 4.21968440e-05 9.99967998e-01 -9.58148124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.56, Y:-5.00, Z:-0.96 [[ 9.92950065e-01 1.18257439e-01 8.08370417e-03 6.35573794e+01] [-1.18253080e-01 9.92982968e-01 -1.01680653e-03 -5.00413590e+00] [-8.14722549e-03 5.37151977e-05 9.99966809e-01 -9.56419836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.355769231 meters Centerline goodness [0,1] 0.9999574051199046 Centerline is valid? [True, True] Translation: X:63.58, Y:-5.01, Z:-0.96 [[ 9.93068711e-01 1.17243884e-01 8.27087710e-03 6.35848583e+01] [-1.17239289e-01 9.93103151e-01 -1.03997318e-03 -5.01228816e+00] [-8.33576460e-03 6.30930764e-05 9.99965255e-01 -9.56397735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.61, Y:-5.02, Z:-0.96 [[ 9.93187263e-01 1.16236639e-01 8.25257219e-03 6.36126316e+01] [-1.16232034e-01 9.93221546e-01 -1.03713645e-03 -5.01985041e+00] [-8.31718576e-03 7.08574635e-05 9.99965409e-01 -9.55740054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.415769231 meters Centerline goodness [0,1] 0.9999788784454536 Centerline is valid? [True, True] Translation: X:63.64, Y:-5.04, Z:-0.96 [[ 9.93256381e-01 1.15658008e-01 8.06139918e-03 6.36390688e+01] [-1.15653597e-01 9.93289092e-01 -1.01276767e-03 -5.03550260e+00] [-8.12443457e-03 7.36081376e-05 9.99966994e-01 -9.57734638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.445769231 meters Centerline goodness [0,1] 0.999957172530461 Centerline is valid? [True, True] Translation: X:63.67, Y:-5.05, Z:-0.96 [[ 9.93189204e-01 1.16195179e-01 8.59562620e-03 6.36663500e+01] [-1.16190190e-01 9.93226397e-01 -1.07924526e-03 -5.04567320e+00] [-8.66280593e-03 7.31673012e-05 9.99962475e-01 -9.57878883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.475769231 meters Centerline goodness [0,1] 0.9999139174037489 Centerline is valid? [True, True] Translation: X:63.70, Y:-5.05, Z:-0.96 [[ 9.93033074e-01 1.17493675e-01 8.97495258e-03 6.36956456e+01] [-1.17488292e-01 9.93073629e-01 -1.12645736e-03 -5.04767204e+00] [-9.04514034e-03 6.41575613e-05 9.99959090e-01 -9.56173433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.505769231 meters Centerline goodness [0,1] 0.9999572503419972 Centerline is valid? [True, True] Translation: X:63.72, Y:-5.05, Z:-0.96 [[ 9.92855849e-01 1.18966362e-01 9.17978656e-03 6.37243686e+01] [-1.18960796e-01 9.92898284e-01 -1.15185917e-03 -5.05193635e+00] [-9.25162682e-03 5.15953924e-05 9.99957201e-01 -9.56248892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.535769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.75, Y:-5.06, Z:-0.96 [[ 9.92560322e-01 1.21389416e-01 9.41367936e-03 6.37518578e+01] [-1.21383676e-01 9.92604961e-01 -1.18077165e-03 -5.05787334e+00] [-9.48739802e-03 2.93200838e-05 9.99954993e-01 -9.56010322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.565769231 meters Centerline goodness [0,1] 0.9999787672250886 Centerline is valid? [True, True] Translation: X:63.78, Y:-5.06, Z:-0.96 [[ 9.92516791e-01 1.21751911e-01 9.32154100e-03 6.37790898e+01] [-1.21746304e-01 9.92560563e-01 -1.16868088e-03 -5.06406616e+00] [-9.39448311e-03 2.50722337e-05 9.99955871e-01 -9.57127765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.595769231 meters Centerline goodness [0,1] 0.9999786470789204 Centerline is valid? [True, True] Translation: X:63.81, Y:-5.07, Z:-0.96 [[ 9.92416353e-01 1.22663417e-01 7.96665897e-03 6.38067045e+01] [-1.22659355e-01 9.92448329e-01 -9.98353047e-04 -5.07223745e+00] [-8.02895878e-03 1.35966393e-05 9.99967767e-01 -9.59086290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.625769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.83, Y:-5.08, Z:-0.96 [[ 9.92326322e-01 1.23407623e-01 7.68306658e-03 6.38344153e+01] [-1.23403869e-01 9.92356064e-01 -9.62518607e-04 -5.07816354e+00] [-7.74311985e-03 7.01240555e-06 9.99970022e-01 -9.60006564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.86, Y:-5.08, Z:-0.96 [[ 9.92202881e-01 1.24412097e-01 7.42111124e-03 6.38632553e+01] [-1.24408627e-01 9.92230633e-01 -9.29243368e-04 -5.08346088e+00] [-7.47906302e-03 -1.25231258e-06 9.99972031e-01 -9.60597929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.89, Y:-5.09, Z:-0.96 [[ 9.91745119e-01 1.27928883e-01 8.70747648e-03 6.38913419e+01] [-1.27924245e-01 9.91783343e-01 -1.08985054e-03 -5.08527981e+00] [-8.77535349e-03 -3.30433997e-05 9.99961495e-01 -9.59075534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.92, Y:-5.09, Z:-0.96 [[ 9.91410485e-01 1.30452752e-01 9.34508757e-03 6.39206918e+01] [-1.30447527e-01 9.91454525e-01 -1.16904055e-03 -5.08620901e+00] [-9.41773392e-03 -6.00445062e-05 9.99955650e-01 -9.57721803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.745769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.95, Y:-5.08, Z:-0.96 [[ 9.90711679e-01 1.35692813e-01 8.82208005e-03 6.39494228e+01] [-1.35688367e-01 9.90750952e-01 -1.10325654e-03 -5.08199927e+00] [-8.89018820e-03 -1.04044501e-04 9.99960476e-01 -9.58629917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.775769231 meters Centerline goodness [0,1] 0.9999788126615534 Centerline is valid? [True, True] Translation: X:63.98, Y:-5.08, Z:-0.96 [[ 9.90424803e-01 1.37834806e-01 7.76369998e-03 6.39781545e+01] [-1.37831433e-01 9.90455226e-01 -9.70469358e-04 -5.08310148e+00] [-7.82336168e-03 -1.08904968e-04 9.99969391e-01 -9.61257263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.01, Y:-5.09, Z:-0.96 [[ 9.90167233e-01 1.39730273e-01 6.65595759e-03 6.40071237e+01] [-1.39727838e-01 9.90189598e-01 -8.31779566e-04 -5.08620658e+00] [-6.70688475e-03 -1.06421693e-04 9.99977503e-01 -9.63748692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.835769231 meters Centerline goodness [0,1] 0.9999139248133244 Centerline is valid? [True, True] Translation: X:64.04, Y:-5.09, Z:-0.97 [[ 9.89722918e-01 1.42886917e-01 5.64580750e-03 6.40367596e+01] [-1.42885218e-01 9.89739015e-01 -7.05217162e-04 -5.08606243e+00] [-5.68864226e-03 -1.08732851e-04 9.99983814e-01 -9.65299984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.865769231 meters Centerline goodness [0,1] 0.9999134798408029 Centerline is valid? [True, True] Translation: X:64.07, Y:-5.09, Z:-0.97 [[ 9.89552776e-01 1.44048059e-01 5.95481387e-03 6.40656648e+01] [-1.44046190e-01 9.89570686e-01 -7.43791082e-04 -5.08599212e+00] [-5.99985091e-03 -1.21747724e-04 9.99981993e-01 -9.65293688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.895769231 meters Centerline goodness [0,1] 0.9998935241380779 Centerline is valid? [True, True] Translation: X:64.09, Y:-5.08, Z:-0.97 [[ 9.89281232e-01 1.45893736e-01 6.13686497e-03 6.40940898e+01] [-1.45891787e-01 9.89300257e-01 -7.66348902e-04 -5.07820720e+00] [-6.18300760e-03 -1.37183614e-04 9.99980876e-01 -9.65365546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.925769231 meters Centerline goodness [0,1] 0.9998930824334438 Centerline is valid? [True, True] Translation: X:64.12, Y:-5.08, Z:-0.96 [[ 9.89190496e-01 1.46481761e-01 6.72729442e-03 6.41223769e+01] [-1.46479436e-01 9.89213359e-01 -8.39594023e-04 -5.08023406e+00] [-6.77771472e-03 -1.54891866e-04 9.99977019e-01 -9.64085441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.955769231 meters Centerline goodness [0,1] 0.9997881984157242 Centerline is valid? [True, True] Translation: X:64.15, Y:-5.08, Z:-0.96 [[ 9.89107420e-01 1.46942185e-01 8.63166550e-03 6.41508383e+01] [-1.46938385e-01 9.89145062e-01 -1.07616556e-03 -5.07833508e+00] [-8.69610342e-03 -2.03879652e-04 9.99962167e-01 -9.60978001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.985769231 meters Centerline goodness [0,1] 0.9997661117135507 Centerline is valid? [True, True] Translation: X:64.18, Y:-5.08, Z:-0.96 [[ 9.89166449e-01 1.46541473e-01 8.67944644e-03 6.41785289e+01] [-1.46537621e-01 9.89204507e-01 -1.08160998e-03 -5.07977897e+00] [-8.74424825e-03 -2.01973130e-04 9.99961748e-01 -9.61648367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01576923100001 meters Centerline goodness [0,1] 0.9998933469849193 Centerline is valid? [True, True] Translation: X:64.21, Y:-5.08, Z:-0.96 [[ 9.89428996e-01 1.44828293e-01 7.41809345e-03 6.42075925e+01] [-1.44825433e-01 9.89456790e-01 -9.24043122e-04 -5.08084265e+00] [-7.47371052e-03 -1.60053540e-04 9.99972059e-01 -9.64754377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04576923100001 meters Centerline goodness [0,1] 0.9998089334239131 Centerline is valid? [True, True] Translation: X:64.24, Y:-5.08, Z:-0.97 [[ 9.89617404e-01 1.43537345e-01 7.37734902e-03 6.42363232e+01] [-1.43534483e-01 9.89644890e-01 -9.18634166e-04 -5.08382752e+00] [-7.43281407e-03 -1.49807621e-04 9.99972365e-01 -9.65517949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07576923100001 meters Centerline goodness [0,1] 0.9998930710008554 Centerline is valid? [True, True] Translation: X:64.27, Y:-5.09, Z:-0.97 [[ 9.89816048e-01 1.42159860e-01 7.40039802e-03 6.42653588e+01] [-1.42156945e-01 9.89843702e-01 -9.21115794e-04 -5.08759755e+00] [-7.45618306e-03 -1.40282782e-04 9.99972192e-01 -9.66060216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.105769231 meters Centerline goodness [0,1] 0.9999149334354132 Centerline is valid? [True, True] Translation: X:64.29, Y:-5.09, Z:-0.97 [[ 9.90370941e-01 1.38233185e-01 7.54895169e-03 6.42928045e+01] [-1.38230039e-01 9.90399704e-01 -9.39430572e-04 -5.09338652e+00] [-7.60634000e-03 -1.13107152e-04 9.99971065e-01 -9.65685855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.135769231 meters Centerline goodness [0,1] 0.9999574848008163 Centerline is valid? [True, True] Translation: X:64.32, Y:-5.10, Z:-0.96 [[ 9.90741972e-01 1.35513816e-01 8.14564144e-03 6.43213318e+01] [-1.35510066e-01 9.90775452e-01 -1.01312790e-03 -5.10025551e+00] [-8.20779441e-03 -1.00068080e-04 9.99966310e-01 -9.64739719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.165769231 meters Centerline goodness [0,1] 0.9999787152526499 Centerline is valid? [True, True] Translation: X:64.35, Y:-5.11, Z:-0.96 [[ 9.91604570e-01 1.28901181e-01 1.02402168e-02 6.43483095e+01] [-1.28894907e-01 9.91657442e-01 -1.27304037e-03 -5.11374241e+00] [-1.03188836e-02 -5.75591498e-05 9.99946757e-01 -9.60402266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.38, Y:-5.13, Z:-0.96 [[ 9.92134573e-01 1.24670470e-01 1.12366428e-02 6.43755988e+01] [-1.24662651e-01 9.92198203e-01 -1.39635404e-03 -5.12553540e+00] [-1.13230609e-02 -1.54185622e-05 9.99935892e-01 -9.58705766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.225769231 meters Centerline goodness [0,1] 0.9999788122126406 Centerline is valid? [True, True] Translation: X:64.40, Y:-5.14, Z:-0.96 [[ 9.92704677e-01 1.19973171e-01 1.19942301e-02 6.44034910e+01] [-1.19963926e-01 9.92777133e-01 -1.48991984e-03 -5.13818656e+00] [-1.20863478e-02 4.01754696e-05 9.99926957e-01 -9.58520064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.255769231 meters Centerline goodness [0,1] 0.99993674489215 Centerline is valid? [True, True] Translation: X:64.43, Y:-5.16, Z:-0.96 [[ 9.93812780e-01 1.10521165e-01 1.10104896e-02 6.44300398e+01] [-1.10512800e-01 9.93873761e-01 -1.36721185e-03 -5.16358503e+00] [-1.10941425e-02 1.41952584e-04 9.99938448e-01 -9.60568178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.285769231 meters Centerline goodness [0,1] 0.9998727951153324 Centerline is valid? [True, True] Translation: X:64.46, Y:-5.18, Z:-0.96 [[ 9.94307336e-01 1.06041067e-01 1.04025870e-02 6.44586252e+01] [-1.06033354e-01 9.94361735e-01 -1.29170844e-03 -5.17751494e+00] [-1.04809086e-02 1.81333987e-04 9.99945057e-01 -9.61571136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.315769231 meters Centerline goodness [0,1] 0.99955394124769 Centerline is valid? [True, True] Translation: X:64.49, Y:-5.20, Z:-0.96 [[ 9.95035803e-01 9.89581692e-02 1.05371750e-02 6.44865839e+01] [-9.89498599e-02 9.95091560e-01 -1.30828920e-03 -5.20105316e+00] [-1.06149198e-02 2.59142606e-04 9.99943627e-01 -9.61654916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.345769231 meters Centerline goodness [0,1] 0.9992146207892 Centerline is valid? [True, True] Translation: X:64.52, Y:-5.21, Z:-0.96 [[ 9.95265906e-01 9.65708085e-02 1.09478702e-02 6.45172743e+01] [-9.65616945e-02 9.95326073e-01 -1.35928358e-03 -5.21353410e+00] [-1.10279677e-02 2.95703710e-04 9.99939146e-01 -9.60569145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.375769231 meters Centerline goodness [0,1] 0.9988454877814124 Centerline is valid? [True, True] Translation: X:64.55, Y:-5.22, Z:-0.96 [[ 9.95385072e-01 9.52740117e-02 1.14639462e-02 6.45487086e+01] [-9.52639264e-02 9.95451032e-01 -1.42386357e-03 -5.22446840e+00] [-1.15474543e-02 3.25192011e-04 9.99933273e-01 -9.60044791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40576923100001 meters Centerline goodness [0,1] 0.9985653100407199 Centerline is valid? [True, True] Translation: X:64.58, Y:-5.24, Z:-0.97 [[ 9.95402108e-01 9.53380718e-02 9.23553802e-03 6.45804855e+01] [-9.53315198e-02 9.95444917e-01 -1.14808898e-03 -5.23541344e+00] [-9.30292597e-03 2.62372317e-04 9.99956692e-01 -9.65097860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43576923100001 meters Centerline goodness [0,1] 0.9996570203644158 Centerline is valid? [True, True] Translation: X:64.61, Y:-5.23, Z:-0.97 [[ 9.95340169e-01 9.61090917e-02 7.80959334e-03 6.46129067e+01] [-9.61044221e-02 9.95370783e-01 -9.71883967e-04 -5.23370008e+00] [-7.86684792e-03 2.16818698e-04 9.99969032e-01 -9.67891260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46576923100001 meters Centerline goodness [0,1] 0.9994021947990948 Centerline is valid? [True, True] Translation: X:64.64, Y:-5.25, Z:-0.97 [[ 9.95232998e-01 9.72721596e-02 7.02896637e-03 6.46423136e+01] [-9.72683986e-02 9.95257802e-01 -8.75762526e-04 -5.25143248e+00] [-7.08082093e-03 1.87891462e-04 9.99974913e-01 -9.70618050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.495769231 meters Centerline goodness [0,1] 0.9996378046701891 Centerline is valid? [True, True] Translation: X:64.68, Y:-5.25, Z:-0.97 [[ 9.95175658e-01 9.77761303e-02 8.07703269e-03 6.46753495e+01] [-9.77711658e-02 9.95208412e-01 -1.00817657e-03 -5.25053217e+00] [-8.13690648e-03 2.13611878e-04 9.99966872e-01 -9.67252311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.525769231 meters Centerline goodness [0,1] 0.9996378046701891 Centerline is valid? [True, True] Translation: X:64.71, Y:-5.25, Z:-0.97 [[ 9.95159936e-01 9.79360130e-02 8.07702030e-03 6.47067710e+01] [-9.79310530e-02 9.95192691e-01 -1.00827613e-03 -5.25460463e+00] [-8.13693811e-03 2.12404908e-04 9.99966872e-01 -9.67623074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.555769231 meters Centerline goodness [0,1] 0.9990921374883878 Centerline is valid? [True, True] Translation: X:64.74, Y:-5.27, Z:-0.97 [[ 9.95048957e-01 9.89768376e-02 9.00886038e-03 6.47365645e+01] [-9.89706941e-02 9.95089711e-01 -1.12632111e-03 -5.26786639e+00] [-9.07610398e-03 2.29131479e-04 9.99958785e-01 -9.67003567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.585769231 meters Centerline goodness [0,1] 0.9998926577930443 Centerline is valid? [True, True] Translation: X:64.77, Y:-5.27, Z:-0.97 [[ 9.94824457e-01 1.01229971e-01 8.76318872e-03 6.47698874e+01] [-1.01224231e-01 9.94863031e-01 -1.09713617e-03 -5.26538989e+00] [-8.82923556e-03 2.04410852e-04 9.99961001e-01 -9.67229400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.615769231 meters Centerline goodness [0,1] 0.9996207172657929 Centerline is valid? [True, True] Translation: X:64.80, Y:-5.28, Z:-0.97 [[ 9.94688024e-01 1.02609751e-01 8.18369693e-03 6.47988791e+01] [-1.02604792e-01 9.94721673e-01 -1.02470605e-03 -5.28159315e+00] [-8.24564553e-03 1.79576321e-04 9.99965988e-01 -9.70690581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.645769231 meters Centerline goodness [0,1] 0.9998302531350124 Centerline is valid? [True, True] Translation: X:64.83, Y:-5.29, Z:-0.97 [[ 9.94395164e-01 1.05522832e-01 6.57182383e-03 6.48303048e+01] [-1.05519690e-01 9.94416872e-01 -8.24119825e-04 -5.28732156e+00] [-6.62209595e-03 1.26043959e-04 9.99978066e-01 -9.74856054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.675769231 meters Centerline goodness [0,1] 0.9999574232554179 Centerline is valid? [True, True] Translation: X:64.86, Y:-5.28, Z:-0.97 [[ 9.94126546e-01 1.08036249e-01 6.37019898e-03 6.48627931e+01] [-1.08033350e-01 9.94146950e-01 -7.98462747e-04 -5.28398620e+00] [-6.41917680e-03 1.05579077e-04 9.99979391e-01 -9.73060653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.89, Y:-5.29, Z:-0.97 [[ 9.93536094e-01 1.13322497e-01 6.63643741e-03 6.48929759e+01] [-1.13319456e-01 9.93558255e-01 -8.33661370e-04 -5.29192131e+00] [-6.68815976e-03 7.62351861e-05 9.99977631e-01 -9.73906788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.93, Y:-5.29, Z:-0.97 [[ 9.93177788e-01 1.16439945e-01 6.29448592e-03 6.49253739e+01] [-1.16437270e-01 9.93197733e-01 -7.90906312e-04 -5.28979154e+00] [-6.34376223e-03 5.25978228e-05 9.99979877e-01 -9.73025256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76576923100001 meters Centerline goodness [0,1] 0.9999787906424314 Centerline is valid? [True, True] Translation: X:64.96, Y:-5.29, Z:-0.97 [[ 9.92777544e-01 1.19827370e-01 5.84375177e-03 6.49570567e+01] [-1.19825122e-01 9.92794742e-01 -7.34520302e-04 -5.29128104e+00] [-5.88966167e-03 2.89869937e-05 9.99982655e-01 -9.74019911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.99, Y:-5.29, Z:-0.97 [[ 9.91853618e-01 1.27149616e-01 7.70553497e-03 6.49866979e+01] [-1.27145925e-01 9.91883549e-01 -9.69037539e-04 -5.28833371e+00] [-7.76620612e-03 -1.85839790e-05 9.99969842e-01 -9.71485939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82576923100001 meters Centerline goodness [0,1] 0.9999785724999465 Centerline is valid? [True, True] Translation: X:65.02, Y:-5.29, Z:-0.97 [[ 9.91385061e-01 1.30642520e-01 9.39106932e-03 6.50177453e+01] [-1.30637198e-01 9.91429538e-01 -1.18050387e-03 -5.28891249e+00] [-9.46480752e-03 -5.64890867e-05 9.99955206e-01 -9.68062953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.855769231 meters Centerline goodness [0,1] 0.9999140284136093 Centerline is valid? [True, True] Translation: X:65.05, Y:-5.28, Z:-0.96 [[ 9.90569957e-01 1.36510877e-01 1.16593484e-02 6.50484633e+01] [-1.36503081e-01 9.90638562e-01 -1.46563715e-03 -5.28471864e+00] [-1.17502755e-02 -1.39720840e-04 9.99930953e-01 -9.64323455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.885769231 meters Centerline goodness [0,1] 0.999978837322498 Centerline is valid? [True, True] Translation: X:65.08, Y:-5.28, Z:-0.97 [[ 9.90257038e-01 1.38805008e-01 1.11430436e-02 6.50787084e+01] [-1.38798033e-01 9.90319718e-01 -1.40060703e-03 -5.28140062e+00] [-1.12295871e-02 -1.59671576e-04 9.99936933e-01 -9.65878122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.915769231 meters Centerline goodness [0,1] 0.9999578601377973 Centerline is valid? [True, True] Translation: X:65.11, Y:-5.28, Z:-0.97 [[ 9.89999701e-01 1.40677600e-01 1.05074016e-02 6.51083852e+01] [-1.40671505e-01 9.90055445e-01 -1.32060536e-03 -5.28008882e+00] [-1.05886897e-02 -1.70693082e-04 9.99943924e-01 -9.68192972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.945769231 meters Centerline goodness [0,1] 0.9999157841547888 Centerline is valid? [True, True] Translation: X:65.14, Y:-5.28, Z:-0.97 [[ 9.89876045e-01 1.41560923e-01 1.02917534e-02 6.51377153e+01] [-1.41555125e-01 9.89929530e-01 -1.29330199e-03 -5.27884809e+00] [-1.03711916e-02 -1.76641783e-04 9.99946202e-01 -9.69851935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.975769231 meters Centerline goodness [0,1] 0.9999361253646177 Centerline is valid? [True, True] Translation: X:65.17, Y:-5.28, Z:-0.97 [[ 9.89988764e-01 1.40754490e-01 1.05081570e-02 6.51666245e+01] [-1.40748406e-01 9.90044516e-01 -1.31997834e-03 -5.28342459e+00] [-1.05893361e-02 -1.72242622e-04 9.99943917e-01 -9.69088250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.005769231 meters Centerline goodness [0,1] 0.9999573078318782 Centerline is valid? [True, True] Translation: X:65.20, Y:-5.29, Z:-0.97 [[ 9.90337457e-01 1.38334880e-01 9.75612805e-03 6.51958326e+01] [-1.38329520e-01 9.90385502e-01 -1.22530217e-03 -5.28589852e+00] [-9.83182980e-03 -1.36097873e-04 9.99951657e-01 -9.69770592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.035769231 meters Centerline goodness [0,1] 0.9999142716303393 Centerline is valid? [True, True] Translation: X:65.23, Y:-5.29, Z:-0.97 [[ 9.90489122e-01 1.37267385e-01 9.43203167e-03 6.52251552e+01] [-1.37262330e-01 9.90534023e-01 -1.18438395e-03 -5.28955796e+00] [-9.50532556e-03 -1.21543216e-04 9.99954816e-01 -9.70818891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.065769231 meters Centerline goodness [0,1] 0.9999786274551711 Centerline is valid? [True, True] Translation: X:65.25, Y:-5.29, Z:-0.97 [[ 9.90776826e-01 1.35193657e-01 9.16280791e-03 6.52545131e+01] [-1.35188798e-01 9.90819189e-01 -1.15038925e-03 -5.28828309e+00] [-9.23421123e-03 -9.89299793e-05 9.99957359e-01 -9.71943881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.095769231 meters Centerline goodness [0,1] 0.999957123869142 Centerline is valid? [True, True] Translation: X:65.28, Y:-5.29, Z:-0.97 [[ 9.91006109e-01 1.33473384e-01 9.57849899e-03 6.52838346e+01] [-1.33467999e-01 9.91052394e-01 -1.20218204e-03 -5.29394151e+00] [-9.65325366e-03 -8.70533464e-05 9.99953402e-01 -9.71534426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.125769231 meters Centerline goodness [0,1] 0.9999788122126406 Centerline is valid? [True, True] Translation: X:65.31, Y:-5.30, Z:-0.97 [[ 9.91341727e-01 1.30953317e-01 9.63371907e-03 6.53124744e+01] [-1.30947752e-01 9.91388534e-01 -1.20890030e-03 -5.29870102e+00] [-9.70906812e-03 -6.30805496e-05 9.99952864e-01 -9.71964381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15576923100001 meters Centerline goodness [0,1] 0.9999786848555899 Centerline is valid? [True, True] Translation: X:65.34, Y:-5.31, Z:-0.97 [[ 9.92136071e-01 1.24915231e-01 7.88681655e-03 6.53417411e+01] [-1.24911313e-01 9.92167418e-01 -9.89343265e-04 -5.31242756e+00] [-7.94862645e-03 -3.58947285e-06 9.99968409e-01 -9.74983134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.37, Y:-5.32, Z:-0.98 [[ 9.92579296e-01 1.21381910e-01 7.26456190e-03 6.53707822e+01] [-1.21378491e-01 9.92605879e-01 -9.11285985e-04 -5.32229092e+00] [-7.32146048e-03 2.27620394e-05 9.99973197e-01 -9.76689081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.40, Y:-5.34, Z:-0.98 [[ 9.93349253e-01 1.14914946e-01 7.19838086e-03 6.54011901e+01] [-1.14911425e-01 9.93375332e-01 -9.02235241e-04 -5.33723495e+00] [-7.25437429e-03 6.90585045e-05 9.99973684e-01 -9.77745696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.245769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-5.35, Z:-0.98 [[ 9.93594781e-01 1.12746911e-01 7.58580129e-03 6.54312207e+01] [-1.12742927e-01 9.93623734e-01 -9.52243180e-04 -5.34572227e+00] [-7.64479468e-03 9.08984170e-05 9.99970774e-01 -9.77127634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:-5.35, Z:-0.98 [[ 9.93710793e-01 1.11684196e-01 8.09317484e-03 6.54620653e+01] [-1.11679614e-01 9.93743744e-01 -1.01732020e-03 -5.35303846e+00] [-8.15616045e-03 1.07079425e-04 9.99966732e-01 -9.76195099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.49, Y:-5.36, Z:-0.97 [[ 9.93669497e-01 1.11991882e-01 8.87401161e-03 6.54925748e+01] [-1.11986372e-01 9.93709115e-01 -1.11702746e-03 -5.35811665e+00] [-8.94328423e-03 1.16187748e-04 9.99960001e-01 -9.74680635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.52, Y:-5.36, Z:-0.98 [[ 9.93591486e-01 1.12695928e-01 8.69409472e-03 6.55245714e+01] [-1.12690654e-01 9.93629516e-01 -1.09565229e-03 -5.36110142e+00] [-8.76218469e-03 1.08887564e-04 9.99961605e-01 -9.75131619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.365769231 meters Centerline goodness [0,1] 0.9999577880962431 Centerline is valid? [True, True] Translation: X:65.56, Y:-5.37, Z:-0.98 [[ 9.93632665e-01 1.12394148e-01 7.85379265e-03 6.55552393e+01] [-1.12389826e-01 9.93663698e-01 -9.90922389e-04 -5.36625027e+00] [-7.91540253e-03 1.01926463e-04 9.99968668e-01 -9.77931316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.395769231 meters Centerline goodness [0,1] 0.9999787460148778 Centerline is valid? [True, True] Translation: X:65.59, Y:-5.37, Z:-0.98 [[ 9.93701094e-01 1.11773976e-01 8.04446094e-03 6.55859996e+01] [-1.11769411e-01 9.93733649e-01 -1.01625380e-03 -5.37264408e+00] [-8.10764226e-03 1.10727848e-04 9.99967126e-01 -9.78300534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.425769231 meters Centerline goodness [0,1] 0.9999154137325805 Centerline is valid? [True, True] Translation: X:65.62, Y:-5.38, Z:-0.98 [[ 9.93806829e-01 1.10797938e-01 8.47366114e-03 6.56174971e+01] [-1.10792826e-01 9.93842946e-01 -1.07182422e-03 -5.37960763e+00] [-8.54024426e-03 1.26365364e-04 9.99963523e-01 -9.77732735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.455769231 meters Centerline goodness [0,1] 0.999936402950903 Centerline is valid? [True, True] Translation: X:65.65, Y:-5.38, Z:-0.98 [[ 9.94061681e-01 1.08475100e-01 8.63291353e-03 6.56492957e+01] [-1.08469694e-01 9.94099155e-01 -1.09339960e-03 -5.38452516e+00] [-8.70057867e-03 1.50497154e-04 9.99962138e-01 -9.77250249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.485769231 meters Centerline goodness [0,1] 0.9998938856936692 Centerline is valid? [True, True] Translation: X:65.68, Y:-5.39, Z:-0.98 [[ 9.94129501e-01 1.07902978e-01 7.96764443e-03 6.56801462e+01] [-1.07898344e-01 9.94161419e-01 -1.01037830e-03 -5.39047562e+00] [-8.03014752e-03 1.44751227e-04 9.99967747e-01 -9.78991729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51576923100001 meters Centerline goodness [0,1] 0.9999363192528126 Centerline is valid? [True, True] Translation: X:65.71, Y:-5.39, Z:-0.98 [[ 9.94182847e-01 1.07412720e-01 7.93561253e-03 6.57117887e+01] [-1.07408098e-01 9.94214507e-01 -1.00753162e-03 -5.39283630e+00] [-7.99792281e-03 1.49321600e-04 9.99968005e-01 -9.79462580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54576923100001 meters Centerline goodness [0,1] 0.9999135228623932 Centerline is valid? [True, True] Translation: X:65.74, Y:-5.40, Z:-0.98 [[ 9.94209902e-01 1.07077276e-01 9.00710782e-03 6.57441450e+01] [-1.07071294e-01 9.94250686e-01 -1.14512273e-03 -5.39781594e+00] [-9.07793975e-03 1.74089664e-04 9.99958780e-01 -9.77569688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57576923100001 meters Centerline goodness [0,1] 0.9998101586230173 Centerline is valid? [True, True] Translation: X:65.77, Y:-5.41, Z:-0.98 [[ 9.94428087e-01 1.04894837e-01 1.04811195e-02 6.57738061e+01] [-1.04886590e-01 9.94483294e-01 -1.33493212e-03 -5.40956234e+00] [-1.05633257e-02 2.28165112e-04 9.99944180e-01 -9.75298856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.605769231 meters Centerline goodness [0,1] 0.9998504944362573 Centerline is valid? [True, True] Translation: X:65.81, Y:-5.41, Z:-0.98 [[ 9.94564451e-01 1.03608909e-01 1.03318548e-02 6.58058652e+01] [-1.03600810e-01 9.94618086e-01 -1.31747564e-03 -5.41479325e+00] [-1.04127519e-02 2.39925915e-04 9.99945757e-01 -9.75728087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.635769231 meters Centerline goodness [0,1] 0.9996823043524303 Centerline is valid? [True, True] Translation: X:65.83, Y:-5.43, Z:-0.98 [[ 9.94877069e-01 1.00692572e-01 8.97908507e-03 6.58346108e+01] [-1.00686323e-01 9.94917559e-01 -1.14643444e-03 -5.43304176e+00] [-9.04888683e-03 2.36490279e-04 9.99959030e-01 -9.79628028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.665769231 meters Centerline goodness [0,1] 0.99957471239926 Centerline is valid? [True, True] Translation: X:65.87, Y:-5.44, Z:-0.98 [[ 9.94984792e-01 9.96607051e-02 8.54442570e-03 6.58656281e+01] [-9.96550048e-02 9.95021451e-01 -1.09137062e-03 -5.44203870e+00] [-8.61065363e-03 2.34402388e-04 9.99962900e-01 -9.80709173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.695769231 meters Centerline goodness [0,1] 0.9997198939906488 Centerline is valid? [True, True] Translation: X:65.90, Y:-5.44, Z:-0.98 [[ 9.95047157e-01 9.90143511e-02 8.79276535e-03 6.58981127e+01] [-9.90082772e-02 9.95085974e-01 -1.12447177e-03 -5.44387322e+00] [-8.86089632e-03 2.48345890e-04 9.99960711e-01 -9.80206079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.725769231 meters Centerline goodness [0,1] 0.999145755472504 Centerline is valid? [True, True] Translation: X:65.93, Y:-5.46, Z:-0.98 [[ 9.95041592e-01 9.89643461e-02 9.91406021e-03 6.59278602e+01] [-9.89566030e-02 9.95090940e-01 -1.26974955e-03 -5.46046388e+00] [-9.99105143e-03 2.82391888e-04 9.99950048e-01 -9.78581730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.755769231 meters Centerline goodness [0,1] 0.9994229289561426 Centerline is valid? [True, True] Translation: X:65.96, Y:-5.46, Z:-0.98 [[ 9.94991061e-01 9.94552459e-02 1.00719102e-02 6.59602977e+01] [-9.94472607e-02 9.95041996e-01 -1.29181132e-03 -5.46291646e+00] [-1.01504511e-02 2.83716833e-04 9.99948443e-01 -9.78456395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.785769231 meters Centerline goodness [0,1] 0.9997864069375026 Centerline is valid? [True, True] Translation: X:65.99, Y:-5.47, Z:-0.98 [[ 9.94816447e-01 1.01349590e-01 8.27634230e-03 6.59916611e+01] [-1.01344255e-01 9.94850850e-01 -1.06252029e-03 -5.46911624e+00] [-8.34141217e-03 2.18252911e-04 9.99965186e-01 -9.82631665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.815769231 meters Centerline goodness [0,1] 0.9996798155737705 Centerline is valid? [True, True] Translation: X:66.02, Y:-5.48, Z:-0.99 [[ 9.94665896e-01 1.02907254e-01 7.06058247e-03 6.60223910e+01] [-1.02903404e-01 9.94690940e-01 -9.07393467e-04 -5.47552967e+00] [-7.11647478e-03 1.75995365e-04 9.99974662e-01 -9.86561972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.845769231 meters Centerline goodness [0,1] 0.9998712142351199 Centerline is valid? [True, True] Translation: X:66.05, Y:-5.48, Z:-0.99 [[ 9.94470556e-01 1.04851256e-01 5.87599690e-03 6.60542909e+01] [-1.04848621e-01 9.94487906e-01 -7.55693889e-04 -5.47940956e+00] [-5.92284331e-03 1.35425153e-04 9.99982451e-01 -9.89157191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.875769231 meters Centerline goodness [0,1] 0.9999572686095205 Centerline is valid? [True, True] Translation: X:66.08, Y:-5.49, Z:-0.99 [[ 9.94099737e-01 1.08341121e-01 5.28349254e-03 6.60839127e+01] [-1.08339030e-01 9.94113771e-01 -6.81152044e-04 -5.48516916e+00] [-5.32618947e-03 1.04724611e-04 9.99985810e-01 -9.90141418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90576923100001 meters Centerline goodness [0,1] 0.9999574431866541 Centerline is valid? [True, True] Translation: X:66.12, Y:-5.49, Z:-0.99 [[ 9.93871225e-01 1.10406728e-01 5.50834012e-03 6.61161444e+01] [-1.10404492e-01 9.93886485e-01 -7.09299939e-04 -5.48915740e+00] [-5.55297629e-03 9.68073065e-05 9.99984577e-01 -9.89983044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.15, Y:-5.49, Z:-0.99 [[ 9.93489433e-01 1.13739961e-01 6.47819165e-03 6.61462861e+01] [-1.13736925e-01 9.93510550e-01 -8.36330915e-04 -5.49327637e+00] [-6.53127599e-03 9.40763263e-05 9.99978667e-01 -9.88909949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96576923100001 meters Centerline goodness [0,1] 0.9999784918484106 Centerline is valid? [True, True] Translation: X:66.18, Y:-5.50, Z:-0.99 [[ 9.93284767e-01 1.15430443e-01 7.82205253e-03 6.61781894e+01] [-1.15426072e-01 9.93315561e-01 -1.00937967e-03 -5.49782663e+00] [-7.88627964e-03 9.97326465e-05 9.99968898e-01 -9.87757900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.995769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.21, Y:-5.50, Z:-0.98 [[ 9.92896619e-01 1.18605269e-01 9.43901228e-03 6.62098063e+01] [-1.18599030e-01 9.92941480e-01 -1.21992785e-03 -5.50063661e+00] [-9.51707669e-03 9.18045389e-05 9.99954707e-01 -9.84424750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.24, Y:-5.50, Z:-0.98 [[ 9.92588329e-01 1.21131987e-01 9.76987663e-03 6.62425688e+01] [-1.21125408e-01 9.92636407e-01 -1.26450131e-03 -5.50178985e+00] [-9.85110679e-03 7.17489518e-05 9.99951474e-01 -9.83713699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.055769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.27, Y:-5.50, Z:-0.98 [[ 9.92203030e-01 1.24248001e-01 9.77654249e-03 6.62740494e+01] [-1.24241560e-01 9.92251194e-01 -1.26575345e-03 -5.50174706e+00] [-9.85805330e-03 4.12315148e-05 9.99951407e-01 -9.84067307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.31, Y:-5.50, Z:-0.99 [[ 9.91495056e-01 1.29831046e-01 9.02517504e-03 6.63061049e+01] [-1.29825778e-01 9.91536131e-01 -1.16966876e-03 -5.49620563e+00] [-9.10064646e-03 -1.19795787e-05 9.99958588e-01 -9.86261826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.115769231 meters Centerline goodness [0,1] 0.9999786903062203 Centerline is valid? [True, True] Translation: X:66.34, Y:-5.50, Z:-0.99 [[ 9.91176099e-01 1.32283697e-01 8.42402588e-03 6.63387210e+01] [-1.32279187e-01 9.91211896e-01 -1.09283502e-03 -5.49592857e+00] [-8.49455892e-03 -3.11313357e-05 9.99963920e-01 -9.87844955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.145769231 meters Centerline goodness [0,1] 0.9999786721266023 Centerline is valid? [True, True] Translation: X:66.37, Y:-5.49, Z:-0.99 [[ 9.90692737e-01 1.35856395e-01 8.42260946e-03 6.63697136e+01] [-1.35851999e-01 9.90728538e-01 -1.09447440e-03 -5.49235546e+00] [-8.49321091e-03 -5.99404949e-05 9.99963930e-01 -9.87828774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.40, Y:-5.49, Z:-0.99 [[ 9.90495116e-01 1.37257645e-01 8.93104891e-03 6.64010175e+01] [-1.37252760e-01 9.90535377e-01 -1.16047999e-03 -5.49383284e+00] [-9.00580465e-03 -7.63613537e-05 9.99959444e-01 -9.86415654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.43, Y:-5.49, Z:-0.99 [[ 9.90333903e-01 1.38382726e-01 9.43298221e-03 6.64328547e+01] [-1.38377326e-01 9.90378823e-01 -1.22593992e-03 -5.49412970e+00] [-9.51187472e-03 -9.12209874e-05 9.99954757e-01 -9.85961538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.235769231 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:66.46, Y:-5.49, Z:-0.99 [[ 9.90026283e-01 1.40547645e-01 9.71180789e-03 6.64641170e+01] [-1.40542022e-01 9.90073909e-01 -1.26245949e-03 -5.48986740e+00] [-9.79284332e-03 -1.15049041e-04 9.99952042e-01 -9.85852755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.49, Y:-5.49, Z:-0.99 [[ 9.89853467e-01 1.41750823e-01 9.83966343e-03 6.64948369e+01] [-1.41745110e-01 9.89902363e-01 -1.27907972e-03 -5.48915415e+00] [-9.92161668e-03 -1.28622682e-04 9.99950771e-01 -9.86285417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29576923100001 meters Centerline goodness [0,1] 0.9999357986646122 Centerline is valid? [True, True] Translation: X:66.53, Y:-5.48, Z:-0.98 [[ 9.89562354e-01 1.43775627e-01 9.74248659e-03 6.65254679e+01] [-1.43770124e-01 9.89610301e-01 -1.26649130e-03 -5.48262139e+00] [-9.82335566e-03 -1.47406394e-04 9.99951739e-01 -9.83117364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32576923100001 meters Centerline goodness [0,1] 0.9999360572926658 Centerline is valid? [True, True] Translation: X:66.56, Y:-5.48, Z:-0.99 [[ 9.89442929e-01 1.44589104e-01 9.83264936e-03 6.65558041e+01] [-1.44583541e-01 9.89491772e-01 -1.27797770e-03 -5.48046523e+00] [-9.91410729e-03 -1.57153263e-04 9.99950842e-01 -9.87106213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35576923100001 meters Centerline goodness [0,1] 0.9999363840705713 Centerline is valid? [True, True] Translation: X:66.59, Y:-5.48, Z:-0.99 [[ 9.89359276e-01 1.45183641e-01 9.48332120e-03 6.65862860e+01] [-1.45178496e-01 9.89404713e-01 -1.23236229e-03 -5.47864029e+00] [-9.56176153e-03 -1.57525244e-04 9.99954273e-01 -9.87903285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.385769231 meters Centerline goodness [0,1] 0.9999785807612398 Centerline is valid? [True, True] Translation: X:66.62, Y:-5.47, Z:-0.99 [[ 9.89216688e-01 1.46184673e-01 8.96579755e-03 6.66162358e+01] [-1.46180116e-01 9.89257305e-01 -1.16495056e-03 -5.47439970e+00] [-9.03977865e-03 -1.58232798e-04 9.99959128e-01 -9.87919643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.415769231 meters Centerline goodness [0,1] 0.9999785807612398 Centerline is valid? [True, True] Translation: X:66.64, Y:-5.48, Z:-0.99 [[ 9.89223680e-01 1.46137346e-01 8.96583531e-03 6.66443439e+01] [-1.46132791e-01 9.89264298e-01 -1.16465988e-03 -5.47796124e+00] [-9.03978108e-03 -1.58093405e-04 9.99959128e-01 -9.88251156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.445769231 meters Centerline goodness [0,1] 0.9999574640039133 Centerline is valid? [True, True] Translation: X:66.67, Y:-5.47, Z:-0.99 [[ 9.89284212e-01 1.45697895e-01 9.42712373e-03 6.66727897e+01] [-1.45692843e-01 9.89329115e-01 -1.22411926e-03 -5.47398391e+00] [-9.50487957e-03 -1.62462594e-04 9.99954814e-01 -9.88651466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.475769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.70, Y:-5.47, Z:-0.99 [[ 9.89542354e-01 1.43822409e-01 1.10020064e-02 6.67019487e+01] [-1.43815421e-01 9.89603499e-01 -1.42782870e-03 -5.47484062e+00] [-1.10929778e-02 -1.69361213e-04 9.99938457e-01 -9.86572249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.505769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.73, Y:-5.48, Z:-0.99 [[ 9.89861128e-01 1.41611915e-01 1.10006191e-02 6.67301042e+01] [-1.41604798e-01 9.89922242e-01 -1.42711924e-03 -5.47795343e+00] [-1.10918546e-02 -1.45090588e-04 9.99938473e-01 -9.86989856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.535769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:-5.48, Z:-0.99 [[ 9.90321704e-01 1.38369523e-01 1.08072931e-02 6.67586137e+01] [-1.38362466e-01 9.90380666e-01 -1.40152092e-03 -5.48269893e+00] [-1.08972619e-02 -1.07367141e-04 9.99940617e-01 -9.88090022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.565769231 meters Centerline goodness [0,1] 0.9999787469183031 Centerline is valid? [True, True] Translation: X:66.79, Y:-5.50, Z:-0.99 [[ 9.91447288e-01 1.30121648e-01 1.00315957e-02 6.67864699e+01] [-1.30115149e-01 9.91498037e-01 -1.30057610e-03 -5.49593107e+00] [-1.01155406e-02 -1.58099244e-05 9.99948836e-01 -9.90215232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.595769231 meters Centerline goodness [0,1] 0.9999788985017937 Centerline is valid? [True, True] Translation: X:66.82, Y:-5.51, Z:-0.99 [[ 9.92026136e-01 1.25674668e-01 9.48801900e-03 6.68152464e+01] [-1.25668654e-01 9.92071508e-01 -1.22982622e-03 -5.50547655e+00] [-9.56735132e-03 2.76731806e-05 9.99954231e-01 -9.91369248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.625769231 meters Centerline goodness [0,1] 0.9998288696842645 Centerline is valid? [True, True] Translation: X:66.84, Y:-5.52, Z:-0.99 [[ 9.93164452e-01 1.16361428e-01 9.18633235e-03 6.68446427e+01] [-1.16355390e-01 9.93206930e-01 -1.19078417e-03 -5.52136378e+00] [-9.26249029e-03 1.13765217e-04 9.99957096e-01 -9.92439097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65576923100001 meters Centerline goodness [0,1] 0.9996794255305508 Centerline is valid? [True, True] Translation: X:66.88, Y:-5.53, Z:-0.99 [[ 9.93606923e-01 1.12487190e-01 9.58717666e-03 6.68752457e+01] [-1.12480434e-01 9.93653163e-01 -1.24272270e-03 -5.53141979e+00] [-9.66611879e-03 1.56408090e-04 9.99953270e-01 -9.92204558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68576923100001 meters Centerline goodness [0,1] 0.9994851773992879 Centerline is valid? [True, True] Translation: X:66.90, Y:-5.54, Z:-0.99 [[ 9.94303326e-01 1.06000748e-01 1.11686009e-02 6.69045362e+01] [-1.05991147e-01 9.94366017e-01 -1.44976729e-03 -5.54361590e+00] [-1.12593536e-02 2.57735616e-04 9.99936578e-01 -9.89360085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71576923100001 meters Centerline goodness [0,1] 0.9987582958681225 Centerline is valid? [True, True] Translation: X:66.93, Y:-5.56, Z:-0.99 [[ 9.94567857e-01 1.03471115e-01 1.13360835e-02 6.69342169e+01] [-1.03461058e-01 9.94632416e-01 -1.47162852e-03 -5.55674512e+00] [-1.14275071e-02 2.90791230e-04 9.99934662e-01 -9.89529816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.745769231 meters Centerline goodness [0,1] 0.9989121392461765 Centerline is valid? [True, True] Translation: X:66.97, Y:-5.56, Z:-0.99 [[ 9.94814974e-01 1.01077452e-01 1.12479287e-02 6.69657608e+01] [-1.01067386e-01 9.94878509e-01 -1.46115975e-03 -5.56383589e+00] [-1.13380128e-02 3.16784843e-04 9.99935672e-01 -9.90023263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.775769231 meters Centerline goodness [0,1] 0.9961394875275751 Centerline is valid? [True, True] Translation: X:66.99, Y:-5.59, Z:-0.99 [[ 9.95166034e-01 9.76122874e-02 1.07891615e-02 6.69934668e+01] [-9.76028174e-02 9.95224459e-01 -1.40208603e-03 -5.58763175e+00] [-1.08744983e-02 3.42255835e-04 9.99940812e-01 -9.90961073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.805769231 meters Centerline goodness [0,1] 0.9977477960575706 Centerline is valid? [True, True] Translation: X:67.03, Y:-5.59, Z:-0.99 [[ 9.95191147e-01 9.73708600e-02 1.06534771e-02 6.70265548e+01] [-9.73616130e-02 9.95248110e-01 -1.38443152e-03 -5.58616502e+00] [-1.07376562e-02 3.40534276e-04 9.99942292e-01 -9.91601121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.835769231 meters Centerline goodness [0,1] 0.998531254049851 Centerline is valid? [True, True] Translation: X:67.06, Y:-5.59, Z:-0.99 [[ 9.94838523e-01 1.01052799e-01 9.20024173e-03 6.70566451e+01] [-1.01046045e-01 9.94881030e-01 -1.19724256e-03 -5.58936036e+00] [-9.27413068e-03 2.61414980e-04 9.99956960e-01 -9.94353790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.865769231 meters Centerline goodness [0,1] 0.9992948265914482 Centerline is valid? [True, True] Translation: X:67.09, Y:-5.59, Z:-1.00 [[ 9.94516888e-01 1.04291084e-01 7.71553541e-03 6.70874032e+01] [-1.04286432e-01 9.94546797e-01 -1.00394327e-03 -5.59161823e+00] [-7.77816336e-03 1.93812875e-04 9.99969731e-01 -9.97003796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.895769231 meters Centerline goodness [0,1] 0.9996105244936818 Centerline is valid? [True, True] Translation: X:67.12, Y:-5.59, Z:-1.00 [[ 9.94105290e-01 1.08208791e-01 6.74765523e-03 6.71180375e+01] [-1.08205322e-01 9.94128179e-01 -8.78129355e-04 -5.59411754e+00] [-6.80305552e-03 1.42820829e-04 9.99976849e-01 -9.98737890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.925769231 meters Centerline goodness [0,1] 0.9998512284281221 Centerline is valid? [True, True] Translation: X:67.15, Y:-5.58, Z:-1.00 [[ 9.92981870e-01 1.18027016e-01 7.52529337e-03 6.71511161e+01] [-1.18022981e-01 9.93010381e-01 -9.79611747e-04 -5.58119523e+00] [-7.58831509e-03 8.45791456e-05 9.99971205e-01 -9.96279658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.955769231 meters Centerline goodness [0,1] 0.9999574431866541 Centerline is valid? [True, True] Translation: X:67.18, Y:-5.57, Z:-0.99 [[ 9.91741089e-01 1.27876336e-01 9.86175830e-03 6.71815110e+01] [-1.27869891e-01 9.91790120e-01 -1.28390453e-03 -5.56860684e+00] [-9.94497546e-03 1.22789227e-05 9.99950547e-01 -9.93435350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.21, Y:-5.57, Z:-0.99 [[ 9.91248959e-01 1.31637741e-01 9.84915098e-03 6.72128053e+01] [-1.31631502e-01 9.91297889e-01 -1.28186048e-03 -5.56593957e+00] [-9.93218379e-03 -2.58156658e-05 9.99950674e-01 -9.94015274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.24, Y:-5.56, Z:-1.00 [[ 9.90824122e-01 1.34849558e-01 9.11903023e-03 6.72422256e+01] [-1.34844345e-01 9.90866083e-01 -1.18692212e-03 -5.56238631e+00] [-9.19579368e-03 -5.36185850e-05 9.99957716e-01 -9.96254399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.27, Y:-5.56, Z:-1.00 [[ 9.90451729e-01 1.37600250e-01 8.45840002e-03 6.72718769e+01] [-1.37595867e-01 9.90487842e-01 -1.10070637e-03 -5.56005485e+00] [-8.52939986e-03 -7.36443537e-05 9.99963621e-01 -9.97504503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.30, Y:-5.55, Z:-1.00 [[ 9.89949926e-01 1.41104065e-01 9.42265726e-03 6.73022058e+01] [-1.41098789e-01 9.89994762e-01 -1.22568937e-03 -5.55374815e+00] [-9.50133109e-03 -1.16154430e-04 9.99954855e-01 -9.96218182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.33, Y:-5.55, Z:-0.99 [[ 9.89890978e-01 1.41401698e-01 1.10186644e-02 6.73297780e+01] [-1.41394508e-01 9.89952292e-01 -1.43270505e-03 -5.55463719e+00] [-1.11105390e-02 -1.39756829e-04 9.99938266e-01 -9.93307193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.36, Y:-5.56, Z:-0.99 [[ 9.90062018e-01 1.40227061e-01 1.06569972e-02 6.73581795e+01] [-1.40220274e-01 9.90119365e-01 -1.38507946e-03 -5.55914010e+00] [-1.07459250e-02 -1.23012509e-04 9.99942253e-01 -9.94709608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.39, Y:-5.56, Z:-1.00 [[ 9.90294258e-01 1.38622927e-01 1.00482276e-02 6.73853662e+01] [-1.38616815e-01 9.90345230e-01 -1.30554905e-03 -5.56486029e+00] [-1.01321933e-02 -9.99755828e-05 9.99948663e-01 -9.97185810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.41, Y:-5.58, Z:-1.00 [[ 9.90990820e-01 1.33605012e-01 9.32175033e-03 6.74127482e+01] [-1.33599535e-01 9.91034661e-01 -1.21060014e-03 -5.57970700e+00] [-9.39991992e-03 -4.56878892e-05 9.99955819e-01 -1.00054146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.225769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.44, Y:-5.59, Z:-1.00 [[ 9.91332208e-01 1.31026050e-01 9.62431132e-03 6.74422118e+01] [-1.31020093e-01 9.91378925e-01 -1.24962330e-03 -5.59096754e+00] [-9.70507262e-03 -2.21863325e-05 9.99952904e-01 -9.99766682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.255769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.47, Y:-5.60, Z:-1.00 [[ 9.91594792e-01 1.28993097e-01 1.00274458e-02 6.74711783e+01] [-1.28986526e-01 9.91645492e-01 -1.30198510e-03 -5.60060297e+00] [-1.01116185e-02 -2.36375030e-06 9.99948876e-01 -9.98561061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.285769231 meters Centerline goodness [0,1] 0.9999788516442847 Centerline is valid? [True, True] Translation: X:67.50, Y:-5.61, Z:-1.00 [[ 9.91869526e-01 1.26886750e-01 9.72600736e-03 6.75004233e+01] [-1.26880468e-01 9.91917210e-01 -1.26269097e-03 -5.61281626e+00] [-9.80761284e-03 1.83843268e-05 9.99951904e-01 -9.97904812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.315769231 meters Centerline goodness [0,1] 0.9999572850369485 Centerline is valid? [True, True] Translation: X:67.53, Y:-5.62, Z:-1.00 [[ 9.91844598e-01 1.27075593e-01 9.80243531e-03 6.75296949e+01] [-1.27069220e-01 9.91893035e-01 -1.27276462e-03 -5.61857448e+00] [-9.88470463e-03 1.67969079e-05 9.99951145e-01 -9.98629085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.345769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.56, Y:-5.62, Z:-1.00 [[ 9.91477620e-01 1.29873393e-01 1.02484754e-02 6.75602509e+01] [-1.29866578e-01 9.91530585e-01 -1.33054567e-03 -5.62257007e+00] [-1.03344793e-02 -1.17281710e-05 9.99946598e-01 -9.97760968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.375769231 meters Centerline goodness [0,1] 0.9999785283318661 Centerline is valid? [True, True] Translation: X:67.59, Y:-5.62, Z:-1.00 [[ 9.91134617e-01 1.32416767e-01 1.08614766e-02 6.75897992e+01] [-1.32409265e-01 9.91194127e-01 -1.41013979e-03 -5.62357536e+00] [-1.09525580e-02 -4.05217648e-05 9.99940018e-01 -9.97561491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40576923100001 meters Centerline goodness [0,1] 0.9999788587979113 Centerline is valid? [True, True] Translation: X:67.62, Y:-5.62, Z:-1.00 [[ 9.90275844e-01 1.38746298e-01 1.01595965e-02 6.76201801e+01] [-1.38740067e-01 9.90327953e-01 -1.31891472e-03 -5.61852093e+00] [-1.02443270e-02 -1.03453716e-04 9.99947520e-01 -9.98806016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.65, Y:-5.62, Z:-1.00 [[ 9.89879424e-01 1.41631869e-01 8.89607376e-03 6.76501502e+01] [-1.41627209e-01 9.89919391e-01 -1.15472829e-03 -5.62099351e+00] [-8.96994224e-03 -1.16884325e-04 9.99959762e-01 -1.00037682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.68, Y:-5.62, Z:-1.00 [[ 9.89505499e-01 1.44270909e-01 8.04817334e-03 6.76792821e+01] [-1.44267184e-01 9.89538220e-01 -1.04454423e-03 -5.61981576e+00] [-8.11467246e-03 -1.27505042e-04 9.99967067e-01 -1.00247624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.495769231 meters Centerline goodness [0,1] 0.9999577827500317 Centerline is valid? [True, True] Translation: X:67.71, Y:-5.61, Z:-1.00 [[ 9.89012853e-01 1.47589060e-01 8.42886800e-03 6.77092253e+01] [-1.47585098e-01 9.89048757e-01 -1.09362750e-03 -5.61117638e+00] [-8.49796886e-03 -1.62363653e-04 9.99963878e-01 -1.00292521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.525769231 meters Centerline goodness [0,1] 0.9998729271237055 Centerline is valid? [True, True] Translation: X:67.74, Y:-5.61, Z:-1.00 [[ 9.88879858e-01 1.48407959e-01 9.57624945e-03 6.77371904e+01] [-1.48402886e-01 9.88926206e-01 -1.24213795e-03 -5.61112559e+00] [-9.65454719e-03 -1.92817856e-04 9.99953375e-01 -1.00101726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.555769231 meters Centerline goodness [0,1] 0.9999145864918537 Centerline is valid? [True, True] Translation: X:67.76, Y:-5.62, Z:-1.00 [[ 9.88825781e-01 1.48640608e-01 1.13818020e-02 6.77645035e+01] [-1.48633465e-01 9.88891256e-01 -1.47561510e-03 -5.62145106e+00] [-1.14747008e-02 -2.32590416e-04 9.99934136e-01 -9.97986817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.585769231 meters Centerline goodness [0,1] 0.999851411589896 Centerline is valid? [True, True] Translation: X:67.79, Y:-5.62, Z:-1.00 [[ 9.88888398e-01 1.48211288e-01 1.15390534e-02 6.77927307e+01] [-1.48203924e-01 9.88955692e-01 -1.49542587e-03 -5.62421707e+00] [-1.16332516e-02 -2.31323696e-04 9.99932305e-01 -9.98188845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.615769231 meters Centerline goodness [0,1] 0.9997879783737941 Centerline is valid? [True, True] Translation: X:67.82, Y:-5.62, Z:-1.00 [[ 9.89024383e-01 1.47331138e-01 1.11492224e-02 6.78218403e+01] [-1.47324212e-01 9.89087200e-01 -1.44451993e-03 -5.61945650e+00] [-1.12403760e-02 -2.13884974e-04 9.99936802e-01 -9.99576525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.645769231 meters Centerline goodness [0,1] 0.999828385103827 Centerline is valid? [True, True] Translation: X:67.85, Y:-5.63, Z:-1.00 [[ 9.89050513e-01 1.47197238e-01 1.05856046e-02 6.78493269e+01] [-1.47190993e-01 9.89107139e-01 -1.37087813e-03 -5.63115625e+00] [-1.06720866e-02 -2.02237934e-04 9.99943031e-01 -1.00024151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.675769231 meters Centerline goodness [0,1] 0.9996601096146492 Centerline is valid? [True, True] Translation: X:67.88, Y:-5.63, Z:-1.00 [[ 9.89071939e-01 1.47077938e-01 1.02361791e-02 6.78784057e+01] [-1.47072097e-01 9.89124887e-01 -1.32516538e-03 -5.62503039e+00] [-1.03197620e-02 -1.94772421e-04 9.99946731e-01 -1.00181042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.705769231 meters Centerline goodness [0,1] 0.9998516917731308 Centerline is valid? [True, True] Translation: X:67.91, Y:-5.63, Z:-1.00 [[ 9.89054438e-01 1.47165198e-01 1.06640641e-02 6.79062058e+01] [-1.47158872e-01 9.89111906e-01 -1.37980659e-03 -5.63193950e+00] [-1.07510123e-02 -2.04607815e-04 9.99942185e-01 -1.00140016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.735769231 meters Centerline goodness [0,1] 0.9998310489746784 Centerline is valid? [True, True] Translation: X:67.94, Y:-5.64, Z:-1.00 [[ 9.89031507e-01 1.47270581e-01 1.13161119e-02 6.79351420e+01] [-1.47263471e-01 9.89096218e-01 -1.46362657e-03 -5.63662605e+00] [-1.14082726e-02 -2.18877123e-04 9.99934900e-01 -1.00026950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76576923100001 meters Centerline goodness [0,1] 0.9998291547430914 Centerline is valid? [True, True] Translation: X:67.96, Y:-5.64, Z:-1.00 [[ 9.88970357e-01 1.47610888e-01 1.21925915e-02 6.79642409e+01] [-1.47602667e-01 9.89045483e-01 -1.57636549e-03 -5.63783304e+00] [-1.22917163e-02 -2.40680293e-04 9.99924425e-01 -9.99105121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79576923100001 meters Centerline goodness [0,1] 0.9998719207616446 Centerline is valid? [True, True] Translation: X:67.99, Y:-5.64, Z:-1.00 [[ 9.89009338e-01 1.47392644e-01 1.16591958e-02 6.79926199e+01] [-1.47385118e-01 9.89078034e-01 -1.50687020e-03 -5.64081229e+00] [-1.17539560e-02 -2.28083239e-04 9.99930894e-01 -1.00080234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82576923100001 meters Centerline goodness [0,1] 0.9999142642803558 Centerline is valid? [True, True] Translation: X:68.02, Y:-5.65, Z:-1.01 [[ 9.89328077e-01 1.45395182e-01 9.49717419e-03 6.80198871e+01] [-1.45390099e-01 9.89373647e-01 -1.22711863e-03 -5.64547490e+00] [-9.57467100e-03 -1.66772183e-04 9.99954148e-01 -1.00504721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85576923100001 meters Centerline goodness [0,1] 0.9999788587979113 Centerline is valid? [True, True] Translation: X:68.05, Y:-5.65, Z:-1.01 [[ 9.89610030e-01 1.43480377e-01 9.23963185e-03 6.80479624e+01] [-1.43475488e-01 9.89653152e-01 -1.19328603e-03 -5.65128443e+00] [-9.31524391e-03 -1.44772870e-04 9.99956602e-01 -1.00619974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.885769231 meters Centerline goodness [0,1] 0.999914425689408 Centerline is valid? [True, True] Translation: X:68.08, Y:-5.66, Z:-1.01 [[ 9.89893521e-01 1.41489736e-01 9.56408908e-03 6.80764503e+01] [-1.41484409e-01 9.89939714e-01 -1.23472212e-03 -5.65893535e+00] [-9.64257211e-03 -1.30926065e-04 9.99953501e-01 -1.00564456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.915769231 meters Centerline goodness [0,1] 0.9999151805593842 Centerline is valid? [True, True] Translation: X:68.10, Y:-5.67, Z:-1.00 [[ 9.90460686e-01 1.37384066e-01 1.06418094e-02 6.81047648e+01] [-1.37377240e-01 9.90517848e-01 -1.37325854e-03 -5.66964642e+00] [-1.07295660e-02 -1.01783807e-04 9.99942431e-01 -1.00394126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.945769231 meters Centerline goodness [0,1] 0.9998944969615124 Centerline is valid? [True, True] Translation: X:68.13, Y:-5.68, Z:-1.00 [[ 9.90710924e-01 1.35568481e-01 1.06326174e-02 6.81335700e+01] [-1.35561566e-01 9.90767975e-01 -1.37177856e-03 -5.67548892e+00] [-1.07204267e-02 -8.23382586e-05 9.99942531e-01 -1.00359059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.975769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.16, Y:-5.68, Z:-1.01 [[ 9.91095099e-01 1.32807120e-01 9.63187221e-03 6.81631898e+01] [-1.32801313e-01 9.91141900e-01 -1.24282488e-03 -5.68394991e+00] [-9.71160812e-03 -4.73676276e-05 9.99952840e-01 -1.00585900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.005769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.19, Y:-5.69, Z:-1.01 [[ 9.91238075e-01 1.31742933e-01 9.53297295e-03 6.81934774e+01] [-1.31737195e-01 9.91283914e-01 -1.23006366e-03 -5.69041351e+00] [-9.61193494e-03 -3.65611869e-05 9.99953804e-01 -1.00671831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.035769231 meters Centerline goodness [0,1] 0.9999363746262009 Centerline is valid? [True, True] Translation: X:68.22, Y:-5.70, Z:-1.01 [[ 9.91601822e-01 1.28932717e-01 1.01085037e-02 6.82233455e+01] [-1.28926120e-01 9.91653344e-01 -1.30432585e-03 -5.70080644e+00] [-1.01923018e-02 -9.87827276e-06 9.99948057e-01 -1.00678627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.065769231 meters Centerline goodness [0,1] 0.9999786643908684 Centerline is valid? [True, True] Translation: X:68.25, Y:-5.71, Z:-1.01 [[ 9.91847984e-01 1.27014124e-01 1.02463995e-02 6.82534256e+01] [-1.27007244e-01 9.91900908e-01 -1.32208630e-03 -5.70898431e+00] [-1.03313366e-02 9.94167627e-06 9.99946630e-01 -1.00653093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.28, Y:-5.72, Z:-1.01 [[ 9.92074383e-01 1.25224190e-01 1.03595923e-02 6.82833746e+01] [-1.25217058e-01 9.92128470e-01 -1.33678011e-03 -5.71760669e+00] [-1.04454437e-02 2.89876259e-05 9.99945444e-01 -1.00632852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.125769231 meters Centerline goodness [0,1] 0.9999575335484967 Centerline is valid? [True, True] Translation: X:68.31, Y:-5.73, Z:-1.01 [[ 9.92391175e-01 1.22743208e-01 9.68821194e-03 6.83143156e+01] [-1.22736839e-01 9.92438463e-01 -1.25150816e-03 -5.72861610e+00] [-9.76856828e-03 5.28851375e-05 9.99952285e-01 -1.00638926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15576923100001 meters Centerline goodness [0,1] 0.9999567689081987 Centerline is valid? [True, True] Translation: X:68.35, Y:-5.73, Z:-1.01 [[ 9.92413228e-01 1.22610185e-01 9.09542835e-03 6.83459791e+01] [-1.22604553e-01 9.92454906e-01 -1.17634206e-03 -5.73398377e+00] [-9.17103400e-03 5.22764958e-05 9.99957944e-01 -1.00728613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:-5.74, Z:-1.01 [[ 9.92280310e-01 1.23641342e-01 9.62310568e-03 6.83766163e+01] [-1.23635067e-01 9.92326970e-01 -1.24662961e-03 -5.73633826e+00] [-9.70340226e-03 4.72527071e-05 9.99952920e-01 -1.00720353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21576923100001 meters Centerline goodness [0,1] 0.9999785232593101 Centerline is valid? [True, True] Translation: X:68.41, Y:-5.74, Z:-1.01 [[ 9.92159514e-01 1.24528192e-01 1.05937936e-02 6.84079481e+01] [-1.24520636e-01 9.92216069e-01 -1.37250606e-03 -5.73837929e+00] [-1.06822480e-02 4.25990236e-05 9.99942942e-01 -1.00621164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.245769231 meters Centerline goodness [0,1] 0.9999788904838302 Centerline is valid? [True, True] Translation: X:68.44, Y:-5.74, Z:-1.00 [[ 9.91916830e-01 1.26281580e-01 1.24082792e-02 6.84387313e+01] [-1.26271346e-01 9.91994436e-01 -1.60792598e-03 -5.73898465e+00] [-1.25119954e-02 2.81187250e-05 9.99921722e-01 -1.00372599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.47, Y:-5.74, Z:-1.00 [[ 9.91835304e-01 1.26919628e-01 1.24152151e-02 6.84708700e+01] [-1.26909429e-01 9.91913004e-01 -1.60910002e-03 -5.74195122e+00] [-1.25190396e-02 2.03543635e-05 9.99921634e-01 -1.00357880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.305769231 meters Centerline goodness [0,1] 0.9999153886832364 Centerline is valid? [True, True] Translation: X:68.50, Y:-5.74, Z:-1.00 [[ 9.91795312e-01 1.27201173e-01 1.27248010e-02 6.85018885e+01] [-1.27190455e-01 9.91876938e-01 -1.65137355e-03 -5.74497027e+00] [-1.28314933e-02 1.93513179e-05 9.99917673e-01 -1.00337780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.335769231 meters Centerline goodness [0,1] 0.9999153886832364 Centerline is valid? [True, True] Translation: X:68.53, Y:-5.75, Z:-1.00 [[ 9.91792380e-01 1.27224056e-01 1.27245691e-02 6.85324580e+01] [-1.27213317e-01 9.91874004e-01 -1.65315803e-03 -5.74898785e+00] [-1.28314908e-02 2.08548962e-05 9.99917673e-01 -1.00373865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.365769231 meters Centerline goodness [0,1] 0.9999364016026796 Centerline is valid? [True, True] Translation: X:68.56, Y:-5.75, Z:-1.01 [[ 9.91726567e-01 1.27794126e-01 1.21275326e-02 6.85640955e+01] [-1.27784410e-01 9.91800717e-01 -1.57586358e-03 -5.75155753e+00] [-1.22294817e-02 1.31161776e-05 9.99925217e-01 -1.00505583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.59, Y:-5.76, Z:-1.01 [[ 9.91702328e-01 1.28050053e-01 1.13875239e-02 6.85949495e+01] [-1.28041501e-01 9.91767707e-01 -1.47995960e-03 -5.75533162e+00] [-1.14832874e-02 9.60372784e-06 9.99934065e-01 -1.00757929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.425769231 meters Centerline goodness [0,1] 0.9999785158767671 Centerline is valid? [True, True] Translation: X:68.63, Y:-5.76, Z:-1.01 [[ 9.91768821e-01 1.27661589e-01 9.85515159e-03 6.86252947e+01] [-1.27655163e-01 9.91817785e-01 -1.28102478e-03 -5.75946290e+00] [-9.93805228e-03 1.24194578e-05 9.99950616e-01 -1.01071817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.66, Y:-5.76, Z:-1.01 [[ 9.91808097e-01 1.27357907e-01 9.83168721e-03 6.86555783e+01] [-1.27351495e-01 9.91856826e-01 -1.27811144e-03 -5.76348357e+00] [-9.91440367e-03 1.55612125e-05 9.99950851e-01 -1.01092190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.485769231 meters Centerline goodness [0,1] 0.9999361049582552 Centerline is valid? [True, True] Translation: X:68.69, Y:-5.77, Z:-1.01 [[ 9.91798545e-01 1.27376536e-01 1.05291714e-02 6.86853871e+01] [-1.27369183e-01 9.91854434e-01 -1.36878382e-03 -5.76743257e+00] [-1.06177562e-02 1.64658532e-05 9.99943630e-01 -1.01010232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.72, Y:-5.77, Z:-1.01 [[ 9.91704391e-01 1.28015878e-01 1.15903399e-02 6.87154716e+01] [-1.28007011e-01 9.91772118e-01 -1.50673488e-03 -5.77071463e+00] [-1.16878619e-02 1.05908327e-05 9.99931695e-01 -1.00829259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.75, Y:-5.77, Z:-1.01 [[ 9.91588173e-01 1.28963620e-01 1.10126743e-02 6.87458087e+01] [-1.28955674e-01 9.91649325e-01 -1.43163882e-03 -5.77292028e+00] [-1.11053404e-02 -5.50715922e-07 9.99938334e-01 -1.00986977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57576923100001 meters Centerline goodness [0,1] 0.9999786593824025 Centerline is valid? [True, True] Translation: X:68.78, Y:-5.77, Z:-1.01 [[ 9.91294192e-01 1.31374663e-01 8.74772926e-03 6.87761304e+01] [-1.31369742e-01 9.91332788e-01 -1.13719778e-03 -5.77068133e+00] [-8.82130982e-03 -2.18893869e-05 9.99961091e-01 -1.01470358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60576923100001 meters Centerline goodness [0,1] 0.9999787396887491 Centerline is valid? [True, True] Translation: X:68.81, Y:-5.77, Z:-1.02 [[ 9.91100046e-01 1.32836348e-01 8.67202642e-03 6.88062205e+01] [-1.32831568e-01 9.91137984e-01 -1.12742370e-03 -5.77057897e+00] [-8.74493763e-03 -3.45291933e-05 9.99961762e-01 -1.01517315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.635769231 meters Centerline goodness [0,1] 0.9999576289140291 Centerline is valid? [True, True] Translation: X:68.84, Y:-5.77, Z:-1.01 [[ 9.90982052e-01 1.33650378e-01 9.59946906e-03 6.88362075e+01] [-1.33644562e-01 9.91028544e-01 -1.24774890e-03 -5.77135450e+00] [-9.68010996e-03 -4.64200730e-05 9.99953146e-01 -1.01367317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.665769231 meters Centerline goodness [0,1] 0.9999573151211183 Centerline is valid? [True, True] Translation: X:68.87, Y:-5.77, Z:-1.01 [[ 9.90946577e-01 1.33704142e-01 1.21689809e-02 6.88659639e+01] [-1.33694803e-01 9.91021291e-01 -1.58138717e-03 -5.77233216e+00] [-1.22711572e-02 -5.98593010e-05 9.99924705e-01 -1.00880428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.695769231 meters Centerline goodness [0,1] 0.9998730158730159 Centerline is valid? [True, True] Translation: X:68.90, Y:-5.78, Z:-1.01 [[ 9.91008981e-01 1.33230238e-01 1.22842651e-02 6.88951109e+01] [-1.33220688e-01 9.91085113e-01 -1.59608699e-03 -5.77580222e+00] [-1.23873994e-02 -5.47817178e-05 9.99923272e-01 -1.00892068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.725769231 meters Centerline goodness [0,1] 0.9999787320019566 Centerline is valid? [True, True] Translation: X:68.92, Y:-5.78, Z:-1.01 [[ 9.91254578e-01 1.31493441e-01 1.11281969e-02 6.89242501e+01] [-1.31485497e-01 9.91317040e-01 -1.44565199e-03 -5.77981967e+00] [-1.12216650e-02 -3.01873425e-05 9.99937035e-01 -1.01240842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.755769231 meters Centerline goodness [0,1] 0.9999152165158227 Centerline is valid? [True, True] Translation: X:68.95, Y:-5.78, Z:-1.01 [[ 9.91428258e-01 1.30224036e-01 1.05693241e-02 6.89531916e+01] [-1.30216801e-01 9.91484594e-01 -1.37282406e-03 -5.78467075e+00] [-1.06580967e-02 -1.52470065e-05 9.99943201e-01 -1.01389625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.785769231 meters Centerline goodness [0,1] 0.9999788220843304 Centerline is valid? [True, True] Translation: X:68.98, Y:-5.79, Z:-1.01 [[ 9.91591990e-01 1.28995028e-01 1.02765724e-02 6.89826049e+01] [-1.28988124e-01 9.91645240e-01 -1.33455987e-03 -5.78970886e+00] [-1.03628657e-02 -2.21691910e-06 9.99946304e-01 -1.01445442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.815769231 meters Centerline goodness [0,1] 0.9999787252148753 Centerline is valid? [True, True] Translation: X:69.01, Y:-5.80, Z:-1.01 [[ 9.91906476e-01 1.26549864e-01 1.03283786e-02 6.90118995e+01] [-1.26542759e-01 9.91960247e-01 -1.34118568e-03 -5.79572026e+00] [-1.04150678e-02 2.33492357e-05 9.99945761e-01 -1.01436881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.845769231 meters Centerline goodness [0,1] 0.9999363422242027 Centerline is valid? [True, True] Translation: X:69.04, Y:-5.80, Z:-1.02 [[ 9.91971432e-01 1.26053107e-01 1.01632973e-02 6.90416135e+01] [-1.26046203e-01 9.92023494e-01 -1.31952671e-03 -5.79950816e+00] [-1.02485602e-02 2.78877559e-05 9.99947482e-01 -1.01519172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.875769231 meters Centerline goodness [0,1] 0.9998521335023236 Centerline is valid? [True, True] Translation: X:69.07, Y:-5.80, Z:-1.02 [[ 9.92031714e-01 1.25558996e-01 1.03930767e-02 6.90705801e+01] [-1.25551752e-01 9.92086154e-01 -1.34910953e-03 -5.80288227e+00] [-1.04802203e-02 3.34904560e-05 9.99945080e-01 -1.01635558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90576923100001 meters Centerline goodness [0,1] 0.9999147339699863 Centerline is valid? [True, True] Translation: X:69.10, Y:-5.81, Z:-1.02 [[ 9.92082849e-01 1.25134477e-01 1.06293583e-02 6.90998538e+01] [-1.25126876e-01 9.92139789e-01 -1.37967150e-03 -5.80707931e+00] [-1.07184538e-02 3.87300265e-05 9.99942555e-01 -1.01598987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93576923100001 meters Centerline goodness [0,1] 0.9998723621511232 Centerline is valid? [True, True] Translation: X:69.13, Y:-5.81, Z:-1.01 [[ 9.92267705e-01 1.23610491e-01 1.11914720e-02 6.91302240e+01] [-1.23601972e-01 9.92330813e-01 -1.45236535e-03 -5.81354749e+00] [-1.12851701e-02 5.78472194e-05 9.99936319e-01 -1.01497113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96576923100001 meters Centerline goodness [0,1] 0.999679261017384 Centerline is valid? [True, True] Translation: X:69.16, Y:-5.82, Z:-1.01 [[ 9.92412008e-01 1.22395365e-01 1.17380238e-02 6.91603650e+01] [-1.22385909e-01 9.92481420e-01 -1.52329372e-03 -5.81989613e+00] [-1.18362146e-02 7.51662684e-05 9.99929947e-01 -1.01449408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.995769231 meters Centerline goodness [0,1] 0.9996832101372756 Centerline is valid? [True, True] Translation: X:69.19, Y:-5.83, Z:-1.01 [[ 9.92577834e-01 1.21023856e-01 1.19361067e-02 6.91911994e+01] [-1.21013978e-01 9.92649595e-01 -1.54900700e-03 -5.82771534e+00] [-1.20358383e-02 9.30742489e-05 9.99927562e-01 -1.01439747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.025769231 meters Centerline goodness [0,1] 0.9997869121438769 Centerline is valid? [True, True] Translation: X:69.22, Y:-5.84, Z:-1.02 [[ 9.92926991e-01 1.18229888e-01 1.08482488e-02 6.92217622e+01] [-1.18221561e-01 9.92986244e-01 -1.40794463e-03 -5.83771499e+00] [-1.09386230e-02 1.15489308e-04 9.99940165e-01 -1.01683526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.055769231 meters Centerline goodness [0,1] 0.999766603012943 Centerline is valid? [True, True] Translation: X:69.25, Y:-5.85, Z:-1.02 [[ 9.93047398e-01 1.17396313e-01 8.65853033e-03 6.92520595e+01] [-1.17390968e-01 9.93085140e-01 -1.12470530e-03 -5.84530203e+00] [-8.73069406e-03 1.00452411e-04 9.99961882e-01 -1.02122142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.085769231 meters Centerline goodness [0,1] 0.9997868212922894 Centerline is valid? [True, True] Translation: X:69.28, Y:-5.85, Z:-1.02 [[ 9.92926144e-01 1.18464576e-01 7.98850237e-03 6.92826380e+01] [-1.18460052e-01 9.92958276e-01 -1.03874180e-03 -5.85153783e+00] [-8.05530364e-03 8.50754861e-05 9.99967552e-01 -1.02376149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.115769231 meters Centerline goodness [0,1] 0.9998104864181933 Centerline is valid? [True, True] Translation: X:69.31, Y:-5.85, Z:-1.02 [[ 9.92717287e-01 1.20200380e-01 8.01599411e-03 6.93135786e+01] [-1.20195868e-01 9.92749648e-01 -1.04404659e-03 -5.85301419e+00] [-8.08337013e-03 7.29537220e-05 9.99967326e-01 -1.02301300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.145769231 meters Centerline goodness [0,1] 0.9999150977437226 Centerline is valid? [True, True] Translation: X:69.34, Y:-5.85, Z:-1.02 [[ 9.92115705e-01 1.25028157e-01 8.62486536e-03 6.93443050e+01] [-1.25023115e-01 9.92153193e-01 -1.12341220e-03 -5.84859261e+00] [-8.69764586e-03 3.62473550e-05 9.99962174e-01 -1.02205250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.175769231 meters Centerline goodness [0,1] 0.9999576943416182 Centerline is valid? [True, True] Translation: X:69.37, Y:-5.85, Z:-1.02 [[ 9.91763731e-01 1.27796976e-01 8.52257818e-03 6.93742716e+01] [-1.27792157e-01 9.91800349e-01 -1.10991678e-03 -5.84692338e+00] [-8.59454002e-03 1.16565605e-05 9.99963066e-01 -1.02181665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.40, Y:-5.84, Z:-1.02 [[ 9.91142255e-01 1.32538485e-01 8.40118119e-03 6.94033083e+01] [-1.32533973e-01 9.91177859e-01 -1.09399394e-03 -5.84381947e+00] [-8.47206109e-03 -2.91383032e-05 9.99964111e-01 -1.02318226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.235769231 meters Centerline goodness [0,1] 0.9999360518406412 Centerline is valid? [True, True] Translation: X:69.43, Y:-5.85, Z:-1.02 [[ 9.91000928e-01 1.33592631e-01 8.37670788e-03 6.94316095e+01] [-1.33588186e-01 9.91036330e-01 -1.09038565e-03 -5.84621444e+00] [-8.44728932e-03 -3.84560172e-05 9.99964320e-01 -1.02441107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26576923100001 meters Centerline goodness [0,1] 0.9999143853941482 Centerline is valid? [True, True] Translation: X:69.46, Y:-5.85, Z:-1.03 [[ 9.90899096e-01 1.34365552e-01 8.05479366e-03 6.94606420e+01] [-1.34361471e-01 9.90931832e-01 -1.04818113e-03 -5.85001190e+00] [-8.12259088e-03 -4.36121873e-05 9.99967010e-01 -1.02524453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29576923100001 meters Centerline goodness [0,1] 0.9999784983228692 Centerline is valid? [True, True] Translation: X:69.49, Y:-5.85, Z:-1.03 [[ 9.90641165e-01 1.36283582e-01 7.54112091e-03 6.94900499e+01] [-1.36280061e-01 9.90669865e-01 -9.81184644e-04 -5.85236716e+00] [-7.60448059e-03 -5.57025184e-05 9.99971084e-01 -1.02607792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32576923100001 meters Centerline goodness [0,1] 0.999915481648953 Centerline is valid? [True, True] Translation: X:69.52, Y:-5.85, Z:-1.03 [[ 9.89947321e-01 1.41273625e-01 6.78707930e-03 6.95193572e+01] [-1.41270890e-01 9.89970583e-01 -8.83055390e-04 -5.84650122e+00] [-6.84376129e-03 -8.46384167e-05 9.99976578e-01 -1.02728587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35576923100001 meters Centerline goodness [0,1] 0.9999146866868575 Centerline is valid? [True, True] Translation: X:69.55, Y:-5.84, Z:-1.03 [[ 9.89486175e-01 1.44465283e-01 6.84768039e-03 6.95486459e+01] [-1.44462578e-01 9.89509864e-01 -8.90614727e-04 -5.84344143e+00] [-6.90451020e-03 -1.07982605e-04 9.99976158e-01 -1.02793816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.385769231 meters Centerline goodness [0,1] 0.9998501295309055 Centerline is valid? [True, True] Translation: X:69.58, Y:-5.84, Z:-1.03 [[ 9.88986503e-01 1.47835284e-01 7.10117366e-03 6.95785466e+01] [-1.47832465e-01 9.89011987e-01 -9.23186811e-04 -5.83956995e+00] [-7.15962545e-03 -1.36764709e-04 9.99974360e-01 -1.02796377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.415769231 meters Centerline goodness [0,1] 0.9998516320474777 Centerline is valid? [True, True] Translation: X:69.61, Y:-5.84, Z:-1.03 [[ 9.88498842e-01 1.51036005e-01 7.62657364e-03 6.96084397e+01] [-1.51032850e-01 9.88528247e-01 -9.91201347e-04 -5.83610586e+00] [-7.68879056e-03 -1.72061772e-04 9.99970426e-01 -1.02733474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.445769231 meters Centerline goodness [0,1] 0.9996621978253984 Centerline is valid? [True, True] Translation: X:69.64, Y:-5.83, Z:-1.02 [[ 9.87778822e-01 1.55575470e-01 9.44841840e-03 6.96400418e+01] [-1.55570840e-01 9.87823976e-01 -1.22751542e-03 -5.82664612e+00] [-9.52434552e-03 -2.57384657e-04 9.99954609e-01 -1.02491536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.475769231 meters Centerline goodness [0,1] 0.9995979006179633 Centerline is valid? [True, True] Translation: X:69.67, Y:-5.83, Z:-1.02 [[ 9.87628305e-01 1.56510400e-01 9.73782778e-03 6.96691779e+01] [-1.56505528e-01 9.87676272e-01 -1.26505813e-03 -5.82762027e+00] [-9.81581620e-03 -2.74616665e-04 9.99951786e-01 -1.02477920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.505769231 meters Centerline goodness [0,1] 0.9996592917527309 Centerline is valid? [True, True] Translation: X:69.70, Y:-5.83, Z:-1.03 [[ 9.87786616e-01 1.55519459e-01 9.55509719e-03 6.96982826e+01] [-1.55514727e-01 9.87832795e-01 -1.24087958e-03 -5.83009391e+00] [-9.63181928e-03 -2.60234081e-04 9.99953579e-01 -1.02597958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.535769231 meters Centerline goodness [0,1] 0.9998717592493641 Centerline is valid? [True, True] Translation: X:69.73, Y:-5.83, Z:-1.03 [[ 9.88048682e-01 1.53866181e-01 9.21956578e-03 6.97272240e+01] [-1.53861707e-01 9.88091667e-01 -1.19686530e-03 -5.83442290e+00] [-9.29393322e-03 -2.35976951e-04 9.99956783e-01 -1.02735779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.565769231 meters Centerline goodness [0,1] 0.9998503729987389 Centerline is valid? [True, True] Translation: X:69.76, Y:-5.84, Z:-1.03 [[ 9.88341916e-01 1.51990381e-01 8.89837530e-03 6.97556997e+01] [-1.51986140e-01 9.88381950e-01 -1.15490056e-03 -5.83866740e+00] [-8.97052731e-03 -2.10993082e-04 9.99959742e-01 -1.02837406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.595769231 meters Centerline goodness [0,1] 0.9998316250289394 Centerline is valid? [True, True] Translation: X:69.78, Y:-5.84, Z:-1.03 [[ 9.88911740e-01 1.48250887e-01 8.67438088e-03 6.97841953e+01] [-1.48246716e-01 9.88949768e-01 -1.12536704e-03 -5.84378805e+00] [-8.74536363e-03 -1.73059810e-04 9.99961744e-01 -1.02931944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.625769231 meters Centerline goodness [0,1] 0.9998523300213067 Centerline is valid? [True, True] Translation: X:69.81, Y:-5.85, Z:-1.03 [[ 9.89433308e-01 1.44743167e-01 8.43470650e-03 6.98122657e+01] [-1.44739098e-01 9.89469250e-01 -1.09415479e-03 -5.85246278e+00] [-8.50425414e-03 -1.38238610e-04 9.99963829e-01 -1.02919765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65576923100001 meters Centerline goodness [0,1] 0.9999155280552446 Centerline is valid? [True, True] Translation: X:69.84, Y:-5.86, Z:-1.03 [[ 9.89579128e-01 1.43721289e-01 8.79438520e-03 6.98399288e+01] [-1.43716828e-01 9.89618195e-01 -1.14041962e-03 -5.85612036e+00] [-8.86698619e-03 -1.35365691e-04 9.99960678e-01 -1.02865266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68576923100001 meters Centerline goodness [0,1] 0.9998945014136811 Centerline is valid? [True, True] Translation: X:69.87, Y:-5.86, Z:-1.03 [[ 9.89650476e-01 1.43243889e-01 8.55120953e-03 6.98685310e+01] [-1.43239658e-01 9.89687411e-01 -1.10837946e-03 -5.85846754e+00] [-8.62179300e-03 -1.27964064e-04 9.99962823e-01 -1.02901348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71576923100001 meters Centerline goodness [0,1] 0.999894696937787 Centerline is valid? [True, True] Translation: X:69.90, Y:-5.86, Z:-1.03 [[ 9.89627059e-01 1.43441655e-01 7.92316823e-03 6.98962377e+01] [-1.43438031e-01 9.89658768e-01 -1.02669421e-03 -5.85991468e+00] [-7.98850363e-03 -1.20439276e-04 9.99968084e-01 -1.02988970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.745769231 meters Centerline goodness [0,1] 0.9998943899966205 Centerline is valid? [True, True] Translation: X:69.93, Y:-5.86, Z:-1.03 [[ 9.89296174e-01 1.45696585e-01 8.09849478e-03 6.99253478e+01] [-1.45692878e-01 9.89329311e-01 -1.04893912e-03 -5.85565568e+00] [-8.16490510e-03 -1.42181559e-04 9.99966656e-01 -1.02951601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.775769231 meters Centerline goodness [0,1] 0.9998938113239604 Centerline is valid? [True, True] Translation: X:69.95, Y:-5.85, Z:-1.03 [[ 9.89043018e-01 1.47396893e-01 8.25013757e-03 6.99542800e+01] [-1.47393110e-01 9.89077414e-01 -1.06806537e-03 -5.85405763e+00] [-8.31745425e-03 -1.59650835e-04 9.99965397e-01 -1.02996882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.805769231 meters Centerline goodness [0,1] 0.9997649522425693 Centerline is valid? [True, True] Translation: X:69.98, Y:-5.85, Z:-1.03 [[ 9.88705009e-01 1.49696475e-01 7.30544995e-03 6.99834183e+01] [-1.49693573e-01 9.88731986e-01 -9.45551800e-04 -5.85010400e+00] [-7.36467781e-03 -1.58707104e-04 9.99972868e-01 -1.03172859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.835769231 meters Centerline goodness [0,1] 0.9997453094490194 Centerline is valid? [True, True] Translation: X:70.01, Y:-5.85, Z:-1.04 [[ 9.88706742e-01 1.49732370e-01 6.26057831e-03 7.00119955e+01] [-1.49730240e-01 9.88726554e-01 -8.10160688e-04 -5.84743503e+00] [-6.31130730e-03 -1.36386559e-04 9.99980074e-01 -1.03507848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.865769231 meters Centerline goodness [0,1] 0.999894336432798 Centerline is valid? [True, True] Translation: X:70.04, Y:-5.85, Z:-1.04 [[ 9.88816998e-01 1.49044836e-01 5.15580047e-03 7.00408560e+01] [-1.49043384e-01 9.88830433e-01 -6.66707710e-04 -5.84864820e+00] [-5.19758175e-03 -1.09186035e-04 9.99986487e-01 -1.03780865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.895769231 meters Centerline goodness [0,1] 0.9999150580790385 Centerline is valid? [True, True] Translation: X:70.07, Y:-5.85, Z:-1.04 [[ 9.89162285e-01 1.46687534e-01 6.38290547e-03 7.00700856e+01] [-1.46685264e-01 9.89182871e-01 -8.24925451e-04 -5.85153153e+00] [-6.43486704e-03 -1.20293030e-04 9.99979289e-01 -1.03573581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.925769231 meters Centerline goodness [0,1] 0.9999787297400774 Centerline is valid? [True, True] Translation: X:70.10, Y:-5.85, Z:-1.03 [[ 9.89395557e-01 1.45005693e-01 8.35351262e-03 7.00993315e+01] [-1.45001747e-01 9.89430810e-01 -1.07935164e-03 -5.85423151e+00] [-8.42173489e-03 -1.43368204e-04 9.99964526e-01 -1.03235510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.955769231 meters Centerline goodness [0,1] 0.9999573624405739 Centerline is valid? [True, True] Translation: X:70.13, Y:-5.86, Z:-1.03 [[ 9.90094388e-01 1.40028770e-01 1.02491789e-02 7.01275222e+01] [-1.40022574e-01 9.90147427e-01 -1.32313333e-03 -5.85895799e+00] [-1.03334748e-02 -1.25089526e-04 9.99946600e-01 -1.02932963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.985769231 meters Centerline goodness [0,1] 0.9998933651815991 Centerline is valid? [True, True] Translation: X:70.15, Y:-5.86, Z:-1.03 [[ 9.90563710e-01 1.36712523e-01 9.65520847e-03 7.01547619e+01] [-1.36706872e-01 9.90610760e-01 -1.24604581e-03 -5.86371015e+00] [-9.73490347e-03 -8.56455910e-05 9.99952611e-01 -1.03071622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01576923100001 meters Centerline goodness [0,1] 0.9999149714091363 Centerline is valid? [True, True] Translation: X:70.18, Y:-5.87, Z:-1.03 [[ 9.91534275e-01 1.29542916e-01 8.85521342e-03 7.01815509e+01] [-1.29537880e-01 9.91573816e-01 -1.14232688e-03 -5.87272111e+00] [-8.92857811e-03 -1.44293196e-05 9.99960139e-01 -1.03329248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04576923100001 meters Centerline goodness [0,1] 0.9999572914219821 Centerline is valid? [True, True] Translation: X:70.21, Y:-5.88, Z:-1.03 [[ 9.91971954e-01 1.26144864e-01 8.89470442e-03 7.02096233e+01] [-1.26139652e-01 9.92011831e-01 -1.14685762e-03 -5.87984569e+00] [-8.96832222e-03 1.56756751e-05 9.99959784e-01 -1.03319240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07576923100001 meters Centerline goodness [0,1] 0.9998934083738381 Centerline is valid? [True, True] Translation: X:70.24, Y:-5.89, Z:-1.03 [[ 9.92380601e-01 1.22882306e-01 8.98223805e-03 7.02366026e+01] [-1.22876861e-01 9.92421250e-01 -1.15775517e-03 -5.88675263e+00] [-9.05643154e-03 4.52245638e-05 9.99958989e-01 -1.03345596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10576923100001 meters Centerline goodness [0,1] 0.9998516100311619 Centerline is valid? [True, True] Translation: X:70.26, Y:-5.90, Z:-1.03 [[ 9.93074897e-01 1.17175551e-01 8.49343349e-03 7.02642924e+01] [-1.17170478e-01 9.93111213e-01 -1.09417867e-03 -5.89917696e+00] [-8.56313503e-03 9.14217090e-05 9.99963332e-01 -1.03463541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.135769231 meters Centerline goodness [0,1] 0.9998080409512637 Centerline is valid? [True, True] Translation: X:70.29, Y:-5.91, Z:-1.03 [[ 9.93374944e-01 1.14628987e-01 8.14956261e-03 7.02919739e+01] [-1.14624234e-01 9.93408367e-01 -1.04951581e-03 -5.90802889e+00] [-8.21614862e-03 1.08425336e-04 9.99966241e-01 -1.03490709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.165769231 meters Centerline goodness [0,1] 0.9997219548711368 Centerline is valid? [True, True] Translation: X:70.32, Y:-5.92, Z:-1.03 [[ 9.93794259e-01 1.10938444e-01 8.10138825e-03 7.03204900e+01] [-1.10933628e-01 9.93827270e-01 -1.04284977e-03 -5.92062524e+00] [-8.16707270e-03 1.37661726e-04 9.99966639e-01 -1.03383687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.195769231 meters Centerline goodness [0,1] 0.9998513232233125 Centerline is valid? [True, True] Translation: X:70.35, Y:-5.93, Z:-1.03 [[ 9.93963474e-01 1.09399630e-01 8.26638984e-03 7.03480850e+01] [-1.09394564e-01 9.93997836e-01 -1.06392650e-03 -5.92907161e+00] [-8.33316678e-03 1.53205967e-04 9.99965267e-01 -1.03437419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.225769231 meters Centerline goodness [0,1] 0.9998513232233125 Centerline is valid? [True, True] Translation: X:70.38, Y:-5.93, Z:-1.03 [[ 9.93965979e-01 1.09376869e-01 8.26643182e-03 7.03770197e+01] [-1.09371805e-01 9.94000341e-01 -1.06360026e-03 -5.93274901e+00] [-8.33316931e-03 1.53067905e-04 9.99965267e-01 -1.03471548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.255769231 meters Centerline goodness [0,1] 0.9997652982845439 Centerline is valid? [True, True] Translation: X:70.41, Y:-5.94, Z:-1.04 [[ 9.94075139e-01 1.08392128e-01 8.10959729e-03 7.04062963e+01] [-1.08387223e-01 9.94108204e-01 -1.04319678e-03 -5.94032606e+00] [-8.17489151e-03 1.58039261e-04 9.99966573e-01 -1.03609199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.285769231 meters Centerline goodness [0,1] 0.9997183037552276 Centerline is valid? [True, True] Translation: X:70.44, Y:-5.95, Z:-1.04 [[ 9.94089875e-01 1.08296754e-01 7.55865619e-03 7.04352534e+01] [-1.08292490e-01 9.94118600e-01 -9.72300477e-04 -5.94555779e+00] [-7.61949770e-03 1.48008359e-04 9.99970960e-01 -1.03652318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.315769231 meters Centerline goodness [0,1] 0.9997429911546123 Centerline is valid? [True, True] Translation: X:70.46, Y:-5.95, Z:-1.04 [[ 9.93982211e-01 1.09296451e-01 7.32464290e-03 7.04631053e+01] [-1.09292475e-01 9.94009189e-01 -9.42077202e-04 -5.95423256e+00] [-7.38372804e-03 1.35879628e-04 9.99972731e-01 -1.03767680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.345769231 meters Centerline goodness [0,1] 0.9998515880083111 Centerline is valid? [True, True] Translation: X:70.49, Y:-5.96, Z:-1.04 [[ 9.93766570e-01 1.11229161e-01 7.48849379e-03 7.04919405e+01] [-1.11225063e-01 9.93794777e-01 -9.62849849e-04 -5.95666503e+00] [-7.54912299e-03 1.23939799e-04 9.99971497e-01 -1.03711677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.375769231 meters Centerline goodness [0,1] 0.9999365079365079 Centerline is valid? [True, True] Translation: X:70.52, Y:-5.95, Z:-1.04 [[ 9.93111341e-01 1.16934333e-01 7.49846665e-03 7.05218046e+01] [-1.16930388e-01 9.93139645e-01 -9.63828643e-04 -5.95251047e+00] [-7.55972917e-03 8.03905422e-05 9.99971422e-01 -1.03716700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40576923100001 meters Centerline goodness [0,1] 0.9999578308172388 Centerline is valid? [True, True] Translation: X:70.55, Y:-5.94, Z:-1.04 [[ 9.92416110e-01 1.22677817e-01 7.77287370e-03 7.05515474e+01] [-1.22673755e-01 9.92446549e-01 -9.99009304e-04 -5.94483140e+00] [-7.83671796e-03 3.79053215e-05 9.99969292e-01 -1.03709549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43576923100001 meters Centerline goodness [0,1] 0.9999573615315738 Centerline is valid? [True, True] Translation: X:70.58, Y:-5.94, Z:-1.04 [[ 9.92076048e-01 1.25394555e-01 7.83073986e-03 7.05807917e+01] [-1.25390520e-01 9.92106953e-01 -1.00607342e-03 -5.94257701e+00] [-7.89508759e-03 1.62008040e-05 9.99968833e-01 -1.03716488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46576923100001 meters Centerline goodness [0,1] 0.9999574105621806 Centerline is valid? [True, True] Translation: X:70.61, Y:-5.94, Z:-1.04 [[ 9.91827749e-01 1.27336852e-01 7.93991822e-03 7.06090775e+01] [-1.27332768e-01 9.91859529e-01 -1.01975269e-03 -5.94079224e+00] [-8.00513565e-03 4.07248437e-07 9.99967958e-01 -1.03742720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.495769231 meters Centerline goodness [0,1] 0.9999576118517263 Centerline is valid? [True, True] Translation: X:70.64, Y:-5.94, Z:-1.04 [[ 9.91675946e-01 1.28528103e-01 7.70360414e-03 7.06380692e+01] [-1.28524299e-01 9.91705867e-01 -9.88916642e-04 -5.94014724e+00] [-7.76681300e-03 -9.41547175e-06 9.99969838e-01 -1.03763874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.525769231 meters Centerline goodness [0,1] 0.9999364083432254 Centerline is valid? [True, True] Translation: X:70.67, Y:-5.94, Z:-1.04 [[ 9.91755682e-01 1.27813936e-01 9.17965050e-03 7.06664835e+01] [-1.27808508e-01 9.91798164e-01 -1.17788241e-03 -5.93946781e+00] [-9.25491029e-03 -5.06586751e-06 9.99957172e-01 -1.03664282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.555769231 meters Centerline goodness [0,1] 0.9999574368469216 Centerline is valid? [True, True] Translation: X:70.69, Y:-5.95, Z:-1.03 [[ 9.92262686e-01 1.23644106e-01 1.12648655e-02 7.06939707e+01] [-1.23635673e-01 9.92326626e-01 -1.44456480e-03 -5.94568117e+00] [-1.13570379e-02 4.06485225e-05 9.99935506e-01 -1.03409887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.585769231 meters Centerline goodness [0,1] 0.9999369416710457 Centerline is valid? [True, True] Translation: X:70.72, Y:-5.95, Z:-1.03 [[ 9.92516173e-01 1.21588232e-01 1.13114409e-02 7.07222381e+01] [-1.21579604e-01 9.92580625e-01 -1.44988259e-03 -5.95052665e+00] [-1.14038058e-02 6.37914103e-05 9.99934972e-01 -1.03465258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.615769231 meters Centerline goodness [0,1] 0.9998514746446 Centerline is valid? [True, True] Translation: X:70.75, Y:-5.95, Z:-1.03 [[ 9.92716184e-01 1.19956640e-01 1.11795370e-02 7.07504274e+01] [-1.19948114e-01 9.92779128e-01 -1.43247236e-03 -5.95439998e+00] [-1.12706455e-02 8.10741217e-05 9.99936481e-01 -1.03464647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.645769231 meters Centerline goodness [0,1] 0.9999576513435111 Centerline is valid? [True, True] Translation: X:70.78, Y:-5.95, Z:-1.04 [[ 9.92792135e-01 1.19402230e-01 1.03384947e-02 7.07793734e+01] [-1.19394914e-01 9.92845960e-01 -1.32427682e-03 -5.95351336e+00] [-1.04226543e-02 8.03679259e-05 9.99945679e-01 -1.03555553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.675769231 meters Centerline goodness [0,1] 0.9998934878469633 Centerline is valid? [True, True] Translation: X:70.81, Y:-5.95, Z:-1.04 [[ 9.92773716e-01 1.19586323e-01 9.97296412e-03 7.08080542e+01] [-1.19579528e-01 9.92823804e-01 -1.27700034e-03 -5.95473977e+00] [-1.00541079e-02 7.52100314e-05 9.99949453e-01 -1.03584416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.705769231 meters Centerline goodness [0,1] 0.9999572996285068 Centerline is valid? [True, True] Translation: X:70.84, Y:-5.96, Z:-1.04 [[ 9.92768053e-01 1.19648760e-01 9.78602883e-03 7.08365437e+01] [-1.19642225e-01 9.92816282e-01 -1.25261446e-03 -5.95652250e+00] [-9.86560252e-03 7.27333572e-05 9.99951331e-01 -1.03623260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.735769231 meters Centerline goodness [0,1] 0.999978855221703 Centerline is valid? [True, True] Translation: X:70.86, Y:-5.96, Z:-1.04 [[ 9.92913135e-01 1.18475574e-01 9.32973892e-03 7.08643348e+01] [-1.18469587e-01 9.92956964e-01 -1.19383224e-03 -5.96084989e+00] [-9.40546920e-03 8.00813998e-05 9.99955764e-01 -1.03774942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76576923100001 meters Centerline goodness [0,1] 0.9998713881505616 Centerline is valid? [True, True] Translation: X:70.89, Y:-5.97, Z:-1.04 [[ 9.93010588e-01 1.17662574e-01 9.24613692e-03 7.08923679e+01] [-1.17656664e-01 9.93053630e-01 -1.18248021e-03 -5.96611853e+00] [-9.32104349e-03 8.63457423e-05 9.99956554e-01 -1.03922504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79576923100001 meters Centerline goodness [0,1] 0.9999365159979685 Centerline is valid? [True, True] Translation: X:70.92, Y:-5.97, Z:-1.04 [[ 9.93061773e-01 1.17187849e-01 9.76336181e-03 7.09202970e+01] [-1.17181241e-01 9.93109762e-01 -1.24813519e-03 -5.97280012e+00] [-9.84235619e-03 9.53924919e-05 9.99951558e-01 -1.03775219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82576923100001 meters Centerline goodness [0,1] 0.9999360313872659 Centerline is valid? [True, True] Translation: X:70.95, Y:-5.98, Z:-1.04 [[ 9.92985890e-01 1.17767604e-01 1.04791713e-02 7.09488530e+01] [-1.17760030e-01 9.93041179e-01 -1.33910813e-03 -5.97590562e+00] [-1.05639521e-02 9.56879642e-05 9.99944195e-01 -1.03596985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.98, Y:-5.98, Z:-1.04 [[ 9.92851820e-01 1.18854256e-01 1.09054791e-02 7.09768063e+01] [-1.18846124e-01 9.92911707e-01 -1.39305645e-03 -5.97765626e+00] [-1.09937486e-02 8.70247034e-05 9.99939563e-01 -1.03546592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.885769231 meters Centerline goodness [0,1] 0.9999574649085495 Centerline is valid? [True, True] Translation: X:71.01, Y:-5.98, Z:-1.04 [[ 9.92537971e-01 1.21510218e-01 1.01805422e-02 7.10062396e+01] [-1.21503276e-01 9.92590179e-01 -1.29988576e-03 -5.97576970e+00] [-1.02630556e-02 5.32167408e-05 9.99947332e-01 -1.03802197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.915769231 meters Centerline goodness [0,1] 0.9999788189443362 Centerline is valid? [True, True] Translation: X:71.03, Y:-5.98, Z:-1.04 [[ 9.92291120e-01 1.23609269e-01 8.89279270e-03 7.10340884e+01] [-1.23604059e-01 9.92330967e-01 -1.13515677e-03 -5.97504955e+00] [-8.96490947e-03 2.72207044e-05 9.99959814e-01 -1.04115521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.06, Y:-5.97, Z:-1.04 [[ 9.92036827e-01 1.25734843e-01 7.32685259e-03 7.10631307e+01] [-1.25731368e-01 9.92063884e-01 -9.34869849e-04 -5.97369250e+00] [-7.38625155e-03 6.21012191e-06 9.99972721e-01 -1.04312340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.975769231 meters Centerline goodness [0,1] 0.9999789371695769 Centerline is valid? [True, True] Translation: X:71.09, Y:-5.97, Z:-1.05 [[ 9.91709019e-01 1.28362244e-01 6.02961015e-03 7.10914906e+01] [-1.28359940e-01 9.91727349e-01 -7.69225179e-04 -5.96876581e+00] [-6.07846876e-03 -1.11128496e-05 9.99981526e-01 -1.04606719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.005769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.12, Y:-5.97, Z:-1.05 [[ 9.91693202e-01 1.28463148e-01 6.46630311e-03 7.11184182e+01] [-1.28460502e-01 9.91714283e-01 -8.24616699e-04 -5.96910429e+00] [-6.51865801e-03 -1.28977657e-05 9.99978753e-01 -1.04601048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.035769231 meters Centerline goodness [0,1] 0.9999788713051195 Centerline is valid? [True, True] Translation: X:71.15, Y:-5.97, Z:-1.04 [[ 9.91770215e-01 1.27785565e-01 7.91769760e-03 7.11470876e+01] [-1.27781584e-01 9.91801820e-01 -1.00874400e-03 -5.96963052e+00] [-7.98168981e-03 -1.12936825e-05 9.99968146e-01 -1.04404941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.065769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.18, Y:-5.97, Z:-1.04 [[ 9.91805508e-01 1.27484075e-01 8.34534536e-03 7.11754409e+01] [-1.27479645e-01 9.91840617e-01 -1.06289341e-03 -5.97131225e+00] [-8.41275448e-03 -9.67811862e-06 9.99964612e-01 -1.04315005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.20, Y:-5.97, Z:-1.04 [[ 9.91900666e-01 1.26712899e-01 8.76987946e-03 7.12021029e+01] [-1.26707981e-01 9.91939434e-01 -1.11642374e-03 -5.97302757e+00] [-8.84065456e-03 -3.83227096e-06 9.99960921e-01 -1.04288857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.125769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.23, Y:-5.97, Z:-1.04 [[ 9.92082670e-01 1.25252228e-01 9.15727897e-03 7.12298751e+01] [-1.25246813e-01 9.92124931e-01 -1.16465883e-03 -5.97409208e+00] [-9.23104089e-03 8.51783433e-06 9.99957393e-01 -1.04271795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15576923100001 meters Centerline goodness [0,1] 0.9999358220130495 Centerline is valid? [True, True] Translation: X:71.26, Y:-5.98, Z:-1.04 [[ 9.92210238e-01 1.24234841e-01 9.19494497e-03 7.12566780e+01] [-1.24229344e-01 9.92252843e-01 -1.16884857e-03 -5.97705961e+00] [-9.26892200e-03 1.74615384e-05 9.99957042e-01 -1.04356139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18576923100001 meters Centerline goodness [0,1] 0.9999788288097556 Centerline is valid? [True, True] Translation: X:71.28, Y:-5.98, Z:-1.04 [[ 9.92450731e-01 1.22319280e-01 8.91854932e-03 7.12844133e+01] [-1.22314037e-01 9.92490802e-01 -1.13297692e-03 -5.98197803e+00] [-8.99016309e-03 3.35599992e-05 9.99959587e-01 -1.04495693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21576923100001 meters Centerline goodness [0,1] 0.9999786411499605 Centerline is valid? [True, True] Translation: X:71.31, Y:-5.99, Z:-1.04 [[ 9.92591634e-01 1.21136633e-01 9.36824048e-03 7.13125203e+01] [-1.21130801e-01 9.92635842e-01 -1.18952328e-03 -5.98731768e+00] [-9.44334612e-03 4.59283812e-05 9.99955410e-01 -1.04477408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.245769231 meters Centerline goodness [0,1] 0.9999574820893301 Centerline is valid? [True, True] Translation: X:71.34, Y:-5.99, Z:-1.04 [[ 9.92750363e-01 1.19807314e-01 9.63976191e-03 7.13412718e+01] [-1.19801081e-01 9.92797162e-01 -1.22356124e-03 -5.99327268e+00] [-9.71691985e-03 5.98369727e-05 9.99952788e-01 -1.04349865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.275769231 meters Centerline goodness [0,1] 0.9999785504386435 Centerline is valid? [True, True] Translation: X:71.37, Y:-6.00, Z:-1.04 [[ 9.93216732e-01 1.15784662e-01 1.06974626e-02 7.13698239e+01] [-1.15776758e-01 9.93274333e-01 -1.35729592e-03 -6.00003068e+00] [-1.07826690e-02 1.09571488e-04 9.99941859e-01 -1.04102730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.305769231 meters Centerline goodness [0,1] 0.9998723947256487 Centerline is valid? [True, True] Translation: X:71.40, Y:-6.01, Z:-1.04 [[ 9.93462004e-01 1.13596797e-01 1.13584116e-02 7.13964971e+01] [-1.13587750e-01 9.93526924e-01 -1.44055685e-03 -6.01159255e+00] [-1.14485304e-02 1.40962083e-04 9.99934453e-01 -1.04105430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.335769231 meters Centerline goodness [0,1] 0.9997453310696095 Centerline is valid? [True, True] Translation: X:71.42, Y:-6.02, Z:-1.04 [[ 9.93705802e-01 1.11513997e-01 1.06493258e-02 7.14230172e+01] [-1.11505931e-01 9.93762851e-01 -1.35000034e-03 -6.01912382e+00] [-1.07334483e-02 1.54040175e-04 9.99942383e-01 -1.04218173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.365769231 meters Centerline goodness [0,1] 0.9998309347196687 Centerline is valid? [True, True] Translation: X:71.45, Y:-6.02, Z:-1.04 [[ 9.93719333e-01 1.11471750e-01 9.79474555e-03 7.14519201e+01] [-1.11464930e-01 9.93767593e-01 -1.24118128e-03 -6.02226301e+00] [-9.87205735e-03 1.41615211e-04 9.99951260e-01 -1.04417161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.395769231 meters Centerline goodness [0,1] 0.9998295551389126 Centerline is valid? [True, True] Translation: X:71.48, Y:-6.02, Z:-1.05 [[ 9.93694469e-01 1.11813107e-01 8.31448447e-03 7.14812124e+01] [-1.11808206e-01 9.93729247e-01 -1.05344150e-03 -6.02010167e+00] [-8.38013495e-03 1.17171400e-04 9.99964879e-01 -1.04652703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.425769231 meters Centerline goodness [0,1] 0.999806746687853 Centerline is valid? [True, True] Translation: X:71.51, Y:-6.02, Z:-1.05 [[ 9.93668355e-01 1.12050288e-01 8.24220085e-03 7.15085356e+01] [-1.12045483e-01 9.93702531e-01 -1.04389627e-03 -6.02321912e+00] [-8.30726473e-03 1.13785316e-04 9.99965488e-01 -1.04677853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.455769231 meters Centerline goodness [0,1] 0.9997218180261919 Centerline is valid? [True, True] Translation: X:71.54, Y:-6.03, Z:-1.05 [[ 9.93656452e-01 1.12102346e-01 8.93971662e-03 7.15374920e+01] [-1.12096699e-01 9.93696658e-01 -1.13177472e-03 -6.02597482e+00] [-9.01024113e-03 1.22482526e-04 9.99959399e-01 -1.04670808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.485769231 meters Centerline goodness [0,1] 0.9996577906106299 Centerline is valid? [True, True] Translation: X:71.57, Y:-6.03, Z:-1.05 [[ 9.93768413e-01 1.11072644e-01 9.33861916e-03 7.15658391e+01] [-1.11066441e-01 9.93812281e-01 -1.18180690e-03 -6.03024661e+00] [-9.41210082e-03 1.37235172e-04 9.99955696e-01 -1.04515640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51576923100001 meters Centerline goodness [0,1] 0.9997216452904525 Centerline is valid? [True, True] Translation: X:71.59, Y:-6.04, Z:-1.05 [[ 9.93845476e-01 1.10405778e-01 9.04074309e-03 7.15933586e+01] [-1.10399940e-01 9.93886586e-01 -1.14372432e-03 -6.03532440e+00] [-9.11174705e-03 1.38587748e-04 9.99958478e-01 -1.04533221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54576923100001 meters Centerline goodness [0,1] 0.9997463163012916 Centerline is valid? [True, True] Translation: X:71.62, Y:-6.04, Z:-1.05 [[ 9.93917443e-01 1.09838571e-01 7.97531350e-03 7.16203130e+01] [-1.09834014e-01 9.93949431e-01 -1.00853704e-03 -6.04274492e+00] [-8.03783458e-03 1.26441865e-04 9.99967688e-01 -1.04867442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57576923100001 meters Centerline goodness [0,1] 0.9997873019249176 Centerline is valid? [True, True] Translation: X:71.65, Y:-6.04, Z:-1.05 [[ 9.93919036e-01 1.09823756e-01 7.98080711e-03 7.16500526e+01] [-1.09819196e-01 9.93951069e-01 -1.00872204e-03 -6.04059366e+00] [-8.04331340e-03 1.26142214e-04 9.99967644e-01 -1.04902152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60576923100001 meters Centerline goodness [0,1] 0.9997240852364377 Centerline is valid? [True, True] Translation: X:71.68, Y:-6.04, Z:-1.05 [[ 9.93834928e-01 1.10584246e-01 7.95368011e-03 7.16799562e+01] [-1.10579744e-01 9.93866747e-01 -1.00494495e-03 -6.03666266e+00] [-8.01602925e-03 1.19233488e-04 9.99967864e-01 -1.04973962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.635769231 meters Centerline goodness [0,1] 0.9997232688336846 Centerline is valid? [True, True] Translation: X:71.71, Y:-6.04, Z:-1.05 [[ 9.93854608e-01 1.10405933e-01 7.97174515e-03 7.17083329e+01] [-1.10401407e-01 9.93886571e-01 -1.00695089e-03 -6.03712781e+00] [-8.03418380e-03 1.20670899e-04 9.99967718e-01 -1.04973045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.665769231 meters Centerline goodness [0,1] 0.9997231273827019 Centerline is valid? [True, True] Translation: X:71.74, Y:-6.04, Z:-1.05 [[ 9.93956150e-01 1.09448830e-01 8.49271400e-03 7.17353093e+01] [-1.09443664e-01 9.93992422e-01 -1.07207519e-03 -6.04265000e+00] [-8.55903074e-03 1.36121988e-04 9.99963362e-01 -1.04931236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.695769231 meters Centerline goodness [0,1] 0.9995706588240345 Centerline is valid? [True, True] Translation: X:71.76, Y:-6.05, Z:-1.05 [[ 9.94401318e-01 1.05232325e-01 9.60087903e-03 7.17635204e+01] [-1.05225533e-01 9.94447646e-01 -1.21123484e-03 -6.05224607e+00] [-9.67503261e-03 1.94195900e-04 9.99953177e-01 -1.04770213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.725769231 meters Centerline goodness [0,1] 0.9992694770314984 Centerline is valid? [True, True] Translation: X:71.79, Y:-6.06, Z:-1.05 [[ 9.94676864e-01 1.02547410e-01 1.00977690e-02 7.17918489e+01] [-1.02539763e-01 9.94728091e-01 -1.27354873e-03 -6.06073958e+00] [-1.01751336e-02 2.31346621e-04 9.99948205e-01 -1.04740499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.755769231 meters Centerline goodness [0,1] 0.998244575102576 Centerline is valid? [True, True] Translation: X:71.82, Y:-6.07, Z:-1.05 [[ 9.95068002e-01 9.86943274e-02 9.95495577e-03 7.18194422e+01] [-9.86867053e-02 9.95117761e-01 -1.25519618e-03 -6.07117889e+00] [-1.00302340e-02 2.66583773e-04 9.99949660e-01 -1.04840050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.785769231 meters Centerline goodness [0,1] 0.9981541595060786 Centerline is valid? [True, True] Translation: X:71.85, Y:-6.08, Z:-1.05 [[ 9.95153121e-01 9.78522421e-02 9.75727033e-03 7.18484033e+01] [-9.78448828e-02 9.95200918e-01 -1.22992099e-03 -6.07582563e+00] [-9.83079491e-03 2.69260738e-04 9.99951640e-01 -1.04933290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.815769231 meters Centerline goodness [0,1] 0.9985484972677595 Centerline is valid? [True, True] Translation: X:71.88, Y:-6.08, Z:-1.05 [[ 9.95163703e-01 9.77592556e-02 9.60893334e-03 7.18771429e+01] [-9.77521156e-02 9.95210057e-01 -1.21105298e-03 -6.07893510e+00] [-9.68129873e-03 2.65902403e-04 9.99953100e-01 -1.04952372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.845769231 meters Centerline goodness [0,1] 0.9983694386210109 Centerline is valid? [True, True] Translation: X:71.90, Y:-6.08, Z:-1.05 [[ 9.95072499e-01 9.87164599e-02 9.26190472e-03 7.19042917e+01] [-9.87098714e-02 9.95115571e-01 -1.16692582e-03 -6.08300749e+00] [-9.33186039e-03 2.46934372e-04 9.99956427e-01 -1.04888287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.875769231 meters Centerline goodness [0,1] 0.9985486211901307 Centerline is valid? [True, True] Translation: X:71.93, Y:-6.09, Z:-1.05 [[ 9.95071268e-01 9.87776765e-02 8.72599473e-03 7.19329426e+01] [-9.87718352e-02 9.95109500e-01 -1.09890247e-03 -6.08585277e+00] [-8.79186729e-03 2.31603759e-04 9.99961324e-01 -1.04991419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90576923100001 meters Centerline goodness [0,1] 0.998972866558247 Centerline is valid? [True, True] Translation: X:71.96, Y:-6.09, Z:-1.05 [[ 9.95198919e-01 9.75722372e-02 7.66616712e-03 7.19620888e+01] [-9.75676960e-02 9.95228423e-01 -9.65043614e-04 -6.09480196e+00] [-7.72374888e-03 2.12440099e-04 9.99970149e-01 -1.05171373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93576923100001 meters Centerline goodness [0,1] 0.9987694566179487 Centerline is valid? [True, True] Translation: X:71.99, Y:-6.10, Z:-1.05 [[ 9.95311932e-01 9.64036575e-02 7.77773200e-03 7.19909233e+01] [-9.63989489e-02 9.95342295e-01 -9.78895470e-04 -6.10305503e+00] [-7.83587473e-03 2.24541151e-04 9.99969274e-01 -1.05256730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96576923100001 meters Centerline goodness [0,1] 0.998013273027011 Centerline is valid? [True, True] Translation: X:72.02, Y:-6.12, Z:-1.05 [[ 9.95459805e-01 9.48406972e-02 8.06342739e-03 7.20177703e+01] [-9.48355873e-02 9.95492432e-01 -1.01459208e-03 -6.11523471e+00] [-8.12330556e-03 2.45285764e-04 9.99966975e-01 -1.05245263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.995769231 meters Centerline goodness [0,1] 0.9961198993732145 Centerline is valid? [True, True] Translation: X:72.04, Y:-6.13, Z:-1.05 [[ 9.95733230e-01 9.18094125e-02 9.29334041e-03 7.20449365e+01] [-9.18024944e-02 9.95776549e-01 -1.16918596e-03 -6.13294467e+00] [-9.36143271e-03 3.11045481e-04 9.99956132e-01 -1.05003588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.025769231 meters Centerline goodness [0,1] 0.9962571648558474 Centerline is valid? [True, True] Translation: X:72.07, Y:-6.14, Z:-1.05 [[ 9.95817180e-01 9.09153151e-02 9.08567345e-03 7.20744366e+01] [-9.09086638e-02 9.95858578e-01 -1.14325366e-03 -6.14085220e+00] [-9.15198511e-03 3.12505202e-04 9.99958071e-01 -1.05053643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.055769231 meters Centerline goodness [0,1] 0.9972812125363932 Centerline is valid? [True, True] Translation: X:72.10, Y:-6.14, Z:-1.05 [[ 9.95845277e-01 9.06591908e-02 8.54953066e-03 7.21047477e+01] [-9.06532919e-02 9.95881932e-01 -1.07579061e-03 -6.14169201e+00] [-8.61185342e-03 2.96277903e-04 9.99962873e-01 -1.05076168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.085769231 meters Centerline goodness [0,1] 0.9964527708744876 Centerline is valid? [True, True] Translation: X:72.13, Y:-6.16, Z:-1.05 [[ 9.95686490e-01 9.24623838e-02 7.68899597e-03 7.21328932e+01] [-9.24576667e-02 9.95716146e-01 -9.67462023e-04 -6.15875313e+00] [-7.74551128e-03 2.52382239e-04 9.99969971e-01 -1.05281793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.115769231 meters Centerline goodness [0,1] 0.9976929485399355 Centerline is valid? [True, True] Translation: X:72.16, Y:-6.16, Z:-1.05 [[ 9.95536576e-01 9.40724485e-02 7.56973880e-03 7.21629183e+01] [-9.40679213e-02 9.95565326e-01 -9.52689051e-04 -6.15895863e+00] [-7.62579127e-03 2.36367201e-04 9.99970895e-01 -1.05259896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.145769231 meters Centerline goodness [0,1] 0.9976929485399355 Centerline is valid? [True, True] Translation: X:72.19, Y:-6.16, Z:-1.05 [[ 9.95536576e-01 9.40724454e-02 7.56977257e-03 7.21926961e+01] [-9.40679202e-02 9.95565326e-01 -9.52420617e-04 -6.16270536e+00] [-7.62579964e-03 2.36096797e-04 9.99970895e-01 -1.05295014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.175769231 meters Centerline goodness [0,1] 0.9985322584076067 Centerline is valid? [True, True] Translation: X:72.22, Y:-6.17, Z:-1.05 [[ 9.95157311e-01 9.79812808e-02 7.84826444e-03 7.22213563e+01] [-9.79765376e-02 9.95188235e-01 -9.87503996e-04 -6.17116949e+00] [-7.90725734e-03 2.13776045e-04 9.99968714e-01 -1.05295182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.205769231 meters Centerline goodness [0,1] 0.9987060096306825 Centerline is valid? [True, True] Translation: X:72.25, Y:-6.18, Z:-1.05 [[ 9.94952533e-01 9.99813472e-02 8.55491122e-03 7.22505453e+01] [-9.99757862e-02 9.94989288e-01 -1.07630479e-03 -6.17752093e+00] [-8.61965543e-03 2.15588200e-04 9.99962827e-01 -1.05291538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.235769231 meters Centerline goodness [0,1] 0.9987762422196435 Centerline is valid? [True, True] Translation: X:72.28, Y:-6.18, Z:-1.05 [[ 9.94736746e-01 1.02039656e-01 9.31206761e-03 7.22806644e+01] [-1.02033159e-01 9.94780309e-01 -1.17144566e-03 -6.17959967e+00] [-9.38299540e-03 2.15140375e-04 9.99955956e-01 -1.05162714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26576923100001 meters Centerline goodness [0,1] 0.9991898690999019 Centerline is valid? [True, True] Translation: X:72.31, Y:-6.18, Z:-1.05 [[ 9.94539819e-01 1.03870313e-01 1.00750848e-02 7.23104072e+01] [-1.03862802e-01 9.94590827e-01 -1.26732539e-03 -6.18190912e+00] [-1.01522244e-02 2.13979023e-04 9.99948442e-01 -1.05017969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29576923100001 meters Centerline goodness [0,1] 0.9994643354545649 Centerline is valid? [True, True] Translation: X:72.34, Y:-6.18, Z:-1.05 [[ 9.94083339e-01 1.08059322e-01 1.10225973e-02 7.23410723e+01] [-1.08050592e-01 9.94144430e-01 -1.38621491e-03 -6.18398663e+00] [-1.11078471e-02 1.87014989e-04 9.99938288e-01 -1.04810929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32576923100001 meters Centerline goodness [0,1] 0.9997444905780901 Centerline is valid? [True, True] Translation: X:72.37, Y:-6.18, Z:-1.05 [[ 9.93576502e-01 1.12739967e-01 9.76910957e-03 7.23703675e+01] [-1.12733335e-01 9.93624519e-01 -1.22861824e-03 -6.18456961e+00] [-9.84534118e-03 1.19421914e-04 9.99951526e-01 -1.05135025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35576923100001 meters Centerline goodness [0,1] 0.999766934339047 Centerline is valid? [True, True] Translation: X:72.40, Y:-6.19, Z:-1.05 [[ 9.93297942e-01 1.15248280e-01 8.77675294e-03 7.23990980e+01] [-1.15243027e-01 9.93336714e-01 -1.10366753e-03 -6.18792665e+00] [-8.84546671e-03 8.48111133e-05 9.99960874e-01 -1.05408212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.385769231 meters Centerline goodness [0,1] 0.999830411464185 Centerline is valid? [True, True] Translation: X:72.43, Y:-6.19, Z:-1.05 [[ 9.92998486e-01 1.17842196e-01 8.19901609e-03 7.24287662e+01] [-1.17837701e-01 9.93032333e-01 -1.03079497e-03 -6.18601403e+00] [-8.26335922e-03 5.74246371e-05 9.99965856e-01 -1.05466447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.415769231 meters Centerline goodness [0,1] 0.999851342167856 Centerline is valid? [True, True] Translation: X:72.46, Y:-6.19, Z:-1.06 [[ 9.92667043e-01 1.20633799e-01 7.72198805e-03 7.24578521e+01] [-1.20629899e-01 9.92697076e-01 -9.70491930e-04 -6.18524303e+00] [-7.78266909e-03 3.18727155e-05 9.99969714e-01 -1.05599203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.445769231 meters Centerline goodness [0,1] 0.9999787559483345 Centerline is valid? [True, True] Translation: X:72.49, Y:-6.18, Z:-1.06 [[ 9.91922200e-01 1.26664559e-01 6.81459031e-03 7.24871246e+01] [-1.26661666e-01 9.91945608e-01 -8.56195335e-04 -6.17713137e+00] [-6.86815254e-03 -1.38682017e-05 9.99976414e-01 -1.05694604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.475769231 meters Centerline goodness [0,1] 0.9999786866727765 Centerline is valid? [True, True] Translation: X:72.52, Y:-6.17, Z:-1.06 [[ 9.91584838e-01 1.29295449e-01 6.49581270e-03 7.25159073e+01] [-1.29292878e-01 9.91606114e-01 -8.15924063e-04 -6.17382848e+00] [-6.54678286e-03 -3.08043926e-05 9.99978569e-01 -1.05858859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.505769231 meters Centerline goodness [0,1] 0.9998730212477779 Centerline is valid? [True, True] Translation: X:72.55, Y:-6.17, Z:-1.06 [[ 9.91049450e-01 1.33304820e-01 7.12825699e-03 7.25459286e+01] [-1.33301832e-01 9.91075083e-01 -8.94835474e-04 -6.16669842e+00] [-7.18392377e-03 -6.33835096e-05 9.99974193e-01 -1.05809397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.535769231 meters Centerline goodness [0,1] 0.9997864206232246 Centerline is valid? [True, True] Translation: X:72.57, Y:-6.17, Z:-1.06 [[ 9.90923066e-01 1.34216424e-01 7.57819554e-03 7.25736380e+01] [-1.34213075e-01 9.90952040e-01 -9.51019209e-04 -6.16556632e+00] [-7.63727073e-03 -7.47060549e-05 9.99970833e-01 -1.05735152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.565769231 meters Centerline goodness [0,1] 0.999872062774532 Centerline is valid? [True, True] Translation: X:72.60, Y:-6.17, Z:-1.06 [[ 9.91009673e-01 1.33525555e-01 8.41149688e-03 7.26024368e+01] [-1.33521411e-01 9.91045367e-01 -1.05483892e-03 -6.16770074e+00] [-8.47702297e-03 -7.77593579e-05 9.99964066e-01 -1.05581543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.595769231 meters Centerline goodness [0,1] 0.9999357725491875 Centerline is valid? [True, True] Translation: X:72.63, Y:-6.17, Z:-1.06 [[ 9.91291045e-01 1.31442428e-01 8.05935092e-03 7.26302135e+01] [-1.31438558e-01 9.91323804e-01 -1.01035225e-03 -6.17169600e+00] [-8.12222956e-03 -5.77563176e-05 9.99967012e-01 -1.05703077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.625769231 meters Centerline goodness [0,1] 0.9998943966882802 Centerline is valid? [True, True] Translation: X:72.66, Y:-6.18, Z:-1.06 [[ 9.91655344e-01 1.28689484e-01 7.66133404e-03 7.26574428e+01] [-1.28685908e-01 9.91684938e-01 -9.60016888e-04 -6.17749189e+00] [-7.72117365e-03 -3.38998485e-05 9.99970191e-01 -1.05938392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65576923100001 meters Centerline goodness [0,1] 0.9998921507301396 Centerline is valid? [True, True] Translation: X:72.68, Y:-6.19, Z:-1.06 [[ 9.92576260e-01 1.21464159e-01 6.23102381e-03 7.26849000e+01] [-1.21461653e-01 9.92595818e-01 -7.80503683e-04 -6.19091153e+00] [-6.27969140e-03 1.78789762e-05 9.99980282e-01 -1.06172205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68576923100001 meters Centerline goodness [0,1] 0.9998073630136987 Centerline is valid? [True, True] Translation: X:72.71, Y:-6.20, Z:-1.06 [[ 9.93048559e-01 1.17530778e-01 6.40896395e-03 7.27115901e+01] [-1.17528046e-01 9.93069239e-01 -8.02523884e-04 -6.20144564e+00] [-6.45886621e-03 4.37121749e-05 9.99979140e-01 -1.06319078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71576923100001 meters Centerline goodness [0,1] 0.9997673926834426 Centerline is valid? [True, True] Translation: X:72.74, Y:-6.22, Z:-1.06 [[ 9.93927321e-01 1.09747040e-01 8.00420927e-03 7.27376761e+01] [-1.09742532e-01 9.93959543e-01 -1.00156223e-03 -6.22036236e+00] [-8.06577868e-03 1.17077877e-04 9.99967464e-01 -1.05868008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.745769231 meters Centerline goodness [0,1] 0.9993168961468674 Centerline is valid? [True, True] Translation: X:72.77, Y:-6.23, Z:-1.06 [[ 9.94236224e-01 1.06816032e-01 9.20137366e-03 7.27658858e+01] [-1.06809955e-01 9.94278788e-01 -1.15083787e-03 -6.23002979e+00] [-9.27165859e-03 1.61406400e-04 9.99957004e-01 -1.05626787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.775769231 meters Centerline goodness [0,1] 0.99911246354761 Centerline is valid? [True, True] Translation: X:72.79, Y:-6.24, Z:-1.06 [[ 9.94462927e-01 1.04632105e-01 9.77801057e-03 7.27939489e+01] [-1.04625140e-01 9.94510978e-01 -1.22258269e-03 -6.23992423e+00] [-9.85226025e-03 1.92787439e-04 9.99951447e-01 -1.05611471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.805769231 meters Centerline goodness [0,1] 0.999175527979198 Centerline is valid? [True, True] Translation: X:72.82, Y:-6.24, Z:-1.06 [[ 9.94436637e-01 1.04959306e-01 8.90608162e-03 7.28227005e+01] [-1.04953542e-01 9.94476503e-01 -1.11341466e-03 -6.24447685e+00] [-8.97375213e-03 1.72495523e-04 9.99959720e-01 -1.05805109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.835769231 meters Centerline goodness [0,1] 0.9993604911428023 Centerline is valid? [True, True] Translation: X:72.85, Y:-6.25, Z:-1.06 [[ 9.94373451e-01 1.05634166e-01 7.92855353e-03 7.28521997e+01] [-1.05629622e-01 9.94405049e-01 -9.90943381e-04 -6.24855755e+00] [-7.98887114e-03 1.47877679e-04 9.99968078e-01 -1.06032262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.865769231 meters Centerline goodness [0,1] 0.9995527823327726 Centerline is valid? [True, True] Translation: X:72.88, Y:-6.25, Z:-1.06 [[ 9.94268079e-01 1.06666872e-01 7.29149880e-03 7.28805736e+01] [-1.06663057e-01 9.94294806e-01 -9.11228013e-04 -6.25342077e+00] [-7.34709723e-03 1.28271375e-04 9.99973001e-01 -1.06131589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.895769231 meters Centerline goodness [0,1] 0.9994261911845964 Centerline is valid? [True, True] Translation: X:72.91, Y:-6.26, Z:-1.06 [[ 9.94239032e-01 1.06930477e-01 7.39052453e-03 7.29103003e+01] [-1.06926567e-01 9.94266492e-01 -9.23306375e-04 -6.25792109e+00] [-7.44688049e-03 1.27743820e-04 9.99972263e-01 -1.06125033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.925769231 meters Centerline goodness [0,1] 0.9995321239446205 Centerline is valid? [True, True] Translation: X:72.94, Y:-6.26, Z:-1.06 [[ 9.94100553e-01 1.08226405e-01 7.15089953e-03 7.29406449e+01] [-1.08222779e-01 9.94126266e-01 -8.93265522e-04 -6.25863160e+00] [-7.20557196e-03 1.14105532e-04 9.99974033e-01 -1.06092802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.955769231 meters Centerline goodness [0,1] 0.9994681303718832 Centerline is valid? [True, True] Translation: X:72.97, Y:-6.26, Z:-1.06 [[ 9.94004165e-01 1.09127351e-01 6.85136795e-03 7.29686222e+01] [-1.09124045e-01 9.94027772e-01 -8.55657923e-04 -6.26451051e+00] [-6.90382570e-03 1.02878554e-04 9.99976163e-01 -1.06274148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.985769231 meters Centerline goodness [0,1] 0.9996134767763963 Centerline is valid? [True, True] Translation: X:73.00, Y:-6.26, Z:-1.06 [[ 9.93925097e-01 1.09831268e-01 7.07070139e-03 7.29987575e+01] [-1.09827767e-01 9.93950241e-01 -8.82740954e-04 -6.26491528e+00] [-7.12487791e-03 1.00819045e-04 9.99974613e-01 -1.06205080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01576923100001 meters Centerline goodness [0,1] 0.9995981812414085 Centerline is valid? [True, True] Translation: X:73.03, Y:-6.27, Z:-1.06 [[ 9.93881374e-01 1.10259984e-01 6.52301329e-03 7.30272197e+01] [-1.10257014e-01 9.93902776e-01 -8.14237936e-04 -6.26806583e+00] [-6.57301888e-03 9.00479484e-05 9.99978393e-01 -1.06341057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04576923100001 meters Centerline goodness [0,1] 0.9997013715577739 Centerline is valid? [True, True] Translation: X:73.06, Y:-6.27, Z:-1.07 [[ 9.93905352e-01 1.10081955e-01 5.84072294e-03 7.30569128e+01] [-1.10079572e-01 9.93922510e-01 -7.28951382e-04 -6.27248622e+00] [-5.88547040e-03 8.15644002e-05 9.99982677e-01 -1.06509308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07576923100001 meters Centerline goodness [0,1] 0.9997673828455422 Centerline is valid? [True, True] Translation: X:73.09, Y:-6.28, Z:-1.07 [[ 9.93787290e-01 1.11147074e-01 5.75766078e-03 7.30855374e+01] [-1.11144776e-01 9.93803966e-01 -7.18449887e-04 -6.27767498e+00] [-5.80183972e-03 7.40524454e-05 9.99983166e-01 -1.06608278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10576923100001 meters Centerline goodness [0,1] 0.9997659425069685 Centerline is valid? [True, True] Translation: X:73.11, Y:-6.28, Z:-1.06 [[ 9.93712648e-01 1.11749739e-01 6.86802310e-03 7.31146700e+01] [-1.11746485e-01 9.93736378e-01 -8.56857687e-04 -6.28132325e+00] [-6.92075802e-03 8.39928807e-05 9.99976048e-01 -1.06407948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.135769231 meters Centerline goodness [0,1] 0.9997650225364749 Centerline is valid? [True, True] Translation: X:73.14, Y:-6.28, Z:-1.06 [[ 9.93606352e-01 1.12624607e-01 7.88135006e-03 7.31440097e+01] [-1.12620351e-01 9.93637605e-01 -9.83085222e-04 -6.28355100e+00] [-7.94192539e-03 8.91993092e-05 9.99968458e-01 -1.06182476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.165769231 meters Centerline goodness [0,1] 0.9997448762649885 Centerline is valid? [True, True] Translation: X:73.17, Y:-6.28, Z:-1.06 [[ 9.93306472e-01 1.15233499e-01 7.96824212e-03 7.31728847e+01] [-1.15229239e-01 9.93338430e-01 -9.93218494e-04 -6.28079944e+00] [-8.02961316e-03 6.83958849e-05 9.99967760e-01 -1.06177993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.195769231 meters Centerline goodness [0,1] 0.999787960391001 Centerline is valid? [True, True] Translation: X:73.20, Y:-6.28, Z:-1.06 [[ 9.93098009e-01 1.17050815e-01 7.44659635e-03 7.32019069e+01] [-1.17047147e-01 9.93125926e-01 -9.28013863e-04 -6.28080579e+00] [-7.50403267e-03 5.00058623e-05 9.99971843e-01 -1.06414975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.225769231 meters Centerline goodness [0,1] 0.9997880906971816 Centerline is valid? [True, True] Translation: X:73.23, Y:-6.28, Z:-1.07 [[ 9.92749333e-01 1.19989656e-01 7.15844675e-03 7.32304287e+01] [-1.19986345e-01 9.92775142e-01 -8.91848700e-04 -6.27905273e+00] [-7.21374061e-03 2.64663417e-05 9.99973980e-01 -1.06574272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.255769231 meters Centerline goodness [0,1] 0.9998735057871102 Centerline is valid? [True, True] Translation: X:73.26, Y:-6.28, Z:-1.07 [[ 9.92615217e-01 1.21104323e-01 6.98377813e-03 7.32583397e+01] [-1.21101201e-01 9.92639785e-01 -8.69707215e-04 -6.27964488e+00] [-7.03770133e-03 1.75406941e-05 9.99975235e-01 -1.06607585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.285769231 meters Centerline goodness [0,1] 0.9997675008454515 Centerline is valid? [True, True] Translation: X:73.29, Y:-6.28, Z:-1.07 [[ 9.92342676e-01 1.23359682e-01 6.19703486e-03 7.32881430e+01] [-1.23357270e-01 9.92362025e-01 -7.71396137e-04 -6.27689113e+00] [-6.24486124e-03 1.04000459e-06 9.99980501e-01 -1.06689058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.315769231 meters Centerline goodness [0,1] 0.999871731834021 Centerline is valid? [True, True] Translation: X:73.32, Y:-6.28, Z:-1.07 [[ 9.92229902e-01 1.24283204e-01 5.78853541e-03 7.33167855e+01] [-1.24281116e-01 9.92246786e-01 -7.20323056e-04 -6.27776050e+00] [-5.83317972e-03 -4.67956700e-06 9.99982987e-01 -1.06763687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.345769231 meters Centerline goodness [0,1] 0.9997013651877134 Centerline is valid? [True, True] Translation: X:73.34, Y:-6.28, Z:-1.07 [[ 9.92105195e-01 1.25275794e-01 5.76701512e-03 7.33447568e+01] [-1.25273740e-01 9.92121956e-01 -7.17454594e-04 -6.27816165e+00] [-5.81146201e-03 -1.06651226e-05 9.99983113e-01 -1.06846190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.375769231 meters Centerline goodness [0,1] 0.9998509623573497 Centerline is valid? [True, True] Translation: X:73.37, Y:-6.28, Z:-1.07 [[ 9.91989907e-01 1.26166110e-01 6.17548800e-03 7.33738591e+01] [-1.26163775e-01 9.92009129e-01 -7.67820847e-04 -6.27862938e+00] [-6.22301344e-03 -1.74523488e-05 9.99980637e-01 -1.06852612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40576923100001 meters Centerline goodness [0,1] 0.9998503985809237 Centerline is valid? [True, True] Translation: X:73.40, Y:-6.28, Z:-1.07 [[ 9.91853925e-01 1.27160255e-01 7.48744187e-03 7.34027339e+01] [-1.27156854e-01 9.91882185e-01 -9.30514429e-04 -6.27876786e+00] [-7.54498465e-03 -2.91451621e-05 9.99971536e-01 -1.06595842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43576923100001 meters Centerline goodness [0,1] 0.9998095076831901 Centerline is valid? [True, True] Translation: X:73.43, Y:-6.28, Z:-1.07 [[ 9.91857773e-01 1.27098550e-01 8.00726851e-03 7.34305561e+01] [-1.27094661e-01 9.91890094e-01 -9.94737240e-04 -6.28052684e+00] [-8.06875997e-03 -3.10432125e-05 9.99967447e-01 -1.06626870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46576923100001 meters Centerline goodness [0,1] 0.9999140653532989 Centerline is valid? [True, True] Translation: X:73.46, Y:-6.29, Z:-1.07 [[ 9.92040871e-01 1.25693629e-01 7.48478813e-03 7.34592690e+01] [-1.25690195e-01 9.92069106e-01 -9.29363748e-04 -6.28549579e+00] [-7.54224217e-03 -1.87976549e-05 9.99971557e-01 -1.06806747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49576923100001 meters Centerline goodness [0,1] 0.9998496595863491 Centerline is valid? [True, True] Translation: X:73.49, Y:-6.29, Z:-1.07 [[ 9.92178810e-01 1.24640952e-01 6.77072440e-03 7.34880785e+01] [-1.24638119e-01 9.92201911e-01 -8.40453483e-04 -6.29022394e+00] [-6.82268061e-03 -1.00102190e-05 9.99976725e-01 -1.06997444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.525769231 meters Centerline goodness [0,1] 0.9998938789370915 Centerline is valid? [True, True] Translation: X:73.52, Y:-6.29, Z:-1.07 [[ 9.92270931e-01 1.23941873e-01 6.06729632e-03 7.35160870e+01] [-1.23939586e-01 9.92289480e-01 -7.52923379e-04 -6.29452716e+00] [-6.11383305e-03 -4.87421556e-06 9.99981310e-01 -1.07196968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.555769231 meters Centerline goodness [0,1] 0.9998948054953609 Centerline is valid? [True, True] Translation: X:73.54, Y:-6.30, Z:-1.07 [[ 9.92332515e-01 1.23465175e-01 5.70347602e-03 7.35432230e+01] [-1.23463147e-01 9.92348906e-01 -7.07621302e-04 -6.29793284e+00] [-5.74720478e-03 -1.97347427e-06 9.99983485e-01 -1.07257892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.585769231 meters Centerline goodness [0,1] 0.9998302315217622 Centerline is valid? [True, True] Translation: X:73.57, Y:-6.30, Z:-1.07 [[ 9.92330871e-01 1.23454495e-01 6.19918368e-03 7.35718642e+01] [-1.23452102e-01 9.92350234e-01 -7.68676769e-04 -6.30044635e+00] [-6.24665798e-03 -2.52056883e-06 9.99980489e-01 -1.07150955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.615769231 meters Centerline goodness [0,1] 0.9998940004239983 Centerline is valid? [True, True] Translation: X:73.60, Y:-6.30, Z:-1.07 [[ 9.92333317e-01 1.23358600e-01 7.56599607e-03 7.35993501e+01] [-1.23355036e-01 9.92362160e-01 -9.37763913e-04 -6.30229398e+00] [-7.62388944e-03 -2.72934059e-06 9.99970938e-01 -1.06986741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.645769231 meters Centerline goodness [0,1] 0.999829023295576 Centerline is valid? [True, True] Translation: X:73.63, Y:-6.31, Z:-1.07 [[ 9.92376979e-01 1.22993205e-01 7.78480280e-03 7.36273788e+01] [-1.22989424e-01 9.92407513e-01 -9.64419960e-04 -6.30671965e+00] [-7.84431389e-03 -3.80245025e-07 9.99969233e-01 -1.06897711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.675769231 meters Centerline goodness [0,1] 0.9998721963064733 Centerline is valid? [True, True] Translation: X:73.66, Y:-6.32, Z:-1.07 [[ 9.92578778e-01 1.21348392e-01 7.87007653e-03 7.36557490e+01] [-1.21344478e-01 9.92609978e-01 -9.74622882e-04 -6.31545858e+00] [-7.93018541e-03 1.23996565e-05 9.99968556e-01 -1.06826765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.705769231 meters Centerline goodness [0,1] 0.9998292531961668 Centerline is valid? [True, True] Translation: X:73.68, Y:-6.32, Z:-1.07 [[ 9.92723841e-01 1.20162832e-01 7.76328671e-03 7.36838288e+01] [-1.20158991e-01 9.92754196e-01 -9.61047002e-04 -6.32267235e+00] [-7.82251758e-03 2.12255754e-05 9.99969403e-01 -1.06857523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.735769231 meters Centerline goodness [0,1] 0.9998506061123442 Centerline is valid? [True, True] Translation: X:73.71, Y:-6.33, Z:-1.07 [[ 9.92910766e-01 1.18599848e-01 7.89216569e-03 7.37121864e+01] [-1.18595832e-01 9.92942131e-01 -9.76627202e-04 -6.33066633e+00] [-7.95229166e-03 3.37257074e-05 9.99968379e-01 -1.06854398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76576923100001 meters Centerline goodness [0,1] 0.9999147430568877 Centerline is valid? [True, True] Translation: X:73.74, Y:-6.34, Z:-1.07 [[ 9.93134305e-01 1.16704394e-01 8.02100801e-03 7.37393572e+01] [-1.16700186e-01 9.93166694e-01 -9.92238265e-04 -6.33953632e+00] [-8.08199657e-03 4.93727314e-05 9.99967339e-01 -1.06853340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79576923100001 meters Centerline goodness [0,1] 0.9997889493900637 Centerline is valid? [True, True] Translation: X:73.77, Y:-6.35, Z:-1.07 [[ 9.93509270e-01 1.13447253e-01 8.30969240e-03 7.37660617e+01] [-1.13442629e-01 9.93544018e-01 -1.02725339e-03 -6.35397425e+00] [-8.37258425e-03 7.79124120e-05 9.99964946e-01 -1.06936175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82576923100001 meters Centerline goodness [0,1] 0.9998498079687601 Centerline is valid? [True, True] Translation: X:73.80, Y:-6.36, Z:-1.07 [[ 9.93656421e-01 1.12119864e-01 8.72079011e-03 7.37951324e+01] [-1.12114722e-01 9.93694685e-01 -1.07778689e-03 -6.36443938e+00] [-8.78664411e-03 9.32208995e-05 9.99961392e-01 -1.06812936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85576923100001 meters Centerline goodness [0,1] 0.9998516131767499 Centerline is valid? [True, True] Translation: X:73.82, Y:-6.37, Z:-1.07 [[ 9.93594687e-01 1.12666624e-01 8.70802983e-03 7.38235184e+01] [-1.12661520e-01 9.93632842e-01 -1.07603606e-03 -6.37034415e+00] [-8.77381777e-03 8.80838343e-05 9.99961505e-01 -1.06827259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.885769231 meters Centerline goodness [0,1] 0.9998081596112035 Centerline is valid? [True, True] Translation: X:73.85, Y:-6.37, Z:-1.07 [[ 9.93457403e-01 1.13918967e-01 8.05339445e-03 7.38532928e+01] [-1.13914645e-01 9.93490042e-01 -9.94844278e-04 -6.37468464e+00] [-8.11429882e-03 7.09358435e-05 9.99967076e-01 -1.06905070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.915769231 meters Centerline goodness [0,1] 0.9998091319746357 Centerline is valid? [True, True] Translation: X:73.88, Y:-6.37, Z:-1.07 [[ 9.92964498e-01 1.18224093e-01 6.67600027e-03 7.38836549e+01] [-1.18221221e-01 9.92986940e-01 -8.24582868e-04 -6.37361935e+00] [-6.72666664e-03 2.95366086e-05 9.99977375e-01 -1.07199548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.945769231 meters Centerline goodness [0,1] 0.9999576055621503 Centerline is valid? [True, True] Translation: X:73.91, Y:-6.37, Z:-1.07 [[ 9.92658382e-01 1.20781061e-01 6.42435716e-03 7.39118029e+01] [-1.20778454e-01 9.92679170e-01 -7.93543237e-04 -6.37380363e+00] [-6.47317053e-03 1.17934182e-05 9.99979049e-01 -1.07327671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.975769231 meters Centerline goodness [0,1] 0.9998716412801643 Centerline is valid? [True, True] Translation: X:73.94, Y:-6.37, Z:-1.07 [[ 9.91955200e-01 1.26342308e-01 7.90585454e-03 7.39413165e+01] [-1.26338543e-01 9.91986704e-01 -9.75827477e-04 -6.37059774e+00] [-7.96579088e-03 -3.08370027e-05 9.99968272e-01 -1.07085745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.005769231 meters Centerline goodness [0,1] 0.9998296531311884 Centerline is valid? [True, True] Translation: X:73.97, Y:-6.37, Z:-1.07 [[ 9.91635219e-01 1.28783503e-01 8.62561150e-03 7.39702704e+01] [-1.28779116e-01 9.91672732e-01 -1.06435833e-03 -6.37059711e+00] [-8.69085551e-03 -5.53434152e-05 9.99962232e-01 -1.06918008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.035769231 meters Centerline goodness [0,1] 0.9997650927883486 Centerline is valid? [True, True] Translation: X:74.00, Y:-6.37, Z:-1.07 [[ 9.91363674e-01 1.30836509e-01 8.93721023e-03 7.39995433e+01] [-1.30831887e-01 9.91403955e-01 -1.10236369e-03 -6.37126443e+00] [-9.00461499e-03 -7.64287660e-05 9.99959455e-01 -1.06879049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.065769231 meters Centerline goodness [0,1] 0.9997650927883486 Centerline is valid? [True, True] Translation: X:74.03, Y:-6.37, Z:-1.07 [[ 9.91369842e-01 1.30789762e-01 8.93726221e-03 7.40276694e+01] [-1.30785142e-01 9.91410123e-01 -1.10194209e-03 -6.37463983e+00] [-9.00461497e-03 -7.64289559e-05 9.99959455e-01 -1.06912197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.095769231 meters Centerline goodness [0,1] 0.9997233100630002 Centerline is valid? [True, True] Translation: X:74.06, Y:-6.38, Z:-1.07 [[ 9.91166496e-01 1.32348621e-01 8.53341818e-03 7.40556215e+01] [-1.32344470e-01 9.91203226e-01 -1.05180168e-03 -6.37530083e+00] [-8.59755613e-03 -8.68401254e-05 9.99963037e-01 -1.06991845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.125769231 meters Centerline goodness [0,1] 0.9997457680981335 Centerline is valid? [True, True] Translation: X:74.08, Y:-6.37, Z:-1.07 [[ 9.90868366e-01 1.34609079e-01 7.76389086e-03 7.40840838e+01] [-1.34605715e-01 9.90898777e-01 -9.56549785e-04 -6.37467618e+00] [-7.82199024e-03 -9.72491585e-05 9.99969403e-01 -1.07283364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15576923100001 meters Centerline goodness [0,1] 0.999768020582901 Centerline is valid? [True, True] Translation: X:74.11, Y:-6.38, Z:-1.07 [[ 9.90728131e-01 1.35673388e-01 7.10648748e-03 7.41131138e+01] [-1.35670601e-01 9.90753613e-01 -8.75134840e-04 -6.37643871e+00] [-7.15951066e-03 -9.71207204e-05 9.99974366e-01 -1.07493197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18576923100001 meters Centerline goodness [0,1] 0.9997611758831064 Centerline is valid? [True, True] Translation: X:74.14, Y:-6.38, Z:-1.07 [[ 9.90766605e-01 1.35391041e-01 7.12739749e-03 7.41408842e+01] [-1.35388232e-01 9.90792237e-01 -8.77400917e-04 -6.38296920e+00] [-7.18056232e-03 -9.56662161e-05 9.99974215e-01 -1.07441497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21576923100001 meters Centerline goodness [0,1] 0.9997242198604128 Centerline is valid? [True, True] Translation: X:74.17, Y:-6.38, Z:-1.08 [[ 9.90852819e-01 1.34785349e-01 6.60302595e-03 7.41690661e+01] [-1.34782926e-01 9.90874817e-01 -8.12623633e-04 -6.38423636e+00] [-6.65230188e-03 -8.47847395e-05 9.99977870e-01 -1.07680377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24576923100001 meters Centerline goodness [0,1] 0.9998093058733791 Centerline is valid? [True, True] Translation: X:74.20, Y:-6.39, Z:-1.08 [[ 9.91122254e-01 1.32811926e-01 6.13757137e-03 7.41959028e+01] [-1.32809797e-01 9.91141255e-01 -7.54997121e-04 -6.39034833e+00] [-6.18347281e-03 -6.68351605e-05 9.99980880e-01 -1.07815118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.275769231 meters Centerline goodness [0,1] 0.999829453398141 Centerline is valid? [True, True] Translation: X:74.22, Y:-6.40, Z:-1.08 [[ 9.91305593e-01 1.31425426e-01 6.37020096e-03 7.42243585e+01] [-1.31423107e-01 9.91326058e-01 -7.83135739e-04 -6.39702590e+00] [-6.41787016e-03 -6.08647636e-05 9.99979403e-01 -1.07769138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.305769231 meters Centerline goodness [0,1] 0.9998092452470274 Centerline is valid? [True, True] Translation: X:74.25, Y:-6.40, Z:-1.08 [[ 9.91520036e-01 1.29761363e-01 7.07151812e-03 7.42526203e+01] [-1.29758466e-01 9.91545251e-01 -8.68969853e-04 -6.40358138e+00] [-7.12448892e-03 -5.59883217e-05 9.99974619e-01 -1.07672010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.335769231 meters Centerline goodness [0,1] 0.9998941978077786 Centerline is valid? [True, True] Translation: X:74.28, Y:-6.41, Z:-1.07 [[ 9.91997375e-01 1.25914646e-01 9.31184520e-03 7.42808381e+01] [-1.25909458e-01 9.92041078e-01 -1.14364503e-03 -6.41459378e+00] [-9.38173461e-03 -3.79565198e-05 9.99955990e-01 -1.07366984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.365769231 meters Centerline goodness [0,1] 0.999809813617345 Centerline is valid? [True, True] Translation: X:74.31, Y:-6.42, Z:-1.07 [[ 9.92254910e-01 1.23874074e-01 9.24160631e-03 7.43100962e+01] [-1.23868878e-01 9.92297946e-01 -1.13467689e-03 -6.42339690e+00] [-9.31098401e-03 -1.88586906e-05 9.99956652e-01 -1.07387332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.395769231 meters Centerline goodness [0,1] 0.9998714487723358 Centerline is valid? [True, True] Translation: X:74.34, Y:-6.44, Z:-1.08 [[ 9.92829584e-01 1.19263281e-01 8.10478421e-03 7.43386239e+01] [-1.19259134e-01 9.92862664e-01 -9.94863537e-04 -6.43942433e+00] [-8.16558834e-03 2.11604065e-05 9.99966661e-01 -1.07633287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.425769231 meters Centerline goodness [0,1] 0.9999150147661844 Centerline is valid? [True, True] Translation: X:74.37, Y:-6.45, Z:-1.08 [[ 9.93084796e-01 1.17145757e-01 7.71095265e-03 7.43683162e+01] [-1.17141939e-01 9.93114732e-01 -9.46520650e-04 -6.44931386e+00] [-7.76874155e-03 3.66993255e-05 9.99969822e-01 -1.07756753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.455769231 meters Centerline goodness [0,1] 0.9998511018463371 Centerline is valid? [True, True] Translation: X:74.40, Y:-6.46, Z:-1.08 [[ 9.93285978e-01 1.15434363e-01 7.60747308e-03 7.43971285e+01] [-1.15430596e-01 9.93315109e-01 -9.33865837e-04 -6.45938327e+00] [-7.66441816e-03 4.94606853e-05 9.99970627e-01 -1.07865781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.485769231 meters Centerline goodness [0,1] 0.9997665088832757 Centerline is valid? [True, True] Translation: X:74.43, Y:-6.47, Z:-1.08 [[ 9.93483792e-01 1.13731945e-01 7.41619944e-03 7.44260644e+01] [-1.13728319e-01 9.93511470e-01 -9.10252034e-04 -6.47168709e+00] [-7.47160394e-03 6.08887461e-05 9.99972085e-01 -1.07965036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51576923100001 meters Centerline goodness [0,1] 0.9999353531870879 Centerline is valid? [True, True] Translation: X:74.46, Y:-6.48, Z:-1.08 [[ 9.93477674e-01 1.13768915e-01 7.66454467e-03 7.44573843e+01] [-1.13765044e-01 9.93507237e-01 -9.40638966e-04 -6.47728648e+00] [-7.72179607e-03 6.25465520e-05 9.99970185e-01 -1.07862630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54576923100001 meters Centerline goodness [0,1] 0.9999578343734188 Centerline is valid? [True, True] Translation: X:74.49, Y:-6.49, Z:-1.08 [[ 9.93307873e-01 1.15132859e-01 9.15938223e-03 7.44872251e+01] [-1.15127385e-01 9.93350100e-01 -1.12439759e-03 -6.48598625e+00] [-9.22792836e-03 6.23772529e-05 9.99957420e-01 -1.07622851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-6.49, Z:-1.08 [[ 9.93157011e-01 1.16381052e-01 9.72634588e-03 7.45164463e+01] [-1.16374938e-01 9.93204635e-01 -1.19416475e-03 -6.49014086e+00] [-9.79922997e-03 5.40901942e-05 9.99951985e-01 -1.07568155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60576923100001 meters Centerline goodness [0,1] 0.9998938969527205 Centerline is valid? [True, True] Translation: X:74.55, Y:-6.49, Z:-1.08 [[ 9.92979828e-01 1.17886982e-01 9.68097410e-03 7.45479785e+01] [-1.17880998e-01 9.93027018e-01 -1.18842140e-03 -6.49238004e+00] [-9.75356825e-03 3.88755825e-05 9.99952432e-01 -1.07518388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.635769231 meters Centerline goodness [0,1] 0.9999152865432674 Centerline is valid? [True, True] Translation: X:74.58, Y:-6.50, Z:-1.08 [[ 9.92756900e-01 1.19753338e-01 9.63719332e-03 7.45792197e+01] [-1.19747494e-01 9.92803675e-01 -1.18327472e-03 -6.49532731e+00] [-9.70954204e-03 2.06743928e-05 9.99952861e-01 -1.07584764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.665769231 meters Centerline goodness [0,1] 0.9998932581870971 Centerline is valid? [True, True] Translation: X:74.61, Y:-6.50, Z:-1.08 [[ 9.92427066e-01 1.22529311e-01 8.66530267e-03 7.46099068e+01] [-1.22524690e-01 9.92464895e-01 -1.06419025e-03 -6.49727775e+00] [-8.73040321e-03 -5.58231868e-06 9.99961889e-01 -1.07810617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.695769231 meters Centerline goodness [0,1] 0.9999364042990694 Centerline is valid? [True, True] Translation: X:74.64, Y:-6.50, Z:-1.08 [[ 9.92333618e-01 1.23317815e-01 8.16744660e-03 7.46404691e+01] [-1.23313736e-01 9.92367229e-01 -1.00304829e-03 -6.50053650e+00] [-8.22880007e-03 -1.17998167e-05 9.99966143e-01 -1.07947263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.725769231 meters Centerline goodness [0,1] 0.9999570787818959 Centerline is valid? [True, True] Translation: X:74.67, Y:-6.50, Z:-1.08 [[ 9.92218508e-01 1.24265529e-01 7.77886179e-03 7.46700714e+01] [-1.24261859e-01 9.92249000e-01 -9.55288479e-04 -6.50380392e+00] [-7.83727726e-03 -1.87609166e-05 9.99969288e-01 -1.08026645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.755769231 meters Centerline goodness [0,1] 0.9998935875880562 Centerline is valid? [True, True] Translation: X:74.70, Y:-6.51, Z:-1.08 [[ 9.92129039e-01 1.24961688e-01 8.03404219e-03 7.46999884e+01] [-1.24957795e-01 9.92161567e-01 -9.86743426e-04 -6.50712916e+00] [-8.09437302e-03 -2.49393891e-05 9.99967240e-01 -1.07955339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.785769231 meters Centerline goodness [0,1] 0.9999148972384154 Centerline is valid? [True, True] Translation: X:74.73, Y:-6.51, Z:-1.08 [[ 9.92082220e-01 1.25210951e-01 9.75124611e-03 7.47287454e+01] [-1.25205227e-01 9.92130141e-01 -1.19767320e-03 -6.51151860e+00] [-9.82446698e-03 -3.27166954e-05 9.99951738e-01 -1.07743552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.815769231 meters Centerline goodness [0,1] 0.9998933720037533 Centerline is valid? [True, True] Translation: X:74.76, Y:-6.52, Z:-1.08 [[ 9.92137751e-01 1.24717326e-01 1.04053832e-02 7.47574747e+01] [-1.24710782e-01 9.92192314e-01 -1.27788201e-03 -6.51581929e+00] [-1.04835153e-02 -2.98284997e-05 9.99945046e-01 -1.07651159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.845769231 meters Centerline goodness [0,1] 0.9998722099165105 Centerline is valid? [True, True] Translation: X:74.79, Y:-6.52, Z:-1.08 [[ 9.92181952e-01 1.24355703e-01 1.05182260e-02 7.47879908e+01] [-1.24348998e-01 9.92237703e-01 -1.29160090e-03 -6.52075823e+00] [-1.05971983e-02 -2.64277667e-05 9.99943848e-01 -1.07698559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.875769231 meters Centerline goodness [0,1] 0.9998929198612242 Centerline is valid? [True, True] Translation: X:74.82, Y:-6.53, Z:-1.08 [[ 9.92262737e-01 1.23749671e-01 1.00339202e-02 7.48181192e+01] [-1.23743538e-01 9.92313468e-01 -1.23211126e-03 -6.52527451e+00] [-1.01092675e-02 -1.90546954e-05 9.99948900e-01 -1.07845983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90576923100001 meters Centerline goodness [0,1] 0.9999361715708176 Centerline is valid? [True, True] Translation: X:74.85, Y:-6.53, Z:-1.08 [[ 9.92372771e-01 1.22858392e-01 1.01043755e-02 7.48488814e+01] [-1.22852126e-01 9.92424211e-01 -1.24086459e-03 -6.53185518e+00] [-1.01802775e-02 -9.94377653e-06 9.99948180e-01 -1.07875688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93576923100001 meters Centerline goodness [0,1] 0.9999577488592192 Centerline is valid? [True, True] Translation: X:74.88, Y:-6.54, Z:-1.08 [[ 9.92442802e-01 1.22267103e-01 1.03942799e-02 7.48797970e+01] [-1.22260439e-01 9.92497232e-01 -1.27656310e-03 -6.53740189e+00] [-1.04723757e-02 -3.89335660e-06 9.99945163e-01 -1.07863555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96576923100001 meters Centerline goodness [0,1] 0.9999576136484052 Centerline is valid? [True, True] Translation: X:74.91, Y:-6.55, Z:-1.08 [[ 9.92795261e-01 1.19383829e-01 1.02504430e-02 7.49109893e+01] [-1.19377177e-01 9.92848176e-01 -1.26058251e-03 -6.54798908e+00] [-1.03276268e-02 2.78313953e-05 9.99946668e-01 -1.07878871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99576923100001 meters Centerline goodness [0,1] 0.9999787762378759 Centerline is valid? [True, True] Translation: X:74.94, Y:-6.56, Z:-1.08 [[ 9.93076823e-01 1.17083339e-01 9.48238118e-03 7.49419913e+01] [-1.17077539e-01 9.93122092e-01 -1.16638732e-03 -6.55651463e+00] [-9.55372675e-03 4.81383606e-05 9.99954361e-01 -1.08061597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.025769231 meters Centerline goodness [0,1] 0.9999570289839503 Centerline is valid? [True, True] Translation: X:74.97, Y:-6.57, Z:-1.08 [[ 9.93379109e-01 1.14523998e-01 9.06644749e-03 7.49722259e+01] [-1.14518575e-01 9.93420479e-01 -1.11673586e-03 -6.56723020e+00] [-9.13468767e-03 7.10654283e-05 9.99958275e-01 -1.08314905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.055769231 meters Centerline goodness [0,1] 0.9998718332122869 Centerline is valid? [True, True] Translation: X:75.00, Y:-6.58, Z:-1.08 [[ 9.93955578e-01 1.09434248e-01 8.74378771e-03 7.50020816e+01] [-1.09428996e-01 9.93994030e-01 -1.07831272e-03 -6.58334070e+00] [-8.80927712e-03 1.14971037e-04 9.99961191e-01 -1.08344797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.085769231 meters Centerline goodness [0,1] 0.9999350761772853 Centerline is valid? [True, True] Translation: X:75.03, Y:-6.59, Z:-1.08 [[ 9.94113089e-01 1.07982860e-01 8.88079555e-03 7.50335072e+01] [-1.07977371e-01 9.94152747e-01 -1.09659603e-03 -6.59058111e+00] [-8.94728087e-03 1.31215506e-04 9.99959964e-01 -1.08358425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.115769231 meters Centerline goodness [0,1] 0.9998942201912498 Centerline is valid? [True, True] Translation: X:75.06, Y:-6.60, Z:-1.09 [[ 9.94102372e-01 1.08166412e-01 7.77828620e-03 7.50643551e+01] [-1.08162199e-01 9.94132795e-01 -9.61534653e-04 -6.60249706e+00] [-7.83665516e-03 1.14547340e-04 9.99969286e-01 -1.08634321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.145769231 meters Centerline goodness [0,1] 0.999915266803652 Centerline is valid? [True, True] Translation: X:75.10, Y:-6.61, Z:-1.09 [[ 9.93985226e-01 1.09248859e-01 7.61948703e-03 7.50960014e+01] [-1.09244836e-01 9.94014424e-01 -9.43415928e-04 -6.60592153e+00] [-7.67694712e-03 1.05351883e-04 9.99970526e-01 -1.08703824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.175769231 meters Centerline goodness [0,1] 0.9998722262447294 Centerline is valid? [True, True] Translation: X:75.13, Y:-6.61, Z:-1.09 [[ 9.93796447e-01 1.10945888e-01 7.72216409e-03 7.51272798e+01] [-1.10941797e-01 9.93826444e-01 -9.57437391e-04 -6.60822932e+00] [-7.78071462e-03 9.47871155e-05 9.99969725e-01 -1.08783077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.205769231 meters Centerline goodness [0,1] 0.9999788735369924 Centerline is valid? [True, True] Translation: X:75.16, Y:-6.60, Z:-1.09 [[ 9.93242721e-01 1.15807979e-01 7.57690171e-03 7.51591177e+01] [-1.15804174e-01 9.93271619e-01 -9.40524227e-04 -6.60395927e+00] [-7.63484163e-03 5.67319981e-05 9.99970853e-01 -1.08816551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.235769231 meters Centerline goodness [0,1] 0.9999147466911059 Centerline is valid? [True, True] Translation: X:75.19, Y:-6.60, Z:-1.09 [[ 9.92841573e-01 1.19186207e-01 7.76268181e-03 7.51918630e+01] [-1.19182308e-01 9.92871919e-01 -9.64689838e-04 -6.59938287e+00] [-7.82232650e-03 3.26098444e-05 9.99969405e-01 -1.08697945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26576923100001 meters Centerline goodness [0,1] 0.9999573569859918 Centerline is valid? [True, True] Translation: X:75.22, Y:-6.59, Z:-1.09 [[ 9.92066519e-01 1.25456838e-01 8.03760399e-03 7.52248715e+01] [-1.25452848e-01 9.92099078e-01 -1.00077109e-03 -6.58813793e+00] [-8.09965309e-03 -1.55088162e-05 9.99967197e-01 -1.08614983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29576923100001 meters Centerline goodness [0,1] 0.9999355545530708 Centerline is valid? [True, True] Translation: X:75.26, Y:-6.59, Z:-1.09 [[ 9.91781843e-01 1.27670443e-01 8.30863322e-03 7.52560943e+01] [-1.27666254e-01 9.91816645e-01 -1.03477227e-03 -6.58580743e+00] [-8.37275055e-03 -3.44637313e-05 9.99964947e-01 -1.08628548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32576923100001 meters Centerline goodness [0,1] 0.9998501808531131 Centerline is valid? [True, True] Translation: X:75.29, Y:-6.58, Z:-1.09 [[ 9.91396025e-01 1.30596461e-01 8.85923693e-03 7.52879038e+01] [-1.30591814e-01 9.91435606e-01 -1.10349729e-03 -6.57996819e+00] [-8.92747578e-03 -6.29409924e-05 9.99960147e-01 -1.08550093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35576923100001 meters Centerline goodness [0,1] 0.9998941866124902 Centerline is valid? [True, True] Translation: X:75.32, Y:-6.58, Z:-1.09 [[ 9.91376357e-01 1.30745643e-01 8.85972137e-03 7.53176169e+01] [-1.30741001e-01 9.91415943e-01 -1.10359101e-03 -6.57932861e+00] [-8.92795874e-03 -6.42548067e-05 9.99960143e-01 -1.08612561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.385769231 meters Centerline goodness [0,1] 0.9999147975376489 Centerline is valid? [True, True] Translation: X:75.35, Y:-6.58, Z:-1.09 [[ 9.91412110e-01 1.30488530e-01 8.64704089e-03 7.53471810e+01] [-1.30484099e-01 9.91449817e-01 -1.07699676e-03 -6.57932272e+00] [-8.71364283e-03 -6.05537134e-05 9.99962034e-01 -1.08656249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.415769231 meters Centerline goodness [0,1] 0.9998941350836332 Centerline is valid? [True, True] Translation: X:75.38, Y:-6.58, Z:-1.09 [[ 9.91515259e-01 1.29701696e-01 8.65803531e-03 7.53766450e+01] [-1.29697225e-01 9.91553058e-01 -1.07833185e-03 -6.57615435e+00] [-8.72476286e-03 -5.37406642e-05 9.99961937e-01 -1.08649674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.445769231 meters Centerline goodness [0,1] 0.9998505486997736 Centerline is valid? [True, True] Translation: X:75.41, Y:-6.58, Z:-1.09 [[ 9.91544279e-01 1.29430676e-01 9.36177500e-03 7.54051328e+01] [-1.29425439e-01 9.91588472e-01 -1.16564450e-03 -6.57747118e+00] [-9.43389832e-03 -5.58637130e-05 9.99955498e-01 -1.08539773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.475769231 meters Centerline goodness [0,1] 0.9998938271080627 Centerline is valid? [True, True] Translation: X:75.43, Y:-6.58, Z:-1.08 [[ 9.91583388e-01 1.29090158e-01 9.90531479e-03 7.54332713e+01] [-1.29084283e-01 9.91632859e-01 -1.23283581e-03 -6.57714545e+00] [-9.98158260e-03 -5.61609451e-05 9.99950181e-01 -1.08459215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.505769231 meters Centerline goodness [0,1] 0.999978770831122 Centerline is valid? [True, True] Translation: X:75.46, Y:-6.58, Z:-1.08 [[ 9.91630984e-01 1.28669228e-01 1.05934772e-02 7.54622608e+01] [-1.28662491e-01 9.91687565e-01 -1.31779390e-03 -6.57545715e+00] [-1.06749791e-02 -5.62179067e-05 9.99943019e-01 -1.08443276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.535769231 meters Centerline goodness [0,1] 0.99995782103465 Centerline is valid? [True, True] Translation: X:75.49, Y:-6.58, Z:-1.09 [[ 9.91635779e-01 1.28655154e-01 1.03117753e-02 7.54899220e+01] [-1.28648775e-01 9.91689391e-01 -1.28230953e-03 -6.57574868e+00] [-1.03910539e-02 -5.50132542e-05 9.99946010e-01 -1.08531480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.565769231 meters Centerline goodness [0,1] 0.9999571826161422 Centerline is valid? [True, True] Translation: X:75.52, Y:-6.57, Z:-1.09 [[ 9.91532638e-01 1.29485377e-01 9.82677610e-03 7.55195256e+01] [-1.29479630e-01 9.91581330e-01 -1.22145536e-03 -6.57205764e+00] [-9.90220832e-03 -6.12544770e-05 9.99950970e-01 -1.08683131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.595769231 meters Centerline goodness [0,1] 0.9998733161606351 Centerline is valid? [True, True] Translation: X:75.55, Y:-6.57, Z:-1.09 [[ 9.91464941e-01 1.30005267e-01 9.79289280e-03 7.55475829e+01] [-1.29999589e-01 9.91513301e-01 -1.21681372e-03 -6.56933676e+00] [-9.86797566e-03 -6.66438932e-05 9.99951308e-01 -1.08736505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.625769231 meters Centerline goodness [0,1] 0.9998724354204316 Centerline is valid? [True, True] Translation: X:75.58, Y:-6.57, Z:-1.09 [[ 9.91482482e-01 1.29851516e-01 1.00534215e-02 7.55756974e+01] [-1.29845531e-01 9.91533448e-01 -1.24850811e-03 -6.56746122e+00] [-1.01304243e-02 -6.75179292e-05 9.99948684e-01 -1.08720815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65576923100001 meters Centerline goodness [0,1] 0.999978840904763 Centerline is valid? [True, True] Translation: X:75.60, Y:-6.57, Z:-1.09 [[ 9.91894114e-01 1.26638542e-01 1.04281561e-02 7.56041129e+01] [-1.26631932e-01 9.91948929e-01 -1.29442410e-03 -6.56954661e+00] [-1.05081223e-02 -3.66059088e-05 9.99944787e-01 -1.08705724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68576923100001 meters Centerline goodness [0,1] 0.9999572494282111 Centerline is valid? [True, True] Translation: X:75.63, Y:-6.58, Z:-1.09 [[ 9.92307942e-01 1.23366136e-01 1.02832427e-02 7.56317880e+01] [-1.23359537e-01 9.92361223e-01 -1.27598031e-03 -6.57570261e+00] [-1.03621040e-02 -2.37065387e-06 9.99946312e-01 -1.08801119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71576923100001 meters Centerline goodness [0,1] 0.9999577970035872 Centerline is valid? [True, True] Translation: X:75.66, Y:-6.58, Z:-1.09 [[ 9.92729556e-01 1.19983779e-01 9.58758059e-03 7.56604106e+01] [-1.19977890e-01 9.92775852e-01 -1.18908077e-03 -6.58298514e+00] [-9.66098890e-03 3.01379293e-05 9.99953331e-01 -1.08941131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74576923100001 meters Centerline goodness [0,1] 0.9999358522034768 Centerline is valid? [True, True] Translation: X:75.69, Y:-6.59, Z:-1.09 [[ 9.93494543e-01 1.13549929e-01 8.66059371e-03 7.56882146e+01] [-1.13544881e-01 9.93532288e-01 -1.07397150e-03 -6.59308243e+00] [-8.72652887e-03 8.36187445e-05 9.99961920e-01 -1.09256413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.775769231 meters Centerline goodness [0,1] 0.9999354852583815 Centerline is valid? [True, True] Translation: X:75.72, Y:-6.60, Z:-1.09 [[ 9.93817605e-01 1.10664274e-01 8.94352301e-03 7.57174447e+01] [-1.10658777e-01 9.93857840e-01 -1.10870273e-03 -6.59922944e+00] [-9.01128424e-03 1.12168975e-04 9.99959391e-01 -1.09316381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.805769231 meters Centerline goodness [0,1] 0.9998936826213612 Centerline is valid? [True, True] Translation: X:75.75, Y:-6.61, Z:-1.09 [[ 9.94437870e-01 1.04899061e-01 9.46092591e-03 7.57458902e+01] [-1.04892652e-01 9.94482859e-01 -1.17243176e-03 -6.61240818e+00] [-9.53171564e-03 1.73528928e-04 9.99954557e-01 -1.09203996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.835769231 meters Centerline goodness [0,1] 0.9997231509679068 Centerline is valid? [True, True] Translation: X:75.78, Y:-6.62, Z:-1.09 [[ 9.94743660e-01 1.01971055e-01 9.32495692e-03 7.57759601e+01] [-1.01964695e-01 9.94787346e-01 -1.15621269e-03 -6.62078811e+00] [-9.39424937e-03 1.99318854e-04 9.99955853e-01 -1.09199591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.865769231 meters Centerline goodness [0,1] 0.9991515537172553 Centerline is valid? [True, True] Translation: X:75.81, Y:-6.63, Z:-1.09 [[ 9.95057429e-01 9.87315418e-02 1.06205650e-02 7.58054652e+01] [-9.87231052e-02 9.95114071e-01 -1.31699421e-03 -6.62943123e+00] [-1.06987026e-02 2.61989714e-04 9.99942733e-01 -1.08980867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.895769231 meters Centerline goodness [0,1] 0.9989664527798113 Centerline is valid? [True, True] Translation: X:75.84, Y:-6.63, Z:-1.09 [[ 9.95060384e-01 9.85557526e-02 1.18994309e-02 7.58369532e+01] [-9.85451475e-02 9.95131487e-01 -1.47573098e-03 -6.63289844e+00] [-1.19869401e-02 2.95810256e-04 9.99928110e-01 -1.08801626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.925769231 meters Centerline goodness [0,1] 0.9991418518836351 Centerline is valid? [True, True] Translation: X:75.87, Y:-6.63, Z:-1.09 [[ 9.95012723e-01 9.90278892e-02 1.19648547e-02 7.58679087e+01] [-9.90171981e-02 9.95084615e-01 -1.48411140e-03 -6.63419433e+00] [-1.20530112e-02 2.91983344e-04 9.99927317e-01 -1.08853819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.955769231 meters Centerline goodness [0,1] 0.9998510860084668 Centerline is valid? [True, True] Translation: X:75.90, Y:-6.63, Z:-1.10 [[ 9.94923423e-01 1.00268136e-01 8.58387632e-03 7.59002040e+01] [-1.00262678e-01 9.94960432e-01 -1.06485301e-03 -6.63071459e+00] [-8.64738812e-03 1.98804772e-04 9.99962591e-01 -1.09517114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.985769231 meters Centerline goodness [0,1] 0.9998510860084668 Centerline is valid? [True, True] Translation: X:75.93, Y:-6.63, Z:-1.10 [[ 9.94923423e-01 1.00268139e-01 8.58384285e-03 7.59299817e+01] [-1.00262679e-01 9.94960432e-01 -1.06512272e-03 -6.63440943e+00] [-8.64738186e-03 1.99076463e-04 9.99962591e-01 -1.09552224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01576923100001 meters Centerline goodness [0,1] 0.999829023295576 Centerline is valid? [True, True] Translation: X:75.96, Y:-6.64, Z:-1.10 [[ 9.94859420e-01 1.01003292e-01 7.28485624e-03 7.59605710e+01] [-1.00999379e-01 9.94886078e-01 -9.03938484e-04 -6.63614929e+00] [-7.33890282e-03 1.63525759e-04 9.99973057e-01 -1.09815890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04576923100001 meters Centerline goodness [0,1] 0.9998079385403329 Centerline is valid? [True, True] Translation: X:75.99, Y:-6.64, Z:-1.10 [[ 9.94762861e-01 1.01952512e-01 7.24816188e-03 7.59907990e+01] [-1.01948664e-01 9.94789255e-01 -8.99436703e-04 -6.63702413e+00] [-7.30209339e-03 1.55785808e-04 9.99973327e-01 -1.09898106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07576923100001 meters Centerline goodness [0,1] 0.9997857387727117 Centerline is valid? [True, True] Translation: X:76.02, Y:-6.64, Z:-1.10 [[ 9.94809846e-01 1.01465261e-01 7.62703189e-03 7.60201227e+01] [-1.01460986e-01 9.94839069e-01 -9.46403701e-04 -6.63968100e+00] [-7.68369640e-03 1.67645545e-04 9.99970466e-01 -1.09858647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10576923100001 meters Centerline goodness [0,1] 0.9998510733357445 Centerline is valid? [True, True] Translation: X:76.05, Y:-6.65, Z:-1.10 [[ 9.94915156e-01 1.00415152e-01 7.78656122e-03 7.60488450e+01] [-1.00410666e-01 9.94945609e-01 -9.65958062e-04 -6.64696499e+00] [-7.84420172e-03 1.79192519e-04 9.99969218e-01 -1.09948182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.135769231 meters Centerline goodness [0,1] 0.9999145006839946 Centerline is valid? [True, True] Translation: X:76.08, Y:-6.65, Z:-1.10 [[ 9.95026065e-01 9.93047247e-02 7.85506066e-03 7.60792398e+01] [-9.93001257e-02 9.95057052e-01 -9.74315229e-04 -6.65138225e+00] [-7.91298760e-03 1.89460538e-04 9.99968674e-01 -1.09967713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.165769231 meters Centerline goodness [0,1] 0.9997450984557215 Centerline is valid? [True, True] Translation: X:76.11, Y:-6.66, Z:-1.10 [[ 9.95155705e-01 9.80033669e-02 7.77579747e-03 7.61085024e+01] [-9.79988208e-02 9.95186063e-01 -9.64438020e-04 -6.65952325e+00] [-7.83288345e-03 1.97747014e-04 9.99969303e-01 -1.09948513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.195769231 meters Centerline goodness [0,1] 0.999698859969886 Centerline is valid? [True, True] Translation: X:76.14, Y:-6.66, Z:-1.10 [[ 9.95146636e-01 9.80647249e-02 8.15363541e-03 7.61384799e+01] [-9.80597272e-02 9.95180017e-01 -1.01144653e-03 -6.66465936e+00] [-8.21352225e-03 2.06994348e-04 9.99966247e-01 -1.09917175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.225769231 meters Centerline goodness [0,1] 0.9999360013653043 Centerline is valid? [True, True] Translation: X:76.17, Y:-6.67, Z:-1.10 [[ 9.94936122e-01 1.00176211e-01 8.17553828e-03 7.61680842e+01] [-1.00171258e-01 9.94969693e-01 -1.01416355e-03 -6.66895642e+00] [-8.23600788e-03 1.90073995e-04 9.99966065e-01 -1.09936223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.255769231 meters Centerline goodness [0,1] 0.9998936622713739 Centerline is valid? [True, True] Translation: X:76.20, Y:-6.67, Z:-1.10 [[ 9.94745960e-01 1.02022838e-01 8.47435179e-03 7.61975143e+01] [-1.02017583e-01 9.94782040e-01 -1.05126756e-03 -6.67159641e+00] [-8.53738626e-03 1.81211271e-04 9.99963539e-01 -1.09965946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.285769231 meters Centerline goodness [0,1] 0.9998937977909941 Centerline is valid? [True, True] Translation: X:76.23, Y:-6.67, Z:-1.10 [[ 9.94558109e-01 1.03846887e-01 8.36613915e-03 7.62275940e+01] [-1.03841831e-01 9.94593282e-01 -1.03770960e-03 -6.67362299e+00] [-8.42866871e-03 1.63307292e-04 9.99964465e-01 -1.10042294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.315769231 meters Centerline goodness [0,1] 0.999978840904763 Centerline is valid? [True, True] Translation: X:76.26, Y:-6.67, Z:-1.10 [[ 9.94199154e-01 1.07340526e-01 6.78624043e-03 7.62575650e+01] [-1.07337281e-01 9.94222309e-01 -8.41743932e-04 -6.67415690e+00] [-6.83738487e-03 1.08444512e-04 9.99976619e-01 -1.10350450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.345769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.29, Y:-6.68, Z:-1.11 [[ 9.94062590e-01 1.08649916e-01 5.89600715e-03 7.62870152e+01] [-1.08647489e-01 9.94080071e-01 -7.31454437e-04 -6.67696253e+00] [-5.94057567e-03 8.65251231e-05 9.99982351e-01 -1.10552588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.375769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.32, Y:-6.68, Z:-1.10 [[ 9.93936227e-01 1.09719445e-01 7.24019821e-03 7.63159874e+01] [-1.09715814e-01 9.93962592e-01 -8.97984472e-04 -6.68069276e+00] [-7.29501253e-03 9.81750578e-05 9.99973386e-01 -1.10338203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.35, Y:-6.68, Z:-1.10 [[ 9.93912821e-01 1.09772284e-01 9.34606689e-03 7.63454854e+01] [-1.09766239e-01 9.93956754e-01 -1.15887713e-03 -6.68420625e+00] [-9.41679890e-03 1.25940228e-04 9.99955653e-01 -1.09936374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.37, Y:-6.69, Z:-1.09 [[ 9.93800194e-01 1.10508624e-01 1.22072975e-02 7.63742157e+01] [-1.10498371e-01 9.93875153e-01 -1.51329241e-03 -6.68677770e+00] [-1.22997616e-02 1.55023808e-04 9.99924343e-01 -1.09395217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46576923100001 meters Centerline goodness [0,1] 0.9999788162521713 Centerline is valid? [True, True] Translation: X:76.40, Y:-6.69, Z:-1.09 [[ 9.93763419e-01 1.10804403e-01 1.25160619e-02 7.64038481e+01] [-1.10793653e-01 9.93842221e-01 -1.55115251e-03 -6.69071177e+00] [-1.26108653e-02 1.54778398e-04 9.99920468e-01 -1.09397643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49576923100001 meters Centerline goodness [0,1] 0.9999785426143679 Centerline is valid? [True, True] Translation: X:76.43, Y:-6.69, Z:-1.10 [[ 9.93750177e-01 1.10993068e-01 1.18795947e-02 7.64336565e+01] [-1.10983399e-01 9.93821170e-01 -1.47214902e-03 -6.69484584e+00] [-1.19695910e-02 1.44510552e-04 9.99928351e-01 -1.09553293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.46, Y:-6.70, Z:-1.10 [[ 9.93648504e-01 1.11974486e-01 1.11519386e-02 7.64637332e+01] [-1.11966027e-01 9.93711074e-01 -1.38197092e-03 -6.69675751e+00] [-1.12365504e-02 1.24555066e-04 9.99936860e-01 -1.09666329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.555769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.49, Y:-6.70, Z:-1.10 [[ 9.93542328e-01 1.12903726e-01 1.12423402e-02 7.64942918e+01] [-1.12895187e-01 9.93605926e-01 -1.39330487e-03 -6.69736830e+00] [-1.13277652e-02 1.15101266e-04 9.99935832e-01 -1.09706780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.52, Y:-6.70, Z:-1.10 [[ 9.93251813e-01 1.15472814e-01 1.08104411e-02 7.65249006e+01] [-1.15465070e-01 9.93310637e-01 -1.33978723e-03 -6.69601411e+00] [-1.08928351e-02 8.25177637e-05 9.99940668e-01 -1.09780320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.55, Y:-6.70, Z:-1.10 [[ 9.93130870e-01 1.16554404e-01 1.03027363e-02 7.65537034e+01] [-1.16547430e-01 9.93184306e-01 -1.27678267e-03 -6.69873094e+00] [-1.03813307e-02 6.72548368e-05 9.99946110e-01 -1.09981802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.58, Y:-6.70, Z:-1.10 [[ 9.93136701e-01 1.16596547e-01 9.20533729e-03 7.65806628e+01] [-1.16590983e-01 9.93179360e-01 -1.14056022e-03 -6.70377114e+00] [-9.27553639e-03 5.94728911e-05 9.99956980e-01 -1.10256573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.61, Y:-6.71, Z:-1.10 [[ 9.93238490e-01 1.15758399e-01 8.79170756e-03 7.66094262e+01] [-1.15753296e-01 9.93277398e-01 -1.08876469e-03 -6.70945046e+00] [-8.85863807e-03 6.37338677e-05 9.99960759e-01 -1.10356757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.64, Y:-6.71, Z:-1.10 [[ 9.93351513e-01 1.14802895e-01 8.54791377e-03 7.66376332e+01] [-1.14798037e-01 9.93388288e-01 -1.05840137e-03 -6.71495575e+00] [-8.61290496e-03 7.00808815e-05 9.99962906e-01 -1.10421706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.735769231 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:76.67, Y:-6.72, Z:-1.10 [[ 9.93398715e-01 1.14371125e-01 8.84527736e-03 7.66662454e+01] [-1.14365908e-01 9.93438091e-01 -1.09504965e-03 -6.71845342e+00] [-8.91247751e-03 7.62227437e-05 9.99960280e-01 -1.10345608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.70, Y:-6.72, Z:-1.10 [[ 9.93360556e-01 1.14687048e-01 9.03804226e-03 7.66952215e+01] [-1.14681618e-01 9.93401669e-01 -1.11849750e-03 -6.72137177e+00] [-9.10668344e-03 7.45739939e-05 9.99958531e-01 -1.10384282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.72, Y:-6.72, Z:-1.10 [[ 9.93310790e-01 1.15108896e-01 9.14421182e-03 7.67244757e+01] [-1.15103360e-01 9.93352876e-01 -1.13116743e-03 -6.72321405e+00] [-9.21363654e-03 7.10713053e-05 9.99957551e-01 -1.10378466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.75, Y:-6.73, Z:-1.10 [[ 9.93290580e-01 1.15237773e-01 9.69940680e-03 7.67537318e+01] [-1.15231553e-01 9.93337934e-01 -1.19960798e-03 -6.72527256e+00] [-9.77302886e-03 7.38816024e-05 9.99952240e-01 -1.10338140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.78, Y:-6.73, Z:-1.10 [[ 9.93156702e-01 1.16386148e-01 9.69689456e-03 7.67828209e+01] [-1.16379988e-01 9.93204038e-01 -1.19906620e-03 -6.72760680e+00] [-9.77054953e-03 6.23361619e-05 9.99952265e-01 -1.10345115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.81, Y:-6.73, Z:-1.10 [[ 9.92983244e-01 1.17842210e-01 9.87377709e-03 7.68130941e+01] [-1.17835898e-01 9.93032331e-01 -1.22070112e-03 -6.72806025e+00] [-9.94883000e-03 4.86503668e-05 9.99950508e-01 -1.10303494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.84, Y:-6.73, Z:-1.10 [[ 9.92802699e-01 1.19376757e-01 9.59122795e-03 7.68411475e+01] [-1.19370873e-01 9.92849026e-01 -1.18561642e-03 -6.72782917e+00] [-9.66417637e-03 3.21699262e-05 9.99953300e-01 -1.10418473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-6.73, Z:-1.11 [[ 9.92656706e-01 1.20613892e-01 9.21704083e-03 7.68706731e+01] [-1.20608518e-01 9.92699496e-01 -1.13880253e-03 -6.72741687e+00] [-9.28710719e-03 1.87863311e-05 9.99956874e-01 -1.10545045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.975769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-6.73, Z:-1.11 [[ 9.92622133e-01 1.20860559e-01 9.69677072e-03 7.68988063e+01] [-1.20854626e-01 9.92669494e-01 -1.19760187e-03 -6.72860971e+00] [-9.77043132e-03 1.68665144e-05 9.99952268e-01 -1.10688001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.005769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.93, Y:-6.73, Z:-1.11 [[ 9.92753343e-01 1.19722447e-01 1.03602918e-02 7.69270950e+01] [-1.19715620e-01 9.92807401e-01 -1.27886851e-03 -6.73353379e+00] [-1.04388836e-02 2.93122358e-05 9.99945513e-01 -1.10574019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.035769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:-6.74, Z:-1.10 [[ 9.93165627e-01 1.16201780e-01 1.09171760e-02 7.69542686e+01] [-1.16193992e-01 9.93225625e-01 -1.34705966e-03 -6.74341138e+00] [-1.09997497e-02 6.93430911e-05 9.99939499e-01 -1.10482841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.065769231 meters Centerline goodness [0,1] 0.9999787464666001 Centerline is valid? [True, True] Translation: X:76.98, Y:-6.75, Z:-1.11 [[ 9.93393627e-01 1.14258294e-01 1.06838193e-02 7.69823340e+01] [-1.14250729e-01 9.93451073e-01 -1.31775803e-03 -6.75135344e+00] [-1.07644165e-02 8.84182783e-05 9.99942058e-01 -1.10551528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.095769231 meters Centerline goodness [0,1] 0.9999575668851972 Centerline is valid? [True, True] Translation: X:77.01, Y:-6.76, Z:-1.11 [[ 9.93639246e-01 1.12103659e-01 1.06685782e-02 7.70107012e+01] [-1.12095996e-01 9.93696512e-01 -1.31549149e-03 -6.76032965e+00] [-1.07488003e-02 1.11219082e-04 9.99942224e-01 -1.10627412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.125769231 meters Centerline goodness [0,1] 0.9999153851035475 Centerline is valid? [True, True] Translation: X:77.04, Y:-6.77, Z:-1.11 [[ 9.93845781e-01 1.10261435e-01 1.06291853e-02 7.70402996e+01] [-1.10253724e-01 9.93902610e-01 -1.31050319e-03 -6.76930142e+00] [-1.07088730e-02 1.30530808e-04 9.99942650e-01 -1.10666596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15576923100001 meters Centerline goodness [0,1] 0.9999368647010544 Centerline is valid? [True, True] Translation: X:77.07, Y:-6.78, Z:-1.11 [[ 9.94038260e-01 1.08461150e-01 1.11407694e-02 7.70699072e+01] [-1.08452566e-01 9.94100676e-01 -1.37357788e-03 -6.77813852e+00] [-1.12240262e-02 1.57143939e-04 9.99936996e-01 -1.10504302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18576923100001 meters Centerline goodness [0,1] 0.9998507971694092 Centerline is valid? [True, True] Translation: X:77.10, Y:-6.78, Z:-1.10 [[ 9.93959246e-01 1.09151061e-01 1.14482570e-02 7.71004466e+01] [-1.09142043e-01 9.94025162e-01 -1.41148501e-03 -6.78306019e+00] [-1.15339206e-02 1.53472418e-04 9.99933470e-01 -1.10472682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21576923100001 meters Centerline goodness [0,1] 0.9999144201968335 Centerline is valid? [True, True] Translation: X:77.13, Y:-6.79, Z:-1.11 [[ 9.93878653e-01 1.09959523e-01 1.06830200e-02 7.71304417e+01] [-1.09951714e-01 9.93936057e-01 -1.31738496e-03 -6.78804657e+00] [-1.07630978e-02 1.34704428e-04 9.99942067e-01 -1.10688701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24576923100001 meters Centerline goodness [0,1] 0.999957387876851 Centerline is valid? [True, True] Translation: X:77.16, Y:-6.79, Z:-1.11 [[ 9.93806481e-01 1.10732106e-01 9.33160984e-03 7.71607804e+01] [-1.10726181e-01 9.93850285e-01 -1.15085559e-03 -6.79235371e+00] [-9.40165976e-03 1.10474223e-04 9.99955797e-01 -1.11017655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.275769231 meters Centerline goodness [0,1] 0.9999788766608225 Centerline is valid? [True, True] Translation: X:77.19, Y:-6.80, Z:-1.11 [[ 9.93677968e-01 1.11944070e-01 8.52181972e-03 7.71900418e+01] [-1.11939172e-01 9.93714505e-01 -1.05102155e-03 -6.79909157e+00] [-8.58591150e-03 9.04515159e-05 9.99963136e-01 -1.11325786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.22, Y:-6.81, Z:-1.11 [[ 9.93656470e-01 1.12107522e-01 8.87260680e-03 7.72192164e+01] [-1.12102220e-01 9.93696078e-01 -1.09417379e-03 -6.80633848e+00] [-8.93933969e-03 9.25939442e-05 9.99960039e-01 -1.11272806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.25, Y:-6.81, Z:-1.11 [[ 9.93659119e-01 1.12057681e-01 9.19949634e-03 7.72494115e+01] [-1.12051981e-01 9.93701699e-01 -1.13435044e-03 -6.80970258e+00] [-9.26866783e-03 9.63358710e-05 9.99957040e-01 -1.11136793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.365769231 meters Centerline goodness [0,1] 0.9999786160294244 Centerline is valid? [True, True] Translation: X:77.28, Y:-6.82, Z:-1.11 [[ 9.93625827e-01 1.12328464e-01 9.48851551e-03 7.72795287e+01] [-1.12322413e-01 9.93671126e-01 -1.16996237e-03 -6.81532071e+00] [-9.55988396e-03 9.67318694e-05 9.99954299e-01 -1.11060590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.395769231 meters Centerline goodness [0,1] 0.9999786880354631 Centerline is valid? [True, True] Translation: X:77.31, Y:-6.82, Z:-1.11 [[ 9.93511358e-01 1.13291118e-01 1.00151486e-02 7.73098214e+01] [-1.13284424e-01 9.93561832e-01 -1.23502724e-03 -6.81887089e+00] [-1.00905870e-02 9.24532455e-05 9.99949084e-01 -1.11025182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.425769231 meters Centerline goodness [0,1] 0.9999360940695297 Centerline is valid? [True, True] Translation: X:77.34, Y:-6.82, Z:-1.11 [[ 9.93111359e-01 1.16608249e-01 1.15040919e-02 7.73396787e+01] [-1.16599637e-01 9.93177986e-01 -1.41880224e-03 -6.81849501e+00] [-1.15910549e-02 6.76556868e-05 9.99932819e-01 -1.10813498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.37, Y:-6.82, Z:-1.11 [[ 9.92884268e-01 1.18431933e-01 1.24381253e-02 7.73696471e+01] [-1.18422012e-01 9.92962172e-01 -1.53368081e-03 -6.81976702e+00] [-1.25322247e-02 4.98197159e-05 9.99921467e-01 -1.10669095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.40, Y:-6.82, Z:-1.11 [[ 9.92639499e-01 1.20371646e-01 1.33226040e-02 7.73983794e+01] [-1.20360444e-01 9.92728899e-01 -1.64238762e-03 -6.81992270e+00] [-1.34234309e-02 2.67842937e-05 9.99909901e-01 -1.10575402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.43, Y:-6.82, Z:-1.11 [[ 9.92239991e-01 1.23707969e-01 1.24955090e-02 7.74290193e+01] [-1.23698384e-01 9.92318668e-01 -1.54001960e-03 -6.81523319e+00] [-1.25900395e-02 -1.76052344e-05 9.99920742e-01 -1.10711790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.46, Y:-6.81, Z:-1.11 [[ 9.92066935e-01 1.25263212e-01 1.05982708e-02 7.74580382e+01] [-1.25256408e-01 9.92123544e-01 -1.30599211e-03 -6.81425743e+00] [-1.06783867e-02 -3.18697391e-05 9.99942984e-01 -1.11063102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.49, Y:-6.81, Z:-1.12 [[ 9.91747440e-01 1.28014337e-01 7.02458777e-03 7.74878290e+01] [-1.28011417e-01 9.91772317e-01 -8.65560899e-04 -6.81054872e+00] [-7.07759589e-03 -4.08096298e-05 9.99974953e-01 -1.11629620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.52, Y:-6.81, Z:-1.12 [[ 9.91623246e-01 1.28954103e-01 7.36054998e-03 7.75165510e+01] [-1.28950926e-01 9.91650562e-01 -9.06577460e-04 -6.81106989e+00] [-7.41600041e-03 -5.01664511e-05 9.99972500e-01 -1.11637797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.55, Y:-6.81, Z:-1.11 [[ 9.91502608e-01 1.29785149e-01 8.85397216e-03 7.75451536e+01] [-1.29780590e-01 9.91542138e-01 -1.08998168e-03 -6.81145313e+00] [-8.92054991e-03 -6.83540470e-05 9.99960209e-01 -1.11416454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.57, Y:-6.81, Z:-1.11 [[ 9.91276383e-01 1.31363334e-01 1.07147742e-02 7.75740754e+01] [-1.31356756e-01 9.91334285e-01 -1.31844501e-03 -6.80752385e+00] [-1.07951184e-02 -1.00514587e-04 9.99941726e-01 -1.11074358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.60, Y:-6.81, Z:-1.11 [[ 9.91198483e-01 1.31959998e-01 1.05889884e-02 7.76026949e+01] [-1.31953614e-01 9.91255037e-01 -1.30233852e-03 -6.80782410e+00] [-1.06682447e-02 -1.06379318e-04 9.99943087e-01 -1.11161817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.725769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.63, Y:-6.81, Z:-1.12 [[ 9.91210469e-01 1.32005554e-01 8.73728742e-03 7.76311266e+01] [-1.32001212e-01 9.91248973e-01 -1.07431524e-03 -6.80633934e+00] [-8.80264276e-03 -8.84600148e-05 9.99961252e-01 -1.11608731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.755769231 meters Centerline goodness [0,1] 0.9999787455631363 Centerline is valid? [True, True] Translation: X:77.66, Y:-6.81, Z:-1.12 [[ 9.91366989e-01 1.30869720e-01 8.03795499e-03 7.76595024e+01] [-1.30866012e-01 9.91399572e-01 -9.87870779e-04 -6.80994880e+00] [-8.09810751e-03 -7.25526326e-05 9.99967207e-01 -1.11849669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.785769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.69, Y:-6.82, Z:-1.12 [[ 9.91605879e-01 1.29042036e-01 8.11990713e-03 7.76881783e+01] [-1.29038194e-01 9.91639123e-01 -9.97562245e-04 -6.81538034e+00] [-8.18074504e-03 -5.85895618e-05 9.99966535e-01 -1.11904544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.815769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.72, Y:-6.82, Z:-1.12 [[ 9.92255449e-01 1.23869358e-01 9.24690476e-03 7.77166521e+01] [-1.23864155e-01 9.92298535e-01 -1.13547434e-03 -6.82461757e+00] [-9.31634052e-03 -1.86794483e-05 9.99956602e-01 -1.11743568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.845769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.75, Y:-6.83, Z:-1.12 [[ 9.92599966e-01 1.20994885e-01 1.02735311e-02 7.77451330e+01] [-1.20988312e-01 9.92653131e-01 -1.26114411e-03 -6.83156870e+00] [-1.03506448e-02 8.83440310e-06 9.99946431e-01 -1.11574041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.875769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:-6.83, Z:-1.12 [[ 9.92605636e-01 1.20948359e-01 1.02735902e-02 7.77732600e+01] [-1.20941789e-01 9.92658801e-01 -1.26066270e-03 -6.83492805e+00] [-1.03506448e-02 8.83451843e-06 9.99946431e-01 -1.11607187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90576923100001 meters Centerline goodness [0,1] 0.9999577336799171 Centerline is valid? [True, True] Translation: X:77.80, Y:-6.85, Z:-1.11 [[ 9.93284511e-01 1.15114541e-01 1.15984310e-02 7.78007759e+01] [-1.15105777e-01 9.93352222e-01 -1.42260936e-03 -6.84801750e+00] [-1.16850902e-02 7.80094348e-05 9.99931724e-01 -1.11376107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93576923100001 meters Centerline goodness [0,1] 0.9998936758388977 Centerline is valid? [True, True] Translation: X:77.83, Y:-6.86, Z:-1.11 [[ 9.93597995e-01 1.12315299e-01 1.21777394e-02 7.78292786e+01] [-1.12305431e-01 9.93672612e-01 -1.49330764e-03 -6.85741523e+00] [-1.22684074e-02 1.16121206e-04 9.99924734e-01 -1.11353077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96576923100001 meters Centerline goodness [0,1] 0.9998097533134631 Centerline is valid? [True, True] Translation: X:77.86, Y:-6.86, Z:-1.11 [[ 9.93840286e-01 1.10093174e-01 1.26877840e-02 7.78589861e+01] [-1.10082283e-01 9.93921260e-01 -1.55571464e-03 -6.86342483e+00] [-1.27819318e-02 1.49431649e-04 9.99918297e-01 -1.11303905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99576923100001 meters Centerline goodness [0,1] 0.9997254081912849 Centerline is valid? [True, True] Translation: X:77.89, Y:-6.87, Z:-1.11 [[ 9.94136567e-01 1.07232626e-01 1.39157907e-02 7.78881310e+01] [-1.07219244e-01 9.94233937e-01 -1.70631418e-03 -6.87380455e+00] [-1.40185239e-02 2.04268769e-04 9.99901715e-01 -1.11182196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.025769231 meters Centerline goodness [0,1] 0.9995457396872093 Centerline is valid? [True, True] Translation: X:77.92, Y:-6.88, Z:-1.11 [[ 9.94225481e-01 1.06433111e-01 1.36998413e-02 7.79189501e+01] [-1.06420062e-01 9.94319842e-01 -1.68002140e-03 -6.87901189e+00] [-1.38008339e-02 2.12382122e-04 9.99904741e-01 -1.11239715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.055769231 meters Centerline goodness [0,1] 0.9996404095101108 Centerline is valid? [True, True] Translation: X:77.95, Y:-6.89, Z:-1.11 [[ 9.94266766e-01 1.06164897e-01 1.27520038e-02 7.79494680e+01] [-1.06153564e-01 9.94348517e-01 -1.56422865e-03 -6.88580434e+00] [-1.28460023e-02 2.01589908e-04 9.99917466e-01 -1.11403924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.085769231 meters Centerline goodness [0,1] 0.9997464235149927 Centerline is valid? [True, True] Translation: X:77.98, Y:-6.90, Z:-1.12 [[ 9.94414833e-01 1.04973127e-01 1.09445253e-02 7.79796004e+01] [-1.04964691e-01 9.94475041e-01 -1.34397379e-03 -6.89757993e+00] [-1.10251383e-02 1.87678764e-04 9.99939204e-01 -1.11749339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.115769231 meters Centerline goodness [0,1] 0.9997673287222116 Centerline is valid? [True, True] Translation: X:78.01, Y:-6.90, Z:-1.12 [[ 9.94482571e-01 1.04379063e-01 1.04607133e-02 7.80106654e+01] [-1.04371306e-01 9.94537569e-01 -1.28624293e-03 -6.90170499e+00] [-1.05378292e-02 1.87347867e-04 9.99944458e-01 -1.11895811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.145769231 meters Centerline goodness [0,1] 0.9998311488212077 Centerline is valid? [True, True] Translation: X:78.04, Y:-6.91, Z:-1.12 [[ 9.94629323e-01 1.03085115e-01 9.27198371e-03 7.80406801e+01] [-1.03078966e-01 9.94672523e-01 -1.13996385e-03 -6.91401429e+00] [-9.34010073e-03 1.78094984e-04 9.99956364e-01 -1.12198284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.175769231 meters Centerline goodness [0,1] 0.9997665584346682 Centerline is valid? [True, True] Translation: X:78.07, Y:-6.92, Z:-1.12 [[ 9.94705569e-01 1.02399707e-01 8.66786758e-03 7.80724948e+01] [-1.02394296e-01 9.94743319e-01 -1.06685382e-03 -6.92195721e+00] [-8.73154888e-03 1.73665235e-04 9.99961864e-01 -1.12293380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.205769231 meters Centerline goodness [0,1] 0.9997425003218746 Centerline is valid? [True, True] Translation: X:78.10, Y:-6.93, Z:-1.12 [[ 9.94758940e-01 1.01907426e-01 8.33829925e-03 7.81042025e+01] [-1.01902391e-01 9.94793872e-01 -1.02759161e-03 -6.92970296e+00] [-8.39960821e-03 1.72513311e-04 9.99964708e-01 -1.12338074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.235769231 meters Centerline goodness [0,1] 0.9997256573671549 Centerline is valid? [True, True] Translation: X:78.13, Y:-6.94, Z:-1.12 [[ 9.94793180e-01 1.01477740e-01 9.42322598e-03 7.81343859e+01] [-1.01471273e-01 9.94837790e-01 -1.16315435e-03 -6.94258084e+00] [-9.49261558e-03 2.00911284e-04 9.99954924e-01 -1.12167613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26576923100001 meters Centerline goodness [0,1] 0.9996361535004173 Centerline is valid? [True, True] Translation: X:78.17, Y:-6.95, Z:-1.12 [[ 9.94735783e-01 1.01979559e-01 1.00444316e-02 7.81661736e+01] [-1.01972220e-01 9.94786472e-01 -1.24149067e-03 -6.94866325e+00] [-1.01186713e-02 2.10702210e-04 9.99948783e-01 -1.12122213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29576923100001 meters Centerline goodness [0,1] 0.9996421730619461 Centerline is valid? [True, True] Translation: X:78.20, Y:-6.96, Z:-1.12 [[ 9.94576671e-01 1.03576842e-01 9.43834356e-03 7.81969398e+01] [-1.03570420e-01 9.94621437e-01 -1.16802524e-03 -6.95765822e+00] [-9.50855920e-03 1.84157448e-04 9.99954776e-01 -1.12354904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32576923100001 meters Centerline goodness [0,1] 0.9998929290333634 Centerline is valid? [True, True] Translation: X:78.23, Y:-6.96, Z:-1.12 [[ 9.94459879e-01 1.04768589e-01 8.54932222e-03 7.82283703e+01] [-1.04763353e-01 9.94496615e-01 -1.05923457e-03 -6.96283135e+00] [-8.61324653e-03 1.57710617e-04 9.99962893e-01 -1.12496611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35576923100001 meters Centerline goodness [0,1] 0.9999364056471786 Centerline is valid? [True, True] Translation: X:78.26, Y:-6.97, Z:-1.13 [[ 9.94290959e-01 1.06432211e-01 7.59433135e-03 7.82605863e+01] [-1.06428118e-01 9.94319952e-01 -9.42251829e-04 -6.96837632e+00] [-7.65148114e-03 1.28622080e-04 9.99970719e-01 -1.12626262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.385769231 meters Centerline goodness [0,1] 0.9999145481734673 Centerline is valid? [True, True] Translation: X:78.29, Y:-6.97, Z:-1.13 [[ 9.93904339e-01 1.10047081e-01 6.61855225e-03 7.82912289e+01] [-1.10044051e-01 9.93926372e-01 -8.21333347e-04 -6.97473532e+00] [-6.66873896e-03 8.79944769e-05 9.99977760e-01 -1.12896918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.415769231 meters Centerline goodness [0,1] 0.9999149840595112 Centerline is valid? [True, True] Translation: X:78.32, Y:-6.98, Z:-1.13 [[ 9.93682351e-01 1.12025929e-01 6.75097981e-03 7.83219800e+01] [-1.12022815e-01 9.93705281e-01 -8.38830846e-04 -6.97894962e+00] [-6.80245509e-03 7.72676452e-05 9.99976860e-01 -1.12885351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.445769231 meters Centerline goodness [0,1] 0.9999788561158685 Centerline is valid? [True, True] Translation: X:78.35, Y:-6.98, Z:-1.12 [[ 9.93140500e-01 1.16544782e-01 9.44779313e-03 7.83532134e+01] [-1.16538865e-01 9.93185435e-01 -1.17631783e-03 -6.97985015e+00] [-9.52050424e-03 6.72137891e-05 9.99954677e-01 -1.12396893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.475769231 meters Centerline goodness [0,1] 0.999957346982299 Centerline is valid? [True, True] Translation: X:78.38, Y:-6.98, Z:-1.12 [[ 9.92868830e-01 1.18775690e-01 1.01892814e-02 7.83844678e+01] [-1.18768922e-01 9.92921111e-01 -1.26889477e-03 -6.98092832e+00] [-1.02678664e-02 4.96761005e-05 9.99947283e-01 -1.12239097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.505769231 meters Centerline goodness [0,1] 0.999978605964657 Centerline is valid? [True, True] Translation: X:78.42, Y:-6.98, Z:-1.12 [[ 9.92217211e-01 1.24126704e-01 9.87766523e-03 7.84157104e+01] [-1.24120607e-01 9.92266376e-01 -1.23032991e-03 -6.97543841e+00] [-9.95399188e-03 -5.26729350e-06 9.99950458e-01 -1.12258968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.535769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.45, Y:-6.97, Z:-1.13 [[ 9.91854699e-01 1.27066145e-01 8.85729463e-03 7.84464938e+01] [-1.27061358e-01 9.91894245e-01 -1.10335604e-03 -6.97294810e+00] [-8.92569877e-03 -3.10510091e-05 9.99960165e-01 -1.12500040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.565769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.48, Y:-6.97, Z:-1.13 [[ 9.91487986e-01 1.29954648e-01 7.96005594e-03 7.84763681e+01] [-1.29950875e-01 9.91519938e-01 -9.91670333e-04 -6.97069185e+00] [-8.02142634e-03 -5.11870104e-05 9.99967827e-01 -1.12818180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.595769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.51, Y:-6.97, Z:-1.13 [[ 9.91234469e-01 1.31908507e-01 7.37384587e-03 7.85064197e+01] [-1.31905324e-01 9.91261894e-01 -9.18490546e-04 -6.96950828e+00] [-7.43056914e-03 -6.22100392e-05 9.99972391e-01 -1.13025172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.625769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.54, Y:-6.97, Z:-1.13 [[ 9.91052969e-01 1.33166240e-01 8.98699107e-03 7.85355630e+01] [-1.33161565e-01 9.91093711e-01 -1.11919005e-03 -6.96595276e+00] [-9.05598866e-03 -8.75451720e-05 9.99958990e-01 -1.12769569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.57, Y:-6.97, Z:-1.13 [[ 9.91105582e-01 1.32718554e-01 9.77300194e-03 7.85656892e+01] [-1.32713008e-01 9.91153761e-01 -1.21668625e-03 -6.96777915e+00] [-9.84802447e-03 -9.11399456e-05 9.99951503e-01 -1.12576671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.59, Y:-6.97, Z:-1.13 [[ 9.91283959e-01 1.31445226e-01 8.84675985e-03 7.85942748e+01] [-1.31440632e-01 9.91323432e-01 -1.10123066e-03 -6.96909262e+00] [-8.91475186e-03 -7.11914160e-05 9.99960260e-01 -1.12803489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.62, Y:-6.97, Z:-1.13 [[ 9.91389409e-01 1.30702768e-01 7.98917070e-03 7.86234088e+01] [-1.30698999e-01 9.91421597e-01 -9.94288124e-04 -6.97225193e+00] [-8.05059259e-03 -5.84498957e-05 9.99967592e-01 -1.12979388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.65, Y:-6.97, Z:-1.13 [[ 9.91419071e-01 1.30483734e-01 7.88798929e-03 7.86517698e+01] [-1.30480056e-01 9.91450449e-01 -9.81351777e-04 -6.97459564e+00] [-7.94860097e-03 -5.62944186e-05 9.99968408e-01 -1.13063646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.68, Y:-6.97, Z:-1.13 [[ 9.91412025e-01 1.30481574e-01 8.76104772e-03 7.86800519e+01] [-1.30477040e-01 9.91450732e-01 -1.08954960e-03 -6.97388835e+00] [-8.82831332e-03 -6.29230012e-05 9.99961028e-01 -1.12874656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.71, Y:-6.97, Z:-1.13 [[ 9.91404768e-01 1.30492044e-01 9.40282368e-03 7.87080683e+01] [-1.30486828e-01 9.91449354e-01 -1.16878929e-03 -6.97491213e+00] [-9.47494117e-03 -6.82013605e-05 9.99955109e-01 -1.12785141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.835769231 meters Centerline goodness [0,1] 0.9999788229813007 Centerline is valid? [True, True] Translation: X:78.74, Y:-6.97, Z:-1.13 [[ 9.91406154e-01 1.30473863e-01 9.50831395e-03 7.87367949e+01] [-1.30468533e-01 9.91451747e-01 -1.18134826e-03 -6.97493575e+00] [-9.58116955e-03 -6.93398386e-05 9.99954097e-01 -1.12799080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.77, Y:-6.98, Z:-1.13 [[ 9.91473741e-01 1.30020147e-01 8.63604889e-03 7.87653363e+01] [-1.30015736e-01 9.91511350e-01 -1.07264451e-03 -6.97785255e+00] [-8.70220589e-03 -5.93233853e-05 9.99962133e-01 -1.13078965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:-6.98, Z:-1.13 [[ 9.91580657e-01 1.29274913e-01 7.46975762e-03 7.87941558e+01] [-1.29271593e-01 9.91608791e-01 -9.27528972e-04 -6.98181212e+00] [-7.52698355e-03 -4.59076805e-05 9.99971671e-01 -1.13360188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.82, Y:-6.99, Z:-1.13 [[ 9.91831766e-01 1.27351345e-01 7.16824717e-03 7.88222576e+01] [-1.27348240e-01 9.91857668e-01 -8.89799517e-04 -6.98714107e+00] [-7.22319809e-03 -3.03322344e-05 9.99973912e-01 -1.13374403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.85, Y:-6.99, Z:-1.13 [[ 9.91877480e-01 1.26928749e-01 8.25576200e-03 7.88494628e+01] [-1.26924619e-01 9.91911837e-01 -1.02439702e-03 -6.99066013e+00] [-8.31901348e-03 -3.17831188e-05 9.99965396e-01 -1.13181313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.985769231 meters Centerline goodness [0,1] 0.9999786943923641 Centerline is valid? [True, True] Translation: X:78.88, Y:-6.99, Z:-1.13 [[ 9.91863905e-01 1.26902716e-01 1.00843557e-02 7.88785621e+01] [-1.26896559e-01 9.91915167e-01 -1.25060508e-03 -6.99403501e+00] [-1.01615305e-02 -3.92399992e-05 9.99948370e-01 -1.12699669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.91, Y:-7.00, Z:-1.13 [[ 9.91856722e-01 1.26963256e-01 1.00287273e-02 7.89063125e+01] [-1.26957175e-01 9.91907420e-01 -1.24323958e-03 -6.99500539e+00] [-1.01054148e-02 -4.01033551e-05 9.99948938e-01 -1.12834050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04576923100001 meters Centerline goodness [0,1] 0.9999788453808889 Centerline is valid? [True, True] Translation: X:78.93, Y:-7.00, Z:-1.13 [[ 9.92006998e-01 1.25821290e-01 9.54560022e-03 7.89348903e+01] [-1.25815733e-01 9.92052923e-01 -1.18276402e-03 -7.00140457e+00] [-9.61855750e-03 -2.76765117e-05 9.99953740e-01 -1.13032842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07576923100001 meters Centerline goodness [0,1] 0.9999788762146177 Centerline is valid? [True, True] Translation: X:78.96, Y:-7.01, Z:-1.13 [[ 9.92149644e-01 1.24713649e-01 9.25149565e-03 7.89630066e+01] [-1.24708386e-01 9.92192776e-01 -1.14594642e-03 -7.00874776e+00] [-9.32218232e-03 -1.67887562e-05 9.99956547e-01 -1.13080466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10576923100001 meters Centerline goodness [0,1] 0.9999359658484525 Centerline is valid? [True, True] Translation: X:78.99, Y:-7.02, Z:-1.13 [[ 9.92301338e-01 1.23487804e-01 9.42424918e-03 7.89915512e+01] [-1.23482291e-01 9.92346090e-01 -1.16689000e-03 -7.01653283e+00] [-9.49621350e-03 -5.82137069e-06 9.99954910e-01 -1.13083881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.135769231 meters Centerline goodness [0,1] 0.9999155601528361 Centerline is valid? [True, True] Translation: X:79.02, Y:-7.03, Z:-1.13 [[ 9.92629176e-01 1.20756461e-01 1.02564847e-02 7.90201236e+01] [-1.20749788e-01 9.92682163e-01 -1.26969598e-03 -7.02833148e+00] [-1.03347534e-02 2.18689155e-05 9.99946595e-01 -1.12931413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.165769231 meters Centerline goodness [0,1] 0.9999147212450699 Centerline is valid? [True, True] Translation: X:79.05, Y:-7.03, Z:-1.13 [[ 9.92752125e-01 1.19739651e-01 1.02778822e-02 7.90499897e+01] [-1.19732898e-01 9.92805326e-01 -1.27209876e-03 -7.03378129e+00] [-1.03562568e-02 3.22781365e-05 9.99946372e-01 -1.12869736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.195769231 meters Centerline goodness [0,1] 0.9998298343011508 Centerline is valid? [True, True] Translation: X:79.08, Y:-7.04, Z:-1.13 [[ 9.92828834e-01 1.19191014e-01 9.18738942e-03 7.90797376e+01] [-1.19185594e-01 9.92871342e-01 -1.13712792e-03 -7.04065132e+00] [-9.25743109e-03 3.39689151e-05 9.99957148e-01 -1.13007660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.225769231 meters Centerline goodness [0,1] 0.9998508130687752 Centerline is valid? [True, True] Translation: X:79.11, Y:-7.05, Z:-1.13 [[ 9.92771662e-01 1.19634501e-01 9.59231169e-03 7.91092045e+01] [-1.19628614e-01 9.92818002e-01 -1.18726919e-03 -7.04536923e+00] [-9.66545808e-03 3.11722531e-05 9.99953288e-01 -1.13016736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.255769231 meters Centerline goodness [0,1] 0.9998068213526798 Centerline is valid? [True, True] Translation: X:79.14, Y:-7.05, Z:-1.13 [[ 9.92687487e-01 1.20237691e-01 1.06982115e-02 7.91398158e+01] [-1.20230404e-01 9.92745132e-01 -1.32399687e-03 -7.04948086e+00] [-1.07797917e-02 2.80648337e-05 9.99941896e-01 -1.12881679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.285769231 meters Centerline goodness [0,1] 0.9998932741360541 Centerline is valid? [True, True] Translation: X:79.17, Y:-7.05, Z:-1.13 [[ 9.92556320e-01 1.21213539e-01 1.17995996e-02 7.91694288e+01] [-1.21204743e-01 9.92626454e-01 -1.46030551e-03 -7.05363571e+00] [-1.18896035e-02 1.92680159e-05 9.99929316e-01 -1.12699864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.315769231 meters Centerline goodness [0,1] 0.9999365052488994 Centerline is valid? [True, True] Translation: X:79.20, Y:-7.06, Z:-1.13 [[ 9.92385248e-01 1.22588972e-01 1.19776414e-02 7.91996536e+01] [-1.22580008e-01 9.92457527e-01 -1.48248591e-03 -7.05932964e+00] [-1.20690368e-02 2.97777248e-06 9.99927167e-01 -1.12774132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.345769231 meters Centerline goodness [0,1] 0.9999154530658833 Centerline is valid? [True, True] Translation: X:79.23, Y:-7.07, Z:-1.13 [[ 9.92463778e-01 1.22020295e-01 1.12559637e-02 7.92299333e+01] [-1.22012341e-01 9.92527605e-01 -1.39329196e-03 -7.06617992e+00] [-1.13418646e-02 9.42532621e-06 9.99935679e-01 -1.12975406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.375769231 meters Centerline goodness [0,1] 0.9997222696974876 Centerline is valid? [True, True] Translation: X:79.26, Y:-7.08, Z:-1.13 [[ 9.92821901e-01 1.19174320e-01 1.01071121e-02 7.92605632e+01] [-1.19167761e-01 9.92873345e-01 -1.25082863e-03 -7.08015739e+00] [-1.01841488e-02 3.74081429e-05 9.99948140e-01 -1.13248688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40576923100001 meters Centerline goodness [0,1] 0.9997427046034435 Centerline is valid? [True, True] Translation: X:79.29, Y:-7.09, Z:-1.13 [[ 9.92987580e-01 1.17821095e-01 9.68789694e-03 7.92920897e+01] [-1.17814990e-01 9.93034837e-01 -1.20048366e-03 -7.08996372e+00] [-9.76186146e-03 5.06858785e-05 9.99952351e-01 -1.13282950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43576923100001 meters Centerline goodness [0,1] 0.999724424471107 Centerline is valid? [True, True] Translation: X:79.32, Y:-7.10, Z:-1.13 [[ 9.93067586e-01 1.17168760e-01 9.39423456e-03 7.93229794e+01] [-1.17162973e-01 9.93112017e-01 -1.16589898e-03 -7.09931823e+00] [-9.46613417e-03 5.71600356e-05 9.99955194e-01 -1.13340328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46576923100001 meters Centerline goodness [0,1] 0.9998308238876671 Centerline is valid? [True, True] Translation: X:79.35, Y:-7.11, Z:-1.14 [[ 9.93031618e-01 1.17560331e-01 8.23249562e-03 7.93547387e+01] [-1.17555896e-01 9.93065741e-01 -1.02232005e-03 -7.10973235e+00] [-8.29559365e-03 4.74177356e-05 9.99965590e-01 -1.13632125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49576923100001 meters Centerline goodness [0,1] 0.9998940745291612 Centerline is valid? [True, True] Translation: X:79.39, Y:-7.11, Z:-1.14 [[ 9.92895010e-01 1.18739692e-01 7.77075394e-03 7.93868066e+01] [-1.18735764e-01 9.92925417e-01 -9.66419853e-04 -7.11474907e+00] [-7.83053149e-03 3.68870403e-05 9.99969340e-01 -1.13782744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.525769231 meters Centerline goodness [0,1] 0.9998730293090679 Centerline is valid? [True, True] Translation: X:79.42, Y:-7.12, Z:-1.14 [[ 9.92466394e-01 1.22231725e-01 8.35831101e-03 7.94182275e+01] [-1.22227292e-01 9.92501590e-01 -1.04107550e-03 -7.11815759e+00] [-8.42288942e-03 1.16187333e-05 9.99964527e-01 -1.13643719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.555769231 meters Centerline goodness [0,1] 0.9997867394595978 Centerline is valid? [True, True] Translation: X:79.45, Y:-7.12, Z:-1.14 [[ 9.92154896e-01 1.24711197e-01 8.70517778e-03 7.94501023e+01] [-1.24706468e-01 9.92193085e-01 -1.08603866e-03 -7.11988717e+00] [-8.77265838e-03 -8.07340801e-06 9.99961519e-01 -1.13594503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.585769231 meters Centerline goodness [0,1] 0.999957221081451 Centerline is valid? [True, True] Translation: X:79.48, Y:-7.12, Z:-1.14 [[ 9.91759895e-01 1.27815262e-01 8.69304673e-03 7.94811914e+01] [-1.27810666e-01 9.91797992e-01 -1.08448939e-03 -7.11962532e+00] [-8.76036059e-03 -3.55110101e-05 9.99961627e-01 -1.13662730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.615769231 meters Centerline goodness [0,1] 0.9999788193929638 Centerline is valid? [True, True] Translation: X:79.51, Y:-7.11, Z:-1.14 [[ 9.90870644e-01 1.34569565e-01 8.14859434e-03 7.95119109e+01] [-1.34565741e-01 9.90904145e-01 -1.01829987e-03 -7.11484731e+00] [-8.21150808e-03 -8.75181897e-05 9.99966281e-01 -1.13796962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.645769231 meters Centerline goodness [0,1] 0.9999787690282584 Centerline is valid? [True, True] Translation: X:79.54, Y:-7.11, Z:-1.14 [[ 9.90403888e-01 1.37995867e-01 7.56824454e-03 7.95422318e+01] [-1.37992669e-01 9.90432799e-01 -9.45693304e-04 -7.11153157e+00] [-7.62633939e-03 -1.07743937e-04 9.99970913e-01 -1.14002189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.675769231 meters Centerline goodness [0,1] 0.9999575082858843 Centerline is valid? [True, True] Translation: X:79.57, Y:-7.10, Z:-1.14 [[ 9.89471762e-01 1.44505420e-01 7.98849542e-03 7.95729554e+01] [-1.44502069e-01 9.89503995e-01 -9.98142810e-04 -7.09864294e+00] [-8.04888517e-03 -1.66719991e-04 9.99967593e-01 -1.13879119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.705769231 meters Centerline goodness [0,1] 0.9997888780982139 Centerline is valid? [True, True] Translation: X:79.60, Y:-7.09, Z:-1.14 [[ 9.88986684e-01 1.47733442e-01 8.95373422e-03 7.96025577e+01] [-1.47729366e-01 9.89027190e-01 -1.11855679e-03 -7.09127071e+00] [-9.02073484e-03 -2.16491718e-04 9.99959289e-01 -1.13719222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.735769231 meters Centerline goodness [0,1] 0.9999141741406686 Centerline is valid? [True, True] Translation: X:79.63, Y:-7.09, Z:-1.14 [[ 9.88555695e-01 1.50564962e-01 9.37173998e-03 7.96322450e+01] [-1.50560628e-01 9.88600085e-01 -1.17030319e-03 -7.09099366e+00] [-9.44110960e-03 -2.54105179e-04 9.99955399e-01 -1.13562956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76576923100001 meters Centerline goodness [0,1] 0.9992606362752968 Centerline is valid? [True, True] Translation: X:79.66, Y:-7.08, Z:-1.14 [[ 9.88167698e-01 1.53075330e-01 9.62001822e-03 7.96622032e+01] [-1.53070885e-01 9.88214482e-01 -1.20109618e-03 -7.07893665e+00] [-9.69049952e-03 -2.85660249e-04 9.99953005e-01 -1.13671456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79576923100001 meters Centerline goodness [0,1] 0.9992606362752968 Centerline is valid? [True, True] Translation: X:79.69, Y:-7.08, Z:-1.14 [[ 9.88177570e-01 1.53011580e-01 9.62005378e-03 7.96895128e+01] [-1.53007134e-01 9.88224355e-01 -1.20081133e-03 -7.08220288e+00] [-9.69050948e-03 -2.85322042e-04 9.99953005e-01 -1.13703638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82576923100001 meters Centerline goodness [0,1] 0.9993831887017186 Centerline is valid? [True, True] Translation: X:79.72, Y:-7.07, Z:-1.14 [[ 9.87786684e-01 1.55563845e-01 8.79531459e-03 7.97202967e+01] [-1.55560235e-01 9.87825799e-01 -1.09723234e-03 -7.07390411e+00] [-8.85892834e-03 -2.84369709e-04 9.99960718e-01 -1.13927331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85576923100001 meters Centerline goodness [0,1] 0.9992771955186122 Centerline is valid? [True, True] Translation: X:79.75, Y:-7.08, Z:-1.14 [[ 9.87761973e-01 1.55739137e-01 8.46205318e-03 7.97489053e+01] [-1.55735803e-01 9.87798181e-01 -1.05555195e-03 -7.07535029e+00] [-8.52319149e-03 -2.75210574e-04 9.99963639e-01 -1.14018394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.885769231 meters Centerline goodness [0,1] 0.9995773278667738 Centerline is valid? [True, True] Translation: X:79.78, Y:-7.07, Z:-1.14 [[ 9.87996746e-01 1.54273554e-01 7.88036917e-03 7.97781477e+01] [-1.54270619e-01 9.88028143e-01 -9.82663698e-04 -7.07226086e+00] [-7.93762553e-03 -2.44840894e-04 9.99968467e-01 -1.14167498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.915769231 meters Centerline goodness [0,1] 0.999614890885751 Centerline is valid? [True, True] Translation: X:79.81, Y:-7.07, Z:-1.14 [[ 9.88217921e-01 1.52864065e-01 7.61036780e-03 7.98065768e+01] [-1.52861288e-01 9.88247199e-01 -9.48659063e-04 -7.07400072e+00] [-7.66594055e-03 -2.25848739e-04 9.99970591e-01 -1.14223303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.945769231 meters Centerline goodness [0,1] 0.9996818528887758 Centerline is valid? [True, True] Translation: X:79.84, Y:-7.07, Z:-1.14 [[ 9.88743495e-01 1.49403390e-01 8.05779015e-03 7.98353129e+01] [-1.49400166e-01 9.88776306e-01 -1.00397713e-03 -7.07424083e+00] [-8.11734956e-03 -2.11159328e-04 9.99967031e-01 -1.14150180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.975769231 meters Centerline goodness [0,1] 0.9997665386166352 Centerline is valid? [True, True] Translation: X:79.86, Y:-7.07, Z:-1.14 [[ 9.88930677e-01 1.48109813e-01 8.92186812e-03 7.98633573e+01] [-1.48105810e-01 9.88970896e-01 -1.11134446e-03 -7.07388464e+00] [-8.98806893e-03 -2.22337873e-04 9.99959582e-01 -1.14029340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.005769231 meters Centerline goodness [0,1] 0.9998306663279993 Centerline is valid? [True, True] Translation: X:79.89, Y:-7.07, Z:-1.14 [[ 9.89018633e-01 1.47405263e-01 1.06692501e-02 7.98913812e+01] [-1.47399506e-01 9.89076145e-01 -1.32824812e-03 -7.07069558e+00] [-1.07484915e-02 -2.58980058e-04 9.99942200e-01 -1.13760885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.035769231 meters Centerline goodness [0,1] 0.9997673730068096 Centerline is valid? [True, True] Translation: X:79.92, Y:-7.07, Z:-1.14 [[ 9.88989594e-01 1.47577318e-01 1.09780708e-02 7.99199832e+01] [-1.47571240e-01 9.89050486e-01 -1.36605136e-03 -7.07034739e+00] [-1.10594645e-02 -2.69036950e-04 9.99938806e-01 -1.13735647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.065769231 meters Centerline goodness [0,1] 0.9997446047758907 Centerline is valid? [True, True] Translation: X:79.95, Y:-7.07, Z:-1.14 [[ 9.88966331e-01 1.47739643e-01 1.08900452e-02 7.99482296e+01] [-1.47733679e-01 9.89026251e-01 -1.35449116e-03 -7.07265127e+00] [-1.09706526e-02 -2.69280284e-04 9.99939784e-01 -1.13798486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.095769231 meters Centerline goodness [0,1] 0.9998938451412921 Centerline is valid? [True, True] Translation: X:79.98, Y:-7.08, Z:-1.14 [[ 9.89134193e-01 1.46620240e-01 1.07727657e-02 7.99764287e+01] [-1.46614345e-01 9.89192823e-01 -1.33928150e-03 -7.07615073e+00] [-1.08527083e-02 -2.54712853e-04 9.99941075e-01 -1.13825477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.125769231 meters Centerline goodness [0,1] 0.999766622820045 Centerline is valid? [True, True] Translation: X:80.00, Y:-7.08, Z:-1.14 [[ 9.89294188e-01 1.45538470e-01 1.07500213e-02 8.00041189e+01] [-1.45532541e-01 9.89352563e-01 -1.33595185e-03 -7.07576421e+00] [-1.08299936e-02 -2.42828518e-04 9.99941324e-01 -1.13880878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15576923100001 meters Centerline goodness [0,1] 0.9998521491181751 Centerline is valid? [True, True] Translation: X:80.03, Y:-7.08, Z:-1.14 [[ 9.89484313e-01 1.44233660e-01 1.08372495e-02 8.00325222e+01] [-1.44227563e-01 9.89543631e-01 -1.34613096e-03 -7.07938649e+00] [-1.09180886e-02 -2.31054614e-04 9.99940369e-01 -1.13887890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18576923100001 meters Centerline goodness [0,1] 0.9999155066432902 Centerline is valid? [True, True] Translation: X:80.06, Y:-7.08, Z:-1.14 [[ 9.89927834e-01 1.41211650e-01 1.01071443e-02 8.00601918e+01] [-1.41206193e-01 9.89979412e-01 -1.25503341e-03 -7.08347671e+00] [-1.01830901e-02 -1.84798858e-04 9.99948134e-01 -1.14114252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21576923100001 meters Centerline goodness [0,1] 0.9999577667032689 Centerline is valid? [True, True] Translation: X:80.09, Y:-7.09, Z:-1.14 [[ 9.90201395e-01 1.39291898e-01 9.94804678e-03 8.00881270e+01] [-1.39286521e-01 9.90251352e-01 -1.23470682e-03 -7.08901130e+00] [-1.00230514e-02 -1.63020408e-04 9.99949755e-01 -1.14198778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24576923100001 meters Centerline goodness [0,1] 0.9999789131855851 Centerline is valid? [True, True] Translation: X:80.12, Y:-7.10, Z:-1.14 [[ 9.90779864e-01 1.35108390e-01 1.00490721e-02 8.01156789e+01] [-1.35102693e-01 9.90830817e-01 -1.24679016e-03 -7.09960260e+00] [-1.01253821e-02 -1.22362116e-04 9.99948730e-01 -1.14164108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.275769231 meters Centerline goodness [0,1] 0.9999786898521076 Centerline is valid? [True, True] Translation: X:80.14, Y:-7.10, Z:-1.14 [[ 9.91031532e-01 1.33236620e-01 1.02228364e-02 8.01428922e+01] [-1.33230629e-01 9.91084251e-01 -1.26787432e-03 -7.10488592e+00] [-1.03006194e-02 -1.05491494e-04 9.99946942e-01 -1.14125470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.305769231 meters Centerline goodness [0,1] 0.9999572905099513 Centerline is valid? [True, True] Translation: X:80.17, Y:-7.11, Z:-1.14 [[ 9.91318991e-01 1.31041133e-01 1.07182223e-02 8.01705374e+01] [-1.31034426e-01 9.91376928e-01 -1.32865262e-03 -7.11147391e+00] [-1.07999064e-02 -8.73375280e-05 9.99941675e-01 -1.14050640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.20, Y:-7.12, Z:-1.14 [[ 9.91424860e-01 1.30247214e-01 1.06024012e-02 8.01986926e+01] [-1.30240613e-01 9.91481546e-01 -1.31367228e-03 -7.11563949e+00] [-1.06831873e-02 -7.84558814e-05 9.99942930e-01 -1.14126210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.365769231 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:80.23, Y:-7.12, Z:-1.14 [[ 9.91740339e-01 1.27905416e-01 9.55534215e-03 8.02257449e+01] [-1.27899949e-01 9.91786369e-01 -1.18357722e-03 -7.12253861e+00] [-9.62824404e-03 -4.83264942e-05 9.99953646e-01 -1.14405011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.395769231 meters Centerline goodness [0,1] 0.9999574721442545 Centerline is valid? [True, True] Translation: X:80.25, Y:-7.13, Z:-1.15 [[ 9.91963264e-01 1.26230878e-01 8.63997422e-03 8.02542642e+01] [-1.26226349e-01 9.92000889e-01 -1.06969580e-03 -7.12916263e+00] [-8.70589075e-03 -2.94934609e-05 9.99962103e-01 -1.14656983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.425769231 meters Centerline goodness [0,1] 0.9998505678421996 Centerline is valid? [True, True] Translation: X:80.28, Y:-7.14, Z:-1.15 [[ 9.92223122e-01 1.24236175e-01 7.65822533e-03 8.02818052e+01] [-1.24232560e-01 9.92252676e-01 -9.47871440e-04 -7.13737162e+00] [-7.71665450e-03 -1.09009751e-05 9.99970226e-01 -1.14795891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.455769231 meters Centerline goodness [0,1] 0.9997886639333868 Centerline is valid? [True, True] Translation: X:80.31, Y:-7.15, Z:-1.15 [[ 9.92489489e-01 1.22155748e-01 6.52596609e-03 8.03088219e+01] [-1.22153078e-01 9.92510944e-01 -8.07551431e-04 -7.14519438e+00] [-6.57573981e-03 4.31945970e-06 9.99978380e-01 -1.15123048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.485769231 meters Centerline goodness [0,1] 0.9998938248534783 Centerline is valid? [True, True] Translation: X:80.34, Y:-7.16, Z:-1.15 [[ 9.93002534e-01 1.17932765e-01 6.15070267e-03 8.03356451e+01] [-1.17930316e-01 9.93021582e-01 -7.60635471e-04 -7.15988618e+00] [-6.19748434e-03 2.99586408e-05 9.99980795e-01 -1.15262212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51576923100001 meters Centerline goodness [0,1] 0.9998508003495534 Centerline is valid? [True, True] Translation: X:80.36, Y:-7.17, Z:-1.15 [[ 9.93329217e-01 1.14989590e-01 8.62902354e-03 8.03626627e+01] [-1.14984662e-01 9.93366694e-01 -1.06671070e-03 -7.17266959e+00] [-8.69444522e-03 6.73895538e-05 9.99962200e-01 -1.14743586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54576923100001 meters Centerline goodness [0,1] 0.9997039668442865 Centerline is valid? [True, True] Translation: X:80.39, Y:-7.18, Z:-1.15 [[ 9.93411982e-01 1.14214849e-01 9.35964178e-03 8.03916334e+01] [-1.14209023e-01 9.93456069e-01 -1.15635221e-03 -7.17890745e+00] [-9.43046553e-03 7.97785923e-05 9.99955529e-01 -1.14581690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57576923100001 meters Centerline goodness [0,1] 0.9997223942428837 Centerline is valid? [True, True] Translation: X:80.42, Y:-7.18, Z:-1.15 [[ 9.93458662e-01 1.13806360e-01 9.38076084e-03 8.04204385e+01] [-1.13800491e-01 9.93502947e-01 -1.15873802e-03 -7.18439022e+00] [-9.45168529e-03 8.36231325e-05 9.99955328e-01 -1.14648443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60576923100001 meters Centerline goodness [0,1] 0.999726689792915 Centerline is valid? [True, True] Translation: X:80.45, Y:-7.19, Z:-1.15 [[ 9.93397794e-01 1.14361267e-01 9.07323009e-03 8.04502657e+01] [-1.14355802e-01 9.93439226e-01 -1.12054354e-03 -7.18845252e+00] [-9.14184945e-03 7.55689768e-05 9.99958210e-01 -1.14720497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63576923100001 meters Centerline goodness [0,1] 0.9998078647367747 Centerline is valid? [True, True] Translation: X:80.48, Y:-7.19, Z:-1.15 [[ 9.93080137e-01 1.17032487e-01 9.75905583e-03 8.04797270e+01] [-1.17026296e-01 9.93128085e-01 -1.20499294e-03 -7.18856724e+00] [-9.83301576e-03 5.45883973e-05 9.99951653e-01 -1.14634909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.665769231 meters Centerline goodness [0,1] 0.9998928923353755 Centerline is valid? [True, True] Translation: X:80.51, Y:-7.19, Z:-1.15 [[ 9.92645997e-01 1.20665090e-01 9.68813409e-03 8.05098467e+01] [-1.20659164e-01 9.92693274e-01 -1.19600411e-03 -7.18547510e+00] [-9.76166149e-03 1.82465366e-05 9.99952354e-01 -1.14702049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.695769231 meters Centerline goodness [0,1] 0.9999149768311865 Centerline is valid? [True, True] Translation: X:80.54, Y:-7.19, Z:-1.15 [[ 9.92503217e-01 1.21864640e-01 9.29378854e-03 8.05383507e+01] [-1.21859241e-01 9.92546729e-01 -1.14710685e-03 -7.18612804e+00] [-9.36431118e-03 5.97321867e-06 9.99956154e-01 -1.14835358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.725769231 meters Centerline goodness [0,1] 0.9999157841547888 Centerline is valid? [True, True] Translation: X:80.57, Y:-7.19, Z:-1.15 [[ 9.92468341e-01 1.22131391e-01 9.51400410e-03 8.05660529e+01] [-1.22125748e-01 9.92513941e-01 -1.17409818e-03 -7.18787726e+00] [-9.58617595e-03 3.35040489e-06 9.99954052e-01 -1.14906176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.755769231 meters Centerline goodness [0,1] 0.9998726060554588 Centerline is valid? [True, True] Translation: X:80.59, Y:-7.19, Z:-1.15 [[ 9.92766388e-01 1.19657084e-01 9.85296207e-03 8.05944161e+01] [-1.19650915e-01 9.92815281e-01 -1.21530284e-03 -7.19363489e+00] [-9.92759090e-03 2.75958844e-05 9.99950720e-01 -1.14858472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.785769231 meters Centerline goodness [0,1] 0.9998735244519393 Centerline is valid? [True, True] Translation: X:80.62, Y:-7.20, Z:-1.15 [[ 9.93022755e-01 1.17517127e-01 9.77405760e-03 8.06219663e+01] [-1.17510958e-01 9.93070855e-01 -1.20508963e-03 -7.20072562e+00] [-9.84795040e-03 4.81225582e-05 9.99951507e-01 -1.14938370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.815769231 meters Centerline goodness [0,1] 0.9996797335383039 Centerline is valid? [True, True] Translation: X:80.65, Y:-7.21, Z:-1.15 [[ 9.93429477e-01 1.14036931e-01 9.66710542e-03 8.06513929e+01] [-1.14030735e-01 9.93476508e-01 -1.19148670e-03 -7.20770295e+00] [-9.73991562e-03 8.13108683e-05 9.99952563e-01 -1.14995515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.845769231 meters Centerline goodness [0,1] 0.9997031760166222 Centerline is valid? [True, True] Translation: X:80.68, Y:-7.21, Z:-1.15 [[ 9.93581811e-01 1.12725503e-01 9.38855134e-03 8.06807722e+01] [-1.12719599e-01 9.93626163e-01 -1.15727158e-03 -7.21196893e+00] [-9.45916426e-03 9.15702433e-05 9.99955257e-01 -1.15042341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.875769231 meters Centerline goodness [0,1] 0.999681081770634 Centerline is valid? [True, True] Translation: X:80.71, Y:-7.22, Z:-1.15 [[ 9.93692030e-01 1.11753246e-01 9.34670132e-03 8.07102881e+01] [-1.11747355e-01 9.93735982e-01 -1.15189238e-03 -7.21590719e+00] [-9.41688112e-03 1.00157128e-04 9.99955655e-01 -1.15140790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90576923100001 meters Centerline goodness [0,1] 0.9995781480700274 Centerline is valid? [True, True] Translation: X:80.74, Y:-7.22, Z:-1.15 [[ 9.93859124e-01 1.10295850e-01 8.88068135e-03 8.07406396e+01] [-1.10290475e-01 9.93898795e-01 -1.09419943e-03 -7.22091843e+00] [-8.94718415e-03 1.08025518e-04 9.99959967e-01 -1.15246683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93576923100001 meters Centerline goodness [0,1] 0.9994068550607974 Centerline is valid? [True, True] Translation: X:80.77, Y:-7.23, Z:-1.15 [[ 9.93941455e-01 1.09552183e-01 8.87150069e-03 8.07684432e+01] [-1.09546789e-01 9.93981039e-01 -1.09319666e-03 -7.22569546e+00] [-8.93786556e-03 1.14729069e-04 9.99960050e-01 -1.15225224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96576923100001 meters Centerline goodness [0,1] 0.9993459087648225 Centerline is valid? [True, True] Translation: X:80.80, Y:-7.23, Z:-1.15 [[ 9.94097252e-01 1.08068844e-01 9.58011513e-03 8.07982681e+01] [-1.08062490e-01 9.94143403e-01 -1.17992873e-03 -7.23165537e+00] [-9.65152179e-03 1.37712810e-04 9.99953413e-01 -1.15184715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99576923100001 meters Centerline goodness [0,1] 0.9992816243740624 Centerline is valid? [True, True] Translation: X:80.83, Y:-7.24, Z:-1.15 [[ 9.94210372e-01 1.07036834e-01 9.42615198e-03 8.08279596e+01] [-1.07030636e-01 9.94255045e-01 -1.16101721e-03 -7.23700356e+00] [-9.49627077e-03 1.45408314e-04 9.99954899e-01 -1.15253463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.025769231 meters Centerline goodness [0,1] 0.9991490085950132 Centerline is valid? [True, True] Translation: X:80.86, Y:-7.24, Z:-1.15 [[ 9.94344201e-01 1.05800888e-01 9.26188400e-03 8.08576689e+01] [-1.05794853e-01 9.94387323e-01 -1.14051683e-03 -7.24229063e+00] [-9.33056773e-03 1.54206639e-04 9.99956457e-01 -1.15338922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.055769231 meters Centerline goodness [0,1] 0.9989742055435642 Centerline is valid? [True, True] Translation: X:80.89, Y:-7.25, Z:-1.16 [[ 9.94463583e-01 1.04733739e-01 8.54548649e-03 8.08881121e+01] [-1.04728562e-01 9.94500287e-01 -1.05229898e-03 -7.24606616e+00] [-8.60869998e-03 1.51516509e-04 9.99962933e-01 -1.15500611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.085769231 meters Centerline goodness [0,1] 0.998972294780114 Centerline is valid? [True, True] Translation: X:80.92, Y:-7.25, Z:-1.16 [[ 9.94409497e-01 1.05280781e-01 8.10614133e-03 8.09170550e+01] [-1.05276140e-01 9.94442526e-01 -9.98238926e-04 -7.24888572e+00] [-8.16618704e-03 1.39274996e-04 9.99966646e-01 -1.15555313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.115769231 meters Centerline goodness [0,1] 0.9993231953638883 Centerline is valid? [True, True] Translation: X:80.95, Y:-7.25, Z:-1.16 [[ 9.94111979e-01 1.08034875e-01 8.35698791e-03 8.09460328e+01] [-1.08030040e-01 9.94147097e-01 -1.02910295e-03 -7.24988179e+00] [-8.41925428e-03 1.20237830e-04 9.99964550e-01 -1.15525956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.145769231 meters Centerline goodness [0,1] 0.9995556307926701 Centerline is valid? [True, True] Translation: X:80.97, Y:-7.25, Z:-1.16 [[ 9.93984348e-01 1.09194981e-01 8.46000577e-03 8.09745998e+01] [-1.09190071e-01 9.94020344e-01 -1.04148420e-03 -7.25093056e+00] [-8.52314269e-03 1.11470363e-04 9.99963671e-01 -1.15525976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.175769231 meters Centerline goodness [0,1] 0.9995349722040203 Centerline is valid? [True, True] Translation: X:81.00, Y:-7.25, Z:-1.16 [[ 9.93879835e-01 1.10146505e-01 8.40362581e-03 8.10039979e+01] [-1.10141697e-01 9.93915357e-01 -1.03422089e-03 -7.25183427e+00] [-8.46640856e-03 1.02301684e-04 9.99964154e-01 -1.15559695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.205769231 meters Centerline goodness [0,1] 0.9994667349245964 Centerline is valid? [True, True] Translation: X:81.03, Y:-7.25, Z:-1.16 [[ 9.93723879e-01 1.11514752e-01 8.79276000e-03 8.10335774e+01] [-1.11509544e-01 9.93762774e-01 -1.08190106e-03 -7.25092483e+00] [-8.85856550e-03 9.46342626e-05 9.99960758e-01 -1.15542595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.235769231 meters Centerline goodness [0,1] 0.9997211915842752 Centerline is valid? [True, True] Translation: X:81.06, Y:-7.25, Z:-1.15 [[ 9.93732079e-01 1.11381214e-01 9.52783470e-03 8.10635993e+01] [-1.11375095e-01 9.93777749e-01 -1.17210339e-03 -7.25382126e+00] [-9.59910042e-03 1.03593246e-04 9.99953922e-01 -1.15471065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26576923100001 meters Centerline goodness [0,1] 0.9993608998530069 Centerline is valid? [True, True] Translation: X:81.09, Y:-7.26, Z:-1.15 [[ 9.93904541e-01 1.09695750e-01 1.09820645e-02 8.10915804e+01] [-1.09687520e-01 9.93965202e-01 -1.35069205e-03 -7.26158656e+00] [-1.10639551e-02 1.37863540e-04 9.99938783e-01 -1.15243988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29576923100001 meters Centerline goodness [0,1] 0.9991188101788171 Centerline is valid? [True, True] Translation: X:81.12, Y:-7.27, Z:-1.15 [[ 9.94062984e-01 1.08196006e-01 1.15068524e-02 8.11201071e+01] [-1.08186875e-01 9.94129568e-01 -1.41488648e-03 -7.26987534e+00] [-1.15923872e-02 1.61595876e-04 9.99932793e-01 -1.15211094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32576923100001 meters Centerline goodness [0,1] 0.999038954382368 Centerline is valid? [True, True] Translation: X:81.15, Y:-7.28, Z:-1.15 [[ 9.94408385e-01 1.05034383e-01 1.09426878e-02 8.11499705e+01] [-1.05025936e-01 9.94468573e-01 -1.34537165e-03 -7.28094077e+00] [-1.10234694e-02 1.88582823e-04 9.99939222e-01 -1.15346753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35576923100001 meters Centerline goodness [0,1] 0.9990208807815926 Centerline is valid? [True, True] Translation: X:81.18, Y:-7.29, Z:-1.16 [[ 9.94579347e-01 1.03485458e-01 1.01332464e-02 8.11801847e+01] [-1.03478131e-01 9.94630948e-01 -1.24607071e-03 -7.28973419e+00] [-1.02077907e-02 1.90746791e-04 9.99947881e-01 -1.15585920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38576923100001 meters Centerline goodness [0,1] 0.9990559358036346 Centerline is valid? [True, True] Translation: X:81.21, Y:-7.30, Z:-1.16 [[ 9.94695077e-01 1.02463773e-01 9.10381409e-03 8.12121869e+01] [-1.02457819e-01 9.94736720e-01 -1.11929503e-03 -7.29620982e+00] [-9.17058537e-03 1.80600320e-04 9.99957933e-01 -1.15698475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.415769231 meters Centerline goodness [0,1] 0.9979972594076104 Centerline is valid? [True, True] Translation: X:81.24, Y:-7.32, Z:-1.16 [[ 9.94834730e-01 1.01129579e-01 8.75606146e-03 8.12406466e+01] [-1.01124006e-01 9.94873245e-01 -1.07801410e-03 -7.31689938e+00] [-8.82019039e-03 1.86997851e-04 9.99961084e-01 -1.15878015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.445769231 meters Centerline goodness [0,1] 0.9983676757398456 Centerline is valid? [True, True] Translation: X:81.27, Y:-7.32, Z:-1.16 [[ 9.94832056e-01 1.01024945e-01 1.01558225e-02 8.12727333e+01] [-1.01017423e-01 9.94883869e-01 -1.25225596e-03 -7.32047262e+00] [-1.02303731e-02 2.19869360e-04 9.99947644e-01 -1.15577237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.475769231 meters Centerline goodness [0,1] 0.9977102013738792 Centerline is valid? [True, True] Translation: X:81.30, Y:-7.34, Z:-1.15 [[ 9.94771367e-01 1.01268016e-01 1.32180621e-02 8.13023715e+01] [-1.01255258e-01 9.94859139e-01 -1.63262338e-03 -7.33833157e+00] [-1.33154424e-02 2.85688711e-04 9.99911305e-01 -1.15031802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.505769231 meters Centerline goodness [0,1] 0.998720873217217 Centerline is valid? [True, True] Translation: X:81.33, Y:-7.34, Z:-1.15 [[ 9.94704590e-01 1.01925114e-01 1.31928202e-02 8.13346904e+01] [-1.01912431e-01 9.94792035e-01 -1.63181474e-03 -7.33888552e+00] [-1.32904354e-02 2.78661232e-04 9.99911639e-01 -1.15127318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.535769231 meters Centerline goodness [0,1] 0.9984585411805006 Centerline is valid? [True, True] Translation: X:81.37, Y:-7.34, Z:-1.15 [[ 9.94609821e-01 1.02981877e-01 1.20846092e-02 8.13665377e+01] [-1.02971291e-01 9.94683203e-01 -1.49660211e-03 -7.34352237e+00] [-1.21744807e-02 2.44167341e-04 9.99925858e-01 -1.15399718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.565769231 meters Centerline goodness [0,1] 0.9987281129435706 Centerline is valid? [True, True] Translation: X:81.40, Y:-7.35, Z:-1.16 [[ 9.94330286e-01 1.05913092e-01 9.47097552e-03 8.13976222e+01] [-1.05906712e-01 9.94375377e-01 -1.17410335e-03 -7.34932222e+00] [-9.54205777e-03 1.64406651e-04 9.99954460e-01 -1.15913384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.595769231 meters Centerline goodness [0,1] 0.9988089161136634 Centerline is valid? [True, True] Translation: X:81.43, Y:-7.36, Z:-1.16 [[ 9.94097589e-01 1.08114194e-01 9.01687270e-03 8.14286079e+01] [-1.08108488e-01 9.94138472e-01 -1.11925481e-03 -7.35731865e+00] [-9.08502738e-03 1.37848041e-04 9.99958721e-01 -1.16034122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.625769231 meters Centerline goodness [0,1] 0.999384236453202 Centerline is valid? [True, True] Translation: X:81.46, Y:-7.35, Z:-1.16 [[ 9.93648350e-01 1.12196360e-01 8.65644417e-03 8.14610193e+01] [-1.12191240e-01 9.93686051e-01 -1.07629195e-03 -7.35284864e+00] [-8.72254385e-03 9.82785137e-05 9.99961953e-01 -1.15904070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65576923100001 meters Centerline goodness [0,1] 0.9996368219786793 Centerline is valid? [True, True] Translation: X:81.49, Y:-7.35, Z:-1.16 [[ 9.93404490e-01 1.14365254e-01 8.25271712e-03 8.14925709e+01] [-1.14360674e-01 9.93438767e-01 -1.02626934e-03 -7.35220824e+00] [-8.31593867e-03 7.57142760e-05 9.99965419e-01 -1.16007827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68576923100001 meters Centerline goodness [0,1] 0.9996368219786793 Centerline is valid? [True, True] Translation: X:81.52, Y:-7.36, Z:-1.16 [[ 9.93401789e-01 1.14388718e-01 8.25269299e-03 8.15231633e+01] [-1.14384138e-01 9.93436065e-01 -1.02646337e-03 -7.35605952e+00] [-8.31593868e-03 7.57133771e-05 9.99965419e-01 -1.16043907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71576923100001 meters Centerline goodness [0,1] 0.999597261377366 Centerline is valid? [True, True] Translation: X:81.55, Y:-7.36, Z:-1.16 [[ 9.93154475e-01 1.16534455e-01 7.99439351e-03 8.15533477e+01] [-1.16530226e-01 9.93186648e-01 -9.94380926e-04 -7.35626672e+00] [-8.05580453e-03 5.59853836e-05 9.99967550e-01 -1.16219339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74576923100001 meters Centerline goodness [0,1] 0.9997210120823229 Centerline is valid? [True, True] Translation: X:81.58, Y:-7.35, Z:-1.16 [[ 9.92735165e-01 1.20033884e-01 8.29212329e-03 8.15842445e+01] [-1.20029450e-01 9.92769795e-01 -1.03216370e-03 -7.35406040e+00] [-8.35606416e-03 2.93662094e-05 9.99965087e-01 -1.16351510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.775769231 meters Centerline goodness [0,1] 0.99974671253984 Centerline is valid? [True, True] Translation: X:81.61, Y:-7.36, Z:-1.16 [[ 9.92565116e-01 1.21432361e-01 8.28683577e-03 8.16146623e+01] [-1.21427981e-01 9.92599709e-01 -1.03150554e-03 -7.35535484e+00] [-8.35076892e-03 1.75826747e-05 9.99965132e-01 -1.16371754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.805769231 meters Centerline goodness [0,1] 0.9998510923440193 Centerline is valid? [True, True] Translation: X:81.65, Y:-7.35, Z:-1.17 [[ 9.92385373e-01 1.22963912e-01 7.15180198e-03 8.16453973e+01] [-1.22960690e-01 9.92411143e-01 -8.90221980e-04 -7.35417208e+00] [-7.20699316e-03 4.05276665e-06 9.99974029e-01 -1.16522055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.835769231 meters Centerline goodness [0,1] 0.9999150237933379 Centerline is valid? [True, True] Translation: X:81.67, Y:-7.35, Z:-1.17 [[ 9.92265785e-01 1.23950021e-01 6.70848733e-03 8.16749625e+01] [-1.23947207e-01 9.92288462e-01 -8.35155079e-04 -7.35414756e+00] [-6.76027207e-03 -2.80245897e-06 9.99977149e-01 -1.16601012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.865769231 meters Centerline goodness [0,1] 0.9998726439123791 Centerline is valid? [True, True] Translation: X:81.70, Y:-7.35, Z:-1.17 [[ 9.92169592e-01 1.24708040e-01 6.88509663e-03 8.17035888e+01] [-1.24705095e-01 9.92193481e-01 -8.57086268e-04 -7.35451767e+00] [-6.93823355e-03 -8.23169631e-06 9.99975930e-01 -1.16611906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.895769231 meters Centerline goodness [0,1] 0.9998306448198484 Centerline is valid? [True, True] Translation: X:81.73, Y:-7.35, Z:-1.16 [[ 9.92159423e-01 1.24694424e-01 8.42500055e-03 8.17314017e+01] [-1.24690018e-01 9.92195193e-01 -1.04830801e-03 -7.35497582e+00] [-8.48996321e-03 -1.04247985e-05 9.99963960e-01 -1.16452819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.925769231 meters Centerline goodness [0,1] 0.9998281565493835 Centerline is valid? [True, True] Translation: X:81.76, Y:-7.36, Z:-1.16 [[ 9.92286792e-01 1.23637885e-01 8.97752628e-03 8.17596096e+01] [-1.23632845e-01 9.92327402e-01 -1.11640047e-03 -7.35870064e+00] [-9.04667473e-03 -2.12767486e-06 9.99959078e-01 -1.16439375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.955769231 meters Centerline goodness [0,1] 0.9996815962640628 Centerline is valid? [True, True] Translation: X:81.79, Y:-7.37, Z:-1.16 [[ 9.92616027e-01 1.20941606e-01 9.30328317e-03 8.17883989e+01] [-1.20936080e-01 9.92659623e-01 -1.15633110e-03 -7.36524005e+00] [-9.37484210e-03 2.26901808e-05 9.99956055e-01 -1.16485427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.985769231 meters Centerline goodness [0,1] 0.9996590376337212 Centerline is valid? [True, True] Translation: X:81.82, Y:-7.37, Z:-1.16 [[ 9.92883039e-01 1.18724617e-01 9.36679586e-03 8.18183293e+01] [-1.18718916e-01 9.92927220e-01 -1.16434811e-03 -7.37217107e+00] [-9.43878335e-03 4.40456339e-05 9.99955453e-01 -1.16480983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01576923100001 meters Centerline goodness [0,1] 0.999390871473881 Centerline is valid? [True, True] Translation: X:81.85, Y:-7.38, Z:-1.17 [[ 9.93215419e-01 1.15905164e-01 9.44052486e-03 8.18476628e+01] [-1.15899246e-01 9.93260282e-01 -1.17348740e-03 -7.38223483e+00] [-9.51291163e-03 7.13760675e-05 9.99954749e-01 -1.16531782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04576923100001 meters Centerline goodness [0,1] 0.9991691521090754 Centerline is valid? [True, True] Translation: X:81.88, Y:-7.40, Z:-1.16 [[ 9.94006436e-01 1.08859790e-01 1.00374767e-02 8.18771164e+01] [-1.08852738e-01 9.94057103e-01 -1.24779918e-03 -7.39996737e+00] [-1.01136601e-02 1.47713592e-04 9.99948845e-01 -1.16476372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07576923100001 meters Centerline goodness [0,1] 0.998566538296962 Centerline is valid? [True, True] Translation: X:81.91, Y:-7.41, Z:-1.17 [[ 9.94410933e-01 1.05089362e-01 1.01549373e-02 8.19061338e+01] [-1.05081945e-01 9.94462765e-01 -1.26264442e-03 -7.41455043e+00] [-1.02313976e-02 1.88486842e-04 9.99947640e-01 -1.16520499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10576923100001 meters Centerline goodness [0,1] 0.9976619978121447 Centerline is valid? [True, True] Translation: X:81.94, Y:-7.43, Z:-1.17 [[ 9.95094707e-01 9.83945360e-02 1.02488591e-02 8.19351717e+01] [-9.83866238e-02 9.95147450e-01 -1.27458485e-03 -7.43396880e+00] [-1.03245382e-02 2.59981995e-04 9.99946667e-01 -1.16557498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13576923100001 meters Centerline goodness [0,1] 0.9976103098062644 Centerline is valid? [True, True] Translation: X:81.97, Y:-7.44, Z:-1.17 [[ 9.95307640e-01 9.62849677e-02 9.58684155e-03 8.19658248e+01] [-9.62779487e-02 9.95353774e-01 -1.19205935e-03 -7.44346419e+00] [-9.65707632e-03 2.63464339e-04 9.99953335e-01 -1.16672795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.165769231 meters Centerline goodness [0,1] 0.997423339011925 Centerline is valid? [True, True] Translation: X:82.00, Y:-7.45, Z:-1.17 [[ 9.95439289e-01 9.50013161e-02 8.68165458e-03 8.19956338e+01] [-9.49955009e-02 9.95477115e-01 -1.08069280e-03 -7.45492792e+00] [-8.74505569e-03 2.51045949e-04 9.99961730e-01 -1.16847877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.195769231 meters Centerline goodness [0,1] 0.9957989402351749 Centerline is valid? [True, True] Translation: X:82.02, Y:-7.48, Z:-1.17 [[ 9.95503744e-01 9.43566563e-02 8.31369045e-03 8.20237715e+01] [-9.43512909e-02 9.95538427e-01 -1.03611156e-03 -7.47811586e+00] [-8.37436234e-03 2.47045513e-04 9.99964904e-01 -1.16972327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.225769231 meters Centerline goodness [0,1] 0.9970613913673048 Centerline is valid? [True, True] Translation: X:82.06, Y:-7.48, Z:-1.17 [[ 9.95504075e-01 9.43362045e-02 8.50391032e-03 8.20570967e+01] [-9.43305795e-02 9.95540364e-01 -1.06104971e-03 -7.47923973e+00] [-8.56608138e-03 2.54100518e-04 9.99963278e-01 -1.16856738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.255769231 meters Centerline goodness [0,1] 0.9968209942393855 Centerline is valid? [True, True] Translation: X:82.09, Y:-7.50, Z:-1.17 [[ 9.95494338e-01 9.43572747e-02 9.36626759e-03 8.20869905e+01] [-9.43504325e-02 9.95538360e-01 -1.17070480e-03 -7.49541571e+00] [-9.43494318e-03 2.81718603e-04 9.99955450e-01 -1.16777441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.285769231 meters Centerline goodness [0,1] 0.9968406098259155 Centerline is valid? [True, True] Translation: X:82.12, Y:-7.51, Z:-1.17 [[ 9.95489922e-01 9.43625405e-02 9.77374017e-03 8.21181588e+01] [-9.43550720e-02 9.95537856e-01 -1.22348138e-03 -7.50701137e+00] [-9.84557915e-03 2.95761429e-04 9.99951487e-01 -1.16779822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.315769231 meters Centerline goodness [0,1] 0.9965907887771308 Centerline is valid? [True, True] Translation: X:82.15, Y:-7.52, Z:-1.17 [[ 9.95538946e-01 9.37622404e-02 1.05284645e-02 8.21492426e+01] [-9.37535189e-02 9.95594564e-01 -1.31997919e-03 -7.51597552e+00] [-1.06058463e-02 3.27010093e-04 9.99943703e-01 -1.16719472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.345769231 meters Centerline goodness [0,1] 0.9965860899067006 Centerline is valid? [True, True] Translation: X:82.18, Y:-7.52, Z:-1.17 [[ 9.95559521e-01 9.35441782e-02 1.05226498e-02 8.21806862e+01] [-9.35354358e-02 9.95615075e-01 -1.32098572e-03 -7.52433755e+00] [-1.06000793e-02 3.30879270e-04 9.99943763e-01 -1.16739988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.375769231 meters Centerline goodness [0,1] 0.9964853235632428 Centerline is valid? [True, True] Translation: X:82.21, Y:-7.53, Z:-1.17 [[ 9.95584856e-01 9.33249927e-02 1.00618032e-02 8.22122247e+01] [-9.33169722e-02 9.95635648e-01 -1.26470927e-03 -7.53259564e+00] [-1.01359189e-02 3.20188392e-04 9.99948579e-01 -1.16791025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40576923100001 meters Centerline goodness [0,1] 0.9970667630242098 Centerline is valid? [True, True] Translation: X:82.24, Y:-7.54, Z:-1.17 [[ 9.95470620e-01 9.45944150e-02 9.49428334e-03 8.22422473e+01] [-9.45873172e-02 9.95515852e-01 -1.19485953e-03 -7.54208207e+00] [-9.56473661e-03 2.91408762e-04 9.99954214e-01 -1.16858266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43576923100001 meters Centerline goodness [0,1] 0.9972079037800687 Centerline is valid? [True, True] Translation: X:82.27, Y:-7.55, Z:-1.17 [[ 9.95319696e-01 9.61343225e-02 9.84350443e-03 8.22739468e+01] [-9.61267510e-02 9.95368328e-01 -1.24053518e-03 -7.54561353e+00] [-9.91717056e-03 2.88504998e-04 9.99950782e-01 -1.16840817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46576923100001 meters Centerline goodness [0,1] 0.9979318579165067 Centerline is valid? [True, True] Translation: X:82.30, Y:-7.54, Z:-1.17 [[ 9.94699672e-01 1.02271244e-01 1.06374479e-02 8.23044242e+01] [-1.02262745e-01 9.94756519e-01 -1.34133200e-03 -7.54312594e+00] [-1.07188503e-02 2.46407880e-04 9.99942521e-01 -1.16721399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49576923100001 meters Centerline goodness [0,1] 0.9990964632991998 Centerline is valid? [True, True] Translation: X:82.34, Y:-7.54, Z:-1.17 [[ 9.94318459e-01 1.05900908e-01 1.07610067e-02 8.23362219e+01] [-1.05892423e-01 9.94376666e-01 -1.35682029e-03 -7.54056048e+00] [-1.08441824e-02 2.09602382e-04 9.99941178e-01 -1.16679638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.525769231 meters Centerline goodness [0,1] 0.9991303056657405 Centerline is valid? [True, True] Translation: X:82.37, Y:-7.54, Z:-1.17 [[ 9.93941918e-01 1.09406991e-01 1.04677384e-02 8.23678711e+01] [-1.09399155e-01 9.93997023e-01 -1.31992533e-03 -7.54300631e+00] [-1.05493099e-02 1.66767368e-04 9.99944341e-01 -1.16748521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.555769231 meters Centerline goodness [0,1] 0.999512432959532 Centerline is valid? [True, True] Translation: X:82.40, Y:-7.54, Z:-1.17 [[ 9.93364353e-01 1.14575077e-01 9.99066256e-03 8.23997208e+01] [-1.14568183e-01 9.93414586e-01 -1.26160484e-03 -7.53791470e+00] [-1.00694184e-02 1.08621222e-04 9.99949296e-01 -1.16927169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.585769231 meters Centerline goodness [0,1] 0.9995753895800603 Centerline is valid? [True, True] Translation: X:82.43, Y:-7.54, Z:-1.17 [[ 9.93106146e-01 1.16821719e-01 9.63688765e-03 8.24321755e+01] [-1.16815411e-01 9.93152898e-01 -1.21686038e-03 -7.53758337e+00] [-9.71305862e-03 8.27345336e-05 9.99952824e-01 -1.17061771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.615769231 meters Centerline goodness [0,1] 0.9998516666313492 Centerline is valid? [True, True] Translation: X:82.46, Y:-7.54, Z:-1.17 [[ 9.92883237e-01 1.18727352e-01 9.31094536e-03 8.24636284e+01] [-1.18721532e-01 9.92926892e-01 -1.17721973e-03 -7.54014097e+00] [-9.38485621e-03 6.34320378e-05 9.99955959e-01 -1.17205158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.645769231 meters Centerline goodness [0,1] 0.999914679407875 Centerline is valid? [True, True] Translation: X:82.50, Y:-7.54, Z:-1.17 [[ 9.92581415e-01 1.21290739e-01 8.40778255e-03 8.24958305e+01] [-1.21286077e-01 9.92617023e-01 -1.06407634e-03 -7.53879970e+00] [-8.47477070e-03 3.64354368e-05 9.99964088e-01 -1.17355139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.675769231 meters Centerline goodness [0,1] 0.9998301774645495 Centerline is valid? [True, True] Translation: X:82.53, Y:-7.54, Z:-1.18 [[ 9.92532751e-01 1.21723395e-01 7.88376590e-03 8.25276570e+01] [-1.21719298e-01 9.92564060e-01 -9.99197183e-04 -7.54210434e+00] [-7.94676837e-03 3.21294786e-05 9.99968423e-01 -1.17545821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.705769231 meters Centerline goodness [0,1] 0.999851452581542 Centerline is valid? [True, True] Translation: X:82.56, Y:-7.55, Z:-1.18 [[ 9.92505262e-01 1.21981324e-01 7.33909631e-03 8.25607473e+01] [-1.21977777e-01 9.92532395e-01 -9.30689761e-04 -7.54637811e+00] [-7.39781760e-03 2.85078336e-05 9.99972635e-01 -1.17674964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.735769231 meters Centerline goodness [0,1] 0.9998502897961803 Centerline is valid? [True, True] Translation: X:82.59, Y:-7.55, Z:-1.18 [[ 9.92479736e-01 1.22182668e-01 7.44108826e-03 8.25938227e+01] [-1.22179016e-01 9.92507630e-01 -9.45052661e-04 -7.55154604e+00] [-7.50080593e-03 2.88007725e-05 9.99971868e-01 -1.17607060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76576923100001 meters Centerline goodness [0,1] 0.9998301089426406 Centerline is valid? [True, True] Translation: X:82.63, Y:-7.56, Z:-1.18 [[ 9.92491243e-01 1.22055742e-01 7.97045473e-03 8.26255649e+01] [-1.22051534e-01 9.92523246e-01 -1.01407706e-03 -7.55764915e+00] [-8.03463553e-03 3.36563771e-05 9.99967721e-01 -1.17585222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79576923100001 meters Centerline goodness [0,1] 0.9997667465383065 Centerline is valid? [True, True] Translation: X:82.66, Y:-7.57, Z:-1.17 [[ 9.92550928e-01 1.21475904e-01 9.28760644e-03 8.26570560e+01] [-1.21470145e-01 9.92594380e-01 -1.18374222e-03 -7.56520107e+00] [-9.36262211e-03 4.67575373e-05 9.99956169e-01 -1.17433248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82576923100001 meters Centerline goodness [0,1] 0.9997860688002739 Centerline is valid? [True, True] Translation: X:82.69, Y:-7.57, Z:-1.17 [[ 9.92629721e-01 1.20735530e-01 1.04483803e-02 8.26892640e+01] [-1.20728179e-01 9.92684707e-01 -1.33379279e-03 -7.57189274e+00] [-1.05329835e-02 6.25484430e-05 9.99944525e-01 -1.17200737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85576923100001 meters Centerline goodness [0,1] 0.9999140450403988 Centerline is valid? [True, True] Translation: X:82.72, Y:-7.58, Z:-1.17 [[ 9.92574034e-01 1.21135292e-01 1.10918318e-02 8.27219518e+01] [-1.21127006e-01 9.92636004e-01 -1.41822515e-03 -7.57700551e+00] [-1.11819487e-02 6.41730741e-05 9.99937478e-01 -1.17112401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88576923100001 meters Centerline goodness [0,1] 0.9998075195688438 Centerline is valid? [True, True] Translation: X:82.75, Y:-7.58, Z:-1.17 [[ 9.92429231e-01 1.22286640e-01 1.14104550e-02 8.27548236e+01] [-1.22277921e-01 9.92494824e-01 -1.46125055e-03 -7.57979732e+00] [-1.15035089e-02 5.49410414e-05 9.99933831e-01 -1.17014392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.915769231 meters Centerline goodness [0,1] 0.999808 Centerline is valid? [True, True] Translation: X:82.79, Y:-7.58, Z:-1.17 [[ 9.92258629e-01 1.23632750e-01 1.17369365e-02 8.27870021e+01] [-1.23623591e-01 9.92328041e-01 -1.50543020e-03 -7.58146125e+00] [-1.18330117e-02 4.28138635e-05 9.99929987e-01 -1.17022488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.945769231 meters Centerline goodness [0,1] 0.9998937232979787 Centerline is valid? [True, True] Translation: X:82.82, Y:-7.58, Z:-1.17 [[ 9.92079448e-01 1.25150834e-01 1.07535296e-02 8.28188578e+01] [-1.25143216e-01 9.92137726e-01 -1.38108551e-03 -7.58205203e+00] [-1.08418264e-02 2.44152691e-05 9.99941225e-01 -1.17207752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.975769231 meters Centerline goodness [0,1] 0.9999574811854246 Centerline is valid? [True, True] Translation: X:82.85, Y:-7.59, Z:-1.17 [[ 9.92100101e-01 1.25002553e-01 1.05712830e-02 8.28516802e+01] [-1.24995162e-01 9.92156420e-01 -1.35955574e-03 -7.58649638e+00] [-1.06583142e-02 2.74561509e-05 9.99943198e-01 -1.17331801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.005769231 meters Centerline goodness [0,1] 0.9998928395379241 Centerline is valid? [True, True] Translation: X:82.88, Y:-7.59, Z:-1.17 [[ 9.92218655e-01 1.24087984e-01 1.02133568e-02 8.28845076e+01] [-1.24081018e-01 9.92271218e-01 -1.31538596e-03 -7.59209466e+00] [-1.02976436e-02 3.78667807e-05 9.99946977e-01 -1.17371382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.035769231 meters Centerline goodness [0,1] 0.9998731152325163 Centerline is valid? [True, True] Translation: X:82.92, Y:-7.60, Z:-1.18 [[ 9.92409590e-01 1.22561635e-01 1.00921734e-02 8.29152330e+01] [-1.22554734e-01 9.92460902e-01 -1.30176312e-03 -7.59825440e+00] [-1.01756337e-02 5.50385724e-05 9.99948225e-01 -1.17539299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.065769231 meters Centerline goodness [0,1] 0.9997878479293958 Centerline is valid? [True, True] Translation: X:82.95, Y:-7.61, Z:-1.18 [[ 9.92730903e-01 1.19964467e-01 9.68918465e-03 8.29450756e+01] [-1.19957968e-01 9.92778183e-01 -1.25127755e-03 -7.60682194e+00] [-9.76931997e-03 7.98869845e-05 9.99952276e-01 -1.17623227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.095769231 meters Centerline goodness [0,1] 0.9996354825567683 Centerline is valid? [True, True] Translation: X:82.98, Y:-7.61, Z:-1.18 [[ 9.92794641e-01 1.19429622e-01 9.76558764e-03 8.29778706e+01] [-1.19422982e-01 9.92842665e-01 -1.26232887e-03 -7.61213512e+00] [-9.84645152e-03 8.69977370e-05 9.99951519e-01 -1.17662791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.125769231 meters Centerline goodness [0,1] 0.9995778364116095 Centerline is valid? [True, True] Translation: X:83.01, Y:-7.62, Z:-1.18 [[ 9.92714578e-01 1.20125067e-01 9.36665115e-03 8.30098575e+01] [-1.20118973e-01 9.92758763e-01 -1.21250931e-03 -7.61658644e+00] [-9.44447778e-03 7.85631473e-05 9.99955397e-01 -1.17706646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15576923100001 meters Centerline goodness [0,1] 0.9999153976311337 Centerline is valid? [True, True] Translation: X:83.04, Y:-7.62, Z:-1.18 [[ 9.92419464e-01 1.22557537e-01 9.12456453e-03 8.30426432e+01] [-1.22551842e-01 9.92461408e-01 -1.18281014e-03 -7.61561360e+00] [-9.20074046e-03 5.56116161e-05 9.99957671e-01 -1.17730079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18576923100001 meters Centerline goodness [0,1] 0.9999158213729534 Centerline is valid? [True, True] Translation: X:83.07, Y:-7.62, Z:-1.18 [[ 9.92163225e-01 1.24639824e-01 8.77778444e-03 8.30743802e+01] [-1.24634621e-01 9.92202053e-01 -1.13943416e-03 -7.61589467e+00] [-8.85135461e-03 3.64888413e-05 9.99960825e-01 -1.17818116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21576923100001 meters Centerline goodness [0,1] 0.9999786703069343 Centerline is valid? [True, True] Translation: X:83.11, Y:-7.61, Z:-1.18 [[ 9.91708180e-01 1.28241663e-01 8.30424748e-03 8.31074421e+01] [-1.28237129e-01 9.91742948e-01 -1.07844563e-03 -7.61169934e+00] [-8.37398054e-03 4.59049723e-06 9.99964938e-01 -1.17891511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24576923100001 meters Centerline goodness [0,1] 0.9999573606225349 Centerline is valid? [True, True] Translation: X:83.14, Y:-7.61, Z:-1.18 [[ 9.91559436e-01 1.29362508e-01 8.67331904e-03 8.31391590e+01] [-1.29357591e-01 9.91597369e-01 -1.12785887e-03 -7.61223164e+00] [-8.74634299e-03 -3.62055718e-06 9.99961750e-01 -1.17879069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.275769231 meters Centerline goodness [0,1] 0.9999366661036987 Centerline is valid? [True, True] Translation: X:83.17, Y:-7.61, Z:-1.18 [[ 9.91467951e-01 1.30007729e-01 9.44942776e-03 8.31718909e+01] [-1.30001905e-01 9.91512980e-01 -1.23060259e-03 -7.61371233e+00] [-9.52921813e-03 -8.34058277e-06 9.99954596e-01 -1.17807075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.305769231 meters Centerline goodness [0,1] 0.9999788677331417 Centerline is valid? [True, True] Translation: X:83.21, Y:-7.62, Z:-1.18 [[ 9.91473612e-01 1.29925627e-01 9.97037679e-03 8.32053852e+01] [-1.29919120e-01 9.91523742e-01 -1.30041460e-03 -7.61590415e+00] [-1.00548225e-02 -6.01581391e-06 9.99949449e-01 -1.17785773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.335769231 meters Centerline goodness [0,1] 0.9999788655000422 Centerline is valid? [True, True] Translation: X:83.24, Y:-7.62, Z:-1.18 [[ 9.91548344e-01 1.29395289e-01 9.42023340e-03 8.32372519e+01] [-1.29389439e-01 9.91593091e-01 -1.23048154e-03 -7.61961635e+00] [-9.50025688e-03 1.20322272e-06 9.99954872e-01 -1.17932461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.365769231 meters Centerline goodness [0,1] 0.9998940677966102 Centerline is valid? [True, True] Translation: X:83.27, Y:-7.62, Z:-1.18 [[ 9.91612765e-01 1.28913376e-01 9.24475457e-03 8.32701267e+01] [-1.28907712e-01 9.91655858e-01 -1.20846790e-03 -7.61988265e+00] [-9.32340271e-03 6.61204166e-06 9.99956536e-01 -1.17938086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.395769231 meters Centerline goodness [0,1] 0.9999576181394363 Centerline is valid? [True, True] Translation: X:83.30, Y:-7.62, Z:-1.18 [[ 9.91524221e-01 1.29480449e-01 1.07019515e-02 8.33031971e+01] [-1.29472866e-01 9.91581975e-01 -1.40127383e-03 -7.62116382e+00] [-1.07932998e-02 3.78460558e-06 9.99941751e-01 -1.17676101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.425769231 meters Centerline goodness [0,1] 0.9999572055204878 Centerline is valid? [True, True] Translation: X:83.34, Y:-7.62, Z:-1.17 [[ 9.91334902e-01 1.30686333e-01 1.32738359e-02 8.33365366e+01] [-1.30674734e-01 9.91423765e-01 -1.74112040e-03 -7.61865579e+00] [-1.33875370e-02 -8.52156907e-06 9.99910383e-01 -1.17183882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.37, Y:-7.62, Z:-1.17 [[ 9.91263600e-01 1.31257118e-01 1.29631558e-02 8.33686686e+01] [-1.31246072e-01 9.91348359e-01 -1.70287464e-03 -7.61957909e+00] [-1.30745177e-02 -1.33656404e-05 9.99914525e-01 -1.17283377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.485769231 meters Centerline goodness [0,1] 0.9999788887012329 Centerline is valid? [True, True] Translation: X:83.40, Y:-7.62, Z:-1.18 [[ 9.91294913e-01 1.31290731e-01 9.85598294e-03 8.34011764e+01] [-1.31284333e-01 9.91343908e-01 -1.29614232e-03 -7.62001714e+00] [-9.94084012e-03 -9.07685604e-06 9.99950589e-01 -1.18062967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51576923100001 meters Centerline goodness [0,1] 0.999978466838932 Centerline is valid? [True, True] Translation: X:83.43, Y:-7.62, Z:-1.18 [[ 9.91376423e-01 1.30776028e-01 8.39153476e-03 8.34333254e+01] [-1.30771366e-01 9.91411938e-01 -1.10419385e-03 -7.62409696e+00] [-8.46386983e-03 -2.70071569e-06 9.99964181e-01 -1.18357913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54576923100001 meters Centerline goodness [0,1] 0.9999572485143858 Centerline is valid? [True, True] Translation: X:83.46, Y:-7.63, Z:-1.19 [[ 9.91454361e-01 1.30225550e-01 7.71724377e-03 8.34644782e+01] [-1.30221580e-01 9.91484395e-01 -1.01689062e-03 -7.62762849e+00] [-7.78395192e-03 3.24896953e-06 9.99969705e-01 -1.18537221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57576923100001 meters Centerline goodness [0,1] 0.9999358480882731 Centerline is valid? [True, True] Translation: X:83.50, Y:-7.63, Z:-1.18 [[ 9.91517753e-01 1.29700348e-01 8.38838004e-03 8.34961522e+01] [-1.29695629e-01 9.91553236e-01 -1.10641614e-03 -7.62765235e+00] [-8.46102793e-03 9.09502296e-06 9.99964205e-01 -1.18432707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60576923100001 meters Centerline goodness [0,1] 0.9999358480882731 Centerline is valid? [True, True] Translation: X:83.53, Y:-7.63, Z:-1.18 [[ 9.91514663e-01 1.29723974e-01 8.38835352e-03 8.35267136e+01] [-1.29719254e-01 9.91550145e-01 -1.10661710e-03 -7.63172998e+00] [-8.46102792e-03 9.09612044e-06 9.99964205e-01 -1.18468786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63576923100001 meters Centerline goodness [0,1] 0.99993580003852 Centerline is valid? [True, True] Translation: X:83.56, Y:-7.63, Z:-1.18 [[ 9.91486452e-01 1.29880924e-01 9.24989377e-03 8.35576224e+01] [-1.29875189e-01 9.91529599e-01 -1.22055585e-03 -7.63323365e+00] [-9.33007039e-03 8.83288855e-06 9.99956474e-01 -1.18241532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.665769231 meters Centerline goodness [0,1] 0.9999367142013332 Centerline is valid? [True, True] Translation: X:83.59, Y:-7.63, Z:-1.18 [[ 9.91492483e-01 1.29691813e-01 1.10765771e-02 8.35876258e+01] [-1.29683576e-01 9.91554352e-01 -1.46176678e-03 -7.63362582e+00] [-1.11726074e-02 1.28806445e-05 9.99937584e-01 -1.17917814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.695769231 meters Centerline goodness [0,1] 0.9999787147995999 Centerline is valid? [True, True] Translation: X:83.62, Y:-7.64, Z:-1.18 [[ 9.91531602e-01 1.29389167e-01 1.11141705e-02 8.36187733e+01] [-1.29380856e-01 9.91593890e-01 -1.46657985e-03 -7.63711044e+00] [-1.12105031e-02 1.61993712e-05 9.99937160e-01 -1.18000871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.725769231 meters Centerline goodness [0,1] 0.9999367995281031 Centerline is valid? [True, True] Translation: X:83.65, Y:-7.64, Z:-1.18 [[ 9.91626577e-01 1.28717869e-01 1.04135859e-02 8.36491873e+01] [-1.28710536e-01 9.91681254e-01 -1.37420964e-03 -7.64217470e+00] [-1.05038433e-02 2.23645811e-05 9.99944833e-01 -1.18178435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.755769231 meters Centerline goodness [0,1] 0.9998714818146768 Centerline is valid? [True, True] Translation: X:83.68, Y:-7.65, Z:-1.18 [[ 9.91892213e-01 1.26771417e-01 8.87951377e-03 8.36804590e+01] [-1.26765997e-01 9.91931957e-01 -1.17283699e-03 -7.64996359e+00] [-8.95655568e-03 3.77074592e-05 9.99959889e-01 -1.18490510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.785769231 meters Centerline goodness [0,1] 0.999914216474726 Centerline is valid? [True, True] Translation: X:83.71, Y:-7.66, Z:-1.18 [[ 9.91996217e-01 1.25962531e-01 8.77190852e-03 8.37108986e+01] [-1.25957194e-01 9.92034999e-01 -1.16046140e-03 -7.65652468e+00] [-8.84821491e-03 4.62883349e-05 9.99960853e-01 -1.18484095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.815769231 meters Centerline goodness [0,1] 0.9998940386123296 Centerline is valid? [True, True] Translation: X:83.74, Y:-7.66, Z:-1.18 [[ 9.92059478e-01 1.25389832e-01 9.76634064e-03 8.37413953e+01] [-1.25383188e-01 9.92107548e-01 -1.29204252e-03 -7.66464635e+00] [-9.85126926e-03 5.72481061e-05 9.99951473e-01 -1.18329720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.845769231 meters Centerline goodness [0,1] 0.9999574802814806 Centerline is valid? [True, True] Translation: X:83.77, Y:-7.67, Z:-1.18 [[ 9.92035163e-01 1.25541432e-01 1.02753912e-02 8.37730807e+01] [-1.25534068e-01 9.92088376e-01 -1.36103938e-03 -7.67032614e+00] [-1.03649630e-02 6.02872691e-05 9.99946281e-01 -1.18334471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.875769231 meters Centerline goodness [0,1] 0.9999573442532045 Centerline is valid? [True, True] Translation: X:83.80, Y:-7.68, Z:-1.18 [[ 9.91999202e-01 1.25785171e-01 1.07551746e-02 8.38036704e+01] [-1.25777098e-01 9.92057502e-01 -1.42644497e-03 -7.67702037e+00] [-1.08491773e-02 6.22776267e-05 9.99941144e-01 -1.18382471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90576923100001 meters Centerline goodness [0,1] 0.9999149497140184 Centerline is valid? [True, True] Translation: X:83.84, Y:-7.68, Z:-1.18 [[ 9.91974236e-01 1.25997999e-01 1.05649688e-02 8.38354750e+01] [-1.25990205e-01 9.92030494e-01 -1.40277336e-03 -7.68268239e+00] [-1.06575179e-02 6.04324463e-05 9.99943205e-01 -1.18475816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93576923100001 meters Centerline goodness [0,1] 0.9998297365172605 Centerline is valid? [True, True] Translation: X:83.87, Y:-7.69, Z:-1.19 [[ 9.91958126e-01 1.26153792e-01 1.02125928e-02 8.38663481e+01] [-1.26146501e-01 9.92010694e-01 -1.35759703e-03 -7.68874203e+00] [-1.03022673e-02 5.83965657e-05 9.99946929e-01 -1.18624386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96576923100001 meters Centerline goodness [0,1] 0.9998948585847965 Centerline is valid? [True, True] Translation: X:83.90, Y:-7.70, Z:-1.19 [[ 9.92041360e-01 1.25591634e-01 8.98232623e-03 8.38967719e+01] [-1.25585960e-01 9.92082022e-01 -1.19513298e-03 -7.69976562e+00] [-9.06130307e-03 5.75672777e-05 9.99958944e-01 -1.18866977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99576923100001 meters Centerline goodness [0,1] 0.9998311131752834 Centerline is valid? [True, True] Translation: X:83.93, Y:-7.71, Z:-1.19 [[ 9.92152712e-01 1.24735359e-01 8.60731091e-03 8.39280945e+01] [-1.24730104e-01 9.92190045e-01 -1.14667342e-03 -7.70908392e+00] [-8.68311892e-03 6.40843611e-05 9.99962299e-01 -1.18963286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.025769231 meters Centerline goodness [0,1] 0.9999362583660895 Centerline is valid? [True, True] Translation: X:83.96, Y:-7.72, Z:-1.19 [[ 9.92443506e-01 1.22372409e-01 8.99341065e-03 8.39585095e+01] [-1.22366562e-01 9.92484249e-01 -1.19959828e-03 -7.72199746e+00] [-9.07261615e-03 9.00407757e-05 9.99958839e-01 -1.18896407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.055769231 meters Centerline goodness [0,1] 0.999682640431609 Centerline is valid? [True, True] Translation: X:83.99, Y:-7.73, Z:-1.19 [[ 9.92533537e-01 1.21574586e-01 9.83855708e-03 8.39888782e+01] [-1.21567531e-01 9.92582293e-01 -1.31418749e-03 -7.73237550e+00] [-9.92534935e-03 1.08326067e-04 9.99950737e-01 -1.18848553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.085769231 meters Centerline goodness [0,1] 0.9996582583993677 Centerline is valid? [True, True] Translation: X:84.02, Y:-7.74, Z:-1.19 [[ 9.92570364e-01 1.21208918e-01 1.06052427e-02 8.40214857e+01] [-1.21200681e-01 9.92627011e-01 -1.41835024e-03 -7.74027722e+00] [-1.06989670e-02 1.22449785e-04 9.99942757e-01 -1.18698821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.115769231 meters Centerline goodness [0,1] 0.9998097854802916 Centerline is valid? [True, True] Translation: X:84.05, Y:-7.75, Z:-1.19 [[ 9.92558948e-01 1.21218174e-01 1.15277739e-02 8.40534843e+01] [-1.21208415e-01 9.92625879e-01 -1.54404280e-03 -7.75052893e+00] [-1.16299328e-02 1.35290290e-04 9.99932361e-01 -1.18555289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.145769231 meters Centerline goodness [0,1] 0.9997454121141403 Centerline is valid? [True, True] Translation: X:84.08, Y:-7.76, Z:-1.19 [[ 9.92456033e-01 1.22063792e-01 1.14652989e-02 8.40837216e+01] [-1.22054170e-01 9.92522249e-01 -1.53784677e-03 -7.75867991e+00] [-1.15672797e-02 1.26857768e-04 9.99933089e-01 -1.18520454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-7.76, Z:-1.19 [[ 9.91907095e-01 1.26436067e-01 1.15860579e-02 8.41160535e+01] [-1.26426519e-01 9.91974755e-01 -1.55583636e-03 -7.75937349e+00] [-1.16897908e-02 7.84601531e-05 9.99931669e-01 -1.18561775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.15, Y:-7.76, Z:-1.19 [[ 9.91597138e-01 1.28898621e-01 1.09663929e-02 8.41468962e+01] [-1.28890197e-01 9.91657775e-01 -1.47439946e-03 -7.76337204e+00] [-1.10649568e-02 4.85497402e-05 9.99938780e-01 -1.18710485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.18, Y:-7.77, Z:-1.19 [[ 9.91286269e-01 1.31326998e-01 1.02348451e-02 8.41792031e+01] [-1.31319781e-01 9.91339104e-01 -1.37684978e-03 -7.76607844e+00] [-1.03270197e-02 2.08146695e-05 9.99946675e-01 -1.18883141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.21, Y:-7.77, Z:-1.19 [[ 9.90912049e-01 1.34137693e-01 1.00194828e-02 8.42116933e+01] [-1.34130905e-01 9.90962703e-01 -1.34947324e-03 -7.77239250e+00] [-1.01099490e-02 -6.71300954e-06 9.99948893e-01 -1.19024915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:-7.78, Z:-1.19 [[ 9.90825213e-01 1.34770008e-01 1.01213511e-02 8.42429479e+01] [-1.34763094e-01 9.90876907e-01 -1.36518176e-03 -7.77816911e+00] [-1.02129986e-02 -1.13280766e-05 9.99947846e-01 -1.19045976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:-7.78, Z:-1.19 [[ 9.90730961e-01 1.35442509e-01 1.03677096e-02 8.42742116e+01] [-1.35435271e-01 9.90785207e-01 -1.40032762e-03 -7.78272933e+00] [-1.04618372e-02 -1.68056300e-05 9.99945273e-01 -1.19088983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.31, Y:-7.78, Z:-1.19 [[ 9.90273322e-01 1.38801160e-01 9.64293268e-03 8.43069055e+01] [-1.38795043e-01 9.90320269e-01 -1.30395342e-03 -7.78424925e+00] [-9.73058193e-03 -4.71209771e-05 9.99952656e-01 -1.19211084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.34, Y:-7.79, Z:-1.19 [[ 9.89959674e-01 1.41047681e-01 9.24097730e-03 8.43391615e+01] [-1.41042147e-01 9.90002802e-01 -1.25106771e-03 -7.78574944e+00] [-9.32505362e-03 -6.48606992e-05 9.99956519e-01 -1.19315149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.37, Y:-7.78, Z:-1.19 [[ 9.89326599e-01 1.45423216e-01 9.21780165e-03 8.43707797e+01] [-1.45417882e-01 9.89369535e-01 -1.24983802e-03 -7.78079245e+00] [-9.30156760e-03 -1.03935198e-04 9.99956734e-01 -1.19356380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:-7.78, Z:-1.19 [[ 9.89000972e-01 1.47615266e-01 9.31725932e-03 8.44030427e+01] [-1.47609914e-01 9.89044851e-01 -1.26322107e-03 -7.78089301e+00] [-9.40165807e-03 -1.25992987e-04 9.99955795e-01 -1.19306397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.475769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.44, Y:-7.78, Z:-1.19 [[ 9.88464095e-01 1.51130700e-01 9.91183375e-03 8.44351645e+01] [-1.51124802e-01 9.88513775e-01 -1.34566262e-03 -7.77668282e+00] [-1.00013551e-02 -1.67784737e-04 9.99949971e-01 -1.19227438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.505769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.47, Y:-7.78, Z:-1.19 [[ 9.88344679e-01 1.51838669e-01 1.09459887e-02 8.44675268e+01] [-1.51831499e-01 9.88405272e-01 -1.48796663e-03 -7.77964276e+00] [-1.10450038e-02 -1.91321962e-04 9.99938984e-01 -1.19124465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.535769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.50, Y:-7.78, Z:-1.19 [[ 9.88342194e-01 1.51807165e-01 1.15884871e-02 8.44984141e+01] [-1.51799102e-01 9.88410109e-01 -1.57736717e-03 -7.78027928e+00] [-1.16936334e-02 -2.00143411e-04 9.99931607e-01 -1.19085806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.565769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.53, Y:-7.79, Z:-1.19 [[ 9.88707263e-01 1.49385716e-01 1.19103541e-02 8.45296982e+01] [-1.49377000e-01 9.88778983e-01 -1.62308199e-03 -7.78698831e+00] [-1.20191731e-02 -1.74380019e-04 9.99927752e-01 -1.19100033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.595769231 meters Centerline goodness [0,1] 0.9999788610324272 Centerline is valid? [True, True] Translation: X:84.56, Y:-7.79, Z:-1.19 [[ 9.88893944e-01 1.48189321e-01 1.13442350e-02 8.45609452e+01] [-1.48181315e-01 9.88958999e-01 -1.54772587e-03 -7.79057984e+00] [-1.14483397e-02 -1.50466921e-04 9.99934454e-01 -1.19195881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.625769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.59, Y:-7.80, Z:-1.19 [[ 9.89223117e-01 1.46083700e-01 9.85789439e-03 8.45926151e+01] [-1.46077537e-01 9.89272228e-01 -1.34619609e-03 -7.79789550e+00] [-9.94879845e-03 -1.08328639e-04 9.99950504e-01 -1.19437231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.62, Y:-7.80, Z:-1.20 [[ 9.89302161e-01 1.45583038e-01 9.31732863e-03 8.46229853e+01] [-1.45577497e-01 9.89346031e-01 -1.27385030e-03 -7.80255074e+00] [-9.40351310e-03 -9.61705202e-05 9.99955781e-01 -1.19622797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.66, Y:-7.81, Z:-1.20 [[ 9.89417525e-01 1.44806025e-01 9.17478335e-03 8.46551194e+01] [-1.44800606e-01 9.89460059e-01 -1.25572417e-03 -7.80809399e+00] [-9.25991810e-03 -8.60786866e-05 9.99957122e-01 -1.19694719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.69, Y:-7.82, Z:-1.20 [[ 9.89779453e-01 1.42290784e-01 9.48508403e-03 8.46859728e+01] [-1.42284861e-01 9.89824898e-01 -1.29982713e-03 -7.81619478e+00] [-9.57352575e-03 -6.30416752e-05 9.99954171e-01 -1.19778065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.72, Y:-7.83, Z:-1.20 [[ 9.90018496e-01 1.40575950e-01 1.00886127e-02 8.47176907e+01] [-1.40569141e-01 9.90069897e-01 -1.38442026e-03 -7.82557202e+00] [-1.01830479e-02 -4.75459464e-05 9.99948150e-01 -1.19748974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.75, Y:-7.84, Z:-1.20 [[ 9.90584618e-01 1.36483075e-01 1.06997967e-02 8.47475776e+01] [-1.36475166e-01 9.90642403e-01 -1.46925652e-03 -7.83974577e+00] [-1.08002009e-02 -4.83361714e-06 9.99941676e-01 -1.19783657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.78, Y:-7.85, Z:-1.20 [[ 9.90827028e-01 1.34746136e-01 1.02605324e-02 8.47797657e+01] [-1.34738756e-01 9.90880153e-01 -1.41039321e-03 -7.84937462e+00] [-1.03570030e-02 1.49643491e-05 9.99946365e-01 -1.19903778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.835769231 meters Centerline goodness [0,1] 0.9999786948462833 Centerline is valid? [True, True] Translation: X:84.81, Y:-7.86, Z:-1.20 [[ 9.91049456e-01 1.33164704e-01 9.38816715e-03 8.48119536e+01] [-1.33158440e-01 9.91093921e-01 -1.29199599e-03 -7.85807580e+00] [-9.47660366e-03 3.03182314e-05 9.99955096e-01 -1.20074420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.865769231 meters Centerline goodness [0,1] 0.9999576647898056 Centerline is valid? [True, True] Translation: X:84.84, Y:-7.87, Z:-1.20 [[ 9.91330837e-01 1.31109832e-01 8.56645667e-03 8.48421138e+01] [-1.31104527e-01 9.91367848e-01 -1.18043738e-03 -7.86926286e+00] [-8.64727666e-03 4.71027248e-05 9.99962610e-01 -1.20210258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.895769231 meters Centerline goodness [0,1] 0.9999787622647921 Centerline is valid? [True, True] Translation: X:84.87, Y:-7.88, Z:-1.20 [[ 9.91310464e-01 1.31261856e-01 8.59585668e-03 8.48747341e+01] [-1.31256509e-01 9.91347731e-01 -1.18570559e-03 -7.87550391e+00] [-8.67712093e-03 4.71402212e-05 9.99962352e-01 -1.20202125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.91, Y:-7.88, Z:-1.20 [[ 9.91182481e-01 1.32150868e-01 9.66630048e-03 8.49066968e+01] [-1.32144129e-01 9.91229613e-01 -1.33544127e-03 -7.88077374e+00] [-9.75800301e-03 4.63211389e-05 9.99952388e-01 -1.20025218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.955769231 meters Centerline goodness [0,1] 0.999978826568422 Centerline is valid? [True, True] Translation: X:84.94, Y:-7.89, Z:-1.20 [[ 9.91110318e-01 1.32673055e-01 9.90951251e-03 8.49385360e+01] [-1.32665980e-01 9.91159855e-01 -1.37082546e-03 -7.88609796e+00] [-1.00037826e-02 4.39840668e-05 9.99949960e-01 -1.20093887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.97, Y:-7.89, Z:-1.20 [[ 9.91039941e-01 1.33194164e-01 9.95741103e-03 8.49711512e+01] [-1.33187037e-01 9.91089962e-01 -1.37851614e-03 -7.89117207e+00] [-1.00523004e-02 3.99664829e-05 9.99949474e-01 -1.20157572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01576923100001 meters Centerline goodness [0,1] 0.9999789513565851 Centerline is valid? [True, True] Translation: X:85.00, Y:-7.90, Z:-1.20 [[ 9.90988079e-01 1.33600449e-01 9.67197466e-03 8.50020702e+01] [-1.33593725e-01 9.91035276e-01 -1.34084452e-03 -7.89759286e+00] [-9.76440551e-03 3.66458114e-05 9.99952326e-01 -1.20261181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04576923100001 meters Centerline goodness [0,1] 0.9999788041289557 Centerline is valid? [True, True] Translation: X:85.03, Y:-7.90, Z:-1.20 [[ 9.90766746e-01 1.35259567e-01 9.27926429e-03 8.50349872e+01] [-1.35253436e-01 9.90810198e-01 -1.28799362e-03 -7.90397170e+00] [-9.36820315e-03 2.10488735e-05 9.99956117e-01 -1.20215447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.07, Y:-7.91, Z:-1.20 [[ 9.90631551e-01 1.36237959e-01 9.39940618e-03 8.50681185e+01] [-1.36231696e-01 9.90676142e-01 -1.30644460e-03 -7.90809239e+00] [-9.48975480e-03 1.37082001e-05 9.99954971e-01 -1.20171910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.10, Y:-7.91, Z:-1.20 [[ 9.90168713e-01 1.39536822e-01 9.76699523e-03 8.51015245e+01] [-1.39530201e-01 9.90216883e-01 -1.35941682e-03 -7.90858885e+00] [-9.86113228e-03 -1.67388078e-05 9.99951378e-01 -1.20131506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.13, Y:-7.91, Z:-1.20 [[ 9.89782822e-01 1.42198264e-01 1.04698627e-02 8.51347141e+01] [-1.42190782e-01 9.89838195e-01 -1.45938903e-03 -7.91049669e+00] [-1.05709926e-02 -4.42397725e-05 9.99944125e-01 -1.20095481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:-7.91, Z:-1.20 [[ 9.89320790e-01 1.45296588e-01 1.15444994e-02 8.51658163e+01] [-1.45287673e-01 9.89388142e-01 -1.61161788e-03 -7.91117493e+00] [-1.16561533e-02 -8.28663702e-05 9.99932061e-01 -1.19939658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:-7.91, Z:-1.20 [[ 9.88476968e-01 1.50746304e-01 1.37417665e-02 8.51986869e+01] [-1.50734169e-01 9.88572467e-01 -1.92058220e-03 -7.90854713e+00] [-1.38742526e-02 -1.72902473e-04 9.99903733e-01 -1.19547086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.225769231 meters Centerline goodness [0,1] 0.9999785862652305 Centerline is valid? [True, True] Translation: X:85.23, Y:-7.91, Z:-1.20 [[ 9.88142561e-01 1.52964416e-01 1.32727982e-02 8.52312451e+01] [-1.52953283e-01 9.88231678e-01 -1.85586615e-03 -7.90956572e+00] [-1.34004811e-02 -1.96257741e-04 9.99910190e-01 -1.19639852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.255769231 meters Centerline goodness [0,1] 0.9999788895925691 Centerline is valid? [True, True] Translation: X:85.26, Y:-7.91, Z:-1.20 [[ 9.87683603e-01 1.56085506e-01 1.08818661e-02 8.52631606e+01] [-1.56078195e-01 9.87743528e-01 -1.52309728e-03 -7.90562222e+00] [-1.09862262e-02 -1.94083822e-04 9.99939631e-01 -1.20159032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.285769231 meters Centerline goodness [0,1] 0.9999573760709262 Centerline is valid? [True, True] Translation: X:85.29, Y:-7.91, Z:-1.20 [[ 9.87480739e-01 1.57430711e-01 9.86722015e-03 8.52945519e+01] [-1.57424761e-01 9.87530018e-01 -1.38170622e-03 -7.91026432e+00] [-9.96169908e-03 -1.88936492e-04 9.99950363e-01 -1.20378365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.315769231 meters Centerline goodness [0,1] 0.9999787739853965 Centerline is valid? [True, True] Translation: X:85.33, Y:-7.91, Z:-1.20 [[ 9.87261170e-01 1.58800812e-01 9.88349388e-03 8.53254240e+01] [-1.58794894e-01 9.87310621e-01 -1.38566815e-03 -7.91281172e+00] [-9.97812371e-03 -2.01432004e-04 9.99950197e-01 -1.20435690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.345769231 meters Centerline goodness [0,1] 0.9999577595674579 Centerline is valid? [True, True] Translation: X:85.36, Y:-7.91, Z:-1.20 [[ 9.86848357e-01 1.61300160e-01 1.06102878e-02 8.53572688e+01] [-1.61293464e-01 9.86905365e-01 -1.48946788e-03 -7.91229829e+00] [-1.07116014e-02 -2.41491140e-04 9.99942600e-01 -1.20360811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.375769231 meters Centerline goodness [0,1] 0.9998734337425642 Centerline is valid? [True, True] Translation: X:85.39, Y:-7.91, Z:-1.20 [[ 9.86683355e-01 1.62301813e-01 1.06807129e-02 8.53881604e+01] [-1.62295083e-01 9.86741130e-01 -1.49961967e-03 -7.90863840e+00] [-1.07824898e-02 -2.53777421e-04 9.99941835e-01 -1.20454426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40576923100001 meters Centerline goodness [0,1] 0.9999362380446334 Centerline is valid? [True, True] Translation: X:85.42, Y:-7.91, Z:-1.21 [[ 9.86455069e-01 1.63735440e-01 9.85408263e-03 8.54181999e+01] [-1.63729782e-01 9.86504254e-01 -1.38368264e-03 -7.91248778e+00] [-9.94765232e-03 -2.48466042e-04 9.99950490e-01 -1.20658500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43576923100001 meters Centerline goodness [0,1] 0.9999150057371128 Centerline is valid? [True, True] Translation: X:85.45, Y:-7.92, Z:-1.21 [[ 9.86397998e-01 1.64094644e-01 9.58836686e-03 8.54488564e+01] [-1.64089304e-01 9.86444569e-01 -1.34637158e-03 -7.91561340e+00] [-9.67932478e-03 -2.45290212e-04 9.99953124e-01 -1.20733837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46576923100001 meters Centerline goodness [0,1] 0.9999787202349286 Centerline is valid? [True, True] Translation: X:85.48, Y:-7.92, Z:-1.21 [[ 9.86357360e-01 1.64312621e-01 1.00260571e-02 8.54788542e+01] [-1.64306794e-01 9.86408280e-01 -1.40783081e-03 -7.92016476e+00] [-1.01211101e-02 -2.58725012e-04 9.99948747e-01 -1.20664340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49576923100001 meters Centerline goodness [0,1] 0.9999787202349286 Centerline is valid? [True, True] Translation: X:85.51, Y:-7.92, Z:-1.21 [[ 9.86357360e-01 1.64312621e-01 1.00260571e-02 8.55085705e+01] [-1.64306794e-01 9.86408280e-01 -1.40783081e-03 -7.92433744e+00] [-1.01211101e-02 -2.58725012e-04 9.99948747e-01 -1.20699452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.525769231 meters Centerline goodness [0,1] 0.999957414189592 Centerline is valid? [True, True] Translation: X:85.54, Y:-7.92, Z:-1.20 [[ 9.86288984e-01 1.64642876e-01 1.12589207e-02 8.55379923e+01] [-1.64635548e-01 9.86353201e-01 -1.58094993e-03 -7.92469711e+00] [-1.13655646e-02 -2.94345077e-04 9.99935367e-01 -1.20442468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.555769231 meters Centerline goodness [0,1] 0.9999151427722857 Centerline is valid? [True, True] Translation: X:85.57, Y:-7.93, Z:-1.21 [[ 9.86196230e-01 1.65184348e-01 1.14511002e-02 8.55680978e+01] [-1.65176806e-01 9.86262662e-01 -1.60779591e-03 -7.92723549e+00] [-1.15593753e-02 -3.05853892e-04 9.99933141e-01 -1.20514658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.585769231 meters Centerline goodness [0,1] 0.9999369800857071 Centerline is valid? [True, True] Translation: X:85.60, Y:-7.93, Z:-1.21 [[ 9.86038613e-01 1.66149281e-01 1.10576088e-02 8.55979915e+01] [-1.66142309e-01 9.86100564e-01 -1.55254428e-03 -7.92810501e+00] [-1.11618684e-02 -3.06268047e-04 9.99937658e-01 -1.20645165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.615769231 meters Centerline goodness [0,1] 0.9997880053422654 Centerline is valid? [True, True] Translation: X:85.63, Y:-7.93, Z:-1.21 [[ 9.85612791e-01 1.68745208e-01 9.61667906e-03 8.56283002e+01] [-1.68740058e-01 9.85659662e-01 -1.35033982e-03 -7.92580227e+00] [-9.70663600e-03 -2.91806774e-04 9.99952847e-01 -1.20980333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.645769231 meters Centerline goodness [0,1] 0.9997676628999894 Centerline is valid? [True, True] Translation: X:85.66, Y:-7.92, Z:-1.21 [[ 9.85423185e-01 1.69878032e-01 9.08849797e-03 8.56572501e+01] [-1.69873481e-01 9.85465054e-01 -1.27600535e-03 -7.92440272e+00] [-9.17316241e-03 -2.86489531e-04 9.99957885e-01 -1.21087111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.675769231 meters Centerline goodness [0,1] 0.9997658378746594 Centerline is valid? [True, True] Translation: X:85.69, Y:-7.92, Z:-1.21 [[ 9.85073549e-01 1.71882961e-01 9.29255998e-03 8.56880251e+01] [-1.71878296e-01 9.85117328e-01 -1.30429612e-03 -7.92063966e+00] [-9.37844814e-03 -3.12361762e-04 9.99955973e-01 -1.21048627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.705769231 meters Centerline goodness [0,1] 0.9993671420133322 Centerline is valid? [True, True] Translation: X:85.72, Y:-7.92, Z:-1.21 [[ 9.84953612e-01 1.72540121e-01 9.81273686e-03 8.57169072e+01] [-1.72534953e-01 9.85002433e-01 -1.37712279e-03 -7.91769669e+00] [-9.90317862e-03 -3.36638028e-04 9.99950906e-01 -1.21010780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.735769231 meters Centerline goodness [0,1] 0.9994641632373114 Centerline is valid? [True, True] Translation: X:85.75, Y:-7.92, Z:-1.21 [[ 9.84956779e-01 1.72506975e-01 1.00740908e-02 8.57455088e+01] [-1.72501533e-01 9.85008235e-01 -1.41317298e-03 -7.92222344e+00] [-1.01668446e-02 -3.45881804e-04 9.99948256e-01 -1.20950328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76576923100001 meters Centerline goodness [0,1] 0.9995964916006541 Centerline is valid? [True, True] Translation: X:85.77, Y:-7.92, Z:-1.21 [[ 9.85268556e-01 1.70667595e-01 1.08832227e-02 8.57736297e+01] [-1.70661138e-01 9.85328598e-01 -1.52612742e-03 -7.92186189e+00] [-1.09840110e-02 -3.53697806e-04 9.99939611e-01 -1.20914319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79576923100001 meters Centerline goodness [0,1] 0.9997872747771703 Centerline is valid? [True, True] Translation: X:85.80, Y:-7.93, Z:-1.21 [[ 9.85655734e-01 1.68394520e-01 1.12276031e-02 8.58031625e+01] [-1.68387508e-01 9.85719621e-01 -1.57372726e-03 -7.92625709e+00] [-1.13322757e-02 -3.39434803e-04 9.99935730e-01 -1.20964740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82576923100001 meters Centerline goodness [0,1] 0.9998510004257131 Centerline is valid? [True, True] Translation: X:85.83, Y:-7.93, Z:-1.21 [[ 9.86091281e-01 1.65809517e-01 1.14538459e-02 8.58320362e+01] [-1.65802048e-01 9.86157748e-01 -1.60516669e-03 -7.93274141e+00] [-1.15614508e-02 -3.16230236e-04 9.99933114e-01 -1.20956220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85576923100001 meters Centerline goodness [0,1] 0.999914679407875 Centerline is valid? [True, True] Translation: X:85.86, Y:-7.94, Z:-1.21 [[ 9.86999688e-01 1.60304545e-01 1.15787754e-02 8.58597349e+01] [-1.60296537e-01 9.87067570e-01 -1.62240053e-03 -7.94129779e+00] [-1.16891118e-02 -2.54728773e-04 9.99931648e-01 -1.20889198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88576923100001 meters Centerline goodness [0,1] 0.9999572841246449 Centerline is valid? [True, True] Translation: X:85.89, Y:-7.95, Z:-1.21 [[ 9.87394882e-01 1.57871509e-01 1.13107479e-02 8.58894235e+01] [-1.57863713e-01 9.87459639e-01 -1.58445661e-03 -7.94762914e+00] [-1.14190476e-02 -2.21072319e-04 9.99934776e-01 -1.20965818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.915769231 meters Centerline goodness [0,1] 0.9999788018823929 Centerline is valid? [True, True] Translation: X:85.92, Y:-7.95, Z:-1.21 [[ 9.87802218e-01 1.55327288e-01 1.09641160e-02 8.59186339e+01] [-1.55319809e-01 9.87863047e-01 -1.53558217e-03 -7.95444401e+00] [-1.10695629e-02 -1.86092926e-04 9.99938713e-01 -1.21087209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.95, Y:-7.96, Z:-1.21 [[ 9.88402593e-01 1.51476936e-01 1.07262454e-02 8.59473185e+01] [-1.51469553e-01 9.88460782e-01 -1.50201688e-03 -7.96214490e+00] [-1.08299938e-02 -1.40102220e-04 9.99941344e-01 -1.21130219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.975769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:-7.97, Z:-1.21 [[ 9.88473233e-01 1.51007289e-01 1.08382316e-02 8.59773164e+01] [-1.50999724e-01 9.88532640e-01 -1.51757356e-03 -7.96549106e+00] [-1.09431104e-02 -1.36489145e-04 9.99940113e-01 -1.21082707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.005769231 meters Centerline goodness [0,1] 0.9999786187727175 Centerline is valid? [True, True] Translation: X:86.01, Y:-7.97, Z:-1.21 [[ 9.88291155e-01 1.52182598e-01 1.10022450e-02 8.60067525e+01] [-1.52174878e-01 9.88352383e-01 -1.54041908e-03 -7.96628875e+00] [-1.11085200e-02 -1.51882728e-04 9.99938287e-01 -1.21105312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.035769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.04, Y:-7.97, Z:-1.21 [[ 9.88166593e-01 1.53029796e-01 1.04242738e-02 8.60366329e+01] [-1.53022915e-01 9.88221563e-01 -1.45924989e-03 -7.96921070e+00] [-1.05248008e-02 -1.53170761e-04 9.99944601e-01 -1.21315911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.065769231 meters Centerline goodness [0,1] 0.9999787252148753 Centerline is valid? [True, True] Translation: X:86.07, Y:-7.97, Z:-1.22 [[ 9.88076344e-01 1.53679967e-01 9.35978424e-03 8.60655687e+01] [-1.53674449e-01 9.88120664e-01 -1.31019026e-03 -7.96845527e+00] [-9.44994621e-03 -1.43791683e-04 9.99955338e-01 -1.21570845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.09, Y:-7.97, Z:-1.22 [[ 9.88122138e-01 1.53419740e-01 8.77630325e-03 8.60943502e+01] [-1.53414881e-01 9.88161103e-01 -1.22821325e-03 -7.97076078e+00] [-8.86083365e-03 -1.32790814e-04 9.99960733e-01 -1.21802556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.125769231 meters Centerline goodness [0,1] 0.9999788131104472 Centerline is valid? [True, True] Translation: X:86.12, Y:-7.98, Z:-1.22 [[ 9.88306763e-01 1.52238855e-01 8.54828161e-03 8.61236497e+01] [-1.52234204e-01 9.88343724e-01 -1.19598370e-03 -7.97771394e+00] [-8.63071567e-03 -1.19342064e-04 9.99962748e-01 -1.21817040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.15, Y:-7.99, Z:-1.22 [[ 9.88880423e-01 1.48484742e-01 8.23350467e-03 8.61517223e+01] [-1.48480299e-01 9.88914695e-01 -1.15175746e-03 -7.98674501e+00] [-8.31325217e-03 -8.35628341e-05 9.99965441e-01 -1.22031712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.18, Y:-8.00, Z:-1.22 [[ 9.89142752e-01 1.46720112e-01 8.35612408e-03 8.61808216e+01] [-1.46715474e-01 9.89178045e-01 -1.16870980e-03 -7.99596299e+00] [-8.43716771e-03 -6.99518758e-05 9.99964404e-01 -1.22000926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21576923100001 meters Centerline goodness [0,1] 0.9999789849742566 Centerline is valid? [True, True] Translation: X:86.21, Y:-8.00, Z:-1.22 [[ 9.89325406e-01 1.45437380e-01 9.12191059e-03 8.62094937e+01] [-1.45431801e-01 9.89367457e-01 -1.27554360e-03 -8.00258878e+00] [-9.21043320e-03 -6.46881931e-05 9.99957581e-01 -1.21922420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.24, Y:-8.01, Z:-1.22 [[ 9.89421450e-01 1.44742083e-01 9.74282809e-03 8.62396503e+01] [-1.44735687e-01 9.89469416e-01 -1.36222216e-03 -8.00909068e+00] [-9.83740130e-03 -6.23230878e-05 9.99951610e-01 -1.21819399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.27, Y:-8.01, Z:-1.22 [[ 9.89134135e-01 1.46686909e-01 9.82922510e-03 8.62685638e+01] [-1.46680495e-01 9.89182968e-01 -1.37423884e-03 -8.01180326e+00] [-9.92448490e-03 -8.24490581e-05 9.99950748e-01 -1.21764132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.30, Y:-8.01, Z:-1.22 [[ 9.88758403e-01 1.49197037e-01 9.85214261e-03 8.62991501e+01] [-1.49190713e-01 9.88807480e-01 -1.37786028e-03 -8.01312407e+00] [-9.94744498e-03 -1.07477251e-04 9.99950517e-01 -1.21757074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.335769231 meters Centerline goodness [0,1] 0.9999572923339739 Centerline is valid? [True, True] Translation: X:86.33, Y:-8.01, Z:-1.22 [[ 9.87865962e-01 1.54961165e-01 1.03864435e-02 8.63294595e+01] [-1.54954455e-01 9.87920547e-01 -1.45261305e-03 -8.00715789e+00] [-1.04860796e-02 -1.74438701e-04 9.99945004e-01 -1.21658905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:-8.01, Z:-1.22 [[ 9.87460174e-01 1.57507088e-01 1.06734599e-02 8.63593091e+01] [-1.57500153e-01 9.87517835e-01 -1.49249887e-03 -8.00515363e+00] [-1.07753112e-02 -2.07288378e-04 9.99941923e-01 -1.21659992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.395769231 meters Centerline goodness [0,1] 0.9998933583585718 Centerline is valid? [True, True] Translation: X:86.39, Y:-8.00, Z:-1.22 [[ 9.86909627e-01 1.60983834e-01 9.67436854e-03 8.63900329e+01] [-1.60978307e-01 9.86957018e-01 -1.35249951e-03 -8.00026456e+00] [-9.76591648e-03 -2.22568683e-04 9.99952288e-01 -1.21941601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.425769231 meters Centerline goodness [0,1] 0.9998521897039571 Centerline is valid? [True, True] Translation: X:86.42, Y:-8.00, Z:-1.22 [[ 9.86735417e-01 1.62100189e-01 8.76045836e-03 8.64183188e+01] [-1.62095701e-01 9.86774282e-01 -1.22465158e-03 -7.99980459e+00] [-8.84311126e-03 -2.11625558e-04 9.99960877e-01 -1.22090153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.455769231 meters Centerline goodness [0,1] 0.9999148954277569 Centerline is valid? [True, True] Translation: X:86.45, Y:-8.00, Z:-1.22 [[ 9.86629769e-01 1.62745187e-01 8.70072543e-03 8.64473327e+01] [-1.62740789e-01 9.86668109e-01 -1.21576841e-03 -7.99997836e+00] [-8.78258876e-03 -2.16449621e-04 9.99961409e-01 -1.22190979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.485769231 meters Centerline goodness [0,1] 0.9998721963064733 Centerline is valid? [True, True] Translation: X:86.48, Y:-8.00, Z:-1.22 [[ 9.86521931e-01 1.63369921e-01 9.20585213e-03 8.64761165e+01] [-1.63365030e-01 9.86564855e-01 -1.28589502e-03 -7.99947282e+00] [-9.29224674e-03 -2.35350672e-04 9.99956798e-01 -1.22117062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51576923100001 meters Centerline goodness [0,1] 0.9997662061636556 Centerline is valid? [True, True] Translation: X:86.51, Y:-7.99, Z:-1.22 [[ 9.86311710e-01 1.64503855e-01 1.13000772e-02 8.65062706e+01] [-1.64496567e-01 9.86376394e-01 -1.57778074e-03 -7.99446000e+00] [-1.14056804e-02 -3.02640283e-04 9.99934907e-01 -1.21776229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54576923100001 meters Centerline goodness [0,1] 0.999744599340215 Centerline is valid? [True, True] Translation: X:86.53, Y:-7.99, Z:-1.22 [[ 9.86195635e-01 1.65136977e-01 1.21634174e-02 8.65346764e+01] [-1.65128588e-01 9.86270585e-01 -1.69772049e-03 -7.99260514e+00] [-1.22767772e-02 -3.34243405e-04 9.99924582e-01 -1.21616473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57576923100001 meters Centerline goodness [0,1] 0.9998729082821436 Centerline is valid? [True, True] Translation: X:86.56, Y:-7.99, Z:-1.22 [[ 9.85966215e-01 1.66560994e-01 1.13162655e-02 8.65640624e+01] [-1.66553833e-01 9.86031099e-01 -1.57887837e-03 -7.98838510e+00] [-1.14211693e-02 -3.28046668e-04 9.99934723e-01 -1.21915473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60576923100001 meters Centerline goodness [0,1] 0.999936335469632 Centerline is valid? [True, True] Translation: X:86.59, Y:-7.98, Z:-1.22 [[ 9.85932955e-01 1.66829708e-01 1.02008023e-02 8.65924541e+01] [-1.66823908e-01 9.85985679e-01 -1.42283481e-03 -7.98492837e+00] [-1.02952161e-02 -2.98917984e-04 9.99946958e-01 -1.22136359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63576923100001 meters Centerline goodness [0,1] 0.9997420686097498 Centerline is valid? [True, True] Translation: X:86.62, Y:-7.98, Z:-1.22 [[ 9.85967867e-01 1.66661568e-01 9.55438672e-03 8.66212930e+01] [-1.66656477e-01 9.86014120e-01 -1.33217854e-03 -7.98417891e+00] [-9.64278317e-03 -2.78815197e-04 9.99953468e-01 -1.22252782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.665769231 meters Centerline goodness [0,1] 0.9998093583850537 Centerline is valid? [True, True] Translation: X:86.65, Y:-7.98, Z:-1.22 [[ 9.86228648e-01 1.65120756e-01 9.39090378e-03 8.66504589e+01] [-1.65115774e-01 9.86273323e-01 -1.30871243e-03 -7.97699341e+00] [-9.47809347e-03 -2.59896657e-04 9.99955048e-01 -1.22341667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.695769231 meters Centerline goodness [0,1] 0.9999356816671312 Centerline is valid? [True, True] Translation: X:86.68, Y:-7.98, Z:-1.22 [[ 9.86514861e-01 1.63403695e-01 9.36282164e-03 8.66789006e+01] [-1.63398671e-01 9.86559260e-01 -1.30423321e-03 -7.97961992e+00] [-9.45009491e-03 -2.43227165e-04 9.99955317e-01 -1.22377558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.725769231 meters Centerline goodness [0,1] 0.9998923712760461 Centerline is valid? [True, True] Translation: X:86.71, Y:-7.98, Z:-1.22 [[ 9.86941608e-01 1.60808172e-01 9.32707966e-03 8.67083020e+01] [-1.60803075e-01 9.86985655e-01 -1.29878728e-03 -7.98171089e+00] [-9.41454944e-03 -2.17995891e-04 9.99955658e-01 -1.22442907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.755769231 meters Centerline goodness [0,1] 0.9999578778879973 Centerline is valid? [True, True] Translation: X:86.74, Y:-7.98, Z:-1.22 [[ 9.88055354e-01 1.53793472e-01 9.70495232e-03 8.67377979e+01] [-1.53787618e-01 9.88103002e-01 -1.35099929e-03 -7.98241379e+00] [-9.79726740e-03 -1.57639421e-04 9.99951993e-01 -1.22479479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.785769231 meters Centerline goodness [0,1] 0.9999788341870212 Centerline is valid? [True, True] Translation: X:86.77, Y:-7.99, Z:-1.22 [[ 9.88767402e-01 1.49116329e-01 1.01658539e-02 8.67658649e+01] [-1.49109660e-01 9.88819653e-01 -1.41508177e-03 -7.99046877e+00] [-1.02632080e-02 -1.16640294e-04 9.99947325e-01 -1.22378397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.815769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:-8.00, Z:-1.22 [[ 9.90099075e-01 1.39874708e-01 1.17850759e-02 8.67934024e+01] [-1.39865098e-01 9.90169210e-01 -1.63985563e-03 -8.00099535e+00] [-1.18985936e-02 -2.47012532e-05 9.99929209e-01 -1.22052303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.845769231 meters Centerline goodness [0,1] 0.9999363935121383 Centerline is valid? [True, True] Translation: X:86.82, Y:-8.01, Z:-1.22 [[ 9.90660649e-01 1.35745357e-01 1.28326247e-02 8.68219024e+01] [-1.35733623e-01 9.90743760e-01 -1.78497548e-03 -8.00773930e+00] [-1.29561450e-02 2.64863185e-05 9.99916065e-01 -1.21926810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.875769231 meters Centerline goodness [0,1] 0.9998939352156297 Centerline is valid? [True, True] Translation: X:86.85, Y:-8.01, Z:-1.22 [[ 9.91167551e-01 1.31966843e-01 1.31011103e-02 8.68499741e+01] [-1.31954292e-01 9.91254128e-01 -1.82168644e-03 -8.01405346e+00] [-1.32269318e-02 7.68487647e-05 9.99912517e-01 -1.21936645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90576923100001 meters Centerline goodness [0,1] 0.9998303143426802 Centerline is valid? [True, True] Translation: X:86.88, Y:-8.02, Z:-1.22 [[ 9.92032540e-01 1.25530084e-01 1.06601325e-02 8.68788995e+01] [-1.25521407e-01 9.92089805e-01 -1.48184460e-03 -8.02287431e+00] [-1.07618249e-02 1.31963227e-04 9.99942081e-01 -1.22472683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93576923100001 meters Centerline goodness [0,1] 0.9997245587643282 Centerline is valid? [True, True] Translation: X:86.91, Y:-8.03, Z:-1.23 [[ 9.92424136e-01 1.22553433e-01 8.65966318e-03 8.69070429e+01] [-1.22547595e-01 9.92461908e-01 -1.20364145e-03 -8.03089663e+00] [-8.74189624e-03 1.33301935e-04 9.99961780e-01 -1.22862923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96576923100001 meters Centerline goodness [0,1] 0.9997041857713356 Centerline is valid? [True, True] Translation: X:86.94, Y:-8.04, Z:-1.23 [[ 9.92792866e-01 1.19589721e-01 7.78618639e-03 8.69357019e+01] [-1.19584912e-01 9.92823387e-01 -1.08195058e-03 -8.03911432e+00] [-7.85969811e-03 1.43042409e-04 9.99969102e-01 -1.23018857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99576923100001 meters Centerline goodness [0,1] 0.9994241228537912 Centerline is valid? [True, True] Translation: X:86.96, Y:-8.05, Z:-1.23 [[ 9.93327455e-01 1.14950016e-01 9.33062848e-03 8.69641731e+01] [-1.14942908e-01 9.93371254e-01 -1.29628898e-03 -8.04905091e+00] [-9.41778655e-03 2.15149857e-04 9.99955629e-01 -1.22716970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.025769231 meters Centerline goodness [0,1] 0.9992163009404389 Centerline is valid? [True, True] Translation: X:86.99, Y:-8.06, Z:-1.23 [[ 9.93469136e-01 1.13610080e-01 1.05747966e-02 8.69930184e+01] [-1.13600877e-01 9.93525381e-01 -1.46885032e-03 -8.05520035e+00] [-1.06732050e-02 2.57951294e-04 9.99943006e-01 -1.22523706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.055769231 meters Centerline goodness [0,1] 0.9983971961618191 Centerline is valid? [True, True] Translation: X:87.02, Y:-8.06, Z:-1.22 [[ 9.93646137e-01 1.12083946e-01 1.02246314e-02 8.70217238e+01] [-1.12075264e-01 9.93698706e-01 -1.41996298e-03 -8.06439521e+00] [-1.03193580e-02 2.65012463e-04 9.99946719e-01 -1.22185450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.085769231 meters Centerline goodness [0,1] 0.9990926962044457 Centerline is valid? [True, True] Translation: X:87.05, Y:-8.07, Z:-1.23 [[ 9.93793863e-01 1.10816239e-01 9.67051493e-03 8.70516873e+01] [-1.10808414e-01 9.93840879e-01 -1.34288038e-03 -8.07169399e+00] [-9.75976601e-03 2.62971863e-04 9.99952338e-01 -1.22937622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.115769231 meters Centerline goodness [0,1] 0.9989516922681956 Centerline is valid? [True, True] Translation: X:87.08, Y:-8.08, Z:-1.23 [[ 9.93973711e-01 1.09254446e-01 8.92899693e-03 8.70816867e+01] [-1.09247713e-01 9.94013783e-01 -1.23991069e-03 -8.07710899e+00] [-9.01101177e-03 2.56966137e-04 9.99959367e-01 -1.23078031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.145769231 meters Centerline goodness [0,1] 0.9983655913978494 Centerline is valid? [True, True] Translation: X:87.11, Y:-8.09, Z:-1.23 [[ 9.94429342e-01 1.05025237e-01 8.94337900e-03 8.71098217e+01] [-1.05018312e-01 9.94469513e-01 -1.24177728e-03 -8.09075450e+00] [-9.02433571e-03 2.95641200e-04 9.99959236e-01 -1.23115300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.175769231 meters Centerline goodness [0,1] 0.9977910878892146 Centerline is valid? [True, True] Translation: X:87.14, Y:-8.10, Z:-1.23 [[ 9.94704730e-01 1.02431414e-01 8.38486183e-03 8.71385665e+01] [-1.02425231e-01 9.94740024e-01 -1.16472596e-03 -8.10293025e+00] [-8.46006219e-03 2.99737008e-04 9.99964168e-01 -1.23197747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.205769231 meters Centerline goodness [0,1] 0.9968251262491743 Centerline is valid? [True, True] Translation: X:87.17, Y:-8.11, Z:-1.23 [[ 9.94968828e-01 9.98167524e-02 8.58182608e-03 8.71679542e+01] [-9.98101769e-02 9.95005783e-01 -1.19219172e-03 -8.11416459e+00] [-8.65796728e-03 3.29640023e-04 9.99962465e-01 -1.23246054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.235769231 meters Centerline goodness [0,1] 0.9937699340846269 Centerline is valid? [True, True] Translation: X:87.20, Y:-8.13, Z:-1.23 [[ 9.95396736e-01 9.53959145e-02 9.21728883e-03 8.71951730e+01] [-9.53881382e-02 9.95439332e-01 -1.28063788e-03 -8.13443085e+00] [-9.29741946e-03 3.95522747e-04 9.99956700e-01 -1.23197002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26576923100001 meters Centerline goodness [0,1] 0.9913909806244183 Centerline is valid? [True, True] Translation: X:87.23, Y:-8.14, Z:-1.23 [[ 9.95493115e-01 9.43299882e-02 9.76273260e-03 8.72252710e+01] [-9.43212169e-02 9.95540893e-01 -1.35603931e-03 -8.14392855e+00] [-9.84711470e-03 4.29094983e-04 9.99951424e-01 -1.23141738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29576923100001 meters Centerline goodness [0,1] 0.9949371997328565 Centerline is valid? [True, True] Translation: X:87.26, Y:-8.15, Z:-1.23 [[ 9.95535506e-01 9.39136914e-02 9.44856986e-03 8.72568911e+01] [-9.39054446e-02 9.95580254e-01 -1.31368707e-03 -8.14807136e+00] [-9.53018278e-03 4.20549972e-04 9.99954498e-01 -1.23204670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32576923100001 meters Centerline goodness [0,1] 0.9937112245114024 Centerline is valid? [True, True] Translation: X:87.29, Y:-8.16, Z:-1.23 [[ 9.95515696e-01 9.41854440e-02 8.80918463e-03 8.72874162e+01] [-9.41782748e-02 9.95554594e-01 -1.22607485e-03 -8.15755846e+00] [-8.88550263e-03 3.90942944e-04 9.99960447e-01 -1.23341206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35576923100001 meters Centerline goodness [0,1] 0.994515852613539 Centerline is valid? [True, True] Translation: X:87.32, Y:-8.16, Z:-1.23 [[ 9.95448825e-01 9.49313401e-02 8.34729577e-03 8.73196818e+01] [-9.49249175e-02 9.95483755e-01 -1.16318079e-03 -8.16182408e+00] [-8.42001965e-03 3.65520585e-04 9.99964484e-01 -1.23397729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38576923100001 meters Centerline goodness [0,1] 0.9961824693846912 Centerline is valid? [True, True] Translation: X:87.35, Y:-8.16, Z:-1.23 [[ 9.95305823e-01 9.64179647e-02 8.36033101e-03 8.73518034e+01] [-9.64115630e-02 9.95340871e-01 -1.16634344e-03 -8.16328308e+00] [-8.43383562e-03 3.54835836e-04 9.99964372e-01 -1.23410305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.415769231 meters Centerline goodness [0,1] 0.9961824693846912 Centerline is valid? [True, True] Translation: X:87.38, Y:-8.17, Z:-1.23 [[ 9.95287832e-01 9.66035165e-02 8.36015227e-03 8.73840008e+01] [-9.65971105e-02 9.95322880e-01 -1.16762301e-03 -8.16796537e+00] [-8.43384732e-03 3.54554422e-04 9.99964372e-01 -1.23448384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.445769231 meters Centerline goodness [0,1] 0.9964680951259712 Centerline is valid? [True, True] Translation: X:87.41, Y:-8.17, Z:-1.23 [[ 9.94989611e-01 9.95329741e-02 9.42660200e-03 8.74137960e+01] [-9.95249371e-02 9.95034194e-01 -1.31905240e-03 -8.17234532e+00] [-9.51108053e-03 3.74261467e-04 9.99954699e-01 -1.23449537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.475769231 meters Centerline goodness [0,1] 0.9953322350356947 Centerline is valid? [True, True] Translation: X:87.44, Y:-8.18, Z:-1.23 [[ 9.94843698e-01 1.00986611e-01 9.36591779e-03 8.74445187e+01] [-1.00978745e-01 9.94887720e-01 -1.31019995e-03 -8.18169138e+00] [-9.45034925e-03 3.57685539e-04 9.99955280e-01 -1.23494563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.505769231 meters Centerline goodness [0,1] 0.9967487727155284 Centerline is valid? [True, True] Translation: X:87.48, Y:-8.18, Z:-1.23 [[ 9.94568739e-01 1.03690258e-01 9.01962814e-03 8.74771575e+01] [-1.03683058e-01 9.94609585e-01 -1.26350779e-03 -8.17591738e+00] [-9.10202206e-03 3.21462720e-04 9.99958524e-01 -1.22961607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.535769231 meters Centerline goodness [0,1] 0.9977265903144168 Centerline is valid? [True, True] Translation: X:87.51, Y:-8.18, Z:-1.24 [[ 9.94400801e-01 1.05285298e-01 9.05834601e-03 8.75078606e+01] [-1.05278103e-01 9.94442010e-01 -1.26881759e-03 -8.18339625e+00] [-9.14158765e-03 3.08067746e-04 9.99958167e-01 -1.23530697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.565769231 meters Centerline goodness [0,1] 0.9980583352892227 Centerline is valid? [True, True] Translation: X:87.54, Y:-8.18, Z:-1.23 [[ 9.94193484e-01 1.07189627e-01 9.47106050e-03 8.75399593e+01] [-1.07181830e-01 9.94238548e-01 -1.32846698e-03 -8.18327456e+00] [-9.55889132e-03 3.05627614e-04 9.99954266e-01 -1.23424938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.595769231 meters Centerline goodness [0,1] 0.9985472568791659 Centerline is valid? [True, True] Translation: X:87.57, Y:-8.18, Z:-1.23 [[ 9.93640463e-01 1.12087862e-01 1.07211108e-02 8.75715857e+01] [-1.12078151e-01 9.93698257e-01 -1.50426185e-03 -8.18150139e+00] [-1.08221586e-02 2.93093168e-04 9.99941396e-01 -1.23255654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.625769231 meters Centerline goodness [0,1] 0.9986256184716877 Centerline is valid? [True, True] Translation: X:87.60, Y:-8.18, Z:-1.23 [[ 9.93325746e-01 1.14765529e-01 1.15254286e-02 8.76017584e+01] [-1.14754483e-01 9.93392567e-01 -1.61734185e-03 -8.18390615e+00] [-1.16348902e-02 2.83952696e-04 9.99932272e-01 -1.23155105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65576923100001 meters Centerline goodness [0,1] 0.998625763758219 Centerline is valid? [True, True] Translation: X:87.63, Y:-8.18, Z:-1.23 [[ 9.92801981e-01 1.19099682e-01 1.26290264e-02 8.76322060e+01] [-1.19086768e-01 9.92882269e-01 -1.77235979e-03 -8.18420552e+00] [-1.27502239e-02 2.55652378e-04 9.99918680e-01 -1.22928042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68576923100001 meters Centerline goodness [0,1] 0.9990688027766608 Centerline is valid? [True, True] Translation: X:87.66, Y:-8.18, Z:-1.23 [[ 9.92585498e-01 1.20934888e-01 1.21975985e-02 8.76643779e+01] [-1.20922979e-01 9.92660417e-01 -1.71182769e-03 -8.18150363e+00] [-1.23150929e-02 2.24165393e-04 9.99924141e-01 -1.23066256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71576923100001 meters Centerline goodness [0,1] 0.9990322788757231 Centerline is valid? [True, True] Translation: X:87.69, Y:-8.18, Z:-1.23 [[ 9.92429822e-01 1.22306557e-01 1.11424972e-02 8.76946908e+01] [-1.22296703e-01 9.92492353e-01 -1.56400041e-03 -8.18464185e+00] [-1.12501308e-02 1.89469972e-04 9.99936697e-01 -1.23259567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74576923100001 meters Centerline goodness [0,1] 0.9990636106322757 Centerline is valid? [True, True] Translation: X:87.72, Y:-8.19, Z:-1.24 [[ 9.92413186e-01 1.22479802e-01 1.07129316e-02 8.77244467e+01] [-1.22470703e-01 9.92470990e-01 -1.50382671e-03 -8.19167353e+00] [-1.08164622e-02 1.80397196e-04 9.99941484e-01 -1.23530334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77576923100001 meters Centerline goodness [0,1] 0.9990419008686765 Centerline is valid? [True, True] Translation: X:87.75, Y:-8.20, Z:-1.23 [[ 9.92564372e-01 1.21180002e-01 1.14618730e-02 8.77534181e+01] [-1.21169497e-01 9.92630527e-01 -1.60910618e-03 -8.20156388e+00] [-1.15723965e-02 2.08312077e-04 9.99933016e-01 -1.23472732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.805769231 meters Centerline goodness [0,1] 0.9988024976477632 Centerline is valid? [True, True] Translation: X:87.78, Y:-8.21, Z:-1.23 [[ 9.92792088e-01 1.19173600e-01 1.27091408e-02 8.77839951e+01] [-1.19160516e-01 9.92873399e-01 -1.78453250e-03 -8.21135489e+00] [-1.28312370e-02 2.57241975e-04 9.99917643e-01 -1.23318111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.835769231 meters Centerline goodness [0,1] 0.9983983477692778 Centerline is valid? [True, True] Translation: X:87.81, Y:-8.23, Z:-1.23 [[ 9.93068961e-01 1.16847214e-01 1.26793754e-02 8.78131884e+01] [-1.16833978e-01 9.93149860e-01 -1.78220927e-03 -8.22831125e+00] [-1.28007661e-02 2.88474841e-04 9.99918025e-01 -1.23250149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.865769231 meters Centerline goodness [0,1] 0.9988196113148686 Centerline is valid? [True, True] Translation: X:87.85, Y:-8.23, Z:-1.24 [[ 9.93064590e-01 1.17025988e-01 1.12976943e-02 8.78460381e+01] [-1.17015481e-01 9.93128820e-01 -1.58881125e-03 -8.23437170e+00] [-1.14059980e-02 2.55787053e-04 9.99934917e-01 -1.23500661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.895769231 meters Centerline goodness [0,1] 0.9990459633649932 Centerline is valid? [True, True] Translation: X:87.88, Y:-8.24, Z:-1.24 [[ 9.92829169e-01 1.19233680e-01 8.57737041e-03 8.78765286e+01] [-1.19227697e-01 9.92866204e-01 -1.20744847e-03 -8.24264320e+00] [-8.66014972e-03 1.76129949e-04 9.99962485e-01 -1.24022728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.925769231 meters Centerline goodness [0,1] 0.9990402047563186 Centerline is valid? [True, True] Translation: X:87.91, Y:-8.25, Z:-1.24 [[ 9.92581617e-01 1.21320234e-01 7.94574756e-03 8.79080593e+01] [-1.21315154e-01 9.92613409e-01 -1.12004214e-03 -8.24635561e+00] [-8.02293935e-03 1.47793655e-04 9.99967805e-01 -1.24218896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.955769231 meters Centerline goodness [0,1] 0.9991603152047539 Centerline is valid? [True, True] Translation: X:87.94, Y:-8.25, Z:-1.24 [[ 9.92253953e-01 1.23960023e-01 8.12431812e-03 8.79405407e+01] [-1.23954802e-01 9.92287204e-01 -1.14502114e-03 -8.24699297e+00] [-8.20359376e-03 1.29103511e-04 9.99966342e-01 -1.24182674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.985769231 meters Centerline goodness [0,1] 0.9992109023438334 Centerline is valid? [True, True] Translation: X:87.97, Y:-8.25, Z:-1.24 [[ 9.91540875e-01 1.29489672e-01 8.89480913e-03 8.79705049e+01] [-1.29483616e-01 9.91580766e-01 -1.25582552e-03 -8.25191834e+00] [-8.98253808e-03 9.34702897e-05 9.99959652e-01 -1.24077065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01576923100001 meters Centerline goodness [0,1] 0.9994635193133047 Centerline is valid? [True, True] Translation: X:88.00, Y:-8.25, Z:-1.24 [[ 9.91168942e-01 1.32288511e-01 9.15847468e-03 8.80013411e+01] [-1.32282208e-01 9.91211251e-01 -1.29320382e-03 -8.25223262e+00] [-9.24905916e-03 7.02802055e-05 9.99957224e-01 -1.23915521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04576923100001 meters Centerline goodness [0,1] 0.9995992068514534 Centerline is valid? [True, True] Translation: X:88.03, Y:-8.25, Z:-1.24 [[ 9.90770889e-01 1.35215141e-01 9.48215546e-03 8.80313789e+01] [-1.35208519e-01 9.90816261e-01 -1.33893396e-03 -8.25336591e+00] [-9.57611796e-03 4.45085961e-05 9.99954147e-01 -1.23944809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07576923100001 meters Centerline goodness [0,1] 0.9998296386209247 Centerline is valid? [True, True] Translation: X:88.06, Y:-8.25, Z:-1.24 [[ 9.89973033e-01 1.40939615e-01 9.45611818e-03 8.80618370e+01] [-1.40933291e-01 9.90018194e-01 -1.33516856e-03 -8.24747834e+00] [-9.54990719e-03 -1.09009839e-05 9.99954399e-01 -1.23991212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10576923100001 meters Centerline goodness [0,1] 0.9999150634900412 Centerline is valid? [True, True] Translation: X:88.09, Y:-8.25, Z:-1.24 [[ 9.89686794e-01 1.42962236e-01 9.04704131e-03 8.80911216e+01] [-1.42956534e-01 9.89728144e-01 -1.27723381e-03 -8.24767733e+00] [-9.13670760e-03 -2.92722338e-05 9.99958259e-01 -1.24211868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:-8.25, Z:-1.24 [[ 9.89321060e-01 1.45468314e-01 9.09994185e-03 8.81199781e+01] [-1.45462653e-01 9.89362910e-01 -1.28439794e-03 -8.24638120e+00] [-9.18998415e-03 -5.30197535e-05 9.99957770e-01 -1.24200859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:-8.25, Z:-1.24 [[ 9.89234281e-01 1.46013858e-01 9.77187910e-03 8.81480615e+01] [-1.46007362e-01 9.89282543e-01 -1.37876884e-03 -8.24752548e+00] [-9.86846876e-03 -6.28408827e-05 9.99951304e-01 -1.24086887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.195769231 meters Centerline goodness [0,1] 0.9999576567230538 Centerline is valid? [True, True] Translation: X:88.18, Y:-8.25, Z:-1.24 [[ 9.89116363e-01 1.46769958e-01 1.03633988e-02 8.81769430e+01] [-1.46762699e-01 9.89170650e-01 -1.46158155e-03 -8.24893077e+00] [-1.04656862e-02 -7.52861616e-05 9.99945230e-01 -1.24031673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.225769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.21, Y:-8.25, Z:-1.24 [[ 9.89133417e-01 1.46699223e-01 9.71701829e-03 8.82055572e+01] [-1.46692842e-01 9.89181143e-01 -1.37001499e-03 -8.25158097e+00] [-9.81287139e-03 -7.02894245e-05 9.99951850e-01 -1.24209310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.255769231 meters Centerline goodness [0,1] 0.9998936079666355 Centerline is valid? [True, True] Translation: X:88.23, Y:-8.26, Z:-1.24 [[ 9.89245284e-01 1.45994137e-01 8.91515488e-03 8.82339050e+01] [-1.45988741e-01 9.89285454e-01 -1.25660024e-03 -8.25614445e+00] [-9.00308931e-03 -5.84263746e-05 9.99959470e-01 -1.24351045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.285769231 meters Centerline goodness [0,1] 0.9998709011102505 Centerline is valid? [True, True] Translation: X:88.26, Y:-8.26, Z:-1.25 [[ 9.89363897e-01 1.45228344e-01 8.23453477e-03 8.82624599e+01] [-1.45223717e-01 9.89398163e-01 -1.16030945e-03 -8.25850933e+00] [-8.31574340e-03 -4.78814607e-05 9.99965422e-01 -1.24529237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.315769231 meters Centerline goodness [0,1] 0.9998936622713739 Centerline is valid? [True, True] Translation: X:88.29, Y:-8.26, Z:-1.25 [[ 9.89632455e-01 1.43366184e-01 8.58730259e-03 8.82902001e+01] [-1.43361085e-01 9.89669711e-01 -1.20962350e-03 -8.25977849e+00] [-8.67201238e-03 -3.40023503e-05 9.99962397e-01 -1.24519250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.345769231 meters Centerline goodness [0,1] 0.9998733241845245 Centerline is valid? [True, True] Translation: X:88.32, Y:-8.26, Z:-1.24 [[ 9.89868628e-01 1.41678934e-01 9.33693567e-03 8.83177812e+01] [-1.41672837e-01 9.89912662e-01 -1.31455081e-03 -8.26405214e+00] [-9.42899501e-03 -2.15575595e-05 9.99955546e-01 -1.24447471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.375769231 meters Centerline goodness [0,1] 0.9995702621400946 Centerline is valid? [True, True] Translation: X:88.35, Y:-8.27, Z:-1.24 [[ 9.90487564e-01 1.37296342e-01 9.17064739e-03 8.83461716e+01] [-1.37290278e-01 9.90530017e-01 -1.29051666e-03 -8.27183242e+00] [-9.26098473e-03 1.91999681e-05 9.99957116e-01 -1.24476052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40576923100001 meters Centerline goodness [0,1] 0.9995370760037033 Centerline is valid? [True, True] Translation: X:88.37, Y:-8.28, Z:-1.25 [[ 9.90827157e-01 1.34864080e-01 8.55718520e-03 8.83743074e+01] [-1.34858710e-01 9.90864107e-01 -1.20403774e-03 -8.27732738e+00] [-8.64138911e-03 3.89823337e-05 9.99962662e-01 -1.24620465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43576923100001 meters Centerline goodness [0,1] 0.9994077583654131 Centerline is valid? [True, True] Translation: X:88.40, Y:-8.28, Z:-1.25 [[ 9.91108122e-01 1.32764956e-01 8.84065477e-03 8.84033596e+01] [-1.32759145e-01 9.91147549e-01 -1.24356180e-03 -8.28142735e+00] [-8.92749473e-03 5.88264301e-05 9.99960147e-01 -1.24612991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46576923100001 meters Centerline goodness [0,1] 0.9992359932088285 Centerline is valid? [True, True] Translation: X:88.43, Y:-8.29, Z:-1.24 [[ 9.91517993e-01 1.29519401e-01 1.08071485e-02 8.84317487e+01] [-1.29510527e-01 9.91576882e-01 -1.51986595e-03 -8.28605366e+00] [-1.09129707e-02 1.07334940e-04 9.99940446e-01 -1.24260024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49576923100001 meters Centerline goodness [0,1] 0.9992104645455904 Centerline is valid? [True, True] Translation: X:88.46, Y:-8.29, Z:-1.24 [[ 9.91670943e-01 1.28332840e-01 1.09280411e-02 8.84615704e+01] [-1.28323699e-01 9.91731147e-01 -1.53653185e-03 -8.29083948e+00] [-1.10348662e-02 1.21407341e-04 9.99939107e-01 -1.24317578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52576923100001 meters Centerline goodness [0,1] 0.9991815283880418 Centerline is valid? [True, True] Translation: X:88.49, Y:-8.30, Z:-1.24 [[ 9.91823262e-01 1.27178672e-01 1.05925614e-02 8.84914290e+01] [-1.27170018e-01 9.91879815e-01 -1.48936190e-03 -8.29578685e+00] [-1.06959629e-02 1.30127553e-04 9.99942788e-01 -1.24410729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.555769231 meters Centerline goodness [0,1] 0.9991312823120604 Centerline is valid? [True, True] Translation: X:88.52, Y:-8.30, Z:-1.25 [[ 9.92099210e-01 1.25093765e-01 9.52408181e-03 8.85204920e+01] [-1.25086672e-01 9.92144914e-01 -1.33915248e-03 -8.29945202e+00] [-9.61678896e-03 1.37236412e-04 9.99953748e-01 -1.24572089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.585769231 meters Centerline goodness [0,1] 0.9990858454866278 Centerline is valid? [True, True] Translation: X:88.55, Y:-8.30, Z:-1.25 [[ 9.92270403e-01 1.23754474e-01 9.18028519e-03 8.85503149e+01] [-1.23747827e-01 9.92312859e-01 -1.29068431e-03 -8.30403910e+00] [-9.26944299e-03 1.44667490e-04 9.99957027e-01 -1.24674447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.615769231 meters Centerline goodness [0,1] 0.9990295563384739 Centerline is valid? [True, True] Translation: X:88.58, Y:-8.31, Z:-1.25 [[ 9.92487348e-01 1.21993908e-01 9.29251769e-03 8.85791270e+01] [-1.21987021e-01 9.92530836e-01 -1.30648939e-03 -8.31033179e+00] [-9.38249410e-03 1.63107638e-04 9.99955970e-01 -1.24713941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.645769231 meters Centerline goodness [0,1] 0.9987694396707191 Centerline is valid? [True, True] Translation: X:88.61, Y:-8.32, Z:-1.24 [[ 9.92958057e-01 1.17974429e-01 1.07856934e-02 8.86077574e+01] [-1.17964916e-01 9.93016606e-01 -1.51622644e-03 -8.32041873e+00] [-1.08892486e-02 2.33215840e-04 9.99940683e-01 -1.24466140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.675769231 meters Centerline goodness [0,1] 0.9987709520883219 Centerline is valid? [True, True] Translation: X:88.64, Y:-8.33, Z:-1.24 [[ 9.93138852e-01 1.16415080e-01 1.10792748e-02 8.86379031e+01] [-1.16404937e-01 9.93200616e-01 -1.55816074e-03 -8.32725223e+00] [-1.11853359e-02 2.57787687e-04 9.99937409e-01 -1.24456805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.705769231 meters Centerline goodness [0,1] 0.9985258300217921 Centerline is valid? [True, True] Translation: X:88.67, Y:-8.34, Z:-1.25 [[ 9.93407776e-01 1.14229605e-01 9.62229150e-03 8.86678088e+01] [-1.14221852e-01 9.93454346e-01 -1.35332273e-03 -8.33557033e+00] [-9.71389683e-03 2.45325374e-04 9.99952789e-01 -1.24819510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.735769231 meters Centerline goodness [0,1] 0.9983915343915344 Centerline is valid? [True, True] Translation: X:88.70, Y:-8.34, Z:-1.25 [[ 9.93435798e-01 1.14063897e-01 8.64532163e-03 8.86981161e+01] [-1.14057631e-01 9.93473391e-01 -1.21611836e-03 -8.34120828e+00] [-8.72761220e-03 2.22070617e-04 9.99961889e-01 -1.24987105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76576923100001 meters Centerline goodness [0,1] 0.998661398622536 Centerline is valid? [True, True] Translation: X:88.73, Y:-8.34, Z:-1.25 [[ 9.93361313e-01 1.14746362e-01 8.15926429e-03 8.87282614e+01] [-1.14740802e-01 9.93394801e-01 -1.14786666e-03 -8.34409700e+00] [-8.23708425e-03 2.04045799e-04 9.99966054e-01 -1.25101467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79576923100001 meters Centerline goodness [0,1] 0.9989928859175452 Centerline is valid? [True, True] Translation: X:88.76, Y:-8.34, Z:-1.25 [[ 9.92941955e-01 1.18348550e-01 7.73923283e-03 8.87583749e+01] [-1.18343656e-01 9.92972101e-01 -1.08881797e-03 -8.34125060e+00] [-7.81370231e-03 1.65243932e-04 9.99969459e-01 -1.25197085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82576923100001 meters Centerline goodness [0,1] 0.9991117273652967 Centerline is valid? [True, True] Translation: X:88.79, Y:-8.34, Z:-1.25 [[ 9.92675619e-01 1.20561902e-01 7.74229988e-03 8.87889625e+01] [-1.20557073e-01 9.92705800e-01 -1.08921254e-03 -8.33615103e+00] [-7.81714354e-03 1.47845725e-04 9.99969435e-01 -1.25138080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85576923100001 meters Centerline goodness [0,1] 0.9993137465151191 Centerline is valid? [True, True] Translation: X:88.82, Y:-8.34, Z:-1.25 [[ 9.92450928e-01 1.22411498e-01 7.52199904e-03 8.88172015e+01] [-1.22406993e-01 9.92479425e-01 -1.05809711e-03 -8.33837756e+00] [-7.59495253e-03 1.29364176e-04 9.99971150e-01 -1.25254581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88576923100001 meters Centerline goodness [0,1] 0.9992571367929534 Centerline is valid? [True, True] Translation: X:88.85, Y:-8.34, Z:-1.25 [[ 9.92157597e-01 1.24710485e-01 8.40225039e-03 8.88459243e+01] [-1.24704950e-01 9.92193166e-01 -1.18151543e-03 -8.33854926e+00] [-8.48400278e-03 1.24447291e-04 9.99964002e-01 -1.25254512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.915769231 meters Centerline goodness [0,1] 0.9993603275123137 Centerline is valid? [True, True] Translation: X:88.88, Y:-8.34, Z:-1.25 [[ 9.92082133e-01 1.25255509e-01 9.17056911e-03 8.88751639e+01] [-1.25248940e-01 9.92124509e-01 -1.28939672e-03 -8.34092761e+00] [-9.25985042e-03 1.30583387e-04 9.99957118e-01 -1.25181906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.945769231 meters Centerline goodness [0,1] 0.9994290185463235 Centerline is valid? [True, True] Translation: X:88.90, Y:-8.34, Z:-1.25 [[ 9.92038240e-01 1.25571790e-01 9.58412728e-03 8.89041420e+01] [-1.25564632e-01 9.92084527e-01 -1.34734669e-03 -8.34282641e+00] [-9.67745311e-03 1.33192025e-04 9.99953163e-01 -1.25078388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.975769231 meters Centerline goodness [0,1] 0.9994200034370166 Centerline is valid? [True, True] Translation: X:88.93, Y:-8.34, Z:-1.25 [[ 9.92031358e-01 1.25591732e-01 1.00250039e-02 8.89348145e+01] [-1.25583905e-01 9.92082001e-01 -1.40897217e-03 -8.34110812e+00] [-1.01225812e-02 1.38765437e-04 9.99948756e-01 -1.24939797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.005769231 meters Centerline goodness [0,1] 0.999450537838923 Centerline is valid? [True, True] Translation: X:88.96, Y:-8.35, Z:-1.25 [[ 9.91992346e-01 1.25893339e-01 1.01020918e-02 8.89635570e+01] [-1.25885409e-01 9.92043773e-01 -1.41957781e-03 -8.34541453e+00] [-1.02004327e-02 1.36504365e-04 9.99947965e-01 -1.24937026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.035769231 meters Centerline goodness [0,1] 0.9994447054803297 Centerline is valid? [True, True] Translation: X:88.99, Y:-8.35, Z:-1.25 [[ 9.92033189e-01 1.25564093e-01 1.01887004e-02 8.89924631e+01] [-1.25556013e-01 9.92085500e-01 -1.43139164e-03 -8.34756524e+00] [-1.02877933e-02 1.40735412e-04 9.99947069e-01 -1.24994545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.065769231 meters Centerline goodness [0,1] 0.9994461014060503 Centerline is valid? [True, True] Translation: X:89.02, Y:-8.35, Z:-1.25 [[ 9.92093759e-01 1.25064162e-01 1.04368563e-02 8.90214532e+01] [-1.25055661e-01 9.92148645e-01 -1.46576112e-03 -8.35063226e+00] [-1.05382270e-02 1.48984496e-04 9.99944460e-01 -1.25008254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.095769231 meters Centerline goodness [0,1] 0.9992803471266801 Centerline is valid? [True, True] Translation: X:89.05, Y:-8.36, Z:-1.25 [[ 9.92311518e-01 1.23272566e-01 1.10329560e-02 8.90503897e+01] [-1.23262962e-01 9.92372835e-01 -1.54890685e-03 -8.35897257e+00] [-1.11397435e-02 1.77043269e-04 9.99937935e-01 -1.24925818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.125769231 meters Centerline goodness [0,1] 0.9993222492851848 Centerline is valid? [True, True] Translation: X:89.08, Y:-8.36, Z:-1.25 [[ 9.92467690e-01 1.22100882e-01 9.96284660e-03 8.90802615e+01] [-1.22092993e-01 9.92517680e-01 -1.39855254e-03 -8.36414170e+00] [-1.00590659e-02 1.71624454e-04 9.99949392e-01 -1.25079881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15576923100001 meters Centerline goodness [0,1] 0.9994424070857192 Centerline is valid? [True, True] Translation: X:89.11, Y:-8.37, Z:-1.25 [[ 9.92556305e-01 1.21522818e-01 8.01167142e-03 8.91097897e+01] [-1.21517698e-01 9.92588628e-01 -1.12465281e-03 -8.37080752e+00] [-8.08896492e-03 1.42721373e-04 9.99967274e-01 -1.25418605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18576923100001 meters Centerline goodness [0,1] 0.9992359769944184 Centerline is valid? [True, True] Translation: X:89.14, Y:-8.37, Z:-1.26 [[ 9.92487567e-01 1.22105730e-01 7.65633332e-03 8.91385110e+01] [-1.22101070e-01 9.92517090e-01 -1.07491209e-03 -8.37489752e+00] [-7.73029459e-03 1.31990395e-04 9.99970112e-01 -1.25516457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21576923100001 meters Centerline goodness [0,1] 0.999283727985169 Centerline is valid? [True, True] Translation: X:89.17, Y:-8.38, Z:-1.26 [[ 9.92317867e-01 1.23464186e-01 7.86419636e-03 8.91662338e+01] [-1.23459314e-01 9.92349021e-01 -1.10380168e-03 -8.38174263e+00] [-7.94030753e-03 1.24413841e-04 9.99968468e-01 -1.25633555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24576923100001 meters Centerline goodness [0,1] 0.9992295180207174 Centerline is valid? [True, True] Translation: X:89.20, Y:-8.38, Z:-1.25 [[ 9.92115523e-01 1.25053619e-01 8.26930117e-03 8.91965042e+01] [-1.25048290e-01 9.92149978e-01 -1.16030781e-03 -8.37988039e+00] [-8.34948766e-03 1.17097413e-04 9.99965136e-01 -1.25475374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27576923100001 meters Centerline goodness [0,1] 0.9995098039215686 Centerline is valid? [True, True] Translation: X:89.23, Y:-8.38, Z:-1.25 [[ 9.91749441e-01 1.27906798e-01 8.53794298e-03 8.92253384e+01] [-1.27901225e-01 9.91786188e-01 -1.19777384e-03 -8.38074038e+00] [-8.62101733e-03 9.58781691e-05 9.99962834e-01 -1.25447233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.305769231 meters Centerline goodness [0,1] 0.9995098039215686 Centerline is valid? [True, True] Translation: X:89.25, Y:-8.38, Z:-1.25 [[ 9.91755325e-01 1.27861171e-01 8.53795248e-03 8.92534059e+01] [-1.27855597e-01 9.91792071e-01 -1.19770611e-03 -8.38458495e+00] [-8.62101367e-03 9.62063924e-05 9.99962834e-01 -1.25480381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.335769231 meters Centerline goodness [0,1] 0.999575344501773 Centerline is valid? [True, True] Translation: X:89.28, Y:-8.39, Z:-1.26 [[ 9.91630471e-01 1.28829692e-01 8.48050417e-03 8.92834231e+01] [-1.28824233e-01 9.91666730e-01 -1.18918051e-03 -8.38741658e+00] [-8.56303559e-03 8.67331858e-05 9.99963333e-01 -1.25518327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.365769231 meters Centerline goodness [0,1] 0.9994664731742712 Centerline is valid? [True, True] Translation: X:89.31, Y:-8.39, Z:-1.26 [[ 9.91531109e-01 1.29605628e-01 8.27290712e-03 8.93122287e+01] [-1.29600461e-01 9.91565618e-01 -1.15996370e-03 -8.39030790e+00] [-8.35346808e-03 7.79675164e-05 9.99965106e-01 -1.25550131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.395769231 meters Centerline goodness [0,1] 0.999598240717246 Centerline is valid? [True, True] Translation: X:89.34, Y:-8.39, Z:-1.26 [[ 9.91379362e-01 1.30802040e-01 7.60171492e-03 8.93400711e+01] [-1.30797715e-01 9.91408504e-01 -1.06559431e-03 -8.39462195e+00] [-7.67578673e-03 6.21212745e-05 9.99970539e-01 -1.25747908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.425769231 meters Centerline goodness [0,1] 0.9996814136737251 Centerline is valid? [True, True] Translation: X:89.37, Y:-8.40, Z:-1.26 [[ 9.91232958e-01 1.31924398e-01 7.29220511e-03 8.93683643e+01] [-1.31920452e-01 9.91259780e-01 -1.02164977e-03 -8.39690443e+00] [-7.36325016e-03 5.07019353e-05 9.99972890e-01 -1.25776171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.455769231 meters Centerline goodness [0,1] 0.999871503833469 Centerline is valid? [True, True] Translation: X:89.40, Y:-8.39, Z:-1.25 [[ 9.90715473e-01 1.35679753e-01 8.59398474e-03 8.93985570e+01] [-1.35674416e-01 9.90752746e-01 -1.20370222e-03 -8.39111144e+00] [-8.67783200e-03 2.65425511e-05 9.99962347e-01 -1.25462234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.485769231 meters Centerline goodness [0,1] 0.9999362935592788 Centerline is valid? [True, True] Translation: X:89.43, Y:-8.39, Z:-1.25 [[ 9.90328908e-01 1.38405041e-01 9.62804616e-03 8.94270181e+01] [-1.38398476e-01 9.90375709e-01 -1.34802697e-03 -8.38936924e+00] [-9.72195677e-03 2.48315331e-06 9.99952741e-01 -1.25368351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.46, Y:-8.39, Z:-1.25 [[ 9.90003490e-01 1.40669433e-01 1.02566873e-02 8.94563509e+01] [-1.40662111e-01 9.90056620e-01 -1.43536996e-03 -8.38870509e+00] [-1.03566138e-02 -2.17060111e-05 9.99946369e-01 -1.25343183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54576923100001 meters Centerline goodness [0,1] 0.9999571972777469 Centerline is valid? [True, True] Translation: X:89.48, Y:-8.39, Z:-1.25 [[ 9.89721244e-01 1.42604852e-01 1.07571565e-02 8.94847595e+01] [-1.42596918e-01 9.89779700e-01 -1.50486493e-03 -8.38785030e+00] [-1.08618162e-02 -4.45405789e-05 9.99941008e-01 -1.25323715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.51, Y:-8.38, Z:-1.25 [[ 9.89154526e-01 1.46526056e-01 1.01704953e-02 8.95135157e+01] [-1.46519178e-01 9.89206807e-01 -1.42221284e-03 -8.38064841e+00] [-1.02691144e-02 -8.33843477e-05 9.99947268e-01 -1.25425149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.54, Y:-8.38, Z:-1.26 [[ 9.89060518e-01 1.47225378e-01 9.16407906e-03 8.95422269e+01] [-1.47219828e-01 9.89102968e-01 -1.28094645e-03 -8.38121882e+00] [-9.25280563e-03 -8.22005918e-05 9.99957188e-01 -1.25640563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63576923100001 meters Centerline goodness [0,1] 0.9999786041336813 Centerline is valid? [True, True] Translation: X:89.57, Y:-8.38, Z:-1.26 [[ 9.89094852e-01 1.47061268e-01 8.02223773e-03 8.95703437e+01] [-1.47057011e-01 9.89127382e-01 -1.12118980e-03 -8.38134677e+00] [-8.09989860e-03 -7.07632436e-05 9.99967193e-01 -1.25982812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.60, Y:-8.38, Z:-1.26 [[ 9.89261873e-01 1.45924486e-01 8.18474674e-03 8.95993134e+01] [-1.45920021e-01 9.89295729e-01 -1.14335448e-03 -8.38487461e+00] [-8.26397841e-03 -6.32414246e-05 9.99965851e-01 -1.26036005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.63, Y:-8.39, Z:-1.26 [[ 9.89618139e-01 1.43472180e-01 8.46593829e-03 8.96275229e+01] [-1.43467316e-01 9.89654350e-01 -1.18221252e-03 -8.38741636e+00] [-8.54796725e-03 -4.46464860e-05 9.99963464e-01 -1.26031765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.725769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.66, Y:-8.39, Z:-1.26 [[ 9.89839631e-01 1.41962844e-01 8.00351624e-03 8.96557922e+01] [-1.41958450e-01 9.89871987e-01 -1.11728897e-03 -8.39135938e+00] [-8.08107004e-03 -3.02298627e-05 9.99967347e-01 -1.26141093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.755769231 meters Centerline goodness [0,1] 0.9999784765717483 Centerline is valid? [True, True] Translation: X:89.68, Y:-8.40, Z:-1.26 [[ 9.90059936e-01 1.40445147e-01 7.51561845e-03 8.96838304e+01] [-1.40441232e-01 9.90088461e-01 -1.04886013e-03 -8.39548019e+00] [-7.58843442e-03 -1.70683191e-05 9.99971207e-01 -1.26249364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.785769231 meters Centerline goodness [0,1] 0.9999787807414009 Centerline is valid? [True, True] Translation: X:89.71, Y:-8.40, Z:-1.26 [[ 9.90281635e-01 1.38866840e-01 7.63439179e-03 8.97106131e+01] [-1.38862755e-01 9.90311063e-01 -1.06520768e-03 -8.39961456e+00] [-7.70834467e-03 -5.27707541e-06 9.99970290e-01 -1.26375449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.815769231 meters Centerline goodness [0,1] 0.9998727087576375 Centerline is valid? [True, True] Translation: X:89.74, Y:-8.41, Z:-1.26 [[ 9.90741255e-01 1.35530915e-01 7.94585158e-03 8.97379014e+01] [-1.35526388e-01 9.90773118e-01 -1.10793283e-03 -8.40571605e+00] [-8.02269529e-03 2.08021934e-05 9.99967817e-01 -1.26337108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.845769231 meters Centerline goodness [0,1] 0.9999155173506241 Centerline is valid? [True, True] Translation: X:89.77, Y:-8.41, Z:-1.26 [[ 9.90939091e-01 1.34085652e-01 7.79457713e-03 8.97652112e+01] [-1.34081255e-01 9.90969746e-01 -1.08627249e-03 -8.41105172e+00] [-7.86984367e-03 3.13231936e-05 9.99969032e-01 -1.26405899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.875769231 meters Centerline goodness [0,1] 0.9998726574272555 Centerline is valid? [True, True] Translation: X:89.79, Y:-8.42, Z:-1.27 [[ 9.91196667e-01 1.32221238e-01 6.83459675e-03 8.97939066e+01] [-1.32217816e-01 9.91220229e-01 -9.52122073e-04 -8.41546829e+00] [-6.90048131e-03 4.00847719e-05 9.99976191e-01 -1.26508096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90576923100001 meters Centerline goodness [0,1] 0.9998516163222045 Centerline is valid? [True, True] Translation: X:89.82, Y:-8.42, Z:-1.27 [[ 9.91236112e-01 1.31939722e-01 6.54835194e-03 8.98217851e+01] [-1.31936575e-01 9.91257741e-01 -9.12097772e-04 -8.41832510e+00] [-6.61144647e-03 4.01371207e-05 9.99978143e-01 -1.26559693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93576923100001 meters Centerline goodness [0,1] 0.9999146047266284 Centerline is valid? [True, True] Translation: X:89.85, Y:-8.42, Z:-1.27 [[ 9.91286666e-01 1.31565798e-01 6.41768709e-03 8.98508776e+01] [-1.31562771e-01 9.91307439e-01 -8.93326433e-04 -8.42118298e+00] [-6.47943216e-03 4.12138829e-05 9.99979007e-01 -1.26667174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96576923100001 meters Centerline goodness [0,1] 0.9996813256851498 Centerline is valid? [True, True] Translation: X:89.88, Y:-8.42, Z:-1.27 [[ 9.91402301e-01 1.30669021e-01 6.86185506e-03 8.98792102e+01] [-1.30665541e-01 9.91426046e-01 -9.54860119e-04 -8.42270199e+00] [-6.92779247e-03 5.00425125e-05 9.99976001e-01 -1.26657308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99576923100001 meters Centerline goodness [0,1] 0.9997444688145483 Centerline is valid? [True, True] Translation: X:89.91, Y:-8.43, Z:-1.27 [[ 9.91402096e-01 1.30651341e-01 7.21881868e-03 8.99068435e+01] [-1.30647492e-01 9.91428376e-01 -1.00414154e-03 -8.42503653e+00] [-7.28813412e-03 5.23874663e-05 9.99973440e-01 -1.26637828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02576923100001 meters Centerline goodness [0,1] 0.9997236042012161 Centerline is valid? [True, True] Translation: X:89.94, Y:-8.43, Z:-1.26 [[ 9.91298176e-01 1.31390405e-01 8.03039462e-03 8.99352254e+01] [-1.31385672e-01 9.91330701e-01 -1.11636582e-03 -8.42639630e+00] [-8.10745649e-03 5.15726000e-05 9.99967133e-01 -1.26452195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.055769231 meters Centerline goodness [0,1] 0.9997005988023953 Centerline is valid? [True, True] Translation: X:89.96, Y:-8.43, Z:-1.26 [[ 9.91286144e-01 1.31418941e-01 8.99121336e-03 8.99636447e+01] [-1.31413015e-01 9.91326918e-01 -1.24932684e-03 -8.42970897e+00] [-9.07741705e-03 5.68779334e-05 9.99958798e-01 -1.26286810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.085769231 meters Centerline goodness [0,1] 0.9998089780324737 Centerline is valid? [True, True] Translation: X:89.99, Y:-8.43, Z:-1.26 [[ 9.91242858e-01 1.31651019e-01 1.02764140e-02 8.99911664e+01] [-1.31643296e-01 9.91296124e-01 -1.42739220e-03 -8.43179372e+00] [-1.03748870e-02 6.20713208e-05 9.99946177e-01 -1.26074759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.115769231 meters Centerline goodness [0,1] 0.9998298958111843 Centerline is valid? [True, True] Translation: X:90.02, Y:-8.43, Z:-1.26 [[ 9.90992680e-01 1.33477189e-01 1.08327062e-02 9.00200032e+01] [-1.33468723e-01 9.91051885e-01 -1.50403159e-03 -8.42882121e+00] [-1.09365278e-02 4.46568354e-05 9.99940193e-01 -1.26005717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.145769231 meters Centerline goodness [0,1] 0.999828447665816 Centerline is valid? [True, True] Translation: X:90.05, Y:-8.43, Z:-1.26 [[ 9.90871334e-01 1.34422084e-01 1.02324221e-02 9.00487491e+01] [-1.34414585e-01 9.90924166e-01 -1.42014978e-03 -8.42957755e+00] [-1.03304538e-02 3.17989389e-05 9.99946639e-01 -1.26210840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.175769231 meters Centerline goodness [0,1] 0.9998722779232391 Centerline is valid? [True, True] Translation: X:90.08, Y:-8.43, Z:-1.27 [[ 9.90849501e-01 1.34676057e-01 8.92332800e-03 9.00759311e+01] [-1.34670367e-01 9.90889681e-01 -1.23828129e-03 -8.43075794e+00] [-9.00880048e-03 2.52425406e-05 9.99959420e-01 -1.26542316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.205769231 meters Centerline goodness [0,1] 0.999848317406661 Centerline is valid? [True, True] Translation: X:90.10, Y:-8.43, Z:-1.26 [[ 9.90881634e-01 1.34471666e-01 8.42364663e-03 9.01037355e+01] [-1.34466594e-01 9.90917439e-01 -1.16811116e-03 -8.43252102e+00] [-8.50421620e-03 2.47608179e-05 9.99963838e-01 -1.26475171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.235769231 meters Centerline goodness [0,1] 0.9999363422242027 Centerline is valid? [True, True] Translation: X:90.13, Y:-8.44, Z:-1.27 [[ 9.90872839e-01 1.34554198e-01 8.13545226e-03 9.01304091e+01] [-1.34549475e-01 9.90906235e-01 -1.12760910e-03 -8.43615085e+00] [-8.21319491e-03 2.26964004e-05 9.99966271e-01 -1.26672062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26576923100001 meters Centerline goodness [0,1] 0.9998499431927801 Centerline is valid? [True, True] Translation: X:90.16, Y:-8.44, Z:-1.27 [[ 9.90847455e-01 1.34780236e-01 7.45712702e-03 9.01586226e+01] [-1.34776280e-01 9.90875516e-01 -1.03284160e-03 -8.43941999e+00] [-7.52829121e-03 1.83446334e-05 9.99971662e-01 -1.26837824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29576923100001 meters Centerline goodness [0,1] 0.9999571963616908 Centerline is valid? [True, True] Translation: X:90.19, Y:-8.44, Z:-1.27 [[ 9.90878076e-01 1.34575186e-01 7.08221747e-03 9.01876412e+01] [-1.34571614e-01 9.90903385e-01 -9.80658241e-04 -8.44281328e+00] [-7.14976554e-03 1.86473173e-05 9.99974440e-01 -1.26813709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32576923100001 meters Centerline goodness [0,1] 0.9998717921323105 Centerline is valid? [True, True] Translation: X:90.21, Y:-8.45, Z:-1.27 [[ 9.91068710e-01 1.33141002e-01 7.50233421e-03 9.02146304e+01] [-1.33136955e-01 9.91097106e-01 -1.03848905e-03 -8.44851949e+00] [-7.57380719e-03 3.03760734e-05 9.99971318e-01 -1.26873066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35576923100001 meters Centerline goodness [0,1] 0.9998939104604286 Centerline is valid? [True, True] Translation: X:90.24, Y:-8.45, Z:-1.27 [[ 9.91159724e-01 1.32415656e-01 8.27619347e-03 9.02425101e+01] [-1.32410711e-01 9.91194276e-01 -1.14508795e-03 -8.45385697e+00] [-8.35494317e-03 3.91083956e-05 9.99965096e-01 -1.26770249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38576923100001 meters Centerline goodness [0,1] 0.9999357519167344 Centerline is valid? [True, True] Translation: X:90.27, Y:-8.46, Z:-1.27 [[ 9.91234555e-01 1.31797696e-01 9.13371665e-03 9.02697780e+01] [-1.31791653e-01 9.91276634e-01 -1.26301094e-03 -8.45862979e+00] [-9.22050183e-03 4.81924749e-05 9.99957489e-01 -1.26635959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.415769231 meters Centerline goodness [0,1] 0.9998922437016443 Centerline is valid? [True, True] Translation: X:90.30, Y:-8.46, Z:-1.27 [[ 9.91276317e-01 1.31493031e-01 8.99148416e-03 9.02976012e+01] [-1.31487168e-01 9.91317094e-01 -1.24266946e-03 -8.46339798e+00] [-9.07681432e-03 4.95640122e-05 9.99958804e-01 -1.26656641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.445769231 meters Centerline goodness [0,1] 0.999893219434063 Centerline is valid? [True, True] Translation: X:90.32, Y:-8.47, Z:-1.27 [[ 9.91230401e-01 1.31957286e-01 7.04030499e-03 9.03247951e+01] [-1.31953706e-01 9.91255403e-01 -9.72732471e-04 -8.46765796e+00] [-7.10709950e-03 3.52076634e-05 9.99974744e-01 -1.27104235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.475769231 meters Centerline goodness [0,1] 0.9999575037715402 Centerline is valid? [True, True] Translation: X:90.35, Y:-8.47, Z:-1.27 [[ 9.91137044e-01 1.32712316e-01 5.89920857e-03 9.03534013e+01] [-1.32709817e-01 9.91154600e-01 -8.14748978e-04 -8.47101786e+00] [-5.95515494e-03 2.46450040e-05 9.99982268e-01 -1.27381908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.505769231 meters Centerline goodness [0,1] 0.9999570243671838 Centerline is valid? [True, True] Translation: X:90.38, Y:-8.47, Z:-1.28 [[ 9.90931874e-01 1.34260463e-01 5.30552097e-03 9.03799749e+01] [-1.34258464e-01 9.90946077e-01 -7.32778578e-04 -8.47333653e+00] [-5.35586839e-03 1.38225507e-05 9.99985657e-01 -1.27521708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.535769231 meters Centerline goodness [0,1] 0.9999787771387338 Centerline is valid? [True, True] Translation: X:90.41, Y:-8.48, Z:-1.27 [[ 9.90816335e-01 1.35104399e-01 5.45818544e-03 9.04088910e+01] [-1.35102300e-01 9.90831369e-01 -7.53191412e-04 -8.47560396e+00] [-5.50990082e-03 8.86094902e-06 9.99984820e-01 -1.27470520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.565769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.44, Y:-8.48, Z:-1.27 [[ 9.90650623e-01 1.36284161e-01 6.16202063e-03 9.04378228e+01] [-1.36281511e-01 9.90669787e-01 -8.49967603e-04 -8.47730225e+00] [-6.22036479e-03 2.25145538e-06 9.99980653e-01 -1.27385704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.595769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.47, Y:-8.48, Z:-1.27 [[ 9.90284763e-01 1.38840943e-01 7.69945580e-03 9.04665094e+01] [-1.38836885e-01 9.90314694e-01 -1.06156716e-03 -8.47885690e+00] [-7.77227320e-03 -1.77146806e-05 9.99969795e-01 -1.27089412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.625769231 meters Centerline goodness [0,1] 0.9999785416934895 Centerline is valid? [True, True] Translation: X:90.49, Y:-8.48, Z:-1.27 [[ 9.90131122e-01 1.39888666e-01 8.45705596e-03 9.04944808e+01] [-1.39883813e-01 9.90167239e-01 -1.16564024e-03 -8.48175310e+00] [-8.53695960e-03 -2.88685490e-05 9.99963559e-01 -1.26936371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.52, Y:-8.48, Z:-1.27 [[ 9.89943887e-01 1.41161489e-01 9.19421995e-03 9.05229233e+01] [-1.41155815e-01 9.89986582e-01 -1.26643048e-03 -8.48312526e+00] [-9.28092559e-03 -4.41225001e-05 9.99956930e-01 -1.26847604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.55, Y:-8.48, Z:-1.27 [[ 9.89518754e-01 1.44123821e-01 8.99771460e-03 9.05510188e+01] [-1.44118512e-01 9.89559659e-01 -1.23899515e-03 -8.47941624e+00] [-9.08234411e-03 -7.07283050e-05 9.99958752e-01 -1.26932283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.58, Y:-8.48, Z:-1.27 [[ 9.89267782e-01 1.45876315e-01 8.32809516e-03 9.05795237e+01] [-1.45871834e-01 9.89302832e-01 -1.14619271e-03 -8.48034508e+00] [-8.40621050e-03 -8.09429934e-05 9.99964664e-01 -1.27059863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.61, Y:-8.47, Z:-1.27 [[ 9.88733517e-01 1.49489412e-01 7.67770998e-03 9.06082732e+01] [-1.49485715e-01 9.88763321e-01 -1.05639018e-03 -8.47315546e+00] [-7.74935716e-03 -1.03219583e-04 9.99969968e-01 -1.27221436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77576923100001 meters Centerline goodness [0,1] 0.9999789011730947 Centerline is valid? [True, True] Translation: X:90.64, Y:-8.48, Z:-1.27 [[ 9.88475790e-01 1.51183195e-01 7.69773646e-03 9.06372221e+01] [-1.51179537e-01 9.88505755e-01 -1.05828457e-03 -8.47596003e+00] [-7.76925164e-03 -1.17651552e-04 9.99969812e-01 -1.27120857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.67, Y:-8.47, Z:-1.27 [[ 9.88234732e-01 1.52744327e-01 7.82843274e-03 9.06652341e+01] [-1.52740595e-01 9.88265730e-01 -1.07595567e-03 -8.47271563e+00] [-7.90091792e-03 -1.32422705e-04 9.99968778e-01 -1.27188549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.835769231 meters Centerline goodness [0,1] 0.9999575938765558 Centerline is valid? [True, True] Translation: X:90.69, Y:-8.47, Z:-1.27 [[ 9.87966556e-01 1.54427040e-01 8.62401449e-03 9.06940727e+01] [-1.54422582e-01 9.88004182e-01 -1.18452656e-03 -8.47245582e+00] [-8.70348531e-03 -1.61469956e-04 9.99962111e-01 -1.27142608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.865769231 meters Centerline goodness [0,1] 0.9999786966617669 Centerline is valid? [True, True] Translation: X:90.72, Y:-8.47, Z:-1.27 [[ 9.87951559e-01 1.54469763e-01 9.52941695e-03 9.07208072e+01] [-1.54464326e-01 9.87997500e-01 -1.30844266e-03 -8.47325300e+00] [-9.61715495e-03 -1.79276996e-04 9.99953738e-01 -1.26991055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.895769231 meters Centerline goodness [0,1] 0.9999365280863218 Centerline is valid? [True, True] Translation: X:90.75, Y:-8.48, Z:-1.27 [[ 9.87931652e-01 1.54533396e-01 1.05109708e-02 9.07485850e+01] [-1.54526795e-01 9.87987545e-01 -1.44222432e-03 -8.47542081e+00] [-1.06075801e-02 -1.99407582e-04 9.99943718e-01 -1.26804057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.925769231 meters Centerline goodness [0,1] 0.9999573142100995 Centerline is valid? [True, True] Translation: X:90.78, Y:-8.48, Z:-1.27 [[ 9.87895458e-01 1.54743735e-01 1.08138931e-02 9.07780203e+01] [-1.54736770e-01 9.87954621e-01 -1.48296184e-03 -8.47500772e+00] [-1.09131147e-02 -2.08295619e-04 9.99940428e-01 -1.26872576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.955769231 meters Centerline goodness [0,1] 0.9998937865108869 Centerline is valid? [True, True] Translation: X:90.81, Y:-8.48, Z:-1.27 [[ 9.87891136e-01 1.54825011e-01 1.00159362e-02 9.08069385e+01] [-1.54819044e-01 9.87941890e-01 -1.37309211e-03 -8.47693063e+00] [-1.01077520e-02 -1.94192143e-04 9.99948897e-01 -1.27087935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.985769231 meters Centerline goodness [0,1] 0.9999573678937608 Centerline is valid? [True, True] Translation: X:90.83, Y:-8.48, Z:-1.27 [[ 9.88137910e-01 1.53354520e-01 8.11555337e-03 9.08342114e+01] [-1.53350554e-01 9.88171225e-01 -1.11242494e-03 -8.47955088e+00] [-8.19015171e-03 -1.45295347e-04 9.99966450e-01 -1.27497066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01576923100001 meters Centerline goodness [0,1] 0.9999360068259385 Centerline is valid? [True, True] Translation: X:90.86, Y:-8.48, Z:-1.28 [[ 9.88388633e-01 1.51791852e-01 6.86611272e-03 9.08621660e+01] [-1.51788980e-01 9.88412475e-01 -9.40514327e-04 -8.48423079e+00] [-6.92931388e-03 -1.12606573e-04 9.99975986e-01 -1.27740316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.89, Y:-8.49, Z:-1.28 [[ 9.88755686e-01 1.49415995e-01 6.08711601e-03 9.08890411e+01] [-1.49413694e-01 9.88774420e-01 -8.33644983e-04 -8.49014817e+00] [-6.14334449e-03 -8.52272722e-05 9.99981126e-01 -1.27931695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.92, Y:-8.50, Z:-1.28 [[ 9.89161512e-01 1.46708780e-01 6.00301911e-03 9.09172067e+01] [-1.46706494e-01 9.89179725e-01 -8.21716309e-04 -8.49880736e+00] [-6.05861780e-03 -6.78717430e-05 9.99981644e-01 -1.27989345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.94, Y:-8.51, Z:-1.28 [[ 9.89833626e-01 1.42039914e-01 7.35225321e-03 9.09441608e+01] [-1.42036360e-01 9.89860930e-01 -1.00593795e-03 -8.51218623e+00] [-7.42059154e-03 -4.85760751e-05 9.99972466e-01 -1.27730822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.97, Y:-8.52, Z:-1.28 [[ 9.90125335e-01 1.39940127e-01 8.28143651e-03 9.09724453e+01] [-1.39935548e-01 9.90159967e-01 -1.13260770e-03 -8.51976783e+00] [-8.35844417e-03 -3.74437848e-05 9.99965067e-01 -1.27569141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.00, Y:-8.53, Z:-1.27 [[ 9.90525792e-01 1.37018425e-01 9.19820048e-03 9.10003067e+01] [-1.37012655e-01 9.90568499e-01 -1.25749544e-03 -8.52917364e+00] [-9.28374768e-03 -1.46881974e-05 9.99956905e-01 -1.27474523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.03, Y:-8.53, Z:-1.28 [[ 9.90535534e-01 1.36947979e-01 9.19825220e-03 9.10275581e+01] [-1.36942210e-01 9.90578241e-01 -1.25711697e-03 -8.53276199e+00] [-9.28374811e-03 -1.44099467e-05 9.99956905e-01 -1.27506690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.225769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:-8.54, Z:-1.28 [[ 9.90645172e-01 1.36168037e-01 8.96714678e-03 9.10553402e+01] [-1.36162528e-01 9.90685755e-01 -1.22490386e-03 -8.53848390e+00] [-9.05041733e-03 -7.54427652e-06 9.99959044e-01 -1.27621846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.255769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.08, Y:-8.54, Z:-1.28 [[ 9.90714223e-01 1.35721546e-01 8.06159465e-03 9.10823009e+01] [-1.35717083e-01 9.90747022e-01 -1.10066177e-03 -8.54430406e+00] [-8.13638441e-03 -3.65483876e-06 9.99966899e-01 -1.27851540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.285769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:-8.55, Z:-1.28 [[ 9.90759070e-01 1.35423067e-01 7.55363274e-03 9.11106365e+01] [-1.35419144e-01 9.90787865e-01 -1.03084268e-03 -8.54888538e+00] [-7.62364753e-03 -1.58974729e-06 9.99970940e-01 -1.27929306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.315769231 meters Centerline goodness [0,1] 0.9999786866727765 Centerline is valid? [True, True] Translation: X:91.14, Y:-8.55, Z:-1.28 [[ 9.90835393e-01 1.34885883e-01 7.14298510e-03 9.11371517e+01] [-1.34882360e-01 9.90861140e-01 -9.74821241e-04 -8.55296109e+00] [-7.20919598e-03 2.42469925e-06 9.99974013e-01 -1.28043897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.345769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.16, Y:-8.56, Z:-1.28 [[ 9.90908090e-01 1.34359387e-01 6.97944101e-03 9.11645128e+01] [-1.34356017e-01 9.90932669e-01 -9.51495190e-04 -8.55731365e+00] [-7.04399842e-03 5.11438327e-06 9.99975191e-01 -1.27986698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.375769231 meters Centerline goodness [0,1] 0.9999574621945254 Centerline is valid? [True, True] Translation: X:91.19, Y:-8.56, Z:-1.28 [[ 9.91101574e-01 1.32885758e-01 7.68407208e-03 9.11911944e+01] [-1.32881635e-01 9.91131361e-01 -1.04697032e-03 -8.56338799e+00] [-7.75505227e-03 1.65818768e-05 9.99969929e-01 -1.27969601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40576923100001 meters Centerline goodness [0,1] 0.9999574585752877 Centerline is valid? [True, True] Translation: X:91.22, Y:-8.57, Z:-1.28 [[ 9.91225430e-01 1.31902327e-01 8.59780643e-03 9.12183918e+01] [-1.31897135e-01 9.91262718e-01 -1.17060780e-03 -8.56792576e+00] [-8.67709087e-03 2.63101862e-05 9.99962353e-01 -1.27783673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43576923100001 meters Centerline goodness [0,1] 0.9998720163819032 Centerline is valid? [True, True] Translation: X:91.24, Y:-8.58, Z:-1.28 [[ 9.91595900e-01 1.28995039e-01 9.89198890e-03 9.12447586e+01] [-1.28988030e-01 9.91645237e-01 -1.34595933e-03 -8.57741866e+00] [-9.98296576e-03 5.86995914e-05 9.99950167e-01 -1.27613446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46576923100001 meters Centerline goodness [0,1] 0.9999785812200137 Centerline is valid? [True, True] Translation: X:91.27, Y:-8.59, Z:-1.28 [[ 9.91873023e-01 1.26804357e-01 1.04192334e-02 9.12726389e+01] [-1.26796468e-01 9.91927743e-01 -1.41702990e-03 -8.58572838e+00] [-1.05148122e-02 8.43917426e-05 9.99944714e-01 -1.27618872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49576923100001 meters Centerline goodness [0,1] 0.9999785908497292 Centerline is valid? [True, True] Translation: X:91.30, Y:-8.59, Z:-1.28 [[ 9.92146453e-01 1.24601592e-01 1.09479775e-02 9.13007063e+01] [-1.24592753e-01 9.92206849e-01 -1.48839408e-03 -8.59418654e+00] [-1.10481145e-02 1.12666242e-04 9.99938961e-01 -1.27601948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52576923100001 meters Centerline goodness [0,1] 0.999851430511928 Centerline is valid? [True, True] Translation: X:91.33, Y:-8.61, Z:-1.27 [[ 9.92529261e-01 1.21479927e-01 1.13266384e-02 9.13271042e+01] [-1.21470269e-01 9.92593877e-01 -1.53932340e-03 -8.60560730e+00] [-1.14297488e-02 1.51973703e-04 9.99934667e-01 -1.27493610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.555769231 meters Centerline goodness [0,1] 0.999743024177142 Centerline is valid? [True, True] Translation: X:91.36, Y:-8.61, Z:-1.27 [[ 9.92652439e-01 1.20549536e-01 1.04376782e-02 9.13552283e+01] [-1.20541289e-01 9.92707302e-01 -1.41794144e-03 -8.61187999e+00] [-1.05324916e-02 1.49351843e-04 9.99944521e-01 -1.27174400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.585769231 meters Centerline goodness [0,1] 0.9999148483235764 Centerline is valid? [True, True] Translation: X:91.38, Y:-8.63, Z:-1.28 [[ 9.92805483e-01 1.19436849e-01 8.49182315e-03 9.13814019e+01] [-1.19431352e-01 9.92841791e-01 -1.15333106e-03 -8.62708842e+00] [-8.56878713e-03 1.30843478e-04 9.99963279e-01 -1.28116074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.615769231 meters Centerline goodness [0,1] 0.999850828964753 Centerline is valid? [True, True] Translation: X:91.41, Y:-8.63, Z:-1.28 [[ 9.92823502e-01 1.19257841e-01 8.89170054e-03 9.14097616e+01] [-1.19251812e-01 9.92863308e-01 -1.20703762e-03 -8.63180725e+00] [-8.97219192e-03 1.38023915e-04 9.99959740e-01 -1.28026983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.645769231 meters Centerline goodness [0,1] 0.9998289209186947 Centerline is valid? [True, True] Translation: X:91.44, Y:-8.64, Z:-1.28 [[ 9.92780231e-01 1.19523209e-01 1.00804163e-02 9.14372644e+01] [-1.19515480e-01 9.92831395e-01 -1.36787418e-03 -8.63899747e+00] [-1.01716465e-02 1.53232652e-04 9.99948256e-01 -1.27883635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.675769231 meters Centerline goodness [0,1] 0.9998515156014679 Centerline is valid? [True, True] Translation: X:91.46, Y:-8.65, Z:-1.28 [[ 9.92541840e-01 1.21346526e-01 1.16497613e-02 9.14637225e+01] [-1.21336338e-01 9.92610194e-01 -1.57997050e-03 -8.64886620e+00] [-1.17553957e-02 1.54647452e-04 9.99930891e-01 -1.27630402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.705769231 meters Centerline goodness [0,1] 0.9998937481405925 Centerline is valid? [True, True] Translation: X:91.49, Y:-8.65, Z:-1.28 [[ 9.92390879e-01 1.22641673e-01 1.09254004e-02 9.14921460e+01] [-1.22632797e-01 9.92451008e-01 -1.48112681e-03 -8.65453334e+00] [-1.10245725e-02 1.30044313e-04 9.99939219e-01 -1.27768165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.735769231 meters Centerline goodness [0,1] 0.9999146411728302 Centerline is valid? [True, True] Translation: X:91.52, Y:-8.66, Z:-1.28 [[ 9.92255202e-01 1.23803969e-01 1.01089975e-02 9.15190669e+01] [-1.23796435e-01 9.92306689e-01 -1.37004339e-03 -8.66069991e+00] [-1.02008427e-02 1.07974825e-04 9.99947964e-01 -1.28035756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76576923100001 meters Centerline goodness [0,1] 0.9999784306112764 Centerline is valid? [True, True] Translation: X:91.55, Y:-8.67, Z:-1.28 [[ 9.91919038e-01 1.26545843e-01 9.09790613e-03 9.15471530e+01] [-1.26539861e-01 9.91960758e-01 -1.23253803e-03 -8.66601003e+00] [-9.18073843e-03 7.13301632e-05 9.99957854e-01 -1.28187603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79576923100001 meters Centerline goodness [0,1] 0.9998944791490798 Centerline is valid? [True, True] Translation: X:91.57, Y:-8.67, Z:-1.28 [[ 9.91576770e-01 1.29141163e-01 9.90300738e-03 9.15742325e+01] [-1.29134209e-01 9.91626219e-01 -1.34111706e-03 -8.67194352e+00] [-9.99327518e-03 5.10035030e-05 9.99950065e-01 -1.28000774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82576923100001 meters Centerline goodness [0,1] 0.999978645710991 Centerline is valid? [True, True] Translation: X:91.60, Y:-8.68, Z:-1.28 [[ 9.91434903e-01 1.30196213e-01 1.02848977e-02 9.16025446e+01] [-1.30188776e-01 9.91488247e-01 -1.39219369e-03 -8.67625914e+00] [-1.03786136e-02 4.12911696e-05 9.99946140e-01 -1.27989213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85576923100001 meters Centerline goodness [0,1] 0.9999783601307048 Centerline is valid? [True, True] Translation: X:91.63, Y:-8.68, Z:-1.28 [[ 9.91282220e-01 1.31361220e-01 1.01877275e-02 9.16303861e+01] [-1.31353989e-01 9.91334570e-01 -1.37857964e-03 -8.68096240e+00] [-1.02805384e-02 2.83628426e-05 9.99947153e-01 -1.28029484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.66, Y:-8.69, Z:-1.28 [[ 9.91163080e-01 1.32275560e-01 9.94605877e-03 9.16590244e+01] [-1.32268720e-01 9.91212982e-01 -1.34528757e-03 -8.68524398e+00] [-1.00366112e-02 1.78469068e-05 9.99949632e-01 -1.28115811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.69, Y:-8.69, Z:-1.28 [[ 9.90848664e-01 1.34531672e-01 1.09614658e-02 9.16880747e+01] [-1.34523508e-01 9.90909294e-01 -1.48206767e-03 -8.68822396e+00] [-1.10612033e-02 -6.07005617e-06 9.99938823e-01 -1.28002342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.945769231 meters Centerline goodness [0,1] 0.999978754594319 Centerline is valid? [True, True] Translation: X:91.72, Y:-8.69, Z:-1.28 [[ 9.90824412e-01 1.34684062e-01 1.12777697e-02 9.17159072e+01] [-1.34675436e-01 9.90888593e-01 -1.52428423e-03 -8.69241621e+00] [-1.13803101e-02 -8.54052995e-06 9.99935242e-01 -1.27975118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.975769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.74, Y:-8.70, Z:-1.28 [[ 9.90843602e-01 1.34467434e-01 1.21435229e-02 9.17433579e+01] [-1.34457426e-01 9.90918013e-01 -1.64052258e-03 -8.69848988e+00] [-1.22538325e-02 -7.28554010e-06 9.99924919e-01 -1.27853558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.005769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.77, Y:-8.70, Z:-1.28 [[ 9.90895297e-01 1.34084343e-01 1.21613632e-02 9.17714623e+01] [-1.34074285e-01 9.90969923e-01 -1.64224757e-03 -8.70382194e+00] [-1.22717448e-02 -3.23068226e-06 9.99924699e-01 -1.27883025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.035769231 meters Centerline goodness [0,1] 0.9999788744296096 Centerline is valid? [True, True] Translation: X:91.80, Y:-8.71, Z:-1.28 [[ 9.90934581e-01 1.33816297e-01 1.19103187e-02 9.18001084e+01] [-1.33806637e-01 9.91006155e-01 -1.60781922e-03 -8.70922840e+00] [-1.20183516e-02 -4.36030260e-07 9.99927777e-01 -1.27936178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.065769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.83, Y:-8.72, Z:-1.28 [[ 9.91063723e-01 1.32865676e-01 1.18071901e-02 9.18279122e+01] [-1.32856122e-01 9.91134053e-01 -1.59336559e-03 -8.71722277e+00] [-1.19142118e-02 1.04693360e-05 9.99929023e-01 -1.28100862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.85, Y:-8.72, Z:-1.28 [[ 9.91187232e-01 1.32007380e-01 1.10418366e-02 9.18548778e+01] [-1.31998976e-01 9.91248733e-01 -1.48957799e-03 -8.72468248e+00] [-1.11418418e-02 1.89395626e-05 9.99937928e-01 -1.28252292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.125769231 meters Centerline goodness [0,1] 0.999978531097705 Centerline is valid? [True, True] Translation: X:91.88, Y:-8.73, Z:-1.28 [[ 9.91292024e-01 1.31257197e-01 1.05674823e-02 9.18831611e+01] [-1.31249465e-01 9.91348348e-01 -1.42495028e-03 -8.73402509e+00] [-1.06630911e-02 2.55654537e-05 9.99943147e-01 -1.28378679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.91, Y:-8.74, Z:-1.28 [[ 9.91205174e-01 1.31932522e-01 1.03010621e-02 9.19107209e+01] [-1.31925216e-01 9.91258700e-01 -1.38856875e-03 -8.73897350e+00] [-1.03942148e-02 1.73866990e-05 9.99945979e-01 -1.28446704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.94, Y:-8.74, Z:-1.28 [[ 9.91057530e-01 1.33018501e-01 1.05380382e-02 9.19389849e+01] [-1.33010923e-01 9.91113555e-01 -1.41980317e-03 -8.74264386e+00] [-1.06332526e-02 5.43242735e-06 9.99943465e-01 -1.28365363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.97, Y:-8.74, Z:-1.28 [[ 9.90587560e-01 1.36427890e-01 1.11227740e-02 9.19664531e+01] [-1.36419669e-01 9.90650004e-01 -1.49801074e-03 -8.74477177e+00] [-1.12231466e-02 -3.34543493e-05 9.99937018e-01 -1.28228794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:-8.75, Z:-1.28 [[ 9.90389498e-01 1.37867642e-01 1.10070467e-02 9.19952110e+01] [-1.37859689e-01 9.90450660e-01 -1.48174708e-03 -8.74751743e+00] [-1.11062217e-02 -4.99212815e-05 9.99938323e-01 -1.28258363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:-8.75, Z:-1.28 [[ 9.90163408e-01 1.39491485e-01 1.08881349e-02 9.20230273e+01] [-1.39483805e-01 9.90223268e-01 -1.46523200e-03 -8.74932637e+00] [-1.09860719e-02 -6.78993743e-05 9.99939649e-01 -1.28391088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.05, Y:-8.75, Z:-1.29 [[ 9.89608137e-01 1.43475321e-01 9.51670457e-03 9.20516969e+01] [-1.43469644e-01 9.89653890e-01 -1.28012824e-03 -8.74741914e+00] [-9.60191051e-03 -9.85328932e-05 9.99953896e-01 -1.28767233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.335769231 meters Centerline goodness [0,1] 0.9999786045914547 Centerline is valid? [True, True] Translation: X:92.08, Y:-8.75, Z:-1.29 [[ 9.89300340e-01 1.45630006e-01 8.76004213e-03 9.20793855e+01] [-1.45625284e-01 9.89339117e-01 -1.17786873e-03 -8.74633068e+00] [-8.83818538e-03 -1.10417689e-04 9.99960936e-01 -1.28975054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.365769231 meters Centerline goodness [0,1] 0.9999357766740881 Centerline is valid? [True, True] Translation: X:92.11, Y:-8.74, Z:-1.29 [[ 9.88644800e-01 1.50083901e-01 7.50213493e-03 9.21097109e+01] [-1.50080570e-01 9.88673255e-01 -1.00828497e-03 -8.74196142e+00] [-7.56848751e-03 -1.29088994e-04 9.99971350e-01 -1.29133326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.395769231 meters Centerline goodness [0,1] 0.9999149189603097 Centerline is valid? [True, True] Translation: X:92.14, Y:-8.74, Z:-1.29 [[ 9.88318566e-01 1.52227159e-01 7.30100765e-03 9.21375552e+01] [-1.52224062e-01 9.88345523e-01 -9.81290315e-04 -8.73941698e+00] [-7.36529726e-03 -1.41561605e-04 9.99972866e-01 -1.29243890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.425769231 meters Centerline goodness [0,1] 0.9999575245295842 Centerline is valid? [True, True] Translation: X:92.17, Y:-8.74, Z:-1.29 [[ 9.88023265e-01 1.54121147e-01 7.52999473e-03 9.21663875e+01] [-1.54117912e-01 9.88051945e-01 -1.01141161e-03 -8.74230281e+00] [-7.59590586e-03 -1.61208862e-04 9.99971138e-01 -1.29177078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.455769231 meters Centerline goodness [0,1] 0.9995748208933013 Centerline is valid? [True, True] Translation: X:92.20, Y:-8.74, Z:-1.29 [[ 9.87671611e-01 1.56318260e-01 8.33010710e-03 9.21951347e+01] [-1.56314383e-01 9.87706719e-01 -1.11854126e-03 -8.73509092e+00] [-8.40255118e-03 -1.97364100e-04 9.99964678e-01 -1.29205587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.485769231 meters Centerline goodness [0,1] 0.9996783255774055 Centerline is valid? [True, True] Translation: X:92.22, Y:-8.74, Z:-1.29 [[ 9.87624684e-01 1.56564670e-01 9.21887233e-03 9.22237109e+01] [-1.56559941e-01 9.87667684e-01 -1.23689615e-03 -8.73848707e+00] [-9.29883653e-03 -2.21716944e-04 9.99956740e-01 -1.29121075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51576923100001 meters Centerline goodness [0,1] 0.9996592482163774 Centerline is valid? [True, True] Translation: X:92.25, Y:-8.74, Z:-1.29 [[ 9.87707986e-01 1.55992601e-01 9.96207884e-03 9.22510701e+01] [-1.55987054e-01 9.87758196e-01 -1.33615603e-03 -8.74058903e+00] [-1.00485555e-02 -2.34223343e-04 9.99949485e-01 -1.29023592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54576923100001 meters Centerline goodness [0,1] 0.999701549809205 Centerline is valid? [True, True] Translation: X:92.28, Y:-8.75, Z:-1.29 [[ 9.87945730e-01 1.54373573e-01 1.14905959e-02 9.22795706e+01] [-1.54366096e-01 9.88012518e-01 -1.54011603e-03 -8.74550147e+00] [-1.15906059e-02 -2.52207382e-04 9.99932795e-01 -1.28676526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57576923100001 meters Centerline goodness [0,1] 0.9998305371970853 Centerline is valid? [True, True] Translation: X:92.31, Y:-8.75, Z:-1.29 [[ 9.88051940e-01 1.53700863e-01 1.13757706e-02 9.23076914e+01] [-1.53693496e-01 9.88117395e-01 -1.52420150e-03 -8.74871372e+00] [-1.14748679e-02 -2.42391708e-04 9.99934132e-01 -1.28685453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60576923100001 meters Centerline goodness [0,1] 0.9996597409778194 Centerline is valid? [True, True] Translation: X:92.34, Y:-8.75, Z:-1.29 [[ 9.88179826e-01 1.52933358e-01 1.05838967e-02 9.23363702e+01] [-1.52926942e-01 9.88236480e-01 -1.41764878e-03 -8.75125762e+00] [-1.06761986e-02 -2.17671032e-04 9.99942984e-01 -1.28898209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63576923100001 meters Centerline goodness [0,1] 0.9997019120214623 Centerline is valid? [True, True] Translation: X:92.36, Y:-8.75, Z:-1.29 [[ 9.88181869e-01 1.52917129e-01 1.06276115e-02 9.23629567e+01] [-1.52910665e-01 9.88238991e-01 -1.42303972e-03 -8.75278283e+00] [-1.07202272e-02 -2.18853084e-04 9.99942513e-01 -1.28982852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.665769231 meters Centerline goodness [0,1] 0.9997854905830366 Centerline is valid? [True, True] Translation: X:92.39, Y:-8.76, Z:-1.29 [[ 9.88194243e-01 1.52816904e-01 1.09147466e-02 9.23905117e+01] [-1.52810089e-01 9.88254493e-01 -1.46056513e-03 -8.75556216e+00] [-1.10097464e-02 -2.24561335e-04 9.99939366e-01 -1.28971171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.695769231 meters Centerline goodness [0,1] 0.9998093301131308 Centerline is valid? [True, True] Translation: X:92.42, Y:-8.76, Z:-1.29 [[ 9.88318086e-01 1.51943472e-01 1.18550319e-02 9.24180356e+01] [-1.51935380e-01 9.88389157e-01 -1.58550144e-03 -8.75885765e+00] [-1.19582916e-02 -2.34219021e-04 9.99928470e-01 -1.28740707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.725769231 meters Centerline goodness [0,1] 0.999809873883009 Centerline is valid? [True, True] Translation: X:92.45, Y:-8.76, Z:-1.29 [[ 9.88441321e-01 1.51076777e-01 1.26318071e-02 9.24453448e+01] [-1.51067529e-01 9.88522003e-01 -1.68860679e-03 -8.76186094e+00] [-1.27419285e-02 -2.39167163e-04 9.99918790e-01 -1.28606648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.755769231 meters Centerline goodness [0,1] 0.9998928004802539 Centerline is valid? [True, True] Translation: X:92.47, Y:-8.77, Z:-1.29 [[ 9.88751023e-01 1.49010385e-01 1.29351849e-02 9.24734400e+01] [-1.49000522e-01 9.88835607e-01 -1.72828195e-03 -8.76688699e+00] [-1.30483034e-02 -2.18508760e-04 9.99914843e-01 -1.28600982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.785769231 meters Centerline goodness [0,1] 0.9999357271402862 Centerline is valid? [True, True] Translation: X:92.50, Y:-8.77, Z:-1.29 [[ 9.88870574e-01 1.48301549e-01 1.19011781e-02 9.25018362e+01] [-1.48293155e-01 9.88942169e-01 -1.58960644e-03 -8.76788909e+00] [-1.20053180e-02 -1.92948214e-04 9.99927915e-01 -1.28847641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.815769231 meters Centerline goodness [0,1] 0.9999153582462229 Centerline is valid? [True, True] Translation: X:92.53, Y:-8.77, Z:-1.29 [[ 9.88997593e-01 1.47547424e-01 1.06544891e-02 9.25306164e+01] [-1.47540658e-01 9.89054968e-01 -1.42263998e-03 -8.77094375e+00] [-1.07477822e-02 -1.64982807e-04 9.99942227e-01 -1.29149276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.845769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.56, Y:-8.78, Z:-1.29 [[ 9.89421899e-01 1.44711077e-01 1.01493739e-02 9.25592688e+01] [-1.44704792e-01 9.89473945e-01 -1.35475945e-03 -8.77548467e+00] [-1.02385897e-02 -1.28234373e-04 9.99947576e-01 -1.29192702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.875769231 meters Centerline goodness [0,1] 0.9999786265415607 Centerline is valid? [True, True] Translation: X:92.59, Y:-8.78, Z:-1.29 [[ 9.89692953e-01 1.42759687e-01 1.12929727e-02 9.25874738e+01] [-1.42751786e-01 9.89757373e-01 -1.50682130e-03 -8.77773640e+00] [-1.13924164e-02 -1.20801601e-04 9.99935097e-01 -1.28976924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.62, Y:-8.78, Z:-1.29 [[ 9.90274269e-01 1.38454859e-01 1.36793645e-02 9.26152803e+01] [-1.38442867e-01 9.90368742e-01 -1.82432081e-03 -8.78485079e+00] [-1.38002011e-02 -8.72324887e-05 9.99904769e-01 -1.28575046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93576923100001 meters Centerline goodness [0,1] 0.9999787554970151 Centerline is valid? [True, True] Translation: X:92.64, Y:-8.79, Z:-1.29 [[ 9.90652781e-01 1.35659790e-01 1.42649485e-02 9.26432850e+01] [-1.35646469e-01 9.90755479e-01 -1.90173374e-03 -8.79117606e+00] [-1.43910647e-02 -5.10320838e-05 9.99896442e-01 -1.28587601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96576923100001 meters Centerline goodness [0,1] 0.9999356595963712 Centerline is valid? [True, True] Translation: X:92.67, Y:-8.80, Z:-1.29 [[ 9.91093272e-01 1.32417622e-01 1.41314977e-02 9.26701384e+01] [-1.32404230e-01 9.91194014e-01 -1.88327050e-03 -8.79840476e+00] [-1.42564341e-02 -4.57333819e-06 9.99898372e-01 -1.28665722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99576923100001 meters Centerline goodness [0,1] 0.9997437266417512 Centerline is valid? [True, True] Translation: X:92.70, Y:-8.81, Z:-1.29 [[ 9.91978520e-01 1.25821836e-01 1.21441762e-02 9.26970289e+01] [-1.25811458e-01 9.92052851e-01 -1.61782617e-03 -8.81054640e+00] [-1.22512225e-02 7.69723002e-05 9.99924948e-01 -1.29137990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02576923100001 meters Centerline goodness [0,1] 0.9997204240951418 Centerline is valid? [True, True] Translation: X:92.72, Y:-8.82, Z:-1.29 [[ 9.92367463e-01 1.22745041e-01 1.18521331e-02 9.27241110e+01] [-1.22734945e-01 9.92438231e-01 -1.57826236e-03 -8.82004742e+00] [-1.19562338e-02 1.11545320e-04 9.99928515e-01 -1.29247528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.055769231 meters Centerline goodness [0,1] 0.9995919331629475 Centerline is valid? [True, True] Translation: X:92.75, Y:-8.83, Z:-1.29 [[ 9.92686621e-01 1.20124670e-01 1.19723058e-02 9.27515291e+01] [-1.20114184e-01 9.92758804e-01 -1.59371322e-03 -8.82859354e+00] [-1.20770562e-02 1.44014055e-04 9.99927059e-01 -1.29180180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.085769231 meters Centerline goodness [0,1] 0.9995919331629475 Centerline is valid? [True, True] Translation: X:92.78, Y:-8.83, Z:-1.29 [[ 9.92691719e-01 1.20082526e-01 1.19723897e-02 9.27796228e+01] [-1.20072044e-01 9.92763903e-01 -1.59308219e-03 -8.83223592e+00] [-1.20770577e-02 1.43890186e-04 9.99927059e-01 -1.29213328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.115769231 meters Centerline goodness [0,1] 0.9991855630331348 Centerline is valid? [True, True] Translation: X:92.81, Y:-8.84, Z:-1.29 [[ 9.93169675e-01 1.15998732e-01 1.25813870e-02 9.28066132e+01] [-1.15986836e-01 9.93249341e-01 -1.67357344e-03 -8.84347552e+00] [-1.26905867e-02 2.02867122e-04 9.99919451e-01 -1.29044327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.145769231 meters Centerline goodness [0,1] 0.9993966037410568 Centerline is valid? [True, True] Translation: X:92.84, Y:-8.84, Z:-1.29 [[ 9.93350436e-01 1.14436892e-01 1.26138787e-02 9.28376244e+01] [-1.14424811e-01 9.93430495e-01 -1.67769189e-03 -8.84478388e+00] [-1.27230016e-02 2.23195283e-04 9.99919034e-01 -1.29117366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.175769231 meters Centerline goodness [0,1] 0.9990793868288088 Centerline is valid? [True, True] Translation: X:92.87, Y:-8.85, Z:-1.29 [[ 9.93704913e-01 1.11421171e-01 1.16562303e-02 9.28668670e+01] [-1.11410647e-01 9.93773246e-01 -1.55032116e-03 -8.85481048e+00] [-1.17563884e-02 2.41933594e-04 9.99930862e-01 -1.29409442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.205769231 meters Centerline goodness [0,1] 0.9983130192737548 Centerline is valid? [True, True] Translation: X:92.90, Y:-8.87, Z:-1.29 [[ 9.93851655e-01 1.10136959e-01 1.13462889e-02 9.28954882e+01] [-1.10126904e-01 9.93916389e-01 -1.50909483e-03 -8.87077383e+00] [-1.14434697e-02 2.50284723e-04 9.99934490e-01 -1.29482407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.235769231 meters Centerline goodness [0,1] 0.9985997963340122 Centerline is valid? [True, True] Translation: X:92.93, Y:-8.88, Z:-1.30 [[ 9.93968322e-01 1.09085488e-01 1.12841303e-02 9.29259843e+01] [-1.09075474e-01 9.94032338e-01 -1.50096505e-03 -8.87595947e+00] [-1.13805239e-02 2.61089857e-04 9.99935206e-01 -1.29500665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26576923100001 meters Centerline goodness [0,1] 0.9977758478256264 Centerline is valid? [True, True] Translation: X:92.95, Y:-8.89, Z:-1.29 [[ 9.94058876e-01 1.08245754e-01 1.13933506e-02 9.29548300e+01] [-1.08235490e-01 9.94124128e-01 -1.51549528e-03 -8.88591663e+00] [-1.14904507e-02 2.73326650e-04 9.99933945e-01 -1.29493201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29576923100001 meters Centerline goodness [0,1] 0.9977821849743032 Centerline is valid? [True, True] Translation: X:92.98, Y:-8.89, Z:-1.30 [[ 9.94241322e-01 1.06608541e-01 1.09001568e-02 9.29841986e+01] [-1.06599049e-01 9.94301031e-01 -1.44977184e-03 -8.89485294e+00] [-1.09925952e-02 2.79476720e-04 9.99939541e-01 -1.29613770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32576923100001 meters Centerline goodness [0,1] 0.9968232596301517 Centerline is valid? [True, True] Translation: X:93.01, Y:-8.91, Z:-1.30 [[ 9.94391167e-01 1.05253416e-01 1.03887240e-02 9.30136507e+01] [-1.05244722e-01 9.94445393e-01 -1.38165299e-03 -8.90826810e+00] [-1.04764424e-02 2.80545163e-04 9.99945081e-01 -1.29790076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35576923100001 meters Centerline goodness [0,1] 0.9959619752670985 Centerline is valid? [True, True] Translation: X:93.04, Y:-8.92, Z:-1.30 [[ 9.94664465e-01 1.02547924e-01 1.12483099e-02 9.30430260e+01] [-1.02537547e-01 9.94728008e-01 -1.49696607e-03 -8.92106354e+00] [-1.13425196e-02 3.35604858e-04 9.99935615e-01 -1.29651493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38576923100001 meters Centerline goodness [0,1] 0.9969753770128653 Centerline is valid? [True, True] Translation: X:93.08, Y:-8.92, Z:-1.30 [[ 9.94743930e-01 1.01668241e-01 1.21689192e-02 9.30752518e+01] [-1.01656027e-01 9.94818289e-01 -1.61971347e-03 -8.92236142e+00] [-1.22705368e-02 3.74156169e-04 9.99924644e-01 -1.29505463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.415769231 meters Centerline goodness [0,1] 0.9969056879472248 Centerline is valid? [True, True] Translation: X:93.11, Y:-8.93, Z:-1.29 [[ 9.94839163e-01 1.00657634e-01 1.27702810e-02 9.31058971e+01] [-1.00644072e-01 9.94921039e-01 -1.70187415e-03 -8.93169447e+00] [-1.28767278e-02 4.07837982e-04 9.99917008e-01 -1.29428433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.445769231 meters Centerline goodness [0,1] 0.996479549382321 Centerline is valid? [True, True] Translation: X:93.14, Y:-8.95, Z:-1.30 [[ 9.94902245e-01 1.00151920e-01 1.17947109e-02 9.31350618e+01] [-1.00140304e-01 9.94972083e-01 -1.57283299e-03 -8.94630390e+00] [-1.18929304e-02 3.83689129e-04 9.99929203e-01 -1.29561228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.475769231 meters Centerline goodness [0,1] 0.996742461584621 Centerline is valid? [True, True] Translation: X:93.17, Y:-8.95, Z:-1.30 [[ 9.94878840e-01 1.00475965e-01 1.09851615e-02 9.31669760e+01] [-1.00465890e-01 9.94939422e-01 -1.46650497e-03 -8.95385907e+00] [-1.10769187e-02 3.55360737e-04 9.99938586e-01 -1.29739646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.505769231 meters Centerline goodness [0,1] 0.9959565865077676 Centerline is valid? [True, True] Translation: X:93.20, Y:-8.97, Z:-1.30 [[ 9.94813694e-01 1.01177472e-01 1.04323316e-02 9.31967762e+01] [-1.01168420e-01 9.94868338e-01 -1.39317242e-03 -8.96544380e+00] [-1.05197541e-02 3.30524490e-04 9.99944611e-01 -1.29908286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.535769231 meters Centerline goodness [0,1] 0.9972419645698526 Centerline is valid? [True, True] Translation: X:93.23, Y:-8.97, Z:-1.30 [[ 9.94686302e-01 1.02310782e-01 1.14745366e-02 9.32279922e+01] [-1.02299884e-01 9.94752421e-01 -1.53426766e-03 -8.97468845e+00] [-1.15712951e-02 3.52271270e-04 9.99932988e-01 -1.29851787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.565769231 meters Centerline goodness [0,1] 0.996972647980354 Centerline is valid? [True, True] Translation: X:93.26, Y:-8.98, Z:-1.30 [[ 9.94600180e-01 1.03063454e-01 1.21822271e-02 9.32586440e+01] [-1.03051201e-01 9.94674716e-01 -1.63100651e-03 -8.98389906e+00] [-1.22854504e-02 3.66806242e-04 9.99924464e-01 -1.29681897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.595769231 meters Centerline goodness [0,1] 0.9976272418289477 Centerline is valid? [True, True] Translation: X:93.29, Y:-8.99, Z:-1.30 [[ 9.94263134e-01 1.06196351e-01 1.27732147e-02 9.32899221e+01] [-1.06183114e-01 9.94345119e-01 -1.71201028e-03 -8.98692156e+00] [-1.28827930e-02 3.45888990e-04 9.99916954e-01 -1.29596251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.625769231 meters Centerline goodness [0,1] 0.9978794690190423 Centerline is valid? [True, True] Translation: X:93.32, Y:-8.99, Z:-1.30 [[ 9.93995924e-01 1.08776591e-01 1.18218803e-02 9.33199678e+01] [-1.08765432e-01 9.94066180e-01 -1.58476560e-03 -8.99321436e+00] [-1.19241168e-02 2.89438626e-04 9.99928863e-01 -1.29776346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65576923100001 meters Centerline goodness [0,1] 0.9985125371865703 Centerline is valid? [True, True] Translation: X:93.35, Y:-9.00, Z:-1.30 [[ 9.93700439e-01 1.11525647e-01 1.10212465e-02 9.33515617e+01] [-1.11516114e-01 9.93761527e-01 -1.47767673e-03 -8.99578573e+00] [-1.11172896e-02 2.39321433e-04 9.99938172e-01 -1.30003624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68576923100001 meters Centerline goodness [0,1] 0.999182619918262 Centerline is valid? [True, True] Translation: X:93.38, Y:-9.00, Z:-1.30 [[ 9.93248541e-01 1.15477126e-01 1.10620538e-02 9.33832535e+01] [-1.15467763e-01 9.93310120e-01 -1.48351958e-03 -8.99695063e+00] [-1.11593626e-02 1.96193054e-04 9.99937713e-01 -1.30211003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71576923100001 meters Centerline goodness [0,1] 0.9994012872324503 Centerline is valid? [True, True] Translation: X:93.42, Y:-9.00, Z:-1.30 [[ 9.93093844e-01 1.16778805e-01 1.12839683e-02 9.34151549e+01] [-1.16769140e-01 9.93157931e-01 -1.51386196e-03 -9.00130219e+00] [-1.13835496e-02 1.85787721e-04 9.99935188e-01 -1.30234902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74576923100001 meters Centerline goodness [0,1] 0.9991470487888093 Centerline is valid? [True, True] Translation: X:93.45, Y:-9.01, Z:-1.30 [[ 9.92845444e-01 1.18904119e-01 1.09423753e-02 9.34455611e+01] [-1.18895139e-01 9.92905728e-01 -1.46985286e-03 -9.00720144e+00] [-1.10395187e-02 1.58341479e-04 9.99939050e-01 -1.30343782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77576923100001 meters Centerline goodness [0,1] 0.9993144668908931 Centerline is valid? [True, True] Translation: X:93.48, Y:-9.01, Z:-1.30 [[ 9.92715800e-01 1.20013959e-01 1.05825191e-02 9.34774136e+01] [-1.20005606e-01 9.92772194e-01 -1.42310616e-03 -9.01135672e+00] [-1.06768233e-02 1.42778361e-04 9.99942991e-01 -1.30390607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.805769231 meters Centerline goodness [0,1] 0.999407281964437 Centerline is valid? [True, True] Translation: X:93.51, Y:-9.02, Z:-1.31 [[ 9.92604578e-01 1.20932667e-01 1.05565662e-02 9.35078654e+01] [-1.20924387e-01 9.92660703e-01 -1.42145682e-03 -9.01978644e+00] [-1.06509890e-02 1.34398248e-04 9.99943268e-01 -1.30524620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.835769231 meters Centerline goodness [0,1] 0.9994923965229162 Centerline is valid? [True, True] Translation: X:93.54, Y:-9.03, Z:-1.31 [[ 9.92424827e-01 1.22422058e-01 1.02860246e-02 9.35386817e+01] [-1.22414260e-01 9.92478124e-01 -1.38664513e-03 -9.02608161e+00] [-1.03784103e-02 1.16984963e-04 9.99946136e-01 -1.30610948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.865769231 meters Centerline goodness [0,1] 0.9994672008865777 Centerline is valid? [True, True] Translation: X:93.57, Y:-9.03, Z:-1.31 [[ 9.92261475e-01 1.23733708e-01 1.03505803e-02 9.35704473e+01] [-1.23725867e-01 9.92315453e-01 -1.39691213e-03 -9.02898297e+00] [-1.04438859e-02 1.05467571e-04 9.99945456e-01 -1.30631933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.895769231 meters Centerline goodness [0,1] 0.9997206463812962 Centerline is valid? [True, True] Translation: X:93.60, Y:-9.03, Z:-1.31 [[ 9.91763241e-01 1.27655776e-01 1.04726210e-02 9.36021381e+01] [-1.27647949e-01 9.91818531e-01 -1.41518721e-03 -9.03192810e+00] [-1.05675964e-02 6.67220672e-05 9.99944159e-01 -1.30663655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.925769231 meters Centerline goodness [0,1] 0.9999157894736842 Centerline is valid? [True, True] Translation: X:93.63, Y:-9.04, Z:-1.31 [[ 9.91478783e-01 1.29885292e-01 9.98170764e-03 9.36335966e+01] [-1.29878278e-01 9.91529026e-01 -1.35046817e-03 -9.03504589e+00] [-1.00725588e-02 4.25535332e-05 9.99949270e-01 -1.30746807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.955769231 meters Centerline goodness [0,1] 0.9999149587549961 Centerline is valid? [True, True] Translation: X:93.67, Y:-9.04, Z:-1.31 [[ 9.91212942e-01 1.31927454e-01 9.59432314e-03 9.36659282e+01] [-1.31921056e-01 9.91259374e-01 -1.29946122e-03 -9.03722764e+00] [-9.68189736e-03 2.23495334e-05 9.99953129e-01 -1.30902460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.985769231 meters Centerline goodness [0,1] 0.999893917212993 Centerline is valid? [True, True] Translation: X:93.70, Y:-9.04, Z:-1.31 [[ 9.90910779e-01 1.34244910e-01 8.61000469e-03 9.36983425e+01] [-1.34239834e-01 9.90948184e-01 -1.16739858e-03 -9.03840377e+00] [-8.68878583e-03 9.82238834e-07 9.99962252e-01 -1.31193426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01576923100001 meters Centerline goodness [0,1] 0.9998941686951001 Centerline is valid? [True, True] Translation: X:93.73, Y:-9.04, Z:-1.31 [[ 9.90835018e-01 1.34828024e-01 8.20799071e-03 9.37288605e+01] [-1.34823418e-01 9.90869014e-01 -1.11444404e-03 -9.04302233e+00] [-8.28330195e-03 -2.39918683e-06 9.99965693e-01 -1.31282521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04576923100001 meters Centerline goodness [0,1] 0.9999138172494775 Centerline is valid? [True, True] Translation: X:93.76, Y:-9.05, Z:-1.31 [[ 9.90880391e-01 1.34443302e-01 9.00273130e-03 9.37605997e+01] [-1.34437738e-01 9.90921288e-01 -1.22311382e-03 -9.05039528e+00] [-9.08543756e-03 1.65266197e-06 9.99958727e-01 -1.31099397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07576923100001 meters Centerline goodness [0,1] 0.9999149750239132 Centerline is valid? [True, True] Translation: X:93.79, Y:-9.06, Z:-1.31 [[ 9.90957961e-01 1.33795616e-01 1.00524536e-02 9.37927358e+01] [-1.33788627e-01 9.91008947e-01 -1.36762641e-03 -9.05574151e+00] [-1.01450539e-02 1.03563063e-05 9.99948538e-01 -1.30913718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10576923100001 meters Centerline goodness [0,1] 0.9997646152529316 Centerline is valid? [True, True] Translation: X:93.82, Y:-9.06, Z:-1.31 [[ 9.91029720e-01 1.33192386e-01 1.09491156e-02 9.38240783e+01] [-1.33184035e-01 9.91090202e-01 -1.49162781e-03 -9.05978669e+00] [-1.10502347e-02 2.00000966e-05 9.99938944e-01 -1.30824449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13576923100001 meters Centerline goodness [0,1] 0.9998085513720485 Centerline is valid? [True, True] Translation: X:93.86, Y:-9.06, Z:-1.31 [[ 9.91043833e-01 1.33115411e-01 1.06023161e-02 9.38564977e+01] [-1.33107560e-01 9.91100543e-01 -1.44594889e-03 -9.06237819e+00] [-1.07004393e-02 2.17503127e-05 9.99942748e-01 -1.31000402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.165769231 meters Centerline goodness [0,1] 0.9999572759121593 Centerline is valid? [True, True] Translation: X:93.89, Y:-9.07, Z:-1.31 [[ 9.91048034e-01 1.33148955e-01 9.75449475e-03 9.38877141e+01] [-1.33142296e-01 9.91096037e-01 -1.33178593e-03 -9.06662266e+00] [-9.84496700e-03 2.11280009e-05 9.99951537e-01 -1.31194688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.195769231 meters Centerline goodness [0,1] 0.9997858122001371 Centerline is valid? [True, True] Translation: X:93.92, Y:-9.07, Z:-1.31 [[ 9.91118651e-01 1.32614331e-01 9.86201381e-03 9.39198909e+01] [-1.32607480e-01 9.91167715e-01 -1.34827723e-03 -9.07086523e+00] [-9.95371058e-03 2.85259116e-05 9.99950460e-01 -1.31164497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.225769231 meters Centerline goodness [0,1] 0.9998715588474547 Centerline is valid? [True, True] Translation: X:93.95, Y:-9.08, Z:-1.31 [[ 9.91207602e-01 1.31920432e-01 1.02219830e-02 9.39511674e+01] [-1.31913015e-01 9.91260308e-01 -1.39938793e-03 -9.07684030e+00] [-1.03172538e-02 3.86713623e-05 9.99946775e-01 -1.31090092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.255769231 meters Centerline goodness [0,1] 0.9998524514143586 Centerline is valid? [True, True] Translation: X:93.98, Y:-9.08, Z:-1.31 [[ 9.91311778e-01 1.31142298e-01 1.01319947e-02 9.39821951e+01] [-1.31134959e-01 9.91363554e-01 -1.38822190e-03 -9.08336259e+00] [-1.02265449e-02 4.75020009e-05 9.99947706e-01 -1.31157541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.285769231 meters Centerline goodness [0,1] 0.9997867030693428 Centerline is valid? [True, True] Translation: X:94.01, Y:-9.09, Z:-1.31 [[ 9.91542755e-01 1.29439929e-01 9.39521284e-03 9.40134358e+01] [-1.29433528e-01 9.91587263e-01 -1.28877070e-03 -9.09311576e+00] [-9.48299177e-03 6.18157071e-05 9.99955034e-01 -1.31296007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.315769231 meters Centerline goodness [0,1] 0.9997450822109869 Centerline is valid? [True, True] Translation: X:94.05, Y:-9.10, Z:-1.31 [[ 9.91653724e-01 1.28582001e-01 9.46360098e-03 9.40459358e+01] [-1.28575453e-01 9.91698878e-01 -1.29963136e-03 -9.09937171e+00] [-9.55215167e-03 7.19974957e-05 9.99954375e-01 -1.31312505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.345769231 meters Centerline goodness [0,1] 0.9995092600495007 Centerline is valid? [True, True] Translation: X:94.08, Y:-9.11, Z:-1.31 [[ 9.91846130e-01 1.27027997e-01 1.02538648e-02 9.40772587e+01] [-1.27020205e-01 9.91899127e-01 -1.41030081e-03 -9.10728889e+00] [-1.03499472e-02 9.63533990e-05 9.99946433e-01 -1.31247836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.375769231 meters Centerline goodness [0,1] 0.9995281096501577 Centerline is valid? [True, True] Translation: X:94.11, Y:-9.11, Z:-1.31 [[ 9.91821549e-01 1.27199407e-01 1.05036319e-02 9.41097571e+01] [-1.27191221e-01 9.91877160e-01 -1.44643428e-03 -9.11309249e+00] [-1.06022982e-02 9.86349206e-05 9.99943789e-01 -1.31232220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40576923100001 meters Centerline goodness [0,1] 0.9994656292749658 Centerline is valid? [True, True] Translation: X:94.14, Y:-9.12, Z:-1.31 [[ 9.91724647e-01 1.27921012e-01 1.08829823e-02 9.41423991e+01] [-1.27912242e-01 9.91784354e-01 -1.50093182e-03 -9.11987808e+00] [-1.09855723e-02 9.64444086e-05 9.99939652e-01 -1.31216175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43576923100001 meters Centerline goodness [0,1] 0.9994886000426166 Centerline is valid? [True, True] Translation: X:94.17, Y:-9.13, Z:-1.31 [[ 9.91612219e-01 1.28774077e-01 1.10654870e-02 9.41724569e+01] [-1.28765038e-01 9.91673953e-01 -1.52841364e-03 -9.12680199e+00] [-1.11701753e-02 9.07457842e-05 9.99937608e-01 -1.31238658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46576923100001 meters Centerline goodness [0,1] 0.9995692625775328 Centerline is valid? [True, True] Translation: X:94.20, Y:-9.13, Z:-1.31 [[ 9.91378546e-01 1.30635096e-01 1.01513679e-02 9.42041260e+01] [-1.30627579e-01 9.91430516e-01 -1.40295137e-03 -9.13148070e+00] [-1.02476506e-02 6.48072786e-05 9.99947489e-01 -1.31391170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49576923100001 meters Centerline goodness [0,1] 0.9995925369933519 Centerline is valid? [True, True] Translation: X:94.24, Y:-9.14, Z:-1.32 [[ 9.91276742e-01 1.31475164e-01 9.20339851e-03 9.42362765e+01] [-1.31469008e-01 9.91319463e-01 -1.27328458e-03 -9.13735925e+00] [-9.29091337e-03 5.22157186e-05 9.99956837e-01 -1.31571317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52576923100001 meters Centerline goodness [0,1] 0.9998070946308005 Centerline is valid? [True, True] Translation: X:94.27, Y:-9.15, Z:-1.32 [[ 9.91129173e-01 1.32672938e-01 7.80094736e-03 9.42668480e+01] [-1.32668543e-01 9.91159871e-01 -1.08049982e-03 -9.14687113e+00] [-7.87533907e-03 3.59745759e-05 9.99968988e-01 -1.31875226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.555769231 meters Centerline goodness [0,1] 0.9999154065771386 Centerline is valid? [True, True] Translation: X:94.30, Y:-9.15, Z:-1.32 [[ 9.91014576e-01 1.33515364e-01 7.98482764e-03 9.42983432e+01] [-1.33510775e-01 9.91046743e-01 -1.10749730e-03 -9.15476809e+00] [-8.06120533e-03 3.14854419e-05 9.99967507e-01 -1.31983514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.585769231 meters Centerline goodness [0,1] 0.9998063183265904 Centerline is valid? [True, True] Translation: X:94.33, Y:-9.16, Z:-1.32 [[ 9.90936701e-01 1.34057795e-01 8.54175956e-03 9.43311931e+01] [-1.34052548e-01 9.90973515e-01 -1.18641970e-03 -9.16142992e+00] [-8.62370630e-03 3.06221890e-05 9.99962815e-01 -1.31810198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.615769231 meters Centerline goodness [0,1] 0.9999361607047859 Centerline is valid? [True, True] Translation: X:94.36, Y:-9.17, Z:-1.32 [[ 9.90731687e-01 1.35524943e-01 9.14958148e-03 9.43615226e+01] [-1.35518967e-01 9.90773935e-01 -1.27288865e-03 -9.16891021e+00] [-9.23767500e-03 2.11492889e-05 9.99957332e-01 -1.31743842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.645769231 meters Centerline goodness [0,1] 0.9999365025610634 Centerline is valid? [True, True] Translation: X:94.39, Y:-9.17, Z:-1.32 [[ 9.90538959e-01 1.36971688e-01 8.44555602e-03 9.43929075e+01] [-1.36966639e-01 9.90574963e-01 -1.17606289e-03 -9.17394264e+00] [-8.52704366e-03 8.17669249e-06 9.99963644e-01 -1.31871684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.675769231 meters Centerline goodness [0,1] 0.999914801167224 Centerline is valid? [True, True] Translation: X:94.43, Y:-9.18, Z:-1.32 [[ 9.90149648e-01 1.39735967e-01 8.80533696e-03 9.44255486e+01] [-1.39730573e-01 9.90188800e-01 -1.22782275e-03 -9.17908750e+00] [-8.89051704e-03 -1.46465143e-05 9.99960478e-01 -1.31825513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.705769231 meters Centerline goodness [0,1] 0.999957742610239 Centerline is valid? [True, True] Translation: X:94.46, Y:-9.18, Z:-1.32 [[ 9.89977573e-01 1.40874094e-01 9.94456862e-03 9.44577784e+01] [-1.40867250e-01 9.90027519e-01 -1.38885998e-03 -9.18387931e+00] [-1.00410510e-02 -2.59237975e-05 9.99949587e-01 -1.31663989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.735769231 meters Centerline goodness [0,1] 0.9999356278431036 Centerline is valid? [True, True] Translation: X:94.49, Y:-9.19, Z:-1.32 [[ 9.89931658e-01 1.41167716e-01 1.03435027e-02 9.44901555e+01] [-1.41160307e-01 9.89985694e-01 -1.44663083e-03 -9.19023085e+00] [-1.04441373e-02 -2.80263525e-05 9.99945458e-01 -1.31735494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.52, Y:-9.20, Z:-1.32 [[ 9.90242833e-01 1.39071268e-01 8.84947904e-03 9.45202689e+01] [-1.39065749e-01 9.90282375e-01 -1.23904792e-03 -9.20272366e+00] [-8.93579908e-03 -3.70110309e-06 9.99960075e-01 -1.32097246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79576923100001 meters Centerline goodness [0,1] 0.9999578174762196 Centerline is valid? [True, True] Translation: X:94.55, Y:-9.21, Z:-1.32 [[ 9.90404969e-01 1.37987080e-01 7.58704498e-03 9.45515494e+01] [-1.37982982e-01 9.90434029e-01 -1.06345626e-03 -9.21217758e+00] [-7.66121075e-03 6.36926760e-06 9.99970652e-01 -1.32323475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82576923100001 meters Centerline goodness [0,1] 0.9999153242024599 Centerline is valid? [True, True] Translation: X:94.58, Y:-9.22, Z:-1.33 [[ 9.90542834e-01 1.37072338e-01 6.00570462e-03 9.45821674e+01] [-1.37069749e-01 9.90561040e-01 -8.42505408e-04 -9.22259242e+00] [-6.06450120e-03 1.13372688e-05 9.99981611e-01 -1.32546321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85576923100001 meters Centerline goodness [0,1] 0.9999788193929638 Centerline is valid? [True, True] Translation: X:94.61, Y:-9.23, Z:-1.33 [[ 9.90403806e-01 1.38090172e-01 5.60414081e-03 9.46147573e+01] [-1.38087931e-01 9.90419661e-01 -7.86817426e-04 -9.22745928e+00] [-5.65910299e-03 5.40276588e-06 9.99983987e-01 -1.32651903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88576923100001 meters Centerline goodness [0,1] 0.9999787820920857 Centerline is valid? [True, True] Translation: X:94.65, Y:-9.23, Z:-1.33 [[ 9.90223470e-01 1.39366451e-01 5.87130793e-03 9.46472793e+01] [-1.39364006e-01 9.90240876e-01 -8.25529472e-04 -9.23147127e+00] [-5.92906022e-03 -7.90336662e-07 9.99982423e-01 -1.32643038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91576923100001 meters Centerline goodness [0,1] 0.9999363165492061 Centerline is valid? [True, True] Translation: X:94.68, Y:-9.23, Z:-1.32 [[ 9.89727640e-01 1.42701833e-01 8.68251906e-03 9.46799220e+01] [-1.42696591e-01 9.89765723e-01 -1.22349938e-03 -9.23279875e+00] [-8.76825536e-03 -2.80347202e-05 9.99961558e-01 -1.32083439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.945769231 meters Centerline goodness [0,1] 0.9999365696887687 Centerline is valid? [True, True] Translation: X:94.71, Y:-9.23, Z:-1.32 [[ 9.89376968e-01 1.45057172e-01 9.57250302e-03 9.47129107e+01] [-1.45050894e-01 9.89423274e-01 -1.35060259e-03 -9.23385351e+00] [-9.66717186e-03 -5.22450205e-05 9.99953270e-01 -1.31913010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.975769231 meters Centerline goodness [0,1] 0.9998290196413687 Centerline is valid? [True, True] Translation: X:94.74, Y:-9.23, Z:-1.32 [[ 9.88572785e-01 1.50465103e-01 9.17064156e-03 9.47446056e+01] [-1.50459556e-01 9.88615316e-01 -1.29574451e-03 -9.22880647e+00] [-9.26120103e-03 -9.88729009e-05 9.99957109e-01 -1.31891995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.005769231 meters Centerline goodness [0,1] 0.9998290196413687 Centerline is valid? [True, True] Translation: X:94.78, Y:-9.23, Z:-1.32 [[ 9.88546016e-01 1.50640883e-01 9.17057455e-03 9.47767560e+01] [-1.50635339e-01 9.88588547e-01 -1.29621871e-03 -9.23356087e+00] [-9.26118849e-03 -1.00040766e-04 9.99957109e-01 -1.31930032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.035769231 meters Centerline goodness [0,1] 0.9998084658111472 Centerline is valid? [True, True] Translation: X:94.81, Y:-9.23, Z:-1.32 [[ 9.88105995e-01 1.53492722e-01 9.30202204e-03 9.48087708e+01] [-1.53487127e-01 9.88149770e-01 -1.31673838e-03 -9.23342333e+00] [-9.39390070e-03 -1.26663554e-04 9.99955868e-01 -1.32009846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.065769231 meters Centerline goodness [0,1] 0.9996595889536616 Centerline is valid? [True, True] Translation: X:94.84, Y:-9.23, Z:-1.32 [[ 9.87291263e-01 1.58605083e-01 1.00194942e-02 9.48413638e+01] [-1.58598843e-01 9.87342085e-01 -1.41930830e-03 -9.22900675e+00] [-1.01177778e-02 -1.87809510e-04 9.99948796e-01 -1.31811518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.095769231 meters Centerline goodness [0,1] 0.9996159016708277 Centerline is valid? [True, True] Translation: X:94.87, Y:-9.23, Z:-1.32 [[ 9.86878147e-01 1.61129740e-01 1.04273751e-02 9.48740280e+01] [-1.61123122e-01 9.86933208e-01 -1.47717590e-03 -9.22810839e+00] [-1.05291397e-02 -2.22298625e-04 9.99944542e-01 -1.31745153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.125769231 meters Centerline goodness [0,1] 0.9992182548066765 Centerline is valid? [True, True] Translation: X:94.91, Y:-9.22, Z:-1.32 [[ 9.86433029e-01 1.63824265e-01 1.05588644e-02 9.49054979e+01] [-1.63817613e-01 9.86489506e-01 -1.49770057e-03 -9.22167065e+00] [-1.06615687e-02 -2.52346658e-04 9.99943132e-01 -1.31743662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15576923100001 meters Centerline goodness [0,1] 0.9992660550458715 Centerline is valid? [True, True] Translation: X:94.94, Y:-9.22, Z:-1.32 [[ 9.85708189e-01 1.68202464e-01 9.34326994e-03 9.49367088e+01] [-1.68197447e-01 9.85752434e-01 -1.32573639e-03 -9.21737530e+00] [-9.43314321e-03 -2.64724935e-04 9.99955472e-01 -1.31853191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18576923100001 meters Centerline goodness [0,1] 0.9986526369819069 Centerline is valid? [True, True] Translation: X:94.97, Y:-9.21, Z:-1.32 [[ 9.85428667e-01 1.69883696e-01 8.35900864e-03 9.49672537e+01] [-1.69879741e-01 9.85464087e-01 -1.18606884e-03 -9.20772853e+00] [-8.43899658e-03 -2.51239984e-04 9.99964359e-01 -1.32112716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21576923100001 meters Centerline goodness [0,1] 0.9990223374636034 Centerline is valid? [True, True] Translation: X:95.00, Y:-9.21, Z:-1.32 [[ 9.85108826e-01 1.71797647e-01 6.79485942e-03 9.49969380e+01] [-1.71795081e-01 9.85132235e-01 -9.63907973e-04 -9.20765464e+00] [-6.85943217e-03 -2.17769175e-04 9.99976450e-01 -1.32441489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24576923100001 meters Centerline goodness [0,1] 0.997981729339282 Centerline is valid? [True, True] Translation: X:95.03, Y:-9.20, Z:-1.33 [[ 9.85120057e-01 1.71750327e-01 6.34816699e-03 9.50261013e+01] [-1.71748086e-01 9.85140489e-01 -9.00619592e-04 -9.20040393e+00] [-6.40851805e-03 -2.03067108e-04 9.99979445e-01 -1.32674840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27576923100001 meters Centerline goodness [0,1] 0.9992506476545272 Centerline is valid? [True, True] Translation: X:95.05, Y:-9.21, Z:-1.33 [[ 9.85266121e-01 1.70912792e-01 6.28401246e-03 9.50539475e+01] [-1.70910582e-01 9.85286141e-01 -8.91039254e-04 -9.21233733e+00] [-6.34384040e-03 -1.96093436e-04 9.99979858e-01 -1.32520634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.305769231 meters Centerline goodness [0,1] 0.9982876350337188 Centerline is valid? [True, True] Translation: X:95.08, Y:-9.20, Z:-1.33 [[ 9.85443835e-01 1.69873975e-01 6.57876495e-03 9.50834252e+01] [-1.69871531e-01 9.85465775e-01 -9.32548583e-04 -9.20429204e+00] [-6.64156344e-03 -1.98570624e-04 9.99977925e-01 -1.32629284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.335769231 meters Centerline goodness [0,1] 0.9995923446618606 Centerline is valid? [True, True] Translation: X:95.11, Y:-9.22, Z:-1.32 [[ 9.86079255e-01 1.66114785e-01 7.31988002e-03 9.51116276e+01] [-1.66111661e-01 9.86106404e-01 -1.03692936e-03 -9.21691236e+00] [-7.39042986e-03 -1.93422899e-04 9.99972672e-01 -1.32251810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.365769231 meters Centerline goodness [0,1] 0.9994446698989726 Centerline is valid? [True, True] Translation: X:95.14, Y:-9.22, Z:-1.32 [[ 9.86825104e-01 1.61617782e-01 7.47702479e-03 9.51401879e+01] [-1.61614396e-01 9.86853417e-01 -1.05889455e-03 -9.21800195e+00] [-7.54986364e-03 -1.63451120e-04 9.99971486e-01 -1.32351270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.395769231 meters Centerline goodness [0,1] 0.999595976779297 Centerline is valid? [True, True] Translation: X:95.17, Y:-9.22, Z:-1.32 [[ 9.87253937e-01 1.58983462e-01 7.34321171e-03 9.51697941e+01] [-1.58980123e-01 9.87281236e-01 -1.04000663e-03 -9.22364519e+00] [-7.41515898e-03 -1.40674061e-04 9.99972497e-01 -1.32472188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.425769231 meters Centerline goodness [0,1] 0.9997434856031294 Centerline is valid? [True, True] Translation: X:95.20, Y:-9.23, Z:-1.33 [[ 9.87671881e-01 1.56355169e-01 7.57082198e-03 9.51994654e+01] [-1.56351543e-01 9.87700889e-01 -1.07214862e-03 -9.22949525e+00] [-7.64534358e-03 -1.24778648e-04 9.99970766e-01 -1.32534206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.455769231 meters Centerline goodness [0,1] 0.9998274634977462 Centerline is valid? [True, True] Translation: X:95.23, Y:-9.24, Z:-1.32 [[ 9.88083218e-01 1.53706551e-01 8.11483450e-03 9.52283666e+01] [-1.53702296e-01 9.88116534e-01 -1.14912480e-03 -9.23586600e+00] [-8.19503014e-03 -1.11837763e-04 9.99966414e-01 -1.32439492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.485769231 meters Centerline goodness [0,1] 0.9999151139595094 Centerline is valid? [True, True] Translation: X:95.26, Y:-9.25, Z:-1.32 [[ 9.88947392e-01 1.48060347e-01 7.82232125e-03 9.52564539e+01] [-1.48056218e-01 9.88978326e-01 -1.10748027e-03 -9.24540526e+00] [-7.90008009e-03 -6.29035784e-05 9.99968792e-01 -1.32444968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51576923100001 meters Centerline goodness [0,1] 0.9999358755129959 Centerline is valid? [True, True] Translation: X:95.29, Y:-9.25, Z:-1.33 [[ 9.89402746e-01 1.45032669e-01 6.90881057e-03 9.52856409e+01] [-1.45029375e-01 9.89426866e-01 -9.78023706e-04 -9.25355762e+00] [-6.97760818e-03 -3.43211388e-05 9.99975656e-01 -1.32588952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54576923100001 meters Centerline goodness [0,1] 0.9999787030135235 Centerline is valid? [True, True] Translation: X:95.31, Y:-9.26, Z:-1.33 [[ 9.90216927e-01 1.39412411e-01 5.88356992e-03 9.53143368e+01] [-1.39409923e-01 9.90234406e-01 -8.32820100e-04 -9.26495510e+00] [-5.94221882e-03 4.44453182e-06 9.99982345e-01 -1.32923972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57576923100001 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:95.34, Y:-9.27, Z:-1.33 [[ 9.90505654e-01 1.37330455e-01 6.23661566e-03 9.53447389e+01] [-1.37327619e-01 9.90525288e-01 -8.82810343e-04 -9.27186410e+00] [-6.29876227e-03 1.79690586e-05 9.99980162e-01 -1.32819034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60576923100001 meters Centerline goodness [0,1] 0.9999355365507757 Centerline is valid? [True, True] Translation: X:95.38, Y:-9.28, Z:-1.33 [[ 9.90670874e-01 1.36082562e-01 7.26337448e-03 9.53766387e+01] [-1.36078685e-01 9.90697499e-01 -1.02772515e-03 -9.27826464e+00] [-7.33566240e-03 2.97469244e-05 9.99973093e-01 -1.32600433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63576923100001 meters Centerline goodness [0,1] 0.9999570898324358 Centerline is valid? [True, True] Translation: X:95.41, Y:-9.29, Z:-1.32 [[ 9.90785177e-01 1.35149489e-01 8.90779498e-03 9.54073947e+01] [-1.35143601e-01 9.90825218e-01 -1.26245594e-03 -9.28540485e+00] [-8.99668818e-03 4.69911386e-05 9.99959528e-01 -1.32360658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66576923100001 meters Centerline goodness [0,1] 0.9999359726816776 Centerline is valid? [True, True] Translation: X:95.44, Y:-9.29, Z:-1.32 [[ 9.90756476e-01 1.35371915e-01 8.72071804e-03 9.54393351e+01] [-1.35366268e-01 9.90794854e-01 -1.23730279e-03 -9.28943252e+00] [-8.80793860e-03 4.53746988e-05 9.99961208e-01 -1.32423536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.695769231 meters Centerline goodness [0,1] 0.9999567931906068 Centerline is valid? [True, True] Translation: X:95.47, Y:-9.29, Z:-1.33 [[ 9.90558358e-01 1.36986270e-01 5.37601984e-03 9.54708791e+01] [-1.36984144e-01 9.90572946e-01 -7.63366526e-04 -9.29222683e+00] [-5.42991054e-03 1.97296174e-05 9.99985258e-01 -1.33058346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.725769231 meters Centerline goodness [0,1] 0.9999576997102431 Centerline is valid? [True, True] Translation: X:95.50, Y:-9.30, Z:-1.34 [[ 9.90391904e-01 1.38238476e-01 3.74182630e-03 9.55010587e+01] [-1.38237453e-01 9.90398972e-01 -5.31988967e-04 -9.29586638e+00] [-3.77944226e-03 9.61703069e-06 9.99992858e-01 -1.33577277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.755769231 meters Centerline goodness [0,1] 0.9999153367480845 Centerline is valid? [True, True] Translation: X:95.53, Y:-9.30, Z:-1.33 [[ 9.90265116e-01 1.39143456e-01 3.75475554e-03 9.55313629e+01] [-1.39142432e-01 9.90272235e-01 -5.33969804e-04 -9.30005709e+00] [-3.79252856e-03 6.32585416e-06 9.99992808e-01 -1.33441734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.785769231 meters Centerline goodness [0,1] 0.9999359672152142 Centerline is valid? [True, True] Translation: X:95.56, Y:-9.31, Z:-1.33 [[ 9.90275487e-01 1.39024413e-01 5.16448736e-03 9.55602285e+01] [-1.39022473e-01 9.90288954e-01 -7.34525993e-04 -9.30576884e+00] [-5.21645183e-03 9.40328217e-06 9.99986394e-01 -1.33245695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.815769231 meters Centerline goodness [0,1] 0.9999575046744859 Centerline is valid? [True, True] Translation: X:95.59, Y:-9.31, Z:-1.33 [[ 9.90328641e-01 1.38589711e-01 6.48644125e-03 9.55914438e+01] [-1.38586643e-01 9.90349884e-01 -9.22247467e-04 -9.31244454e+00] [-6.55166035e-03 1.43939638e-05 9.99978538e-01 -1.32981134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.845769231 meters Centerline goodness [0,1] 0.9999786425184742 Centerline is valid? [True, True] Translation: X:95.62, Y:-9.32, Z:-1.33 [[ 9.90378711e-01 1.38239502e-01 6.31265456e-03 9.56221575e+01] [-1.38236593e-01 9.90398829e-01 -8.96921656e-04 -9.32290549e+00] [-6.37603568e-03 1.56522537e-05 9.99979673e-01 -1.33191336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.875769231 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:95.65, Y:-9.33, Z:-1.33 [[ 9.90370410e-01 1.38338143e-01 5.38607568e-03 9.56531773e+01] [-1.38336024e-01 9.90385055e-01 -7.65879495e-04 -9.33001427e+00] [-5.44023920e-03 1.34160975e-05 9.99985202e-01 -1.33305733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.68, Y:-9.34, Z:-1.33 [[ 9.90108062e-01 1.40191346e-01 5.69314490e-03 9.56839417e+01] [-1.40189002e-01 9.90124430e-01 -8.10703104e-04 -9.33550767e+00] [-5.75057541e-03 4.56737583e-06 9.99983465e-01 -1.33259990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:-9.34, Z:-1.33 [[ 9.89835184e-01 1.42082820e-01 6.22739628e-03 9.57154942e+01] [-1.42080041e-01 9.89854773e-01 -8.88652360e-04 -9.33835847e+00] [-6.29048016e-03 -5.16934326e-06 9.99980215e-01 -1.33108971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:-9.34, Z:-1.33 [[ 9.89418742e-01 1.44925158e-01 6.87396276e-03 9.57457427e+01] [-1.44921840e-01 9.89442620e-01 -9.80964741e-04 -9.33931366e+00] [-6.94355820e-03 -2.56024320e-05 9.99975893e-01 -1.33070504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99576923100001 meters Centerline goodness [0,1] 0.9999574051199046 Centerline is valid? [True, True] Translation: X:95.78, Y:-9.33, Z:-1.33 [[ 9.88404352e-01 1.51695885e-01 6.72281472e-03 9.57762104e+01] [-1.51692863e-01 9.88427212e-01 -9.60181206e-04 -9.33335465e+00] [-6.79066854e-03 -7.07557293e-05 9.99976941e-01 -1.33042182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02576923100001 meters Centerline goodness [0,1] 0.999978707094796 Centerline is valid? [True, True] Translation: X:95.81, Y:-9.33, Z:-1.33 [[ 9.87850394e-01 1.55262878e-01 6.71100682e-03 9.58066233e+01] [-1.55259950e-01 9.87873185e-01 -9.58209116e-04 -9.33279096e+00] [-6.77839799e-03 -9.53833319e-05 9.99977022e-01 -1.33069829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.055769231 meters Centerline goodness [0,1] 0.9998299175099924 Centerline is valid? [True, True] Translation: X:95.84, Y:-9.33, Z:-1.33 [[ 9.87145300e-01 1.59641343e-01 7.66796033e-03 9.58362594e+01] [-1.59637655e-01 9.87175071e-01 -1.09466763e-03 -9.32820595e+00] [-7.74437349e-03 -1.43499197e-04 9.99970002e-01 -1.32995136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.085769231 meters Centerline goodness [0,1] 0.9998307487253263 Centerline is valid? [True, True] Translation: X:95.87, Y:-9.33, Z:-1.33 [[ 9.87177120e-01 1.59393909e-01 8.65534400e-03 9.58657185e+01] [-1.59389203e-01 9.87215051e-01 -1.23523173e-03 -9.33292103e+00] [-8.74157428e-03 -1.60175880e-04 9.99961779e-01 -1.32858450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.115769231 meters Centerline goodness [0,1] 0.9999146156637565 Centerline is valid? [True, True] Translation: X:95.89, Y:-9.34, Z:-1.33 [[ 9.87825027e-01 1.55301087e-01 9.12627703e-03 9.58936015e+01] [-1.55295683e-01 9.87867175e-01 -1.30218690e-03 -9.34413004e+00] [-9.21778054e-03 -1.30938619e-04 9.99957507e-01 -1.32867482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.145769231 meters Centerline goodness [0,1] 0.9998939959294437 Centerline is valid? [True, True] Translation: X:95.92, Y:-9.35, Z:-1.33 [[ 9.88268485e-01 1.52460966e-01 9.00307858e-03 9.59233379e+01] [-1.52455590e-01 9.88309488e-01 -1.28447750e-03 -9.35382871e+00] [-9.09366066e-03 -1.03161028e-04 9.99958646e-01 -1.32990959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.95, Y:-9.37, Z:-1.33 [[ 9.89031013e-01 1.47464609e-01 8.47615116e-03 9.59528932e+01] [-1.47459661e-01 9.89067331e-01 -1.20922947e-03 -9.36951833e+00] [-8.56180276e-03 -5.39249264e-05 9.99963346e-01 -1.33106497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.205769231 meters Centerline goodness [0,1] 0.9999567539516077 Centerline is valid? [True, True] Translation: X:95.98, Y:-9.38, Z:-1.33 [[ 9.89227256e-01 1.46159350e-01 8.17800330e-03 9.59836058e+01] [-1.46154698e-01 9.89261059e-01 -1.16687064e-03 -9.37812644e+00] [-8.26072926e-03 -4.09533567e-05 9.99965879e-01 -1.33119808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.235769231 meters Centerline goodness [0,1] 0.9999787753369416 Centerline is valid? [True, True] Translation: X:96.01, Y:-9.38, Z:-1.33 [[ 9.89199061e-01 1.46361351e-01 7.97323809e-03 9.60132745e+01] [-1.46356934e-01 9.89231193e-01 -1.13772309e-03 -9.38244722e+00] [-8.05389452e-03 -4.15040734e-05 9.99967566e-01 -1.33202589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.04, Y:-9.38, Z:-1.33 [[ 9.88667973e-01 1.49944826e-01 7.22417601e-03 9.60440523e+01] [-1.49941293e-01 9.88694364e-01 -1.03139805e-03 -9.37992491e+00] [-7.29715491e-03 -6.34920740e-05 9.99973373e-01 -1.33288535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29576923100001 meters Centerline goodness [0,1] 0.9999573278713009 Centerline is valid? [True, True] Translation: X:96.07, Y:-9.38, Z:-1.33 [[ 9.88308169e-01 1.52304961e-01 7.08251618e-03 9.60739471e+01] [-1.52301625e-01 9.88333543e-01 -1.01122448e-03 -9.37736793e+00] [-7.15390281e-03 -7.92773080e-05 9.99974407e-01 -1.33410213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32576923100001 meters Centerline goodness [0,1] 0.9999574250681199 Centerline is valid? [True, True] Translation: X:96.10, Y:-9.37, Z:-1.33 [[ 9.87709252e-01 1.56174706e-01 6.31625590e-03 9.61038890e+01] [-1.56172131e-01 9.87729443e-01 -9.01892084e-04 -9.37490751e+00] [-6.37960465e-03 -9.56159877e-05 9.99979646e-01 -1.33440357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35576923100001 meters Centerline goodness [0,1] 0.9999786443428864 Centerline is valid? [True, True] Translation: X:96.13, Y:-9.37, Z:-1.34 [[ 9.87542064e-01 1.57233180e-01 6.19676787e-03 9.61330358e+01] [-1.57230724e-01 9.87561500e-01 -8.84613113e-04 -9.37214287e+00] [-6.25877991e-03 -1.00729638e-04 9.99980409e-01 -1.33612822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38576923100001 meters Centerline goodness [0,1] 0.9998518988680842 Centerline is valid? [True, True] Translation: X:96.16, Y:-9.38, Z:-1.34 [[ 9.87494249e-01 1.57521044e-01 6.49834020e-03 9.61618610e+01] [-1.57518350e-01 9.87515625e-01 -9.27457674e-04 -9.37508998e+00] [-6.56330658e-03 -1.07748708e-04 9.99978455e-01 -1.33541848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41576923100001 meters Centerline goodness [0,1] 0.9999151535720346 Centerline is valid? [True, True] Translation: X:96.19, Y:-9.38, Z:-1.33 [[ 9.87627483e-01 1.56607869e-01 8.11974018e-03 9.61897649e+01] [-1.56603637e-01 9.87660852e-01 -1.15841049e-03 -9.37528924e+00] [-8.20096570e-03 -1.27502807e-04 9.99966363e-01 -1.33262578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.445769231 meters Centerline goodness [0,1] 0.9999570021928882 Centerline is valid? [True, True] Translation: X:96.22, Y:-9.38, Z:-1.33 [[ 9.87723210e-01 1.55953627e-01 9.01817852e-03 9.62187843e+01] [-1.55948385e-01 9.87764369e-01 -1.28593018e-03 -9.38257384e+00] [-9.10838089e-03 -1.36227291e-04 9.99958509e-01 -1.33038130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.475769231 meters Centerline goodness [0,1] 0.9999364258619594 Centerline is valid? [True, True] Translation: X:96.25, Y:-9.38, Z:-1.33 [[ 9.87809553e-01 1.55398285e-01 9.14657902e-03 9.62476044e+01] [-1.55392870e-01 9.87851889e-01 -1.30404696e-03 -9.38245115e+00] [-9.23811203e-03 -1.33163122e-04 9.99957319e-01 -1.33140761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.505769231 meters Centerline goodness [0,1] 0.9999787469183031 Centerline is valid? [True, True] Translation: X:96.28, Y:-9.38, Z:-1.34 [[ 9.87880335e-01 1.55038673e-01 7.44666810e-03 9.62763707e+01] [-1.55035075e-01 9.87908396e-01 -1.06153495e-03 -9.38415703e+00] [-7.52120491e-03 -1.05825251e-04 9.99971710e-01 -1.33551262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.535769231 meters Centerline goodness [0,1] 0.9999787016527517 Centerline is valid? [True, True] Translation: X:96.31, Y:-9.39, Z:-1.34 [[ 9.87827120e-01 1.55425632e-01 6.36037480e-03 9.63052058e+01] [-1.55423017e-01 9.87847592e-01 -9.06373201e-04 -9.39012273e+00] [-6.42395455e-03 -9.32086102e-05 9.99979362e-01 -1.33608243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.565769231 meters Centerline goodness [0,1] 0.9999786443428864 Centerline is valid? [True, True] Translation: X:96.33, Y:-9.39, Z:-1.34 [[ 9.87792618e-01 1.55659706e-01 5.98332391e-03 9.63349300e+01] [-1.55657397e-01 9.87810735e-01 -8.52513388e-04 -9.39271806e+00] [-6.04309357e-03 -8.92421943e-05 9.99981736e-01 -1.33600382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.595769231 meters Centerline goodness [0,1] 0.9999361076798569 Centerline is valid? [True, True] Translation: X:96.36, Y:-9.39, Z:-1.34 [[ 9.87851852e-01 1.55268500e-01 6.35694871e-03 9.63633743e+01] [-1.55265886e-01 9.87872302e-01 -9.05784246e-04 -9.39245792e+00] [-6.42049331e-03 -9.22366263e-05 9.99979384e-01 -1.33793644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.625769231 meters Centerline goodness [0,1] 0.9999785038693035 Centerline is valid? [True, True] Translation: X:96.39, Y:-9.40, Z:-1.34 [[ 9.87945291e-01 1.54669067e-01 6.44840184e-03 9.63921075e+01] [-1.54666368e-01 9.87966331e-01 -9.18181808e-04 -9.40106457e+00] [-6.51281823e-03 -9.02374987e-05 9.99978787e-01 -1.33664670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65576923100001 meters Centerline goodness [0,1] 0.9999364675984752 Centerline is valid? [True, True] Translation: X:96.42, Y:-9.40, Z:-1.34 [[ 9.87907912e-01 1.54879949e-01 7.08228695e-03 9.64200844e+01] [-1.54876699e-01 9.87933293e-01 -1.00840407e-03 -9.39863528e+00] [-7.15300864e-03 -1.00670866e-04 9.99974412e-01 -1.33719902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.45, Y:-9.41, Z:-1.33 [[ 9.87849085e-01 1.55227198e-01 7.66167806e-03 9.64486016e+01] [-1.55223409e-01 9.87878790e-01 -1.09034009e-03 -9.40543728e+00] [-7.73805969e-03 -1.12180332e-04 9.99970054e-01 -1.33496414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71576923100001 meters Centerline goodness [0,1] 0.9999786224293471 Centerline is valid? [True, True] Translation: X:96.48, Y:-9.41, Z:-1.33 [[ 9.87767590e-01 1.55713126e-01 8.28315801e-03 9.64779412e+01] [-1.55708718e-01 9.87802312e-01 -1.17834361e-03 -9.40738893e+00] [-8.36560620e-03 -1.25830284e-04 9.99965000e-01 -1.33376999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74576923100001 meters Centerline goodness [0,1] 0.9999789038437197 Centerline is valid? [True, True] Translation: X:96.51, Y:-9.41, Z:-1.34 [[ 9.87823893e-01 1.55363622e-01 8.13028405e-03 9.65063395e+01] [-1.55359366e-01 9.87857343e-01 -1.15627179e-03 -9.40537408e+00] [-8.21120337e-03 -1.20922871e-04 9.99966280e-01 -1.33579295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77576923100001 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:96.53, Y:-9.41, Z:-1.34 [[ 9.87923054e-01 1.54758911e-01 7.59727802e-03 9.65344177e+01] [-1.54755181e-01 9.87952260e-01 -1.07996344e-03 -9.41371064e+00] [-7.67288195e-03 -1.08797348e-04 9.99970557e-01 -1.33666352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.56, Y:-9.42, Z:-1.34 [[ 9.88094376e-01 1.53694728e-01 6.88728761e-03 9.65621953e+01] [-1.53691639e-01 9.88118375e-01 -9.78818351e-04 -9.41762189e+00] [-6.95589466e-03 -9.13536109e-05 9.99975803e-01 -1.33914742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.835769231 meters Centerline goodness [0,1] 0.9999788811218349 Centerline is valid? [True, True] Translation: X:96.59, Y:-9.42, Z:-1.34 [[ 9.88208127e-01 1.52964705e-01 6.81889844e-03 9.65903442e+01] [-1.52961662e-01 9.88231649e-01 -9.68697508e-04 -9.41908307e+00] [-6.88682778e-03 -8.57552887e-05 9.99976282e-01 -1.34100589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.62, Y:-9.43, Z:-1.34 [[ 9.88497098e-01 1.51103334e-01 6.42414595e-03 9.66185555e+01] [-1.51100597e-01 9.88517970e-01 -9.12118875e-04 -9.43131980e+00] [-6.48820792e-03 -6.90654252e-05 9.99978949e-01 -1.34024677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:-9.44, Z:-1.34 [[ 9.88500663e-01 1.51080008e-01 6.42416747e-03 9.66474381e+01] [-1.51077271e-01 9.88521536e-01 -9.11967285e-04 -9.43537355e+00] [-6.48820791e-03 -6.90654251e-05 9.99978949e-01 -1.34058803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.68, Y:-9.44, Z:-1.34 [[ 9.88589576e-01 1.50525760e-01 5.71361844e-03 9.66753328e+01] [-1.50523586e-01 9.88606086e-01 -8.11061464e-04 -9.44037408e+00] [-5.77060360e-03 -5.82274265e-05 9.99983348e-01 -1.34284126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.70, Y:-9.45, Z:-1.35 [[ 9.88552930e-01 1.50797995e-01 4.80313600e-03 9.67046366e+01] [-1.50796462e-01 9.88564597e-01 -6.81627994e-04 -9.44565887e+00] [-4.85099834e-03 -5.04705673e-05 9.99988233e-01 -1.34558509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:-9.45, Z:-1.35 [[ 9.88414794e-01 1.51704720e-01 4.67693059e-03 9.67336820e+01] [-1.51703277e-01 9.88425857e-01 -6.63777093e-04 -9.44855116e+00] [-4.72349724e-03 -5.34185993e-05 9.99988843e-01 -1.34618809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:-9.45, Z:-1.35 [[ 9.88188042e-01 1.53164409e-01 5.00583126e-03 9.67613739e+01] [-1.53162776e-01 9.88200718e-01 -7.10257414e-04 -9.45070259e+00] [-5.05555220e-03 -6.48391265e-05 9.99987219e-01 -1.34509517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:-9.45, Z:-1.34 [[ 9.87685288e-01 1.56340812e-01 5.94333309e-03 9.67906720e+01] [-1.56338572e-01 9.87703164e-01 -8.42600055e-04 -9.45420859e+00] [-6.00198168e-03 -9.69485285e-05 9.99981983e-01 -1.34137636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07576923100001 meters Centerline goodness [0,1] 0.9999566235794223 Centerline is valid? [True, True] Translation: X:96.82, Y:-9.46, Z:-1.34 [[ 9.87436998e-01 1.57904693e-01 5.85513583e-03 9.68186079e+01] [-1.57902545e-01 9.87454352e-01 -8.30213238e-04 -9.45604728e+00] [-5.91277392e-03 -1.04757582e-04 9.99982514e-01 -1.34179636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10576923100001 meters Centerline goodness [0,1] 0.999893899204244 Centerline is valid? [True, True] Translation: X:96.85, Y:-9.45, Z:-1.34 [[ 9.86944117e-01 1.60949613e-01 6.04420972e-03 9.68476233e+01] [-1.60947385e-01 9.86962616e-01 -8.56460955e-04 -9.45212850e+00] [-6.10325609e-03 -1.27520646e-04 9.99981367e-01 -1.34306716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13576923100001 meters Centerline goodness [0,1] 0.9999142072752231 Centerline is valid? [True, True] Translation: X:96.88, Y:-9.45, Z:-1.34 [[ 9.86771116e-01 1.61940820e-01 7.61150060e-03 9.68761103e+01] [-1.61937319e-01 9.86800457e-01 -1.07802333e-03 -9.45424596e+00] [-7.68560826e-03 -1.68823717e-04 9.99970451e-01 -1.34111874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16576923100001 meters Centerline goodness [0,1] 0.9998504784688995 Centerline is valid? [True, True] Translation: X:96.90, Y:-9.45, Z:-1.34 [[ 9.86501810e-01 1.63436718e-01 1.01300246e-02 9.69046882e+01] [-1.63430603e-01 9.86553790e-01 -1.43409476e-03 -9.45373743e+00] [-1.02281979e-02 -2.40818964e-04 9.99947662e-01 -1.33620287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.195769231 meters Centerline goodness [0,1] 0.9997669244623371 Centerline is valid? [True, True] Translation: X:96.93, Y:-9.46, Z:-1.34 [[ 9.86479636e-01 1.63556216e-01 1.03582071e-02 9.69338110e+01] [-1.63549836e-01 9.86533985e-01 -1.46577349e-03 -9.45629237e+00] [-1.04584597e-02 -2.48127380e-04 9.99945278e-01 -1.33660586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.225769231 meters Centerline goodness [0,1] 0.9997220499882405 Centerline is valid? [True, True] Translation: X:96.96, Y:-9.46, Z:-1.34 [[ 9.86502258e-01 1.63475690e-01 9.43363305e-03 9.69620412e+01] [-1.63470398e-01 9.86547337e-01 -1.33455677e-03 -9.45913884e+00] [-9.52489316e-03 -2.25576485e-04 9.99954612e-01 -1.33863888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.255769231 meters Centerline goodness [0,1] 0.9998935196030411 Centerline is valid? [True, True] Translation: X:96.99, Y:-9.46, Z:-1.35 [[ 9.86587507e-01 1.63136853e-01 5.60869795e-03 9.69898224e+01] [-1.63134976e-01 9.86603441e-01 -7.93476060e-04 -9.46055958e+00] [-5.66300588e-03 -1.32141239e-04 9.99983956e-01 -1.34715318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.285769231 meters Centerline goodness [0,1] 0.9998507589971004 Centerline is valid? [True, True] Translation: X:97.02, Y:-9.47, Z:-1.35 [[ 9.86660435e-01 1.62736743e-01 4.23528042e-03 9.70180419e+01] [-1.62735670e-01 9.86669521e-01 -5.99026843e-04 -9.46713767e+00] [-4.27630578e-03 -9.81951126e-05 9.99990852e-01 -1.34885340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.315769231 meters Centerline goodness [0,1] 0.9998715725935915 Centerline is valid? [True, True] Translation: X:97.05, Y:-9.46, Z:-1.35 [[ 9.86747290e-01 1.62204005e-01 4.43234717e-03 9.70468974e+01] [-1.62202825e-01 9.86757240e-01 -6.26747489e-04 -9.46447363e+00] [-4.47531161e-03 -1.00497847e-04 9.99989981e-01 -1.34943365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.345769231 meters Centerline goodness [0,1] 0.9998706087856635 Centerline is valid? [True, True] Translation: X:97.07, Y:-9.47, Z:-1.35 [[ 9.86675967e-01 1.62595960e-01 5.75237846e-03 9.70747317e+01] [-1.62593983e-01 9.86692726e-01 -8.12803345e-04 -9.47258049e+00] [-5.80798852e-03 -1.33328597e-04 9.99983125e-01 -1.34578118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.375769231 meters Centerline goodness [0,1] 0.9998067300878304 Centerline is valid? [True, True] Translation: X:97.10, Y:-9.46, Z:-1.34 [[ 9.86317024e-01 1.64651698e-01 8.27927625e-03 9.71040200e+01] [-1.64647681e-01 9.86351750e-01 -1.16925227e-03 -9.46262050e+00] [-8.35879799e-03 -2.09910209e-04 9.99965043e-01 -1.34283992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40576923100001 meters Centerline goodness [0,1] 0.9996351304945055 Centerline is valid? [True, True] Translation: X:97.13, Y:-9.46, Z:-1.34 [[ 9.86087801e-01 1.66014913e-01 8.36050831e-03 9.71326018e+01] [-1.66010870e-01 9.86123217e-01 -1.18010146e-03 -9.46040711e+00] [-8.44040579e-03 -2.24251611e-04 9.99964354e-01 -1.34333566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43576923100001 meters Centerline goodness [0,1] 0.9995763609404787 Centerline is valid? [True, True] Translation: X:97.16, Y:-9.46, Z:-1.35 [[ 9.85859003e-01 1.67431363e-01 6.98321919e-03 9.71615507e+01] [-1.67428580e-01 9.85883715e-01 -9.85415848e-04 -9.45829803e+00] [-7.04963159e-03 -1.97709385e-04 9.99975131e-01 -1.34644229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46576923100001 meters Centerline goodness [0,1] 0.9996986395729293 Centerline is valid? [True, True] Translation: X:97.19, Y:-9.46, Z:-1.35 [[ 9.85547964e-01 1.69290769e-01 5.98713696e-03 9.71910009e+01] [-1.69288759e-01 9.85566133e-01 -8.44712600e-04 -9.46103981e+00] [-6.04372147e-03 -1.81050201e-04 9.99981720e-01 -1.34835946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49576923100001 meters Centerline goodness [0,1] 0.9990803122660677 Centerline is valid? [True, True] Translation: X:97.22, Y:-9.45, Z:-1.35 [[ 9.85560415e-01 1.69208433e-01 6.25889210e-03 9.72199468e+01] [-1.69206237e-01 9.85580271e-01 -8.82578796e-04 -9.45259768e+00] [-6.31798035e-03 -1.89208855e-04 9.99980023e-01 -1.34920637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52576923100001 meters Centerline goodness [0,1] 0.9995304663323018 Centerline is valid? [True, True] Translation: X:97.25, Y:-9.45, Z:-1.35 [[ 9.85811845e-01 1.67720828e-01 6.68803002e-03 9.72493854e+01] [-1.67718291e-01 9.85834513e-01 -9.42410468e-04 -9.45089970e+00] [-6.75135268e-03 -1.92665562e-04 9.99977191e-01 -1.34833677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.555769231 meters Centerline goodness [0,1] 0.9995236445522259 Centerline is valid? [True, True] Translation: X:97.28, Y:-9.46, Z:-1.34 [[ 9.85903003e-01 1.67215966e-01 5.83858053e-03 9.72771766e+01] [-1.67214024e-01 9.85920277e-01 -8.22555258e-04 -9.46067317e+00] [-5.89391931e-03 -1.65332847e-04 9.99982617e-01 -1.34310417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.585769231 meters Centerline goodness [0,1] 0.9998717784331325 Centerline is valid? [True, True] Translation: X:97.31, Y:-9.46, Z:-1.35 [[ 9.85996395e-01 1.66695618e-01 4.86614113e-03 9.73061176e+01] [-1.66694263e-01 9.86008394e-01 -6.85413556e-04 -9.46079484e+00] [-4.91231143e-03 -1.35342515e-04 9.99987925e-01 -1.35059135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.615769231 meters Centerline goodness [0,1] 0.9993034741863313 Centerline is valid? [True, True] Translation: X:97.34, Y:-9.45, Z:-1.36 [[ 9.86174141e-01 1.65665999e-01 3.91674897e-03 9.73357024e+01] [-1.65665114e-01 9.86181913e-01 -5.51697497e-04 -9.44775569e+00] [-3.95402451e-03 -1.04798860e-04 9.99992177e-01 -1.35562901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.645769231 meters Centerline goodness [0,1] 0.9997452445652174 Centerline is valid? [True, True] Translation: X:97.36, Y:-9.45, Z:-1.35 [[ 9.86374455e-01 1.64455937e-01 4.43621969e-03 9.73640569e+01] [-1.64454791e-01 9.86384424e-01 -6.24410763e-04 -9.45353861e+00] [-4.47850606e-03 -1.13654756e-04 9.99989965e-01 -1.35359685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.675769231 meters Centerline goodness [0,1] 0.9997249375819898 Centerline is valid? [True, True] Translation: X:97.39, Y:-9.45, Z:-1.35 [[ 9.87007743e-01 1.60524972e-01 6.88833009e-03 9.73931056e+01] [-1.60522117e-01 9.87031768e-01 -9.68902159e-04 -9.45155618e+00] [-6.95453362e-03 -1.49415398e-04 9.99975806e-01 -1.35033708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.705769231 meters Centerline goodness [0,1] 0.999893730074389 Centerline is valid? [True, True] Translation: X:97.42, Y:-9.46, Z:-1.35 [[ 9.87435496e-01 1.57821181e-01 7.97598471e-03 9.74205355e+01] [-1.57817268e-01 9.87467697e-01 -1.12160640e-03 -9.46362490e+00] [-8.05304050e-03 -1.51234146e-04 9.99967562e-01 -1.34731609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.735769231 meters Centerline goodness [0,1] 0.9999788646066703 Centerline is valid? [True, True] Translation: X:97.45, Y:-9.47, Z:-1.35 [[ 9.88343800e-01 1.52054754e-01 7.47560577e-03 9.74481010e+01] [-1.52051154e-01 9.88372067e-01 -1.05087945e-03 -9.47132493e+00] [-7.54847114e-03 -9.80442895e-05 9.99971505e-01 -1.34952845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.48, Y:-9.48, Z:-1.35 [[ 9.88775144e-01 1.49261790e-01 6.68081200e-03 9.74758679e+01] [-1.49258852e-01 9.88797711e-01 -9.39018791e-04 -9.47928776e+00] [-6.74613124e-03 -6.86918897e-05 9.99977242e-01 -1.35108979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.50, Y:-9.49, Z:-1.35 [[ 9.89170413e-01 1.46634486e-01 6.34199824e-03 9.75040123e+01] [-1.46631786e-01 9.89190743e-01 -8.91142802e-04 -9.48712941e+00] [-6.40411821e-03 -4.84464342e-05 9.99979492e-01 -1.35132562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.53, Y:-9.50, Z:-1.35 [[ 9.89916757e-01 1.41395982e-01 8.48473064e-03 9.75301508e+01] [-1.41390961e-01 9.89953118e-01 -1.19166580e-03 -9.49911205e+00] [-8.56798231e-03 -2.00142779e-05 9.99963294e-01 -1.34853576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.56, Y:-9.51, Z:-1.35 [[ 9.90349971e-01 1.38281628e-01 9.22644409e-03 9.75574215e+01] [-1.38275562e-01 9.90392948e-01 -1.29519471e-03 -9.50940645e+00] [-9.31690679e-03 6.90429621e-06 9.99956597e-01 -1.34751287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88576923100001 meters Centerline goodness [0,1] 0.9999784825924173 Centerline is valid? [True, True] Translation: X:97.58, Y:-9.53, Z:-1.35 [[ 9.91150115e-01 1.32535585e-01 7.46781305e-03 9.75834223e+01] [-1.32531451e-01 9.91178246e-01 -1.04789365e-03 -9.52661212e+00] [-7.54081704e-03 4.88998080e-05 9.99971566e-01 -1.35056508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91576923100001 meters Centerline goodness [0,1] 0.9999785587169536 Centerline is valid? [True, True] Translation: X:97.61, Y:-9.54, Z:-1.35 [[ 9.91432788e-01 1.30473007e-01 6.14985095e-03 9.76114520e+01] [-1.30470163e-01 9.91451860e-01 -8.63189450e-04 -9.53517679e+00] [-6.20990409e-03 5.34222706e-05 9.99980717e-01 -1.35269290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.64, Y:-9.54, Z:-1.35 [[ 9.91618946e-01 1.29086742e-01 5.33664025e-03 9.76403536e+01] [-1.29084582e-01 9.91633304e-01 -7.48718544e-04 -9.54399536e+00] [-5.38863984e-03 5.35655160e-05 9.99985480e-01 -1.35379189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.975769231 meters Centerline goodness [0,1] 0.9999785135686814 Centerline is valid? [True, True] Translation: X:97.67, Y:-9.56, Z:-1.35 [[ 9.91776277e-01 1.27791152e-01 7.01694736e-03 9.76688632e+01] [-1.27787386e-01 9.91801097e-01 -9.84208672e-04 -9.55553326e+00] [-7.08518924e-03 7.94374487e-05 9.99974897e-01 -1.35035036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.005769231 meters Centerline goodness [0,1] 0.9999361702127659 Centerline is valid? [True, True] Translation: X:97.70, Y:-9.56, Z:-1.35 [[ 9.91791807e-01 1.27598924e-01 8.21741987e-03 9.76968089e+01] [-1.27593755e-01 9.91825844e-01 -1.15237624e-03 -9.56312195e+00] [-8.29729137e-03 9.44258485e-05 9.99965572e-01 -1.34869571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.035769231 meters Centerline goodness [0,1] 0.9999786228863379 Centerline is valid? [True, True] Translation: X:97.73, Y:-9.57, Z:-1.35 [[ 9.91774528e-01 1.27721425e-01 8.39784032e-03 9.77258569e+01] [-1.27716035e-01 9.91810077e-01 -1.17724040e-03 -9.57243476e+00] [-8.47942147e-03 9.50181803e-05 9.99964045e-01 -1.34893593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.065769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.76, Y:-9.58, Z:-1.35 [[ 9.91692429e-01 1.28388437e-01 7.90789037e-03 9.77553867e+01] [-1.28383678e-01 9.91723955e-01 -1.10864926e-03 -9.57795177e+00] [-7.98478206e-03 8.41950300e-05 9.99968118e-01 -1.35017710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.095769231 meters Centerline goodness [0,1] 0.99997875775342 Centerline is valid? [True, True] Translation: X:97.78, Y:-9.59, Z:-1.35 [[ 9.91584087e-01 1.29271207e-01 7.06777183e-03 9.77837145e+01] [-1.29267430e-01 9.91609273e-01 -9.90666131e-04 -9.58594514e+00] [-7.13653269e-03 6.86960737e-05 9.99974532e-01 -1.35261366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.125769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.81, Y:-9.59, Z:-1.35 [[ 9.91205019e-01 1.32186743e-01 6.26707943e-03 9.78128520e+01] [-1.32183831e-01 9.91224830e-01 -8.78429566e-04 -9.58920988e+00] [-6.32820149e-03 4.22972272e-05 9.99979976e-01 -1.35442651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15576923100001 meters Centerline goodness [0,1] 0.9999784012613664 Centerline is valid? [True, True] Translation: X:97.84, Y:-9.59, Z:-1.35 [[ 9.91009064e-01 1.33637993e-01 6.47467787e-03 9.78421798e+01] [-1.33634917e-01 9.91030214e-01 -9.07377340e-04 -9.59166718e+00] [-6.53786148e-03 3.39761275e-05 9.99978627e-01 -1.35393352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18576923100001 meters Centerline goodness [0,1] 0.9999787111745045 Centerline is valid? [True, True] Translation: X:97.87, Y:-9.60, Z:-1.35 [[ 9.90739770e-01 1.35588086e-01 7.11184720e-03 9.78713791e+01] [-1.35584426e-01 9.90765295e-01 -9.96473187e-04 -9.59575434e+00] [-7.18128129e-03 2.29898957e-05 9.99974214e-01 -1.35322239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.90, Y:-9.60, Z:-1.35 [[ 9.90717545e-01 1.35745143e-01 7.21118996e-03 9.79000623e+01] [-1.35741386e-01 9.90743789e-01 -1.01026724e-03 -9.59982317e+00] [-7.28158054e-03 2.20325583e-05 9.99973489e-01 -1.35396531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.93, Y:-9.60, Z:-1.35 [[ 9.90671264e-01 1.36089982e-01 7.06845391e-03 9.79298971e+01] [-1.36086383e-01 9.90696480e-01 -9.89969799e-04 -9.60398715e+00] [-7.13741739e-03 1.88143080e-05 9.99974528e-01 -1.35471013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.96, Y:-9.61, Z:-1.36 [[ 9.90504771e-01 1.37292866e-01 7.13920326e-03 9.79586261e+01] [-1.37289225e-01 9.90530499e-01 -9.99817035e-04 -9.60714911e+00] [-7.20886631e-03 1.01878579e-05 9.99974016e-01 -1.35514952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:-9.61, Z:-1.35 [[ 9.90365189e-01 1.38266887e-01 7.68504396e-03 9.79878666e+01] [-1.38262703e-01 9.90395006e-01 -1.07575601e-03 -9.61019495e+00] [-7.75997060e-03 2.83635660e-06 9.99969891e-01 -1.35418735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.335769231 meters Centerline goodness [0,1] 0.9999788054766648 Centerline is valid? [True, True] Translation: X:98.02, Y:-9.61, Z:-1.35 [[ 9.90038835e-01 1.40554137e-01 8.22437878e-03 9.80167257e+01] [-1.40549424e-01 9.90072994e-01 -1.15111793e-03 -9.60997975e+00] [-8.30452971e-03 -1.62802509e-05 9.99965517e-01 -1.35258674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.04, Y:-9.61, Z:-1.35 [[ 9.89971335e-01 1.41033044e-01 8.15088621e-03 9.80446445e+01] [-1.41028434e-01 9.90004889e-01 -1.14050082e-03 -9.61207652e+00] [-8.23026550e-03 -2.04435928e-05 9.99966131e-01 -1.35316973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.395769231 meters Centerline goodness [0,1] 0.9999573178539417 Centerline is valid? [True, True] Translation: X:98.07, Y:-9.62, Z:-1.35 [[ 9.89965602e-01 1.41094976e-01 7.76624142e-03 9.80732674e+01] [-1.41090797e-01 9.89996064e-01 -1.08614175e-03 -9.61609176e+00] [-7.84179758e-03 -2.05022208e-05 9.99969252e-01 -1.35403030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.425769231 meters Centerline goodness [0,1] 0.9999786684869558 Centerline is valid? [True, True] Translation: X:98.10, Y:-9.62, Z:-1.35 [[ 9.90030749e-01 1.40644616e-01 7.62947451e-03 9.81018784e+01] [-1.40640573e-01 9.90060145e-01 -1.06658036e-03 -9.62232666e+00] [-7.70364743e-03 -1.70663179e-05 9.99970326e-01 -1.35452874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.455769231 meters Centerline goodness [0,1] 0.9998272958853245 Centerline is valid? [True, True] Translation: X:98.13, Y:-9.63, Z:-1.35 [[ 9.90155173e-01 1.39747485e-01 7.96080815e-03 9.81311036e+01] [-1.39743056e-01 9.90187174e-01 -1.11269703e-03 -9.62827732e+00] [-8.03818674e-03 -1.07249364e-05 9.99967693e-01 -1.34912771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.16, Y:-9.63, Z:-1.35 [[ 9.90179887e-01 1.39568891e-01 8.01968188e-03 9.81598769e+01] [-1.39564392e-01 9.90212363e-01 -1.12067464e-03 -9.63280951e+00] [-8.09759946e-03 -9.59253917e-06 9.99967214e-01 -1.35499995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.19, Y:-9.64, Z:-1.35 [[ 9.90174173e-01 1.39604814e-01 8.09954459e-03 9.81885611e+01] [-1.39600226e-01 9.90207299e-01 -1.13185787e-03 -9.63681281e+00] [-8.17824098e-03 -9.96183113e-06 9.99966558e-01 -1.35461016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.22, Y:-9.64, Z:-1.35 [[ 9.90243037e-01 1.39103326e-01 8.30619842e-03 9.82169367e+01] [-1.39098487e-01 9.90277873e-01 -1.16027384e-03 -9.64236855e+00] [-8.38684244e-03 -6.42654279e-06 9.99964830e-01 -1.35492162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.25, Y:-9.65, Z:-1.36 [[ 9.90289615e-01 1.38788496e-01 8.01443788e-03 9.82455002e+01] [-1.38783983e-01 9.90322045e-01 -1.11919606e-03 -9.64744367e+00] [-8.09220605e-03 -3.94737731e-06 9.99967258e-01 -1.35590440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.27, Y:-9.65, Z:-1.36 [[ 9.90346776e-01 1.38400204e-01 7.65810312e-03 9.82743507e+01] [-1.38396073e-01 9.90376385e-01 -1.06926160e-03 -9.65232844e+00] [-7.73239051e-03 -9.11620221e-07 9.99970105e-01 -1.35662762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.30, Y:-9.66, Z:-1.36 [[ 9.90371003e-01 1.38231705e-01 7.56783878e-03 9.83033148e+01] [-1.38227667e-01 9.90399917e-01 -1.05648141e-03 -9.65813985e+00] [-7.64122612e-03 2.23848806e-07 9.99970805e-01 -1.35741964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.33, Y:-9.66, Z:-1.36 [[ 9.90392300e-01 1.38050152e-01 8.07759643e-03 9.83328110e+01] [-1.38045548e-01 9.90425240e-01 -1.12743078e-03 -9.66429669e+00] [-8.15589737e-03 1.52253992e-06 9.99966740e-01 -1.35722796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.36, Y:-9.67, Z:-1.36 [[ 9.90597379e-01 1.36558185e-01 8.28819130e-03 9.83622017e+01] [-1.36553289e-01 9.90632052e-01 -1.15653914e-03 -9.67370879e+00] [-8.36848283e-03 1.38848614e-05 9.99964984e-01 -1.35690818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.725769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.39, Y:-9.68, Z:-1.36 [[ 9.90737266e-01 1.35533383e-01 8.38883400e-03 9.83919018e+01] [-1.35528330e-01 9.90772780e-01 -1.17058288e-03 -9.67989873e+00] [-8.47008144e-03 2.28154176e-05 9.99964128e-01 -1.35745746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.755769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.42, Y:-9.69, Z:-1.36 [[ 9.90897269e-01 1.34360015e-01 8.36596476e-03 9.84205994e+01] [-1.34354947e-01 9.90932584e-01 -1.16743071e-03 -9.68636429e+00] [-8.44696309e-03 3.27951499e-05 9.99964323e-01 -1.35777571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.785769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.45, Y:-9.70, Z:-1.36 [[ 9.91175611e-01 1.32282223e-01 8.50423073e-03 9.84498718e+01] [-1.32276911e-01 9.91212092e-01 -1.18654548e-03 -9.69710535e+00] [-8.58645520e-03 5.11615751e-05 9.99963134e-01 -1.35811646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.815769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.48, Y:-9.71, Z:-1.36 [[ 9.91303050e-01 1.31333822e-01 8.34802416e-03 9.84794091e+01] [-1.31328669e-01 9.91338198e-01 -1.16484939e-03 -9.70505245e+00] [-8.42869935e-03 5.83838496e-05 9.99964476e-01 -1.35868307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.845769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.51, Y:-9.71, Z:-1.36 [[ 9.91303050e-01 1.31333824e-01 8.34800566e-03 9.85091200e+01] [-1.31328670e-01 9.91338198e-01 -1.16498196e-03 -9.70919862e+00] [-8.42869842e-03 5.85176951e-05 9.99964476e-01 -1.35903409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.875769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.54, Y:-9.72, Z:-1.36 [[ 9.91606376e-01 1.29078877e-01 7.44568670e-03 9.85401691e+01] [-1.29074718e-01 9.91634327e-01 -1.03836148e-03 -9.72102155e+00] [-7.51742905e-03 6.85959547e-05 9.99971741e-01 -1.36147872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90576923100001 meters Centerline goodness [0,1] 0.99997843898232 Centerline is valid? [True, True] Translation: X:98.57, Y:-9.73, Z:-1.36 [[ 9.91776067e-01 1.27790031e-01 7.06692614e-03 9.85712728e+01] [-1.27786245e-01 9.91801241e-01 -9.86637615e-04 -9.72988628e+00] [-7.13506857e-03 7.54676184e-05 9.99974542e-01 -1.36212258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93576923100001 meters Centerline goodness [0,1] 0.9999786192298646 Centerline is valid? [True, True] Translation: X:98.60, Y:-9.74, Z:-1.36 [[ 9.91888749e-01 1.26924718e-01 6.84297824e-03 9.86017831e+01] [-1.26921139e-01 9.91912350e-01 -9.56523036e-04 -9.73888251e+00] [-6.90904104e-03 8.02458473e-05 9.99976129e-01 -1.36293981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.63, Y:-9.75, Z:-1.36 [[ 9.91890378e-01 1.26920328e-01 6.68637152e-03 9.86334245e+01] [-1.26916904e-01 9.91912912e-01 -9.35591433e-04 -9.74774342e+00] [-6.75104381e-03 7.93905666e-05 9.99977208e-01 -1.36269889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.66, Y:-9.75, Z:-1.36 [[ 9.91702968e-01 1.28315860e-01 7.76295308e-03 9.86648340e+01] [-1.28311276e-01 9.91733348e-01 -1.08781100e-03 -9.75263435e+00] [-7.83836285e-03 8.27109869e-05 9.99969276e-01 -1.36157720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.70, Y:-9.76, Z:-1.36 [[ 9.91547668e-01 1.29467597e-01 8.44771291e-03 9.86954367e+01] [-1.29462196e-01 9.91583650e-01 -1.18534274e-03 -9.75711223e+00] [-8.53007748e-03 8.16643617e-05 9.99963615e-01 -1.36085438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.055769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.73, Y:-9.76, Z:-1.36 [[ 9.91376976e-01 1.30715511e-01 9.22750473e-03 9.87273857e+01] [-1.30709107e-01 9.91419916e-01 -1.29628160e-03 -9.76142040e+00] [-9.31777607e-03 7.89848264e-05 9.99956585e-01 -1.36043679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.76, Y:-9.77, Z:-1.36 [[ 9.91236443e-01 1.31771552e-01 9.30445707e-03 9.87594953e+01] [-1.31765074e-01 9.91280108e-01 -1.30860248e-03 -9.76501542e+00] [-9.39575979e-03 7.11319927e-05 9.99955856e-01 -1.36018486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:-9.77, Z:-1.36 [[ 9.90858507e-01 1.34586646e-01 9.26572072e-03 9.87914689e+01] [-1.34580330e-01 9.90901828e-01 -1.30468379e-03 -9.76553589e+00] [-9.35701261e-03 4.57732843e-05 9.99956221e-01 -1.36074897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.82, Y:-9.77, Z:-1.36 [[ 9.90613496e-01 1.36408813e-01 8.80556033e-03 9.88237728e+01] [-1.36403168e-01 9.90652631e-01 -1.24126705e-03 -9.76638072e+00] [-8.89257127e-03 2.85095668e-05 9.99960460e-01 -1.36137637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.86, Y:-9.77, Z:-1.36 [[ 9.90542544e-01 1.36938915e-01 8.55581954e-03 9.88550390e+01] [-1.36933594e-01 9.90579493e-01 -1.20750457e-03 -9.77042386e+00] [-8.64057375e-03 2.45055304e-05 9.99962669e-01 -1.36246954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.89, Y:-9.77, Z:-1.36 [[ 9.90551668e-01 1.36911783e-01 7.90932752e-03 9.88858533e+01] [-1.36907222e-01 9.90583244e-01 -1.11786410e-03 -9.77451771e+00] [-7.98789608e-03 2.44580937e-05 9.99968096e-01 -1.36355009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:-9.78, Z:-1.36 [[ 9.90625722e-01 1.36379654e-01 7.82748119e-03 9.89171358e+01] [-1.36375173e-01 9.90656645e-01 -1.10593741e-03 -9.78011476e+00] [-7.90517362e-03 2.80959494e-05 9.99968753e-01 -1.36446012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.95, Y:-9.79, Z:-1.36 [[ 9.90651066e-01 1.36163258e-01 8.36856696e-03 9.89486055e+01] [-1.36158115e-01 9.90686412e-01 -1.18390886e-03 -9.78551201e+00] [-8.45183046e-03 3.33922697e-05 9.99964282e-01 -1.36409640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29576923100001 meters Centerline goodness [0,1] 0.9999785214141501 Centerline is valid? [True, True] Translation: X:98.98, Y:-9.79, Z:-1.36 [[ 9.90712185e-01 1.35748385e-01 7.85760899e-03 9.89808534e+01] [-1.35743829e-01 9.90743344e-01 -1.11281412e-03 -9.79070070e+00] [-7.93593653e-03 3.58565853e-05 9.99968509e-01 -1.36450809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32576923100001 meters Centerline goodness [0,1] 0.9999784226993204 Centerline is valid? [True, True] Translation: X:99.01, Y:-9.80, Z:-1.37 [[ 9.90719117e-01 1.35690107e-01 7.98917607e-03 9.90126001e+01] [-1.35685384e-01 9.90751328e-01 -1.13285450e-03 -9.79518062e+00] [-8.06900394e-03 3.83261866e-05 9.99967444e-01 -1.36506998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.04, Y:-9.80, Z:-1.36 [[ 9.90645632e-01 1.36209805e-01 8.25347454e-03 9.90433751e+01] [-1.36204769e-01 9.90680013e-01 -1.17185067e-03 -9.79885069e+00] [-8.33616982e-03 3.67261581e-05 9.99965253e-01 -1.36434781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:-9.80, Z:-1.36 [[ 9.90495335e-01 1.37215586e-01 9.53281536e-03 9.90749292e+01] [-1.37208897e-01 9.90541206e-01 -1.35529422e-03 -9.80128446e+00] [-9.62861392e-03 3.44255222e-05 9.99953643e-01 -1.36271462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:-9.80, Z:-1.36 [[ 9.90453083e-01 1.37503445e-01 9.77206387e-03 9.91060858e+01] [-1.37496412e-01 9.90501288e-01 -1.39112408e-03 -9.80458105e+00] [-9.87052620e-03 3.42194184e-05 9.99951285e-01 -1.36215430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.14, Y:-9.81, Z:-1.36 [[ 9.90551982e-01 1.36827008e-01 9.22718972e-03 9.91368527e+01] [-1.36820709e-01 9.90594957e-01 -1.31345622e-03 -9.80933094e+00] [-9.32012389e-03 3.85760246e-05 9.99956566e-01 -1.36420366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.475769231 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:99.17, Y:-9.82, Z:-1.36 [[ 9.90703732e-01 1.35724803e-01 9.21377773e-03 9.91673804e+01] [-1.35718459e-01 9.90746575e-01 -1.31324684e-03 -9.81519547e+00] [-9.30675890e-03 5.05588295e-05 9.99956690e-01 -1.36479554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.505769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.20, Y:-9.82, Z:-1.36 [[ 9.90910733e-01 1.34184523e-01 9.50959045e-03 9.91989248e+01] [-1.34177695e-01 9.90956361e-01 -1.35531964e-03 -9.82096183e+00] [-9.60545207e-03 6.70258536e-05 9.99953864e-01 -1.36483173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.535769231 meters Centerline goodness [0,1] 0.9999788619261013 Centerline is valid? [True, True] Translation: X:99.23, Y:-9.83, Z:-1.37 [[ 9.91344848e-01 1.30954358e-01 9.29234781e-03 9.92281704e+01] [-1.30947680e-01 9.91388393e-01 -1.32614237e-03 -9.83409350e+00] [-9.38598989e-03 9.78530254e-05 9.99955946e-01 -1.36615769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.565769231 meters Centerline goodness [0,1] 0.9999785047934311 Centerline is valid? [True, True] Translation: X:99.26, Y:-9.84, Z:-1.37 [[ 9.91465935e-01 1.30044837e-01 9.14547620e-03 9.92601934e+01] [-1.30038323e-01 9.91508109e-01 -1.30583442e-03 -9.83930060e+00] [-9.23763083e-03 1.05427951e-04 9.99957327e-01 -1.36637939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.595769231 meters Centerline goodness [0,1] 0.9999787933411091 Centerline is valid? [True, True] Translation: X:99.29, Y:-9.85, Z:-1.37 [[ 9.91526075e-01 1.29542991e-01 9.72914406e-03 9.92901495e+01] [-1.29535577e-01 9.91573799e-01 -1.39109702e-03 -9.84815864e+00] [-9.82737121e-03 1.19038682e-04 9.99951703e-01 -1.36587889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.625769231 meters Centerline goodness [0,1] 0.9999572576508805 Centerline is valid? [True, True] Translation: X:99.32, Y:-9.85, Z:-1.37 [[ 9.91437542e-01 1.30230881e-01 9.56652920e-03 9.93224743e+01] [-1.30223735e-01 9.91483689e-01 -1.36879850e-03 -9.85263169e+00] [-9.66331749e-03 1.11289058e-04 9.99953303e-01 -1.36708338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.35, Y:-9.86, Z:-1.37 [[ 9.91194733e-01 1.32130494e-01 8.63335320e-03 9.93544252e+01] [-1.32124745e-01 9.91232327e-01 -1.23538882e-03 -9.85501049e+00] [-8.72089132e-03 8.38313049e-05 9.99961969e-01 -1.36995549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68576923100001 meters Centerline goodness [0,1] 0.999957221081451 Centerline is valid? [True, True] Translation: X:99.39, Y:-9.86, Z:-1.37 [[ 9.91045464e-01 1.33255957e-01 8.46986772e-03 9.93850552e+01] [-1.33250453e-01 9.91081654e-01 -1.21341123e-03 -9.85950438e+00] [-8.55602478e-03 7.39319865e-05 9.99963394e-01 -1.37061536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.42, Y:-9.86, Z:-1.37 [[ 9.90882049e-01 1.34470506e-01 8.39334613e-03 9.94176744e+01] [-1.34465134e-01 9.90917594e-01 -1.20369104e-03 -9.86201806e+00] [-8.47897530e-03 6.41034295e-05 9.99964051e-01 -1.37039645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.45, Y:-9.86, Z:-1.37 [[ 9.90495527e-01 1.37331670e-01 7.65654733e-03 9.94498491e+01] [-1.37327276e-01 9.90525119e-01 -1.09914184e-03 -9.86403921e+00] [-7.73494943e-03 3.72422804e-05 9.99970084e-01 -1.37106044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.48, Y:-9.87, Z:-1.37 [[ 9.90306617e-01 1.38714327e-01 7.15116131e-03 9.94811332e+01] [-1.38710522e-01 9.90332437e-01 -1.02773988e-03 -9.86664328e+00] [-7.22458925e-03 2.58362912e-05 9.99973902e-01 -1.37223760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.51, Y:-9.86, Z:-1.37 [[ 9.89897767e-01 1.41610853e-01 6.98408227e-03 9.95128140e+01] [-1.41607283e-01 9.89922404e-01 -1.00552104e-03 -9.86090265e+00] [-7.05609221e-03 6.36611770e-06 9.99975105e-01 -1.37240556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.54, Y:-9.86, Z:-1.37 [[ 9.89692037e-01 1.43028119e-01 7.25459005e-03 9.95428586e+01] [-1.43024305e-01 9.89718625e-01 -1.04451891e-03 -9.86044149e+00] [-7.32939847e-03 -3.83065370e-06 9.99973140e-01 -1.37351617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.57, Y:-9.86, Z:-1.37 [[ 9.89449881e-01 1.44605924e-01 8.83509250e-03 9.95737795e+01] [-1.44600332e-01 9.89489326e-01 -1.27191085e-03 -9.85862862e+00] [-8.92615556e-03 -1.90652669e-05 9.99960161e-01 -1.37019938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.60, Y:-9.86, Z:-1.37 [[ 9.89476126e-01 1.44414684e-01 9.02192203e-03 9.96033671e+01] [-1.44408844e-01 9.89517255e-01 -1.29883777e-03 -9.86013859e+00] [-9.11491878e-03 -1.76763703e-05 9.99958458e-01 -1.37057094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.63, Y:-9.86, Z:-1.37 [[ 9.89622890e-01 1.43407681e-01 8.98733593e-03 9.96339442e+01] [-1.43401846e-01 9.89663699e-01 -1.29372015e-03 -9.86418905e+00] [-9.07996953e-03 -8.50548610e-06 9.99958776e-01 -1.37036122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.66, Y:-9.87, Z:-1.37 [[ 9.90122755e-01 1.39975860e-01 7.98046992e-03 9.96631388e+01] [-1.39971148e-01 9.90154916e-01 -1.14873882e-03 -9.87072549e+00] [-8.06269723e-03 2.03569154e-05 9.99967496e-01 -1.37355923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:-9.88, Z:-1.37 [[ 9.90386407e-01 1.38116404e-01 7.65663132e-03 9.96934733e+01] [-1.38112010e-01 9.90416002e-01 -1.10221164e-03 -9.87635249e+00] [-7.73548369e-03 3.41426861e-05 9.99970080e-01 -1.37390793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:-9.88, Z:-1.37 [[ 9.90680913e-01 1.35947378e-01 8.34502906e-03 9.97235383e+01] [-1.35942080e-01 9.90716058e-01 -1.20142423e-03 -9.88148600e+00] [-8.43088476e-03 5.57874383e-05 9.99964458e-01 -1.37234896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:-9.88, Z:-1.37 [[ 9.90632804e-01 1.36239884e-01 9.23811244e-03 9.97543400e+01] [-1.36233403e-01 9.90675876e-01 -1.33015485e-03 -9.88318911e+00] [-9.33319527e-03 5.91555320e-05 9.99956443e-01 -1.37066488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07576923100001 meters Centerline goodness [0,1] 0.9999787816418766 Centerline is valid? [True, True] Translation: X:99.78, Y:-9.88, Z:-1.37 [[ 9.90297403e-01 1.38510441e-01 1.12209941e-02 9.97840953e+01] [-1.38501025e-01 9.90360972e-01 -1.61566560e-03 -9.88249338e+00] [-1.13366212e-02 4.58702559e-05 9.99935737e-01 -1.36694759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.81, Y:-9.88, Z:-1.37 [[ 9.90046099e-01 1.40243981e-01 1.18468074e-02 9.98148487e+01] [-1.40233612e-01 9.90116975e-01 -1.70562419e-03 -9.88209657e+00] [-1.19689286e-02 2.73259883e-05 9.99928369e-01 -1.36654357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:-9.88, Z:-1.37 [[ 9.89798848e-01 1.41971151e-01 1.19345134e-02 9.98454750e+01] [-1.41960753e-01 9.89870796e-01 -1.71825152e-03 -9.88178598e+00] [-1.20575685e-02 6.49087016e-06 9.99927305e-01 -1.36671540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.88, Y:-9.88, Z:-1.37 [[ 9.89484623e-01 1.44131824e-01 1.20912434e-02 9.98752588e+01] [-1.44121313e-01 9.89558496e-01 -1.74080318e-03 -9.87656836e+00] [-1.22158977e-02 -2.01078929e-05 9.99925383e-01 -1.36737616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:-9.88, Z:-1.37 [[ 9.89479447e-01 1.44173920e-01 1.20126593e-02 9.99047586e+01] [-1.44163551e-01 9.89552364e-01 -1.72917969e-03 -9.87775200e+00] [-1.21364580e-02 -2.07998568e-05 9.99926350e-01 -1.36811200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.225769231 meters Centerline goodness [0,1] 0.9999782910732893 Centerline is valid? [True, True] Translation: X:99.93, Y:-9.88, Z:-1.37 [[ 9.89831612e-01 1.41872984e-01 1.02681784e-02 9.99340010e+01] [-1.41865287e-01 9.89884870e-01 -1.47786289e-03 -9.88140871e+00] [-1.03739832e-02 6.13733261e-06 9.99946189e-01 -1.37150383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.255769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:-9.89, Z:-1.37 [[ 9.90214651e-01 1.39249124e-01 9.19930883e-03 9.99631890e+01] [-1.39242835e-01 9.90257381e-01 -1.32379242e-03 -9.88809708e+00] [-9.29402040e-03 2.99008125e-05 9.99956809e-01 -1.37396712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.285769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.99, Y:-9.89, Z:-1.37 [[ 9.90623377e-01 1.36342894e-01 8.71439181e-03 9.99923222e+01] [-1.36337138e-01 9.90661704e-01 -1.25394524e-03 -9.89412667e+00] [-8.80398077e-03 5.40922345e-05 9.99961243e-01 -1.37484018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.315769231 meters Centerline goodness [0,1] 0.9999786347612435 Centerline is valid? [True, True] Translation: X:100.02, Y:-9.90, Z:-1.37 [[ 9.91383521e-01 1.30694157e-01 8.81770653e-03 1.00020962e+02] [-1.30688043e-01 9.91422728e-01 -1.26855684e-03 -9.90458993e+00] [-8.90786763e-03 1.05257542e-04 9.99960319e-01 -1.37487726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.345769231 meters Centerline goodness [0,1] 0.9998512031289857 Centerline is valid? [True, True] Translation: X:100.05, Y:-9.91, Z:-1.37 [[ 9.91617063e-01 1.28853062e-01 9.61706635e-03 1.00050705e+02] [-1.28845704e-01 9.91663688e-01 -1.38340189e-03 -9.91058755e+00] [-9.71515105e-03 1.32687236e-04 9.99952798e-01 -1.37394643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.375769231 meters Centerline goodness [0,1] 0.9999149948996939 Centerline is valid? [True, True] Translation: X:100.08, Y:-9.92, Z:-1.37 [[ 9.91998085e-01 1.25791767e-01 1.07810278e-02 1.00079489e+02] [-1.25782339e-01 9.92056651e-01 -1.55082651e-03 -9.92116789e+00] [-1.08904715e-02 1.82354039e-04 9.99940680e-01 -1.37283618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40576923100001 meters Centerline goodness [0,1] 0.9998720054611003 Centerline is valid? [True, True] Translation: X:100.11, Y:-9.93, Z:-1.37 [[ 9.92152221e-01 1.24585097e-01 1.06077583e-02 1.00111306e+02] [-1.24575901e-01 9.92208908e-01 -1.52587586e-03 -9.92841241e+00] [-1.07152136e-02 1.92430086e-04 9.99942572e-01 -1.37340510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43576923100001 meters Centerline goodness [0,1] 0.9998934106461447 Centerline is valid? [True, True] Translation: X:100.14, Y:-9.94, Z:-1.38 [[ 9.92246030e-01 1.23961613e-01 9.01855675e-03 1.00141974e+02] [-1.23954929e-01 9.92286999e-01 -1.29853527e-03 -9.93676109e+00] [-9.10996514e-03 1.70571906e-04 9.99958489e-01 -1.37733241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46576923100001 meters Centerline goodness [0,1] 0.9998504529140317 Centerline is valid? [True, True] Translation: X:100.17, Y:-9.94, Z:-1.38 [[ 9.92167049e-01 1.24608905e-01 8.78455605e-03 1.00172244e+02] [-1.24602577e-01 9.92205924e-01 -1.26616057e-03 -9.94447312e+00] [-8.87386343e-03 1.61664473e-04 9.99960613e-01 -1.37810306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49576923100001 meters Centerline goodness [0,1] 0.99980757718293 Centerline is valid? [True, True] Translation: X:100.20, Y:-9.95, Z:-1.38 [[ 9.91994054e-01 1.25943425e-01 9.27637333e-03 1.00203162e+02] [-1.25936410e-01 9.92037413e-01 -1.33887107e-03 -9.94738646e+00] [-9.37113140e-03 1.59918990e-04 9.99956077e-01 -1.37741734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52576923100001 meters Centerline goodness [0,1] 0.9998515817148673 Centerline is valid? [True, True] Translation: X:100.23, Y:-9.95, Z:-1.38 [[ 9.91450102e-01 1.30173552e-01 9.03005394e-03 1.00232888e+02] [-1.30167077e-01 9.91491217e-01 -1.30361777e-03 -9.94790032e+00] [-9.12291572e-03 1.17056247e-04 9.99958378e-01 -1.37741337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.555769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:-9.95, Z:-1.38 [[ 9.91106674e-01 1.32822489e-01 8.10851881e-03 1.00263442e+02] [-1.32817358e-01 9.91139839e-01 -1.17045786e-03 -9.94837910e+00] [-8.19213915e-03 8.30965480e-05 9.99966440e-01 -1.37936695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:-9.95, Z:-1.38 [[ 9.90306658e-01 1.38654735e-01 8.22122691e-03 1.00293627e+02] [-1.38649660e-01 9.90340781e-01 -1.18682372e-03 -9.94543099e+00] [-8.30637501e-03 3.54491141e-05 9.99965501e-01 -1.37987542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.615769231 meters Centerline goodness [0,1] 0.999893119001304 Centerline is valid? [True, True] Translation: X:100.32, Y:-9.95, Z:-1.37 [[ 9.89900988e-01 1.41447580e-01 9.41357711e-03 1.00323771e+02] [-1.41441056e-01 9.89945747e-01 -1.35862444e-03 -9.94587660e+00] [-9.51110476e-03 1.34373838e-05 9.99954768e-01 -1.37436050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.35, Y:-9.94, Z:-1.38 [[ 9.89160794e-01 1.46383341e-01 1.15256728e-02 1.00352301e+02] [-1.46373899e-01 9.89227939e-01 -1.66311082e-03 -9.94126260e+00] [-1.16449693e-02 -4.19736586e-05 9.99932194e-01 -1.37565883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.675769231 meters Centerline goodness [0,1] 0.9999787166116846 Centerline is valid? [True, True] Translation: X:100.38, Y:-9.94, Z:-1.38 [[ 9.88865900e-01 1.48332808e-01 1.18999693e-02 1.00380821e+02] [-1.48322893e-01 9.88937497e-01 -1.71638004e-03 -9.94183016e+00] [-1.20229214e-02 -6.77681811e-05 9.99927720e-01 -1.37545859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.705769231 meters Centerline goodness [0,1] 0.9999146630256224 Centerline is valid? [True, True] Translation: X:100.41, Y:-9.95, Z:-1.38 [[ 9.88627268e-01 1.49940860e-01 1.15699048e-02 1.00410424e+02] [-1.49931603e-01 9.88694964e-01 -1.66836731e-03 -9.94531759e+00] [-1.16892630e-02 -8.53009489e-05 9.99931675e-01 -1.37623478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.735769231 meters Centerline goodness [0,1] 0.9999146630256224 Centerline is valid? [True, True] Translation: X:100.44, Y:-9.95, Z:-1.38 [[ 9.88634599e-01 1.49892516e-01 1.15699455e-02 1.00438476e+02] [-1.49883258e-01 9.88702294e-01 -1.66808461e-03 -9.94927200e+00] [-1.16892651e-02 -8.50149811e-05 9.99931675e-01 -1.37656625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76576923100001 meters Centerline goodness [0,1] 0.9999786525488856 Centerline is valid? [True, True] Translation: X:100.47, Y:-9.95, Z:-1.38 [[ 9.88383904e-01 1.51612029e-01 1.05380932e-02 1.00466653e+02] [-1.51604451e-01 9.88440076e-01 -1.51885659e-03 -9.94781109e+00] [-1.06465506e-02 -9.64084298e-05 9.99943319e-01 -1.37893197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.50, Y:-9.95, Z:-1.38 [[ 9.88345854e-01 1.51796087e-01 1.14202029e-02 1.00495619e+02] [-1.51787209e-01 9.88411825e-01 -1.64522397e-03 -9.94965168e+00] [-1.15376022e-02 -1.07390435e-04 9.99933434e-01 -1.37853695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82576923100001 meters Centerline goodness [0,1] 0.9999787261200698 Centerline is valid? [True, True] Translation: X:100.52, Y:-9.95, Z:-1.38 [[ 9.88345406e-01 1.51726416e-01 1.23471913e-02 1.00523440e+02] [-1.51716041e-01 9.88422522e-01 -1.77811764e-03 -9.95196720e+00] [-1.24740294e-02 -1.15872584e-04 9.99922190e-01 -1.37670718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85576923100001 meters Centerline goodness [0,1] 0.9999571587695999 Centerline is valid? [True, True] Translation: X:100.55, Y:-9.96, Z:-1.38 [[ 9.88290992e-01 1.52038598e-01 1.28522272e-02 1.00551595e+02] [-1.52027393e-01 9.88374549e-01 -1.85004666e-03 -9.95519851e+00] [-1.29840927e-02 -1.25506143e-04 9.99915695e-01 -1.37609641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88576923100001 meters Centerline goodness [0,1] 0.9999574902227513 Centerline is valid? [True, True] Translation: X:100.58, Y:-9.96, Z:-1.38 [[ 9.88199380e-01 1.52677551e-01 1.23105666e-02 1.00580054e+02] [-1.52667330e-01 9.88276049e-01 -1.77135637e-03 -9.95632917e+00] [-1.24366845e-02 -1.28968062e-04 9.99922653e-01 -1.37720224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91576923100001 meters Centerline goodness [0,1] 0.9999786384124069 Centerline is valid? [True, True] Translation: X:100.61, Y:-9.95, Z:-1.38 [[ 9.87902169e-01 1.54692691e-01 1.09304669e-02 1.00609827e+02] [-1.54684763e-01 9.87962627e-01 -1.57213075e-03 -9.95338172e+00] [-1.10420899e-02 -1.37665310e-04 9.99939025e-01 -1.38103715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.64, Y:-9.95, Z:-1.38 [[ 9.87773035e-01 1.55410738e-01 1.23261115e-02 1.00638535e+02] [-1.55400721e-01 9.87849925e-01 -1.77218917e-03 -9.95077461e+00] [-1.24517656e-02 -1.64965940e-04 9.99922460e-01 -1.37858370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.975769231 meters Centerline goodness [0,1] 0.9999787978373794 Centerline is valid? [True, True] Translation: X:100.67, Y:-9.95, Z:-1.38 [[ 9.87733798e-01 1.55616312e-01 1.28649830e-02 1.00667968e+02] [-1.55605428e-01 9.87817560e-01 -1.84887646e-03 -9.95161700e+00] [-1.29959715e-02 -1.75663412e-04 9.99915533e-01 -1.37801511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.005769231 meters Centerline goodness [0,1] 0.9999364716345849 Centerline is valid? [True, True] Translation: X:100.70, Y:-9.95, Z:-1.38 [[ 9.87664167e-01 1.56072407e-01 1.26845525e-02 1.00697344e+02] [-1.56061871e-01 9.87745601e-01 -1.82234459e-03 -9.95173916e+00] [-1.28135286e-02 -1.79710540e-04 9.99917887e-01 -1.37861147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.035769231 meters Centerline goodness [0,1] 0.9999785871822873 Centerline is valid? [True, True] Translation: X:100.73, Y:-9.95, Z:-1.38 [[ 9.87543712e-01 1.56919969e-01 1.15559859e-02 1.00726334e+02] [-1.56911289e-01 9.87611307e-01 -1.65970229e-03 -9.95100274e+00] [-1.16732628e-02 -1.74236086e-04 9.99931850e-01 -1.38092503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.065769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.75, Y:-9.95, Z:-1.38 [[ 9.87591811e-01 1.56634592e-01 1.13145398e-02 1.00753887e+02] [-1.56626257e-01 9.87656609e-01 -1.62449116e-03 -9.95306024e+00] [-1.14293315e-02 -1.67819848e-04 9.99934669e-01 -1.38160618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.78, Y:-9.96, Z:-1.38 [[ 9.87825760e-01 1.55071223e-01 1.23767593e-02 1.00782650e+02] [-1.55061140e-01 9.87903279e-01 -1.77600045e-03 -9.95696008e+00] [-1.25024476e-02 -1.64775417e-04 9.99921828e-01 -1.37999021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.125769231 meters Centerline goodness [0,1] 0.9999575019655341 Centerline is valid? [True, True] Translation: X:100.81, Y:-9.96, Z:-1.38 [[ 9.87990685e-01 1.53930863e-01 1.34050519e-02 1.00810758e+02] [-1.53918939e-01 9.88081607e-01 -1.92286929e-03 -9.96199367e+00] [-1.35412741e-02 -1.63514422e-04 9.99908299e-01 -1.37900515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15576923100001 meters Centerline goodness [0,1] 0.9998932581870971 Centerline is valid? [True, True] Translation: X:100.84, Y:-9.97, Z:-1.38 [[ 9.88206695e-01 1.52568442e-01 1.30536803e-02 1.00839195e+02] [-1.52557024e-01 9.88292897e-01 -1.87185397e-03 -9.96682510e+00] [-1.31864454e-02 -1.41651995e-04 9.99913045e-01 -1.37978505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18576923100001 meters Centerline goodness [0,1] 0.9999570538973588 Centerline is valid? [True, True] Translation: X:100.87, Y:-9.97, Z:-1.38 [[ 9.88228021e-01 1.52535047e-01 1.17659811e-02 1.00867840e+02] [-1.52525775e-01 9.88298054e-01 -1.68669060e-03 -9.96995676e+00] [-1.18855757e-02 -1.27780468e-04 9.99929356e-01 -1.38215546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21576923100001 meters Centerline goodness [0,1] 0.9999360245665664 Centerline is valid? [True, True] Translation: X:100.90, Y:-9.97, Z:-1.38 [[ 9.88188328e-01 1.52884497e-01 1.04956852e-02 1.00896114e+02] [-1.52877143e-01 9.88244057e-01 -1.50415263e-03 -9.97161675e+00] [-1.06022601e-02 -1.18164290e-04 9.99943787e-01 -1.38493284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24576923100001 meters Centerline goodness [0,1] 0.9999575758861337 Centerline is valid? [True, True] Translation: X:100.92, Y:-9.97, Z:-1.39 [[ 9.88066705e-01 1.53680359e-01 1.03215608e-02 1.00924984e+02] [-1.53673297e-01 9.88120606e-01 -1.47857116e-03 -9.97318951e+00] [-1.04261743e-02 -1.25221353e-04 9.99945638e-01 -1.38518843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27576923100001 meters Centerline goodness [0,1] 0.9999575920782002 Centerline is valid? [True, True] Translation: X:100.95, Y:-9.97, Z:-1.38 [[ 9.88061265e-01 1.53652369e-01 1.12198918e-02 1.00951938e+02] [-1.53644029e-01 9.88124957e-01 -1.60669323e-03 -9.97497530e+00] [-1.13335273e-02 -1.36358025e-04 9.99935764e-01 -1.38414873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.305769231 meters Centerline goodness [0,1] 0.9999785766313896 Centerline is valid? [True, True] Translation: X:100.98, Y:-9.98, Z:-1.38 [[ 9.88193706e-01 1.52707705e-01 1.23917513e-02 1.00980591e+02] [-1.52697475e-01 9.88271388e-01 -1.77309497e-03 -9.97960740e+00] [-1.25171785e-02 -1.40027852e-04 9.99921647e-01 -1.38343931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.335769231 meters Centerline goodness [0,1] 0.9999786907603136 Centerline is valid? [True, True] Translation: X:101.01, Y:-9.98, Z:-1.38 [[ 9.88350979e-01 1.51693701e-01 1.23029639e-02 1.01009224e+02] [-1.51683546e-01 9.88427542e-01 -1.75980012e-03 -9.98447658e+00] [-1.24275390e-02 -1.26857025e-04 9.99922767e-01 -1.38395684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.365769231 meters Centerline goodness [0,1] 0.9999366701146271 Centerline is valid? [True, True] Translation: X:101.04, Y:-9.99, Z:-1.38 [[ 9.88615416e-01 1.49980864e-01 1.20540647e-02 1.01036996e+02] [-1.49970996e-01 9.88688894e-01 -1.72362258e-03 -9.98956519e+00] [-1.21762303e-02 -1.03760227e-04 9.99925862e-01 -1.38443525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.395769231 meters Centerline goodness [0,1] 0.9997863795607964 Centerline is valid? [True, True] Translation: X:101.06, Y:-10.00, Z:-1.38 [[ 9.89334923e-01 1.45112595e-01 1.25994284e-02 1.01064593e+02] [-1.45101428e-01 9.89415147e-01 -1.80082975e-03 -9.99955624e+00] [-1.27273884e-02 -4.65712889e-05 9.99919002e-01 -1.38391893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.425769231 meters Centerline goodness [0,1] 0.9996165970861378 Centerline is valid? [True, True] Translation: X:101.09, Y:-10.01, Z:-1.38 [[ 9.89907618e-01 1.41100787e-01 1.31710094e-02 1.01091309e+02] [-1.41088237e-01 9.89995236e-01 -1.88184470e-03 -1.00093726e+01] [-1.33047664e-02 4.57790790e-06 9.99911488e-01 -1.38287710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.455769231 meters Centerline goodness [0,1] 0.9996215863939286 Centerline is valid? [True, True] Translation: X:101.12, Y:-10.02, Z:-1.38 [[ 9.90083465e-01 1.39868163e-01 1.31007169e-02 1.01118294e+02] [-1.39855650e-01 9.90170135e-01 -1.87098131e-03 -1.00155007e+01] [-1.32336294e-02 2.02183721e-05 9.99912431e-01 -1.38304507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.485769231 meters Centerline goodness [0,1] 0.9996564459331787 Centerline is valid? [True, True] Translation: X:101.15, Y:-10.02, Z:-1.38 [[ 9.90161460e-01 1.39341092e-01 1.28196316e-02 1.01147001e+02] [-1.39329076e-01 9.90244444e-01 -1.83011754e-03 -1.00201419e+01] [-1.29495795e-02 2.59644284e-05 9.99916150e-01 -1.38379431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51576923100001 meters Centerline goodness [0,1] 0.9997194163860831 Centerline is valid? [True, True] Translation: X:101.18, Y:-10.02, Z:-1.38 [[ 9.90139364e-01 1.39509097e-01 1.26985240e-02 1.01175832e+02] [-1.39497328e-01 9.90220789e-01 -1.81222789e-03 -1.00227052e+01] [-1.28271647e-02 2.29480060e-05 9.99917728e-01 -1.38424673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54576923100001 meters Centerline goodness [0,1] 0.9996829288915194 Centerline is valid? [True, True] Translation: X:101.20, Y:-10.02, Z:-1.38 [[ 9.89845861e-01 1.41409684e-01 1.44385470e-02 1.01204496e+02] [-1.41394683e-01 9.89951161e-01 -2.05970884e-03 -1.00220329e+01] [-1.45847192e-02 -2.73951064e-06 9.99893637e-01 -1.38056837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57576923100001 meters Centerline goodness [0,1] 0.9995985802416969 Centerline is valid? [True, True] Translation: X:101.23, Y:-10.02, Z:-1.38 [[ 9.89712055e-01 1.42277627e-01 1.50706775e-02 1.01233187e+02] [-1.42261398e-01 9.89826791e-01 -2.14897005e-03 -1.00230496e+01] [-1.52231107e-02 -1.71140822e-05 9.99884122e-01 -1.37999296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60576923100001 meters Centerline goodness [0,1] 0.9996388971494116 Centerline is valid? [True, True] Translation: X:101.26, Y:-10.03, Z:-1.38 [[ 9.89793905e-01 1.41810921e-01 1.40601966e-02 1.01261740e+02] [-1.41796757e-01 9.89893763e-01 -2.00426982e-03 -1.00272535e+01] [-1.42023283e-02 -9.87623162e-06 9.99899142e-01 -1.38289392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63576923100001 meters Centerline goodness [0,1] 0.9997235513024987 Centerline is valid? [True, True] Translation: X:101.29, Y:-10.03, Z:-1.39 [[ 9.89959063e-01 1.40765432e-01 1.28897628e-02 1.01290550e+02] [-1.40753447e-01 9.90042975e-01 -1.83685828e-03 -1.00323245e+01] [-1.30199852e-02 4.13595542e-06 9.99915236e-01 -1.38577511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66576923100001 meters Centerline goodness [0,1] 0.9996146022909753 Centerline is valid? [True, True] Translation: X:101.32, Y:-10.04, Z:-1.39 [[ 9.90277607e-01 1.38533468e-01 1.25992116e-02 1.01318876e+02] [-1.38521844e-01 9.90357752e-01 -1.79486252e-03 -1.00367723e+01] [-1.27263754e-02 3.21461304e-05 9.99919016e-01 -1.38720565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.695769231 meters Centerline goodness [0,1] 0.9995093228655545 Centerline is valid? [True, True] Translation: X:101.35, Y:-10.04, Z:-1.39 [[ 9.90336822e-01 1.38063660e-01 1.30921819e-02 1.01347856e+02] [-1.38051076e-01 9.90423356e-01 -1.86444338e-03 -1.00392329e+01] [-1.32242146e-02 3.90371325e-05 9.99912555e-01 -1.38639168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.725769231 meters Centerline goodness [0,1] 0.9996163682864451 Centerline is valid? [True, True] Translation: X:101.38, Y:-10.04, Z:-1.39 [[ 9.90176026e-01 1.39216908e-01 1.30418453e-02 1.01376570e+02] [-1.39204530e-01 9.90261911e-01 -1.85662656e-03 -1.00365797e+01] [-1.31733165e-02 2.29031652e-05 9.99913228e-01 -1.38633988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.755769231 meters Centerline goodness [0,1] 0.9996391654108208 Centerline is valid? [True, True] Translation: X:101.41, Y:-10.04, Z:-1.39 [[ 9.90024447e-01 1.40311552e-01 1.28164988e-02 1.01405002e+02] [-1.40299699e-01 9.90107402e-01 -1.82378818e-03 -1.00358436e+01] [-1.29456089e-02 7.44395612e-06 9.99916202e-01 -1.38744008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.785769231 meters Centerline goodness [0,1] 0.9996366745030989 Centerline is valid? [True, True] Translation: X:101.43, Y:-10.04, Z:-1.39 [[ 9.89871956e-01 1.41407361e-01 1.25486236e-02 1.01433770e+02] [-1.41396096e-01 9.89951493e-01 -1.78494639e-03 -1.00356355e+01] [-1.26749332e-02 -7.45801151e-06 9.99919670e-01 -1.38929444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.815769231 meters Centerline goodness [0,1] 0.9996808306913207 Centerline is valid? [True, True] Translation: X:101.46, Y:-10.03, Z:-1.39 [[ 9.89684760e-01 1.42734883e-01 1.22812323e-02 1.01462339e+02] [-1.42724202e-01 9.89760957e-01 -1.74630984e-03 -1.00331384e+01] [-1.24047436e-02 -2.45328474e-05 9.99923058e-01 -1.39049878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.845769231 meters Centerline goodness [0,1] 0.9996632925777058 Centerline is valid? [True, True] Translation: X:101.49, Y:-10.03, Z:-1.39 [[ 9.89668856e-01 1.42850631e-01 1.22168943e-02 1.01489730e+02] [-1.42840080e-01 9.89744258e-01 -1.73638965e-03 -1.00340754e+01] [-1.23396453e-02 -2.66113938e-05 9.99923863e-01 -1.39114044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.875769231 meters Centerline goodness [0,1] 0.9997209941194145 Centerline is valid? [True, True] Translation: X:101.52, Y:-10.04, Z:-1.39 [[ 9.89886246e-01 1.41282634e-01 1.28232786e-02 1.01518487e+02] [-1.41270895e-01 9.89969301e-01 -1.82128438e-03 -1.00360657e+01] [-1.29519680e-02 -8.69167696e-06 9.99916120e-01 -1.39141847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90576923100001 meters Centerline goodness [0,1] 0.9996568143794775 Centerline is valid? [True, True] Translation: X:101.55, Y:-10.04, Z:-1.39 [[ 9.90101046e-01 1.39725963e-01 1.32881456e-02 1.01546036e+02] [-1.39713226e-01 9.90190212e-01 -1.88659363e-03 -1.00397956e+01] [-1.34213978e-02 1.13886360e-05 9.99909929e-01 -1.39130381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93576923100001 meters Centerline goodness [0,1] 0.9993801961999615 Centerline is valid? [True, True] Translation: X:101.57, Y:-10.05, Z:-1.39 [[ 9.90683858e-01 1.35497656e-01 1.36337271e-02 1.01572548e+02] [-1.35483860e-01 9.90777664e-01 -1.93474643e-03 -1.00474302e+01] [-1.37701459e-02 6.95720745e-05 9.99905185e-01 -1.39165028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96576923100001 meters Centerline goodness [0,1] 0.9993569683199726 Centerline is valid? [True, True] Translation: X:101.60, Y:-10.06, Z:-1.39 [[ 9.91018938e-01 1.33033252e-01 1.35505538e-02 1.01601005e+02] [-1.33019407e-01 9.91111570e-01 -1.92201583e-03 -1.00550677e+01] [-1.36858027e-02 1.02267453e-04 9.99906340e-01 -1.39212380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99576923100001 meters Centerline goodness [0,1] 0.9991566473488452 Centerline is valid? [True, True] Translation: X:101.63, Y:-10.06, Z:-1.39 [[ 9.91331914e-01 1.30687241e-01 1.34863678e-02 1.01627615e+02] [-1.30673318e-01 9.91423637e-01 -1.91224526e-03 -1.00629461e+01] [-1.36206099e-02 1.33361319e-04 9.99907226e-01 -1.39272040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02576923100001 meters Centerline goodness [0,1] 0.9987626138715252 Centerline is valid? [True, True] Translation: X:101.66, Y:-10.07, Z:-1.39 [[ 9.91741826e-01 1.27535953e-01 1.35178370e-02 1.01655744e+02] [-1.27521683e-01 9.91833932e-01 -1.91592297e-03 -1.00726315e+01] [-1.36517985e-02 1.76283608e-04 9.99906794e-01 -1.39239001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05576923100001 meters Centerline goodness [0,1] 0.998902895495418 Centerline is valid? [True, True] Translation: X:101.68, Y:-10.08, Z:-1.39 [[ 9.91868067e-01 1.26479121e-01 1.41693474e-02 1.01684481e+02] [-1.26463344e-01 9.91969250e-01 -2.00756213e-03 -1.00775825e+01] [-1.43094716e-02 1.99333716e-04 9.99897594e-01 -1.39237337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.085769231 meters Centerline goodness [0,1] 0.9981242228170379 Centerline is valid? [True, True] Translation: X:101.71, Y:-10.09, Z:-1.39 [[ 9.91945024e-01 1.25719886e-01 1.54783470e-02 1.01712321e+02] [-1.25700979e-01 9.92065753e-01 -2.19226657e-03 -1.00870584e+01] [-1.56311495e-02 2.28964547e-04 9.99877800e-01 -1.38943120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.115769231 meters Centerline goodness [0,1] 0.9982986687082642 Centerline is valid? [True, True] Translation: X:101.74, Y:-10.09, Z:-1.39 [[ 9.91936457e-01 1.25782684e-01 1.55171188e-02 1.01741130e+02] [-1.25763700e-01 9.92057793e-01 -2.19714607e-03 -1.00897061e+01] [-1.56702416e-02 2.27939018e-04 9.99877188e-01 -1.39016605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.145769231 meters Centerline goodness [0,1] 0.9982921674529812 Centerline is valid? [True, True] Translation: X:101.77, Y:-10.09, Z:-1.39 [[ 9.91919436e-01 1.25962870e-01 1.51389555e-02 1.01768375e+02] [-1.25944832e-01 9.92034933e-01 -2.14284534e-03 -1.00936777e+01] [-1.52882916e-02 2.18856744e-04 9.99883103e-01 -1.39083174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.175769231 meters Centerline goodness [0,1] 0.9982341552666851 Centerline is valid? [True, True] Translation: X:101.80, Y:-10.10, Z:-1.39 [[ 9.91878113e-01 1.26386750e-01 1.42897758e-02 1.01796035e+02] [-1.26370735e-01 9.91981023e-01 -2.02183334e-03 -1.00982113e+01] [-1.44307194e-02 1.99602760e-04 9.99895852e-01 -1.39271235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.205769231 meters Centerline goodness [0,1] 0.9982485742967598 Centerline is valid? [True, True] Translation: X:101.83, Y:-10.11, Z:-1.39 [[ 9.92035243e-01 1.24930072e-01 1.60796199e-02 1.01825239e+02] [-1.24909616e-01 9.92165518e-01 -2.27419264e-03 -1.01068915e+01] [-1.62377595e-02 2.47580099e-04 9.99868128e-01 -1.39016932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.235769231 meters Centerline goodness [0,1] 0.9981564281324828 Centerline is valid? [True, True] Translation: X:101.85, Y:-10.11, Z:-1.39 [[ 9.92202911e-01 1.23481360e-01 1.69037460e-02 1.01853099e+02] [-1.23458551e-01 9.92346851e-01 -2.39027144e-03 -1.01142758e+01] [-1.70695331e-02 2.84722297e-04 9.99854264e-01 -1.38904472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26576923100001 meters Centerline goodness [0,1] 0.997811490736019 Centerline is valid? [True, True] Translation: X:101.88, Y:-10.12, Z:-1.39 [[ 9.92408257e-01 1.21812341e-01 1.69589111e-02 1.01882814e+02] [-1.21789147e-01 9.92553099e-01 -2.39765777e-03 -1.01215698e+01] [-1.71246841e-02 3.14044060e-04 9.99853313e-01 -1.38949681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29576923100001 meters Centerline goodness [0,1] 0.996260411354751 Centerline is valid? [True, True] Translation: X:101.91, Y:-10.14, Z:-1.39 [[ 9.92850019e-01 1.18386516e-01 1.52798034e-02 1.01910606e+02] [-1.18367282e-01 9.92967532e-01 -2.16027327e-03 -1.01358970e+01] [-1.54280959e-02 3.36198562e-04 9.99880923e-01 -1.39312284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32576923100001 meters Centerline goodness [0,1] 0.9966526661407585 Centerline is valid? [True, True] Translation: X:101.94, Y:-10.14, Z:-1.40 [[ 9.93016599e-01 1.17034087e-01 1.48679843e-02 1.01940819e+02] [-1.17015724e-01 9.93127837e-01 -2.10207561e-03 -1.01407696e+01] [-1.50118236e-02 3.47608024e-04 9.99887256e-01 -1.39512890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35576923100001 meters Centerline goodness [0,1] 0.9962211784799316 Centerline is valid? [True, True] Translation: X:101.97, Y:-10.15, Z:-1.39 [[ 9.93362245e-01 1.13979540e-01 1.54956160e-02 1.01970795e+02] [-1.13959222e-01 9.93483012e-01 -2.19085911e-03 -1.01507848e+01] [-1.56443443e-02 4.10448389e-04 9.99877536e-01 -1.39461223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38576923100001 meters Centerline goodness [0,1] 0.9954830561085779 Centerline is valid? [True, True] Translation: X:102.00, Y:-10.16, Z:-1.40 [[ 9.93523423e-01 1.12604399e-01 1.52137095e-02 1.02000374e+02] [-1.12584649e-01 9.93639809e-01 -2.15118256e-03 -1.01602370e+01] [-1.53591800e-02 4.24420121e-04 9.99881951e-01 -1.39520584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41576923100001 meters Centerline goodness [0,1] 0.9948837110149438 Centerline is valid? [True, True] Translation: X:102.03, Y:-10.17, Z:-1.40 [[ 9.93586030e-01 1.12172399e-01 1.42882115e-02 1.02029979e+02] [-1.12154927e-01 9.93688678e-01 -2.02086539e-03 -1.01704477e+01] [-1.44247193e-02 4.05410304e-04 9.99895876e-01 -1.39737260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.445769231 meters Centerline goodness [0,1] 0.9963379432165783 Centerline is valid? [True, True] Translation: X:102.06, Y:-10.18, Z:-1.40 [[ 9.93545587e-01 1.12793965e-01 1.20286115e-02 1.02060648e+02] [-1.12781609e-01 9.93618342e-01 -1.70278601e-03 -1.01765924e+01] [-1.21439130e-02 3.35189377e-04 9.99926204e-01 -1.40203701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.475769231 meters Centerline goodness [0,1] 0.995822765925705 Centerline is valid? [True, True] Translation: X:102.09, Y:-10.18, Z:-1.40 [[ 9.93230501e-01 1.15430241e-01 1.30011840e-02 1.02090383e+02] [-1.15416028e-01 9.93315535e-01 -1.84078061e-03 -1.01829879e+01] [-1.31267598e-02 3.27774432e-04 9.99913787e-01 -1.39995530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.505769231 meters Centerline goodness [0,1] 0.9969776945343095 Centerline is valid? [True, True] Translation: X:102.12, Y:-10.18, Z:-1.40 [[ 9.92967904e-01 1.17564685e-01 1.39027479e-02 1.02121734e+02] [-1.17548639e-01 9.93065175e-01 -1.96860323e-03 -1.01835167e+01] [-1.40377729e-02 3.20510737e-04 9.99901414e-01 -1.39879227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.535769231 meters Centerline goodness [0,1] 0.9966924160300457 Centerline is valid? [True, True] Translation: X:102.15, Y:-10.19, Z:-1.40 [[ 9.92692643e-01 1.19810082e-01 1.43826852e-02 1.02151473e+02] [-1.19793143e-01 9.92796784e-01 -2.03670245e-03 -1.01868346e+01] [-1.45231011e-02 2.98872470e-04 9.99894490e-01 -1.39815132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.565769231 meters Centerline goodness [0,1] 0.9973274973169757 Centerline is valid? [True, True] Translation: X:102.18, Y:-10.19, Z:-1.40 [[ 9.92140872e-01 1.24232387e-01 1.49266110e-02 1.02181502e+02] [-1.24214643e-01 9.92253120e-01 -2.11368873e-03 -1.01856017e+01] [-1.50735650e-02 2.42973329e-04 9.99886358e-01 -1.39785497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.595769231 meters Centerline goodness [0,1] 0.997958272187839 Centerline is valid? [True, True] Translation: X:102.21, Y:-10.19, Z:-1.40 [[ 9.91927629e-01 1.25896349e-01 1.51554371e-02 1.02211157e+02] [-1.25878253e-01 9.92043376e-01 -2.14587788e-03 -1.01850845e+01] [-1.53050092e-02 2.20815610e-04 9.99882847e-01 -1.39847532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.625769231 meters Centerline goodness [0,1] 0.9981370930183326 Centerline is valid? [True, True] Translation: X:102.24, Y:-10.19, Z:-1.40 [[ 9.91825988e-01 1.26698640e-01 1.51216296e-02 1.02240029e+02] [-1.26680724e-01 9.91941234e-01 -2.14071163e-03 -1.01882969e+01] [-1.52709932e-02 2.07594436e-04 9.99883370e-01 -1.39840636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65576923100001 meters Centerline goodness [0,1] 0.9981370930183326 Centerline is valid? [True, True] Translation: X:102.27, Y:-10.19, Z:-1.40 [[ 9.91828774e-01 1.26676824e-01 1.51216947e-02 1.02268913e+02] [-1.26658912e-01 9.91944020e-01 -2.14025126e-03 -1.01923386e+01] [-1.52709949e-02 2.07465378e-04 9.99883370e-01 -1.39874762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68576923100001 meters Centerline goodness [0,1] 0.9976910203995171 Centerline is valid? [True, True] Translation: X:102.30, Y:-10.20, Z:-1.40 [[ 9.91974881e-01 1.25473227e-01 1.55661407e-02 1.02298033e+02] [-1.25454104e-01 9.92096979e-01 -2.20279945e-03 -1.01992171e+01] [-1.57195135e-02 2.32285482e-04 9.99876414e-01 -1.39860337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71576923100001 meters Centerline goodness [0,1] 0.9980623075763774 Centerline is valid? [True, True] Translation: X:102.33, Y:-10.20, Z:-1.40 [[ 9.92199553e-01 1.23632307e-01 1.59718248e-02 1.02328728e+02] [-1.23611941e-01 9.92328061e-01 -2.25994296e-03 -1.02022242e+01] [-1.61286919e-02 2.68006131e-04 9.99869888e-01 -1.39976966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74576923100001 meters Centerline goodness [0,1] 0.995306874678553 Centerline is valid? [True, True] Translation: X:102.36, Y:-10.21, Z:-1.40 [[ 9.92546161e-01 1.20649897e-01 1.71965561e-02 1.02357890e+02] [-1.20625837e-01 9.92695062e-01 -2.43337542e-03 -1.02147579e+01] [-1.73645228e-02 3.40888462e-04 9.99849167e-01 -1.39779891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77576923100001 meters Centerline goodness [0,1] 0.9949818790075272 Centerline is valid? [True, True] Translation: X:102.39, Y:-10.22, Z:-1.40 [[ 9.92610540e-01 1.20117306e-01 1.72089675e-02 1.02388020e+02] [-1.20093118e-01 9.92759643e-01 -2.43586805e-03 -1.02209042e+01] [-1.73769583e-02 3.51189733e-04 9.99848948e-01 -1.39786975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80576923100001 meters Centerline goodness [0,1] 0.9941232832960716 Centerline is valid? [True, True] Translation: X:102.42, Y:-10.23, Z:-1.40 [[ 9.92724076e-01 1.19217702e-01 1.69129778e-02 1.02418061e+02] [-1.19194180e-01 9.92868072e-01 -2.39566590e-03 -1.02307876e+01] [-1.70779615e-02 3.62306688e-04 9.99854095e-01 -1.39824942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.835769231 meters Centerline goodness [0,1] 0.9955898094626419 Centerline is valid? [True, True] Translation: X:102.45, Y:-10.23, Z:-1.40 [[ 9.92818398e-01 1.18434546e-01 1.68786026e-02 1.02450798e+02] [-1.18410962e-01 9.92961790e-01 -2.39336676e-03 -1.02321654e+01] [-1.70432648e-02 3.77566974e-04 9.99854682e-01 -1.39997892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.865769231 meters Centerline goodness [0,1] 0.9953073774882685 Centerline is valid? [True, True] Translation: X:102.48, Y:-10.24, Z:-1.40 [[ 9.92892185e-01 1.17825473e-01 1.68007979e-02 1.02481709e+02] [-1.17801985e-01 9.93034243e-01 -2.38436123e-03 -1.02366273e+01] [-1.69647061e-02 3.88246285e-04 9.99856014e-01 -1.40058413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.895769231 meters Centerline goodness [0,1] 0.9955425369332654 Centerline is valid? [True, True] Translation: X:102.51, Y:-10.24, Z:-1.40 [[ 9.92899946e-01 1.17931206e-01 1.55539970e-02 1.02511959e+02] [-1.17911075e-01 9.93021703e-01 -2.20829396e-03 -1.02438267e+01] [-1.57058833e-02 3.58626451e-04 9.99876591e-01 -1.40274887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.925769231 meters Centerline goodness [0,1] 0.99598836839089 Centerline is valid? [True, True] Translation: X:102.54, Y:-10.25, Z:-1.40 [[ 9.92879610e-01 1.18212472e-01 1.46932218e-02 1.02542890e+02] [-1.18194511e-01 9.92988267e-01 -2.08786571e-03 -1.02486909e+01] [-1.48370086e-02 3.36341129e-04 9.99889869e-01 -1.40470678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.955769231 meters Centerline goodness [0,1] 0.9957545267358678 Centerline is valid? [True, True] Translation: X:102.57, Y:-10.26, Z:-1.41 [[ 9.92768695e-01 1.19103476e-01 1.49893288e-02 1.02573688e+02] [-1.19084880e-01 9.92881792e-01 -2.13030186e-03 -1.02555171e+01] [-1.51363580e-02 3.29894572e-04 9.99885384e-01 -1.40545102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.985769231 meters Centerline goodness [0,1] 0.9945268739043058 Centerline is valid? [True, True] Translation: X:102.60, Y:-10.27, Z:-1.40 [[ 9.92708153e-01 1.19553337e-01 1.54117989e-02 1.02603702e+02] [-1.19533718e-01 9.92827724e-01 -2.19121105e-03 -1.02664502e+01] [-1.55632278e-02 3.33003449e-04 9.99878830e-01 -1.40455824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01576923100001 meters Centerline goodness [0,1] 0.9956040688908238 Centerline is valid? [True, True] Translation: X:102.64, Y:-10.27, Z:-1.40 [[ 9.92659942e-01 1.19812199e-01 1.64704778e-02 1.02635385e+02] [-1.19789795e-01 9.92796511e-01 -2.34374309e-03 -1.02675121e+01] [-1.66326419e-02 3.53544731e-04 9.99861606e-01 -1.40447434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04576923100001 meters Centerline goodness [0,1] 0.9939567430025446 Centerline is valid? [True, True] Translation: X:102.67, Y:-10.28, Z:-1.40 [[ 9.92593367e-01 1.20088716e-01 1.83605138e-02 1.02665305e+02] [-1.20060896e-01 9.92763088e-01 -2.61403031e-03 -1.02776630e+01] [-1.85415559e-02 3.90289394e-04 9.99828014e-01 -1.40096646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07576923100001 meters Centerline goodness [0,1] 0.9945031532299301 Centerline is valid? [True, True] Translation: X:102.70, Y:-10.28, Z:-1.40 [[ 9.92591176e-01 1.20031809e-01 1.88446802e-02 1.02696440e+02] [-1.20002435e-01 9.92769964e-01 -2.68594870e-03 -1.02839826e+01] [-1.90308318e-02 4.04641464e-04 9.99818815e-01 -1.40110581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10576923100001 meters Centerline goodness [0,1] 0.9949620015370165 Centerline is valid? [True, True] Translation: X:102.73, Y:-10.29, Z:-1.40 [[ 9.92628233e-01 1.19785316e-01 1.84572192e-02 1.02728384e+02] [-1.19757044e-01 9.92799736e-01 -2.63346329e-03 -1.02939872e+01] [-1.86397726e-02 4.03667991e-04 9.99826183e-01 -1.40285548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13576923100001 meters Centerline goodness [0,1] 0.9941173981124889 Centerline is valid? [True, True] Translation: X:102.76, Y:-10.31, Z:-1.40 [[ 9.92648711e-01 1.19719216e-01 1.77720673e-02 1.02758713e+02] [-1.19692955e-01 9.92807713e-01 -2.53790366e-03 -1.03052477e+01] [-1.79480813e-02 3.92055543e-04 9.99838843e-01 -1.40341761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16576923100001 meters Centerline goodness [0,1] 0.9940572548351367 Centerline is valid? [True, True] Translation: X:102.79, Y:-10.31, Z:-1.40 [[ 9.92657477e-01 1.19706048e-01 1.73665114e-02 1.02790680e+02] [-1.19680928e-01 9.92809304e-01 -2.48239553e-03 -1.03133349e+01] [-1.75387918e-02 3.85728287e-04 9.99846109e-01 -1.40482965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.195769231 meters Centerline goodness [0,1] 0.9951029660201441 Centerline is valid? [True, True] Translation: X:102.82, Y:-10.32, Z:-1.41 [[ 9.92577623e-01 1.20346976e-01 1.75005090e-02 1.02821886e+02] [-1.20321511e-01 9.92731817e-01 -2.50467150e-03 -1.03195390e+01] [-1.76747418e-02 3.80393189e-04 9.99843717e-01 -1.40561532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.225769231 meters Centerline goodness [0,1] 0.9948253284332361 Centerline is valid? [True, True] Translation: X:102.85, Y:-10.33, Z:-1.40 [[ 9.92234147e-01 1.23082555e-01 1.79466336e-02 1.02852419e+02] [-1.23056166e-01 9.92396376e-01 -2.57158623e-03 -1.03297548e+01] [-1.81266915e-02 3.43171742e-04 9.99835639e-01 -1.40407535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.255769231 meters Centerline goodness [0,1] 0.995371058498779 Centerline is valid? [True, True] Translation: X:102.88, Y:-10.33, Z:-1.40 [[ 9.91904157e-01 1.25673490e-01 1.82295860e-02 1.02884734e+02] [-1.25646644e-01 9.92071611e-01 -2.61515179e-03 -1.03332213e+01] [-1.84137100e-02 3.03493628e-04 9.99830407e-01 -1.40401140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.285769231 meters Centerline goodness [0,1] 0.9963090238004327 Centerline is valid? [True, True] Translation: X:102.92, Y:-10.34, Z:-1.40 [[ 9.91491423e-01 1.28791173e-01 1.89101024e-02 1.02916559e+02] [-1.28762793e-01 9.91671703e-01 -2.71581667e-03 -1.03359859e+01] [-1.91023867e-02 2.57791321e-04 9.99817500e-01 -1.40280657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.315769231 meters Centerline goodness [0,1] 0.9983414488932361 Centerline is valid? [True, True] Translation: X:102.95, Y:-10.33, Z:-1.40 [[ 9.90677320e-01 1.34698854e-01 2.03633808e-02 1.02949568e+02] [-1.34667121e-01 9.90886570e-01 -2.92792902e-03 -1.03346218e+01] [-2.05721893e-02 1.58354999e-04 9.99788358e-01 -1.40182211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.345769231 meters Centerline goodness [0,1] 0.9983773759851646 Centerline is valid? [True, True] Translation: X:102.98, Y:-10.34, Z:-1.40 [[ 9.90399774e-01 1.36661033e-01 2.07858093e-02 1.02980165e+02] [-1.36628332e-01 9.90617861e-01 -2.99201359e-03 -1.03389337e+01] [-2.09996856e-02 1.23359134e-04 9.99779475e-01 -1.40046852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.375769231 meters Centerline goodness [0,1] 0.9991496417866026 Centerline is valid? [True, True] Translation: X:103.01, Y:-10.34, Z:-1.41 [[ 9.90169503e-01 1.38464598e-01 1.97967063e-02 1.03011937e+02] [-1.38435234e-01 9.90367380e-01 -2.85270135e-03 -1.03433681e+01] [-2.00010103e-02 8.40962085e-05 9.99799956e-01 -1.40520299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40576923100001 meters Centerline goodness [0,1] 0.9992791264709 Centerline is valid? [True, True] Translation: X:103.04, Y:-10.35, Z:-1.41 [[ 9.90099412e-01 1.39043843e-01 1.92344704e-02 1.03043262e+02] [-1.39016171e-01 9.90286223e-01 -2.77487729e-03 -1.03484883e+01] [-1.94334607e-02 7.35019505e-05 9.99811150e-01 -1.40721218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43576923100001 meters Centerline goodness [0,1] 0.9991265445249254 Centerline is valid? [True, True] Translation: X:103.07, Y:-10.35, Z:-1.41 [[ 9.90030657e-01 1.39563479e-01 1.90087591e-02 1.03074874e+02] [-1.39536493e-01 9.90213124e-01 -2.74515079e-03 -1.03534282e+01] [-1.92058455e-02 6.53678437e-05 9.99815549e-01 -1.40782210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46576923100001 meters Centerline goodness [0,1] 0.9993206521739131 Centerline is valid? [True, True] Translation: X:103.11, Y:-10.36, Z:-1.41 [[ 9.89789396e-01 1.41148627e-01 1.98498575e-02 1.03107066e+02] [-1.41119462e-01 9.89988416e-01 -2.86946114e-03 -1.03577034e+01] [-2.00561495e-02 3.89609866e-05 9.99798854e-01 -1.40637423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49576923100001 meters Centerline goodness [0,1] 0.9993978883082811 Centerline is valid? [True, True] Translation: X:103.14, Y:-10.36, Z:-1.41 [[ 9.89732615e-01 1.41534626e-01 1.99323955e-02 1.03138818e+02] [-1.41505229e-01 9.89933305e-01 -2.88475102e-03 -1.03630539e+01] [-2.01400343e-02 3.45939856e-05 9.99797168e-01 -1.40675351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52576923100001 meters Centerline goodness [0,1] 0.9992592435818748 Centerline is valid? [True, True] Translation: X:103.17, Y:-10.37, Z:-1.41 [[ 9.89653197e-01 1.42132940e-01 1.96157463e-02 1.03170712e+02] [-1.42104530e-01 9.89847577e-01 -2.84183051e-03 -1.03683761e+01] [-1.98205167e-02 2.49402463e-05 9.99803554e-01 -1.40795455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55576923100001 meters Centerline goodness [0,1] 0.9993195977121473 Centerline is valid? [True, True] Translation: X:103.20, Y:-10.37, Z:-1.41 [[ 9.89555250e-01 1.42885897e-01 1.90795070e-02 1.03201124e+02] [-1.42859119e-01 9.89739168e-01 -2.76620837e-03 -1.03727648e+01] [-1.92789875e-02 1.16344621e-05 9.99814143e-01 -1.40894152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.585769231 meters Centerline goodness [0,1] 0.9994114184814596 Centerline is valid? [True, True] Translation: X:103.23, Y:-10.38, Z:-1.41 [[ 9.89422048e-01 1.43818159e-01 1.89828564e-02 1.03232340e+02] [-1.43791799e-01 9.89604131e-01 -2.75344650e-03 -1.03772535e+01] [-1.91815087e-02 -5.25839856e-06 9.99816018e-01 -1.41055241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.615769231 meters Centerline goodness [0,1] 0.9995983086680761 Centerline is valid? [True, True] Translation: X:103.26, Y:-10.38, Z:-1.41 [[ 9.89212795e-01 1.45224713e-01 1.91788609e-02 1.03264327e+02] [-1.45198039e-01 9.89398697e-01 -2.78342824e-03 -1.03822450e+01] [-1.93797625e-02 -3.13301700e-05 9.99812194e-01 -1.41119147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.645769231 meters Centerline goodness [0,1] 0.9996559213780348 Centerline is valid? [True, True] Translation: X:103.30, Y:-10.39, Z:-1.41 [[ 9.89254654e-01 1.44916331e-01 1.93516711e-02 1.03296551e+02] [-1.44889048e-01 9.89443913e-01 -2.81199284e-03 -1.03924560e+01] [-1.95548968e-02 -2.20681835e-05 9.99808784e-01 -1.41306062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.675769231 meters Centerline goodness [0,1] 0.9993394417217132 Centerline is valid? [True, True] Translation: X:103.33, Y:-10.41, Z:-1.42 [[ 9.89669638e-01 1.42336176e-01 1.71586910e-02 1.03326459e+02] [-1.42314288e-01 9.89818373e-01 -2.49622027e-03 -1.04061389e+01] [-1.73392900e-02 2.85065069e-05 9.99849663e-01 -1.41788392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.705769231 meters Centerline goodness [0,1] 0.9993230521884453 Centerline is valid? [True, True] Translation: X:103.36, Y:-10.41, Z:-1.42 [[ 9.89734806e-01 1.42040064e-01 1.57997998e-02 1.03358754e+02] [-1.42021429e-01 9.89860909e-01 -2.30103651e-03 -1.04137944e+01] [-1.59664436e-02 3.35057900e-05 9.99872528e-01 -1.42093004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.735769231 meters Centerline goodness [0,1] 0.9994714922943576 Centerline is valid? [True, True] Translation: X:103.39, Y:-10.42, Z:-1.42 [[ 9.89628811e-01 1.42872774e-01 1.49059659e-02 1.03390686e+02] [-1.42856241e-01 9.89741062e-01 -2.17358847e-03 -1.04197934e+01] [-1.50635932e-02 2.16355184e-05 9.99886537e-01 -1.42279819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76576923100001 meters Centerline goodness [0,1] 0.9996791032004108 Centerline is valid? [True, True] Translation: X:103.42, Y:-10.42, Z:-1.43 [[ 9.89089473e-01 1.46679856e-01 1.36760622e-02 1.03422142e+02] [-1.46666271e-01 9.89184017e-01 -1.99649439e-03 -1.04203664e+01] [-1.38209877e-02 -3.11054634e-05 9.99904485e-01 -1.42539725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79576923100001 meters Centerline goodness [0,1] 0.9998509306188509 Centerline is valid? [True, True] Translation: X:103.45, Y:-10.42, Z:-1.43 [[ 9.88707161e-01 1.49231784e-01 1.37122133e-02 1.03453276e+02] [-1.49218348e-01 9.88802240e-01 -2.00356247e-03 -1.04206546e+01] [-1.38576624e-02 -6.51772598e-05 9.99903976e-01 -1.42543661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82576923100001 meters Centerline goodness [0,1] 0.9999786816747677 Centerline is valid? [True, True] Translation: X:103.48, Y:-10.42, Z:-1.42 [[ 9.87986485e-01 1.53854756e-01 1.45402894e-02 1.03484713e+02] [-1.53840148e-01 9.88093465e-01 -2.12455695e-03 -1.04182256e+01] [-1.46940381e-02 -1.37846719e-04 9.99892027e-01 -1.42449669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85576923100001 meters Centerline goodness [0,1] 0.9999156829679595 Centerline is valid? [True, True] Translation: X:103.51, Y:-10.42, Z:-1.42 [[ 9.87893755e-01 1.54388693e-01 1.51677499e-02 1.03514501e+02] [-1.54372861e-01 9.88010176e-01 -2.21619612e-03 -1.04211994e+01] [-1.53280469e-02 -1.52122628e-04 9.99882507e-01 -1.42370954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88576923100001 meters Centerline goodness [0,1] 0.9998931349918783 Centerline is valid? [True, True] Translation: X:103.54, Y:-10.43, Z:-1.42 [[ 9.88023116e-01 1.53514744e-01 1.56059167e-02 1.03544872e+02] [-1.53497876e-01 9.88146347e-01 -2.28017496e-03 -1.04290000e+01] [-1.57709701e-02 -1.42609500e-04 9.99875620e-01 -1.42426680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91576923100001 meters Centerline goodness [0,1] 0.9996800614282058 Centerline is valid? [True, True] Translation: X:103.57, Y:-10.44, Z:-1.42 [[ 9.88792640e-01 1.48358280e-01 1.67013782e-02 1.03574601e+02] [-1.48338205e-01 9.88933677e-01 -2.44133488e-03 -1.04434736e+01] [-1.68787475e-02 -6.34784979e-05 9.99857542e-01 -1.42292264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.945769231 meters Centerline goodness [0,1] 0.9995545373552246 Centerline is valid? [True, True] Translation: X:103.61, Y:-10.45, Z:-1.42 [[ 9.89242572e-01 1.45287202e-01 1.70517324e-02 1.03606216e+02] [-1.45265770e-01 9.89389523e-01 -2.49546419e-03 -1.04549600e+01] [-1.72333644e-02 -8.41361811e-06 9.99851495e-01 -1.42297030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.975769231 meters Centerline goodness [0,1] 0.99921879948483 Centerline is valid? [True, True] Translation: X:103.64, Y:-10.47, Z:-1.42 [[ 9.89660096e-01 1.42360990e-01 1.74998134e-02 1.03636836e+02] [-1.42337898e-01 9.89814804e-01 -2.56442762e-03 -1.04667623e+01] [-1.76866488e-02 4.70250246e-05 9.99843578e-01 -1.42256648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.005769231 meters Centerline goodness [0,1] 0.9984670740275501 Centerline is valid? [True, True] Translation: X:103.67, Y:-10.49, Z:-1.42 [[ 9.90363976e-01 1.37347644e-01 1.77431468e-02 1.03666894e+02] [-1.37323044e-01 9.90522895e-01 -2.60325345e-03 -1.04856764e+01] [-1.79325439e-02 1.41625505e-04 9.99839189e-01 -1.42269568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.035769231 meters Centerline goodness [0,1] 0.9970477141492641 Centerline is valid? [True, True] Translation: X:103.70, Y:-10.50, Z:-1.42 [[ 9.90540797e-01 1.36039834e-01 1.79469765e-02 1.03697378e+02] [-1.36014397e-01 9.90703353e-01 -2.63613019e-03 -1.04966043e+01] [-1.81387485e-02 1.70147311e-04 9.99835465e-01 -1.41795814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.065769231 meters Centerline goodness [0,1] 0.9982838878520711 Centerline is valid? [True, True] Translation: X:103.73, Y:-10.51, Z:-1.42 [[ 9.90324590e-01 1.37545966e-01 1.83932877e-02 1.03727425e+02] [-1.37519454e-01 9.90495374e-01 -2.70461734e-03 -1.05067158e+01] [-1.85904756e-02 1.49014183e-04 9.99827171e-01 -1.42297169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.095769231 meters Centerline goodness [0,1] 0.998513295386968 Centerline is valid? [True, True] Translation: X:103.76, Y:-10.51, Z:-1.42 [[ 9.90020393e-01 1.39734321e-01 1.82740323e-02 1.03757715e+02] [-1.39708472e-01 9.90189026e-01 -2.68990907e-03 -1.05125071e+01] [-1.84706189e-02 1.10027706e-04 9.99829398e-01 -1.42262218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.125769231 meters Centerline goodness [0,1] 0.9988721004469036 Centerline is valid? [True, True] Translation: X:103.79, Y:-10.52, Z:-1.42 [[ 9.89696354e-01 1.42095434e-01 1.76072045e-02 1.03789838e+02] [-1.42071762e-01 9.89852960e-01 -2.59446523e-03 -1.05164442e+01] [-1.77972052e-02 6.62462102e-05 9.99841615e-01 -1.42458539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15576923100001 meters Centerline goodness [0,1] 0.999448767146522 Centerline is valid? [True, True] Translation: X:103.82, Y:-10.52, Z:-1.43 [[ 9.88947752e-01 1.47323949e-01 1.66732450e-02 1.03821036e+02] [-1.47303420e-01 9.89088294e-01 -2.45943389e-03 -1.05190001e+01] [-1.68536449e-02 -2.37743931e-05 9.99857967e-01 -1.42733173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18576923100001 meters Centerline goodness [0,1] 0.9995773100008454 Centerline is valid? [True, True] Translation: X:103.85, Y:-10.52, Z:-1.43 [[ 9.88562812e-01 1.49874190e-01 1.67717970e-02 1.03852532e+02] [-1.49853747e-01 9.88705074e-01 -2.47622216e-03 -1.05226319e+01] [-1.69534826e-02 -6.54154756e-05 9.99856277e-01 -1.42745499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21576923100001 meters Centerline goodness [0,1] 0.9997668849471253 Centerline is valid? [True, True] Translation: X:103.88, Y:-10.52, Z:-1.42 [[ 9.87739787e-01 1.54998801e-01 1.85872181e-02 1.03884127e+02] [-1.54974556e-01 9.87914644e-01 -2.74649184e-03 -1.05227581e+01] [-1.87882879e-02 -1.67726609e-04 9.99823470e-01 -1.42423866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24576923100001 meters Centerline goodness [0,1] 0.9998728651947282 Centerline is valid? [True, True] Translation: X:103.92, Y:-10.52, Z:-1.42 [[ 9.87340868e-01 1.57423203e-01 1.93893318e-02 1.03915073e+02] [-1.57397230e-01 9.87531208e-01 -2.86801238e-03 -1.05241537e+01] [-1.95990620e-02 -2.20121286e-04 9.99807896e-01 -1.42281691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27576923100001 meters Centerline goodness [0,1] 0.9998311915764596 Centerline is valid? [True, True] Translation: X:103.95, Y:-10.53, Z:-1.42 [[ 9.86907491e-01 1.60095732e-01 1.95693623e-02 1.03947659e+02] [-1.60069739e-01 9.87101455e-01 -2.89765539e-03 -1.05255771e+01] [-1.97808483e-02 -2.72744909e-04 9.99804303e-01 -1.42301909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30576923100001 meters Centerline goodness [0,1] 0.9998939599592807 Centerline is valid? [True, True] Translation: X:103.98, Y:-10.53, Z:-1.43 [[ 9.86484783e-01 1.62747684e-01 1.89990656e-02 1.03979280e+02] [-1.62723617e-01 9.86667671e-01 -2.81627393e-03 -1.05290548e+01] [-1.92041058e-02 -3.13385299e-04 9.99815535e-01 -1.42676925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.335769231 meters Centerline goodness [0,1] 0.9995533340423269 Centerline is valid? [True, True] Translation: X:104.01, Y:-10.52, Z:-1.43 [[ 9.85690042e-01 1.67684124e-01 1.72387525e-02 1.04011128e+02] [-1.67665033e-01 9.85840706e-01 -2.55713034e-03 -1.05187043e+01] [-1.74234541e-02 -3.69798096e-04 9.99848132e-01 -1.43024370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.365769231 meters Centerline goodness [0,1] 0.9996800955447973 Centerline is valid? [True, True] Translation: X:104.04, Y:-10.52, Z:-1.43 [[ 9.85256421e-01 1.70226548e-01 1.71087090e-02 1.04042580e+02] [-1.70208112e-01 9.85404868e-01 -2.53869791e-03 -1.05217266e+01] [-1.72911589e-02 -4.10772635e-04 9.99850412e-01 -1.43201330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.395769231 meters Centerline goodness [0,1] 0.9988423489791622 Centerline is valid? [True, True] Translation: X:104.07, Y:-10.51, Z:-1.43 [[ 9.84593579e-01 1.73915172e-01 1.81382606e-02 1.04074507e+02] [-1.73895033e-01 9.84760510e-01 -2.69373906e-03 -1.05122962e+01] [-1.83303249e-02 -5.01915255e-04 9.99831860e-01 -1.42960302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.425769231 meters Centerline goodness [0,1] 0.9985013192612138 Centerline is valid? [True, True] Translation: X:104.10, Y:-10.51, Z:-1.43 [[ 9.84446884e-01 1.74711831e-01 1.84420489e-02 1.04104169e+02] [-1.74691142e-01 9.84619470e-01 -2.73935932e-03 -1.05134486e+01] [-1.86369989e-02 -5.24908854e-04 9.99826178e-01 -1.42964912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.455769231 meters Centerline goodness [0,1] 0.9991736412755589 Centerline is valid? [True, True] Translation: X:104.13, Y:-10.52, Z:-1.43 [[ 9.84570701e-01 1.74078568e-01 1.78097553e-02 1.04134416e+02] [-1.74059175e-01 9.84731642e-01 -2.64518479e-03 -1.05177134e+01] [-1.79982996e-02 -4.95579870e-04 9.99837895e-01 -1.43218783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.485769231 meters Centerline goodness [0,1] 0.9988541600356483 Centerline is valid? [True, True] Translation: X:104.17, Y:-10.52, Z:-1.43 [[ 9.84738682e-01 1.73172537e-01 1.73493651e-02 1.04165168e+02] [-1.73153992e-01 9.84891392e-01 -2.57687312e-03 -1.05213721e+01] [-1.75334840e-02 -4.66565189e-04 9.99846168e-01 -1.43368410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51576923100001 meters Centerline goodness [0,1] 0.9990446671195652 Centerline is valid? [True, True] Translation: X:104.20, Y:-10.52, Z:-1.44 [[ 9.84916556e-01 1.72201550e-01 1.69116777e-02 1.04195108e+02] [-1.72183784e-01 9.85061640e-01 -2.51199604e-03 -1.05242846e+01] [-1.70916146e-02 -4.37810174e-04 9.99853832e-01 -1.43504805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54576923100001 meters Centerline goodness [0,1] 0.9990446671195652 Centerline is valid? [True, True] Translation: X:104.22, Y:-10.53, Z:-1.44 [[ 9.84920458e-01 1.72179228e-01 1.69116957e-02 1.04223972e+02] [-1.72161461e-01 9.85065542e-01 -2.51187505e-03 -1.05285267e+01] [-1.70916214e-02 -4.37545114e-04 9.99853832e-01 -1.43538941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57576923100001 meters Centerline goodness [0,1] 0.9994698784961513 Centerline is valid? [True, True] Translation: X:104.25, Y:-10.53, Z:-1.44 [[ 9.85203376e-01 1.70516441e-01 1.72757553e-02 1.04254653e+02] [-1.70497648e-01 9.85354743e-01 -2.56574192e-03 -1.05330419e+01] [-1.74602486e-02 -4.17698048e-04 9.99847471e-01 -1.43571327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60576923100001 meters Centerline goodness [0,1] 0.999176798378926 Centerline is valid? [True, True] Translation: X:104.28, Y:-10.53, Z:-1.44 [[ 9.85326855e-01 1.69818818e-01 1.71043506e-02 1.04284965e+02] [-1.69800290e-01 9.85475219e-01 -2.54035549e-03 -1.05317184e+01] [-1.72873138e-02 -4.01243202e-04 9.99850483e-01 -1.43571777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63576923100001 meters Centerline goodness [0,1] 0.9996825195250492 Centerline is valid? [True, True] Translation: X:104.31, Y:-10.54, Z:-1.44 [[ 9.85492739e-01 1.68858026e-01 1.70595710e-02 1.04314227e+02] [-1.68839457e-01 9.85640310e-01 -2.53337949e-03 -1.05395346e+01] [-1.72423823e-02 -3.83701602e-04 9.99851265e-01 -1.43758781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66576923100001 meters Centerline goodness [0,1] 0.9997252398867142 Centerline is valid? [True, True] Translation: X:104.34, Y:-10.54, Z:-1.44 [[ 9.85807431e-01 1.67041307e-01 1.67603623e-02 1.04343259e+02] [-1.67023129e-01 9.85949837e-01 -2.48849482e-03 -1.05423170e+01] [-1.69405579e-02 -3.46191465e-04 9.99856439e-01 -1.43854240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.695769231 meters Centerline goodness [0,1] 0.999828370376727 Centerline is valid? [True, True] Translation: X:104.37, Y:-10.55, Z:-1.44 [[ 9.85949465e-01 1.66248979e-01 1.62766768e-02 1.04373525e+02] [-1.66231728e-01 9.86083755e-01 -2.41660726e-03 -1.05492889e+01] [-1.64519251e-02 -3.23047484e-04 9.99864606e-01 -1.44061253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.725769231 meters Centerline goodness [0,1] 0.9998729863036897 Centerline is valid? [True, True] Translation: X:104.40, Y:-10.55, Z:-1.44 [[ 9.86244636e-01 1.64634853e-01 1.47269497e-02 1.04403102e+02] [-1.64620548e-01 9.86354548e-01 -2.18671235e-03 -1.05505249e+01] [-1.48860029e-02 -2.67725206e-04 9.99889161e-01 -1.44349915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.755769231 meters Centerline goodness [0,1] 0.9999362326233898 Centerline is valid? [True, True] Translation: X:104.43, Y:-10.56, Z:-1.44 [[ 9.86423736e-01 1.63544679e-01 1.48778861e-02 1.04433204e+02] [-1.63529952e-01 9.86535896e-01 -2.20937280e-03 -1.05576975e+01] [-1.50388998e-02 -2.53602225e-04 9.99886877e-01 -1.44446262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.785769231 meters Centerline goodness [0,1] 0.9999361389616195 Centerline is valid? [True, True] Translation: X:104.46, Y:-10.56, Z:-1.44 [[ 9.86581441e-01 1.62522578e-01 1.56036041e-02 1.04462652e+02] [-1.62506252e-01 9.86704793e-01 -2.31709346e-03 -1.05607672e+01] [-1.57727309e-02 -2.49681804e-04 9.99875572e-01 -1.44363195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.815769231 meters Centerline goodness [0,1] 0.999829187573396 Centerline is valid? [True, True] Translation: X:104.49, Y:-10.57, Z:-1.44 [[ 9.87082550e-01 1.59314573e-01 1.69383181e-02 1.04492669e+02] [-1.59294864e-01 9.87227846e-01 -2.51514288e-03 -1.05686651e+01] [-1.71226782e-02 -2.15533428e-04 9.99853373e-01 -1.44234324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.845769231 meters Centerline goodness [0,1] 0.9997652932767193 Centerline is valid? [True, True] Translation: X:104.52, Y:-10.58, Z:-1.44 [[ 9.87484187e-01 1.56788475e-01 1.70983531e-02 1.04523103e+02] [-1.56768004e-01 9.87632191e-01 -2.53943337e-03 -1.05758082e+01] [-1.72850378e-02 -1.72824395e-04 9.99850588e-01 -1.44168040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.875769231 meters Centerline goodness [0,1] 0.999532273152479 Centerline is valid? [True, True] Translation: X:104.55, Y:-10.59, Z:-1.44 [[ 9.88348489e-01 1.51258740e-01 1.69722412e-02 1.04552883e+02] [-1.51237719e-01 9.88494202e-01 -2.52273095e-03 -1.05913604e+01] [-1.71585472e-02 -7.35057353e-05 9.99852779e-01 -1.44461593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90576923100001 meters Centerline goodness [0,1] 0.9991459743365289 Centerline is valid? [True, True] Translation: X:104.58, Y:-10.60, Z:-1.45 [[ 9.88755915e-01 1.48586318e-01 1.68477667e-02 1.04583171e+02] [-1.48565168e-01 9.88899442e-01 -2.50705219e-03 -1.05999449e+01] [-1.70332608e-02 -2.41286036e-05 9.99854923e-01 -1.44564276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93576923100001 meters Centerline goodness [0,1] 0.9987149282501606 Centerline is valid? [True, True] Translation: X:104.61, Y:-10.61, Z:-1.45 [[ 9.89133063e-01 1.46074301e-01 1.66758123e-02 1.04614555e+02] [-1.46053176e-01 9.89273622e-01 -2.48427106e-03 -1.06102129e+01] [-1.68598294e-02 2.17192910e-05 9.99857863e-01 -1.44739259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96576923100001 meters Centerline goodness [0,1] 0.9982312577249286 Centerline is valid? [True, True] Translation: X:104.64, Y:-10.63, Z:-1.45 [[ 9.89791801e-01 1.41654845e-01 1.56874337e-02 1.04643528e+02] [-1.41635552e-01 9.89916106e-01 -2.33975809e-03 -1.06266922e+01] [-1.58606814e-02 9.39750392e-05 9.99874207e-01 -1.44946330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99576923100001 meters Centerline goodness [0,1] 0.9981180093671806 Centerline is valid? [True, True] Translation: X:104.67, Y:-10.64, Z:-1.45 [[ 9.89981313e-01 1.40354665e-01 1.54132376e-02 1.04674422e+02] [-1.40335845e-01 9.90101285e-01 -2.30128375e-03 -1.06358966e+01] [-1.55836623e-02 1.15198186e-04 9.99878561e-01 -1.45121333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02576923100001 meters Centerline goodness [0,1] 0.9975027144408252 Centerline is valid? [True, True] Translation: X:104.71, Y:-10.65, Z:-1.45 [[ 9.90059936e-01 1.39775147e-01 1.56279077e-02 1.04705922e+02] [-1.39755683e-01 9.90183262e-01 -2.33615462e-03 -1.06463835e+01] [-1.58010290e-02 1.28844177e-04 9.99875148e-01 -1.45258594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05576923100001 meters Centerline goodness [0,1] 0.9975676367670906 Centerline is valid? [True, True] Translation: X:104.74, Y:-10.65, Z:-1.45 [[ 9.89946653e-01 1.40560254e-01 1.57619507e-02 1.04737864e+02] [-1.40540504e-01 9.90072119e-01 -2.35933433e-03 -1.06525112e+01] [-1.59370965e-02 1.20422636e-04 9.99872989e-01 -1.45234086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.085769231 meters Centerline goodness [0,1] 0.9983201496980523 Centerline is valid? [True, True] Translation: X:104.77, Y:-10.66, Z:-1.45 [[ 9.89710871e-01 1.42175363e-01 1.60797271e-02 1.04769361e+02] [-1.42154970e-01 9.89841480e-01 -2.41000252e-03 -1.06570831e+01] [-1.62590238e-02 9.93925674e-05 9.99867808e-01 -1.45148715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.115769231 meters Centerline goodness [0,1] 0.9989404030793184 Centerline is valid? [True, True] Translation: X:104.80, Y:-10.66, Z:-1.45 [[ 9.89004726e-01 1.46988707e-01 1.62471982e-02 1.04801659e+02] [-1.46968490e-01 9.89138170e-01 -2.43789912e-03 -1.06554162e+01] [-1.64290676e-02 2.32675627e-05 9.99865033e-01 -1.45054430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.145769231 meters Centerline goodness [0,1] 0.9993632060452973 Centerline is valid? [True, True] Translation: X:104.83, Y:-10.66, Z:-1.45 [[ 9.88552818e-01 1.50041086e-01 1.58429584e-02 1.04834440e+02] [-1.50022211e-01 9.88679762e-01 -2.37993377e-03 -1.06556374e+01] [-1.60207002e-02 -2.41054223e-05 9.99871660e-01 -1.45133506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.175769231 meters Centerline goodness [0,1] 0.9995918981034001 Centerline is valid? [True, True] Translation: X:104.87, Y:-10.66, Z:-1.45 [[ 9.88109967e-01 1.52953657e-01 1.56164127e-02 1.04867615e+02] [-1.52935638e-01 9.88233360e-01 -2.34872065e-03 -1.06559972e+01] [-1.57919054e-02 -6.75117502e-05 9.99875298e-01 -1.45266901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.205769231 meters Centerline goodness [0,1] 0.9998703459601962 Centerline is valid? [True, True] Translation: X:104.90, Y:-10.66, Z:-1.45 [[ 9.87595477e-01 1.56292403e-01 1.50949984e-02 1.04900546e+02] [-1.56275915e-01 9.87710824e-01 -2.27302112e-03 -1.06554283e+01] [-1.52647492e-02 -1.14159308e-04 9.99883480e-01 -1.45477609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.235769231 meters Centerline goodness [0,1] 0.9998298668708264 Centerline is valid? [True, True] Translation: X:104.93, Y:-10.66, Z:-1.46 [[ 9.87477259e-01 1.57071264e-01 1.47404851e-02 1.04931474e+02] [-1.57055593e-01 9.87587264e-01 -2.22200462e-03 -1.06583022e+01] [-1.49065284e-02 -1.20896593e-04 9.99888884e-01 -1.45636584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26576923100001 meters Centerline goodness [0,1] 0.9996348875668478 Centerline is valid? [True, True] Translation: X:104.96, Y:-10.66, Z:-1.46 [[ 9.87409602e-01 1.57504841e-01 1.46459287e-02 1.04964324e+02] [-1.57489383e-01 9.87518207e-01 -2.21011805e-03 -1.06621005e+01] [-1.48112255e-02 -1.24286491e-04 9.99890300e-01 -1.45750613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29576923100001 meters Centerline goodness [0,1] 0.9998497434906733 Centerline is valid? [True, True] Translation: X:105.00, Y:-10.67, Z:-1.46 [[ 9.87416773e-01 1.57421212e-01 1.50558240e-02 1.04995797e+02] [-1.57404822e-01 9.87531542e-01 -2.27492746e-03 -1.06667463e+01] [-1.52262230e-02 -1.23557768e-04 9.99884067e-01 -1.45725075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32576923100001 meters Centerline goodness [0,1] 0.9997237040658009 Centerline is valid? [True, True] Translation: X:105.03, Y:-10.67, Z:-1.46 [[ 9.87539996e-01 1.56677569e-01 1.47273854e-02 1.05027376e+02] [-1.56661765e-01 9.87649800e-01 -2.22788106e-03 -1.06734060e+01] [-1.48945583e-02 -1.07096533e-04 9.99889064e-01 -1.45762471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35576923100001 meters Centerline goodness [0,1] 0.999659820555343 Centerline is valid? [True, True] Translation: X:105.06, Y:-10.68, Z:-1.46 [[ 9.87843968e-01 1.54899110e-01 1.30598699e-02 1.05059026e+02] [-1.54886501e-01 9.87930292e-01 -1.97758133e-03 -1.06817453e+01] [-1.32085666e-02 -6.92557561e-05 9.99912761e-01 -1.46195560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38576923100001 meters Centerline goodness [0,1] 0.9996810003827995 Centerline is valid? [True, True] Translation: X:105.09, Y:-10.69, Z:-1.46 [[ 9.87965231e-01 1.54204090e-01 1.20747726e-02 1.05090932e+02] [-1.54193237e-01 9.88039015e-01 -1.83029746e-03 -1.06878565e+01] [-1.22125857e-02 -5.35780106e-05 9.99925422e-01 -1.46399071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41576923100001 meters Centerline goodness [0,1] 0.9996118933137843 Centerline is valid? [True, True] Translation: X:105.12, Y:-10.70, Z:-1.47 [[ 9.88063054e-01 1.53555846e-01 1.23289515e-02 1.05122801e+02] [-1.53544451e-01 9.88139970e-01 -1.87121518e-03 -1.06959022e+01] [-1.24700658e-02 -4.41634980e-05 9.99922245e-01 -1.46509495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.445769231 meters Centerline goodness [0,1] 0.9995474040388801 Centerline is valid? [True, True] Translation: X:105.15, Y:-10.70, Z:-1.46 [[ 9.88140778e-01 1.52987865e-01 1.31345769e-02 1.05153963e+02] [-1.52974845e-01 9.88228067e-01 -1.99619168e-03 -1.07034661e+01] [-1.32853507e-02 -3.67414750e-05 9.99911745e-01 -1.46436394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.475769231 meters Centerline goodness [0,1] 0.999419641897556 Centerline is valid? [True, True] Translation: X:105.19, Y:-10.71, Z:-1.46 [[ 9.88205787e-01 1.52522991e-01 1.36404112e-02 1.05185291e+02] [-1.52508869e-01 9.88299922e-01 -2.07564081e-03 -1.07133553e+01] [-1.37974002e-02 -2.91234261e-05 9.99904811e-01 -1.46415717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.505769231 meters Centerline goodness [0,1] 0.9994435646107093 Centerline is valid? [True, True] Translation: X:105.22, Y:-10.72, Z:-1.47 [[ 9.88099426e-01 1.53295383e-01 1.26510775e-02 1.05217181e+02] [-1.53283272e-01 9.88180411e-01 -1.92724657e-03 -1.07203331e+01] [-1.27969849e-02 -3.48873180e-05 9.99918115e-01 -1.46681350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.535769231 meters Centerline goodness [0,1] 0.999723709937941 Centerline is valid? [True, True] Translation: X:105.25, Y:-10.73, Z:-1.47 [[ 9.87852613e-01 1.54998357e-01 1.10781093e-02 1.05248433e+02] [-1.54989155e-01 9.87914727e-01 -1.68955223e-03 -1.07296116e+01] [-1.12061052e-02 -4.79582214e-05 9.99937208e-01 -1.47085251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.565769231 meters Centerline goodness [0,1] 0.9997874420779662 Centerline is valid? [True, True] Translation: X:105.28, Y:-10.74, Z:-1.47 [[ 9.87608155e-01 1.56544796e-01 1.11291748e-02 1.05280955e+02] [-1.56535592e-01 9.87670858e-01 -1.69867798e-03 -1.07353612e+01] [-1.12578808e-02 -6.44837386e-05 9.99936626e-01 -1.47044096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.595769231 meters Centerline goodness [0,1] 0.9998290050229774 Centerline is valid? [True, True] Translation: X:105.31, Y:-10.74, Z:-1.47 [[ 9.87258004e-01 1.58695772e-01 1.17168894e-02 1.05311782e+02] [-1.58685694e-01 9.87327526e-01 -1.79075123e-03 -1.07382776e+01] [-1.18525921e-02 -9.13692365e-05 9.99929751e-01 -1.46972516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.625769231 meters Centerline goodness [0,1] 0.9997659674056423 Centerline is valid? [True, True] Translation: X:105.34, Y:-10.74, Z:-1.47 [[ 9.86191412e-01 1.65057388e-01 1.35113853e-02 1.05344015e+02] [-1.65044551e-01 9.86283946e-01 -2.06738429e-03 -1.07364453e+01] [-1.36672994e-02 -1.91143875e-04 9.99906580e-01 -1.46733764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65576923100001 meters Centerline goodness [0,1] 0.9998285212097828 Centerline is valid? [True, True] Translation: X:105.38, Y:-10.74, Z:-1.47 [[ 9.85566901e-01 1.68723285e-01 1.37962781e-02 1.05375079e+02] [-1.68710234e-01 9.85663428e-01 -2.11286445e-03 -1.07363011e+01] [-1.39549762e-02 -2.45204028e-04 9.99902595e-01 -1.46805680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68576923100001 meters Centerline goodness [0,1] 0.9994675072951501 Centerline is valid? [True, True] Translation: X:105.41, Y:-10.73, Z:-1.47 [[ 9.84265978e-01 1.76242609e-01 1.26106215e-02 1.05407201e+02] [-1.76232317e-01 9.84346707e-01 -1.93153908e-03 -1.07310687e+01] [-1.27536432e-02 -3.21250846e-04 9.99918617e-01 -1.47089544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71576923100001 meters Centerline goodness [0,1] 0.9989783973608598 Centerline is valid? [True, True] Translation: X:105.44, Y:-10.73, Z:-1.47 [[ 9.83600187e-01 1.79950678e-01 1.21829828e-02 1.05437704e+02] [-1.79941356e-01 9.83675570e-01 -1.86606457e-03 -1.07269112e+01] [-1.23199022e-02 -3.56760992e-04 9.99924043e-01 -1.47256410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74576923100001 meters Centerline goodness [0,1] 0.9981769618857845 Centerline is valid? [True, True] Translation: X:105.47, Y:-10.72, Z:-1.47 [[ 9.82971722e-01 1.83346961e-01 1.22672236e-02 1.05467505e+02] [-1.83337776e-01 9.83048183e-01 -1.87881429e-03 -1.07236414e+01] [-1.24037468e-02 -4.02224174e-04 9.99922990e-01 -1.47351763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77576923100001 meters Centerline goodness [0,1] 0.9965314721028217 Centerline is valid? [True, True] Translation: X:105.50, Y:-10.72, Z:-1.47 [[ 9.82282687e-01 1.86985997e-01 1.25283646e-02 1.05498267e+02] [-1.86976715e-01 9.82362472e-01 -1.91852606e-03 -1.07200786e+01] [-1.26661328e-02 -4.57977530e-04 9.99919676e-01 -1.47337317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80576923100001 meters Centerline goodness [0,1] 0.9980892676957427 Centerline is valid? [True, True] Translation: X:105.53, Y:-10.73, Z:-1.48 [[ 9.82278558e-01 1.87058071e-01 1.17520990e-02 1.05526095e+02] [-1.87049911e-01 9.82348763e-01 -1.79952026e-03 -1.07271114e+01] [-1.18812747e-02 -4.30598908e-04 9.99929322e-01 -1.47503267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.835769231 meters Centerline goodness [0,1] 0.9968233799237611 Centerline is valid? [True, True] Translation: X:105.56, Y:-10.72, Z:-1.48 [[ 9.82384691e-01 1.86564113e-01 1.06840844e-02 1.05555260e+02] [-1.86557345e-01 9.82442712e-01 -1.63551851e-03 -1.07233029e+01] [-1.08016299e-02 -3.86486074e-04 9.99941586e-01 -1.47742596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.865769231 meters Centerline goodness [0,1] 0.9986097743556839 Centerline is valid? [True, True] Translation: X:105.58, Y:-10.73, Z:-1.48 [[ 9.82777451e-01 1.84466558e-01 1.09805078e-02 1.05584743e+02] [-1.84459284e-01 9.82838720e-01 -1.68033275e-03 -1.07294167e+01] [-1.11020334e-02 -3.74063457e-04 9.99938301e-01 -1.47778493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.895769231 meters Centerline goodness [0,1] 0.9985764973335883 Centerline is valid? [True, True] Translation: X:105.61, Y:-10.73, Z:-1.48 [[ 9.83084144e-01 1.82752994e-01 1.21206437e-02 1.05612437e+02] [-1.82744003e-01 9.83158782e-01 -1.85462126e-03 -1.07332672e+01] [-1.22554549e-02 -3.91726198e-04 9.99924822e-01 -1.47655837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.925769231 meters Centerline goodness [0,1] 0.9991269722973405 Centerline is valid? [True, True] Translation: X:105.64, Y:-10.74, Z:-1.47 [[ 9.84011496e-01 1.77573879e-01 1.37438073e-02 1.05641517e+02] [-1.77561825e-01 9.84107402e-01 -2.10219310e-03 -1.07440234e+01] [-1.38986771e-02 -3.71793326e-04 9.99903340e-01 -1.47333731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.955769231 meters Centerline goodness [0,1] 0.9996369383222279 Centerline is valid? [True, True] Translation: X:105.67, Y:-10.75, Z:-1.47 [[ 9.84513577e-01 1.74769983e-01 1.37284473e-02 1.05670970e+02] [-1.74757684e-01 9.84609234e-01 -2.09973387e-03 -1.07515418e+01] [-1.38841264e-02 -3.31935151e-04 9.99903556e-01 -1.47391871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.985769231 meters Centerline goodness [0,1] 0.9997858030244613 Centerline is valid? [True, True] Translation: X:105.70, Y:-10.76, Z:-1.48 [[ 9.85035319e-01 1.71882870e-01 1.27160996e-02 1.05700508e+02] [-1.71872080e-01 9.85117356e-01 -1.94476663e-03 -1.07581591e+01] [-1.28611225e-02 -2.69878660e-04 9.99917256e-01 -1.47558367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01576923100001 meters Centerline goodness [0,1] 0.9998936464382192 Centerline is valid? [True, True] Translation: X:105.73, Y:-10.77, Z:-1.48 [[ 9.85899880e-01 1.67043659e-01 9.89157514e-03 1.05729962e+02] [-1.67036887e-01 9.85949487e-01 -1.51266855e-03 -1.07662348e+01] [-1.00052751e-02 -1.60918174e-04 9.99949933e-01 -1.48085065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04576923100001 meters Centerline goodness [0,1] 0.9997629003750484 Centerline is valid? [True, True] Translation: X:105.76, Y:-10.77, Z:-1.48 [[ 9.86211079e-01 1.65231532e-01 9.28697532e-03 1.05759279e+02] [-1.65225475e-01 9.86254796e-01 -1.42103416e-03 -1.07742290e+01] [-9.39412361e-03 -1.33005273e-04 9.99955865e-01 -1.48325383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07576923100001 meters Centerline goodness [0,1] 0.9998502961996621 Centerline is valid? [True, True] Translation: X:105.79, Y:-10.78, Z:-1.49 [[ 9.86770659e-01 1.61940467e-01 7.67800346e-03 1.05788298e+02] [-1.61936228e-01 9.86800526e-01 -1.17472379e-03 -1.07830064e+01] [-7.76689318e-03 -8.41639471e-05 9.99969834e-01 -1.48583193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10576923100001 meters Centerline goodness [0,1] 0.999850641176094 Centerline is valid? [True, True] Translation: X:105.82, Y:-10.79, Z:-1.49 [[ 9.87012589e-01 1.60482720e-01 7.17260258e-03 1.05818186e+02] [-1.60478982e-01 9.87038648e-01 -1.09739816e-03 -1.07910913e+01] [-7.25574939e-03 -6.79061550e-05 9.99973674e-01 -1.48685570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13576923100001 meters Centerline goodness [0,1] 0.9997419410335262 Centerline is valid? [True, True] Translation: X:105.85, Y:-10.80, Z:-1.49 [[ 9.87282495e-01 1.58854476e-01 6.20725331e-03 1.05846506e+02] [-1.58851644e-01 9.87302007e-01 -9.49765354e-04 -1.07986620e+01] [-6.27930813e-03 -4.83456842e-05 9.99980284e-01 -1.48916120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16576923100001 meters Centerline goodness [0,1] 0.9996155160628845 Centerline is valid? [True, True] Translation: X:105.88, Y:-10.81, Z:-1.49 [[ 9.87856940e-01 1.55243104e-01 6.18418211e-03 1.05876071e+02] [-1.55240224e-01 9.87876297e-01 -9.45968498e-04 -1.08122243e+01] [-6.25606201e-03 -2.55522675e-05 9.99980430e-01 -1.49109042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.195769231 meters Centerline goodness [0,1] 0.9998087588449034 Centerline is valid? [True, True] Translation: X:105.91, Y:-10.82, Z:-1.49 [[ 9.88097730e-01 1.53690660e-01 6.48509427e-03 1.05905526e+02] [-1.53687458e-01 9.88119011e-01 -9.92226936e-04 -1.08214121e+01] [-6.56054096e-03 -1.62604702e-05 9.99978479e-01 -1.49168220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.225769231 meters Centerline goodness [0,1] 0.9996759769295573 Centerline is valid? [True, True] Translation: X:105.94, Y:-10.83, Z:-1.49 [[ 9.88204533e-01 1.53011068e-01 6.27814237e-03 1.05937146e+02] [-1.53008058e-01 9.88224475e-01 -9.59813493e-04 -1.08298591e+01] [-6.35107603e-03 -1.21143260e-05 9.99979832e-01 -1.49222595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.255769231 meters Centerline goodness [0,1] 0.9996771833168339 Centerline is valid? [True, True] Translation: X:105.97, Y:-10.84, Z:-1.49 [[ 9.88086135e-01 1.53808757e-01 5.35319599e-03 1.05967223e+02] [-1.53806576e-01 9.88100636e-01 -8.19091547e-04 -1.08373032e+01] [-5.41547981e-03 -1.40237483e-05 9.99985336e-01 -1.49424822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.285769231 meters Centerline goodness [0,1] 0.9997232865048957 Centerline is valid? [True, True] Translation: X:106.00, Y:-10.84, Z:-1.50 [[ 9.87855920e-01 1.55304418e-01 4.60646622e-03 1.05997617e+02] [-1.55302813e-01 9.87866660e-01 -7.06292980e-04 -1.08410210e+01] [-4.66026482e-03 -1.76814597e-05 9.99989141e-01 -1.49552831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.315769231 meters Centerline goodness [0,1] 0.9998521616084817 Centerline is valid? [True, True] Translation: X:106.03, Y:-10.84, Z:-1.50 [[ 9.87245664e-01 1.59130471e-01 4.84681268e-03 1.06028775e+02] [-1.59128740e-01 9.87257561e-01 -7.43287341e-04 -1.08405372e+01] [-4.90333213e-03 -3.74599877e-05 9.99987978e-01 -1.49535224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.345769231 meters Centerline goodness [0,1] 0.9999155761924863 Centerline is valid? [True, True] Translation: X:106.06, Y:-10.84, Z:-1.50 [[ 9.86861963e-01 1.61486414e-01 5.06006668e-03 1.06057964e+02] [-1.61484559e-01 9.86874934e-01 -7.75765197e-04 -1.08413261e+01] [-5.11892851e-03 -5.15494691e-05 9.99986897e-01 -1.49510399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.375769231 meters Centerline goodness [0,1] 0.9999364137346333 Centerline is valid? [True, True] Translation: X:106.09, Y:-10.84, Z:-1.49 [[ 9.86455658e-01 1.63930526e-01 5.65836474e-03 1.06088055e+02] [-1.63928243e-01 9.86471884e-01 -8.68075986e-04 -1.08428879e+01] [-5.72412188e-03 -7.12473249e-05 9.99983615e-01 -1.49494457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40576923100001 meters Centerline goodness [0,1] 0.9999351407445842 Centerline is valid? [True, True] Translation: X:106.12, Y:-10.84, Z:-1.49 [[ 9.85992941e-01 1.66669125e-01 6.27078317e-03 1.06117628e+02] [-1.66666378e-01 9.86012877e-01 -9.61858638e-04 -1.08442537e+01] [-6.34338509e-03 -9.67428899e-05 9.99979876e-01 -1.49428417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43576923100001 meters Centerline goodness [0,1] 0.9994236680327869 Centerline is valid? [True, True] Translation: X:106.15, Y:-10.84, Z:-1.50 [[ 9.85209225e-01 1.71231887e-01 6.51333191e-03 1.06147083e+02] [-1.71229023e-01 9.85230746e-01 -9.99016690e-04 -1.08396497e+01] [-6.58819837e-03 -1.31030999e-04 9.99978289e-01 -1.49544796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46576923100001 meters Centerline goodness [0,1] 0.9994236680327869 Centerline is valid? [True, True] Translation: X:106.18, Y:-10.84, Z:-1.50 [[ 9.85216824e-01 1.71188160e-01 6.51337787e-03 1.06175106e+02] [-1.71185297e-01 9.85238345e-01 -9.98716925e-04 -1.08438519e+01] [-6.58819815e-03 -1.31041807e-04 9.99978289e-01 -1.49577948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49576923100001 meters Centerline goodness [0,1] 0.999657805248412 Centerline is valid? [True, True] Translation: X:106.21, Y:-10.85, Z:-1.50 [[ 9.84974964e-01 1.72573833e-01 6.52631536e-03 1.06205083e+02] [-1.72570992e-01 9.84996575e-01 -1.00028964e-03 -1.08451649e+01] [-6.60102209e-03 -1.40992463e-04 9.99978203e-01 -1.49663232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52576923100001 meters Centerline goodness [0,1] 0.9995142350257666 Centerline is valid? [True, True] Translation: X:106.23, Y:-10.85, Z:-1.50 [[ 9.84900883e-01 1.72982074e-01 6.88859375e-03 1.06233203e+02] [-1.72978919e-01 9.84924961e-01 -1.05582846e-03 -1.08463356e+01] [-6.96738733e-03 -1.51695118e-04 9.99975716e-01 -1.49696699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55576923100001 meters Centerline goodness [0,1] 0.9995517992060443 Centerline is valid? [True, True] Translation: X:106.26, Y:-10.85, Z:-1.50 [[ 9.85256283e-01 1.70920693e-01 7.49484726e-03 1.06262169e+02] [-1.70916903e-01 9.85284778e-01 -1.14805778e-03 -1.08537134e+01] [-7.58078575e-03 -1.49864943e-04 9.99971254e-01 -1.49591468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.585769231 meters Centerline goodness [0,1] 0.9995143786157679 Centerline is valid? [True, True] Translation: X:106.29, Y:-10.86, Z:-1.50 [[ 9.85530943e-01 1.69348926e-01 7.04988238e-03 1.06290172e+02] [-1.69345533e-01 9.85556150e-01 -1.07972929e-03 -1.08595250e+01] [-7.13090593e-03 -1.29759468e-04 9.99974566e-01 -1.49733848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.615769231 meters Centerline goodness [0,1] 0.9998514273585907 Centerline is valid? [True, True] Translation: X:106.32, Y:-10.87, Z:-1.50 [[ 9.86026830e-01 1.66481959e-01 5.90326781e-03 1.06319028e+02] [-1.66479530e-01 9.86044496e-01 -9.04077482e-04 -1.08683252e+01] [-5.97139733e-03 -9.13285954e-05 9.99982167e-01 -1.49946499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.645769231 meters Centerline goodness [0,1] 0.9998511303460156 Centerline is valid? [True, True] Translation: X:106.35, Y:-10.87, Z:-1.50 [[ 9.86292472e-01 1.64917541e-01 5.41894356e-03 1.06347982e+02] [-1.64915471e-01 9.86307355e-01 -8.29806292e-04 -1.08749671e+01] [-5.48159350e-03 -7.52359279e-05 9.99984973e-01 -1.50067478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.675769231 meters Centerline goodness [0,1] 0.9998719726875067 Centerline is valid? [True, True] Translation: X:106.38, Y:-10.88, Z:-1.50 [[ 9.86562462e-01 1.63300334e-01 5.24491572e-03 1.06376720e+02] [-1.63298371e-01 9.86576402e-01 -8.03117206e-04 -1.08790395e+01] [-5.30565939e-03 -6.41609064e-05 9.99985923e-01 -1.50229029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.705769231 meters Centerline goodness [0,1] 0.9998940341210131 Centerline is valid? [True, True] Translation: X:106.41, Y:-10.89, Z:-1.50 [[ 9.87125294e-01 1.59875332e-01 4.85100618e-03 1.06405016e+02] [-1.59873613e-01 9.87137213e-01 -7.42577922e-04 -1.08898107e+01] [-4.90732861e-03 -4.25304377e-05 9.99987958e-01 -1.50358430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.735769231 meters Centerline goodness [0,1] 0.9998938225987981 Centerline is valid? [True, True] Translation: X:106.43, Y:-10.90, Z:-1.51 [[ 9.87465702e-01 1.57764444e-01 4.67622680e-03 1.06433810e+02] [-1.57762824e-01 9.87476774e-01 -7.15653055e-04 -1.08982741e+01] [-4.73056996e-03 -3.10518972e-05 9.99988810e-01 -1.50500288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76576923100001 meters Centerline goodness [0,1] 0.999893901455672 Centerline is valid? [True, True] Translation: X:106.46, Y:-10.91, Z:-1.51 [[ 9.87797551e-01 1.55677981e-01 4.51267717e-03 1.06463459e+02] [-1.55676451e-01 9.87807859e-01 -6.90424006e-04 -1.09066729e+01] [-4.56514179e-03 -2.05184250e-05 9.99989579e-01 -1.50592101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79576923100001 meters Centerline goodness [0,1] 0.9995272070832976 Centerline is valid? [True, True] Translation: X:106.49, Y:-10.92, Z:-1.50 [[ 9.88352635e-01 1.52053372e-01 6.23232594e-03 1.06493383e+02] [-1.52050382e-01 9.88372284e-01 -9.53577519e-04 -1.09203854e+01] [-6.30485290e-03 -5.15668635e-06 9.99980124e-01 -1.50294484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82576923100001 meters Centerline goodness [0,1] 0.999297887278994 Centerline is valid? [True, True] Translation: X:106.52, Y:-10.93, Z:-1.50 [[ 9.88625575e-01 1.50225471e-01 7.19581346e-03 1.06524518e+02] [-1.50221440e-01 9.88651763e-01 -1.10050424e-03 -1.09320536e+01] [-7.27947743e-03 7.02117406e-06 9.99973504e-01 -1.50142745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85576923100001 meters Centerline goodness [0,1] 0.9993417560250557 Centerline is valid? [True, True] Translation: X:106.55, Y:-10.95, Z:-1.50 [[ 9.89309699e-01 1.45656382e-01 7.10904419e-03 1.06553721e+02] [-1.45652316e-01 9.89335240e-01 -1.08905464e-03 -1.09511539e+01] [-7.19185569e-03 4.19635626e-05 9.99974137e-01 -1.50084680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88576923100001 meters Centerline goodness [0,1] 0.998949647381621 Centerline is valid? [True, True] Translation: X:106.58, Y:-10.96, Z:-1.50 [[ 9.89546089e-01 1.44071257e-01 6.48157337e-03 1.06584798e+02] [-1.44067845e-01 9.89567315e-01 -9.92683068e-04 -1.09609811e+01] [-6.55697025e-03 4.85193413e-05 9.99978502e-01 -1.50158664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91576923100001 meters Centerline goodness [0,1] 0.9989834600478621 Centerline is valid? [True, True] Translation: X:106.62, Y:-10.97, Z:-1.50 [[ 9.89600021e-01 1.43713588e-01 6.18093765e-03 1.06615640e+02] [-1.43710473e-01 9.89619322e-01 -9.47538792e-04 -1.09703284e+01] [-6.25294952e-03 4.94189366e-05 9.99980449e-01 -1.50272003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.945769231 meters Centerline goodness [0,1] 0.9991423486781449 Centerline is valid? [True, True] Translation: X:106.65, Y:-10.98, Z:-1.50 [[ 9.89255326e-01 1.46076806e-01 5.95531423e-03 1.06646599e+02] [-1.46073951e-01 9.89273251e-01 -9.14027882e-04 -1.09776911e+01] [-6.02495134e-03 3.42906745e-05 9.99981849e-01 -1.50273390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.975769231 meters Centerline goodness [0,1] 0.9994690678955975 Centerline is valid? [True, True] Translation: X:106.68, Y:-10.98, Z:-1.50 [[ 9.88846714e-01 1.48822032e-01 5.84619387e-03 1.06677572e+02] [-1.48819322e-01 9.88863996e-01 -8.98299725e-04 -1.09820512e+01] [-5.91477742e-03 1.82541220e-05 9.99982507e-01 -1.50428042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.005769231 meters Centerline goodness [0,1] 0.999630747844219 Centerline is valid? [True, True] Translation: X:106.71, Y:-10.98, Z:-1.50 [[ 9.88370847e-01 1.51967307e-01 5.38581630e-03 1.06711105e+02] [-1.51965052e-01 9.88385521e-01 -8.27935560e-04 -1.09843990e+01] [-5.44908198e-03 -1.48481633e-07 9.99985154e-01 -1.50265873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.035769231 meters Centerline goodness [0,1] 0.9998513295386968 Centerline is valid? [True, True] Translation: X:106.74, Y:-10.98, Z:-1.51 [[ 9.87316765e-01 1.58683213e-01 5.02426773e-03 1.06743077e+02] [-1.58681332e-01 9.87329548e-01 -7.73495217e-04 -1.09828106e+01] [-5.08334869e-03 -3.35726975e-05 9.99987079e-01 -1.50508609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.065769231 meters Centerline goodness [0,1] 0.9997667069627367 Centerline is valid? [True, True] Translation: X:106.77, Y:-10.98, Z:-1.51 [[ 9.86806867e-01 1.61818727e-01 5.18709128e-03 1.06774390e+02] [-1.61816760e-01 9.86820499e-01 -7.99573695e-04 -1.09830864e+01] [-5.24811400e-03 -5.03334901e-05 9.99986227e-01 -1.50697345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.095769231 meters Centerline goodness [0,1] 0.9996582729971594 Centerline is valid? [True, True] Translation: X:106.80, Y:-10.98, Z:-1.50 [[ 9.86019763e-01 1.66490458e-01 6.77890301e-03 1.06804837e+02] [-1.66487192e-01 9.86043061e-01 -1.04719468e-03 -1.09828182e+01] [-6.85863819e-03 -9.60458780e-05 9.99976475e-01 -1.50493346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.125769231 meters Centerline goodness [0,1] 0.999572494282111 Centerline is valid? [True, True] Translation: X:106.84, Y:-10.99, Z:-1.51 [[ 9.85731225e-01 1.68176348e-01 7.11811257e-03 1.06836081e+02] [-1.68172791e-01 9.85756919e-01 -1.09963088e-03 -1.09855202e+01] [-7.20166062e-03 -1.13132366e-04 9.99974061e-01 -1.50528521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15576923100001 meters Centerline goodness [0,1] 0.9994874751745788 Centerline is valid? [True, True] Translation: X:106.87, Y:-10.99, Z:-1.51 [[ 9.85431210e-01 1.69930595e-01 6.99449640e-03 1.06867792e+02] [-1.69927204e-01 9.85456025e-01 -1.08068078e-03 -1.09877624e+01] [-7.07640935e-03 -1.23618648e-04 9.99974954e-01 -1.50640740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18576923100001 meters Centerline goodness [0,1] 0.9994692369750754 Centerline is valid? [True, True] Translation: X:106.90, Y:-10.99, Z:-1.51 [[ 9.85163532e-01 1.71502631e-01 6.29784610e-03 1.06898689e+02] [-1.71499913e-01 9.85183654e-01 -9.73148180e-04 -1.09941586e+01] [-6.37143251e-03 -1.21369963e-04 9.99979695e-01 -1.50755425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21576923100001 meters Centerline goodness [0,1] 0.9994644387317909 Centerline is valid? [True, True] Translation: X:106.93, Y:-11.00, Z:-1.51 [[ 9.84882268e-01 1.73180385e-01 3.93345605e-03 1.06930350e+02] [-1.73179342e-01 9.84890119e-01 -6.06663223e-04 -1.10020366e+01] [-3.97908417e-03 -8.37014804e-05 9.99992080e-01 -1.51005545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24576923100001 meters Centerline goodness [0,1] 0.9994274809160305 Centerline is valid? [True, True] Translation: X:106.96, Y:-11.01, Z:-1.51 [[ 9.84834403e-01 1.73467654e-01 3.18926031e-03 1.06961404e+02] [-1.73466968e-01 9.84839565e-01 -4.92702376e-04 -1.10055470e+01] [-3.22637766e-03 -6.80010652e-05 9.99994793e-01 -1.51212171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27576923100001 meters Centerline goodness [0,1] 0.9995341253202888 Centerline is valid? [True, True] Translation: X:106.99, Y:-11.01, Z:-1.51 [[ 9.84815100e-01 1.73556773e-01 4.15514162e-03 1.06992897e+02] [-1.73555608e-01 9.84823862e-01 -6.42174540e-04 -1.10085993e+01] [-4.20353636e-03 -8.87249464e-05 9.99991161e-01 -1.51193360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30576923100001 meters Centerline goodness [0,1] 0.9992734111210839 Centerline is valid? [True, True] Translation: X:107.02, Y:-11.01, Z:-1.51 [[ 9.84840097e-01 1.73409207e-01 4.38531912e-03 1.07023517e+02] [-1.73407898e-01 9.84849856e-01 -6.79733388e-04 -1.10059788e+01] [-4.43675293e-03 -9.10202763e-05 9.99990153e-01 -1.51423068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.335769231 meters Centerline goodness [0,1] 0.9993561817284374 Centerline is valid? [True, True] Translation: X:107.05, Y:-11.02, Z:-1.51 [[ 9.84794938e-01 1.73678223e-01 3.84762844e-03 1.07053540e+02] [-1.73677223e-01 9.84802451e-01 -5.94976776e-04 -1.10198337e+01] [-3.89248843e-03 -8.23153071e-05 9.99992421e-01 -1.51175412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.365769231 meters Centerline goodness [0,1] 0.9994675186368477 Centerline is valid? [True, True] Translation: X:107.09, Y:-11.02, Z:-1.51 [[ 9.84829520e-01 1.73500371e-01 2.90471044e-03 1.07085927e+02] [-1.73499800e-01 9.84833802e-01 -4.49188688e-04 -1.10237072e+01] [-2.93859143e-03 -6.15924007e-05 9.99995680e-01 -1.51454876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.395769231 meters Centerline goodness [0,1] 0.9995923009248332 Centerline is valid? [True, True] Translation: X:107.12, Y:-11.03, Z:-1.51 [[ 9.84876008e-01 1.73234340e-01 3.01852155e-03 1.07116770e+02] [-1.73233717e-01 9.84880632e-01 -4.68590853e-04 -1.10277331e+01] [-3.05405944e-03 -6.14058201e-05 9.99995334e-01 -1.51457738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.425769231 meters Centerline goodness [0,1] 0.9995309568480301 Centerline is valid? [True, True] Translation: X:107.15, Y:-11.03, Z:-1.52 [[ 9.84904823e-01 1.73071017e-01 2.98542813e-03 1.07146548e+02] [-1.73070407e-01 9.84909346e-01 -4.63196494e-04 -1.10307167e+01] [-3.02054196e-03 -6.04848022e-05 9.99995436e-01 -1.51554447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.455769231 meters Centerline goodness [0,1] 0.9995945888277216 Centerline is valid? [True, True] Translation: X:107.18, Y:-11.04, Z:-1.52 [[ 9.85189991e-01 1.71454296e-01 2.02630994e-03 1.07177319e+02] [-1.71454011e-01 9.85192074e-01 -3.14646810e-04 -1.10382564e+01] [-2.05025204e-03 -3.74320794e-05 9.99997898e-01 -1.51779340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.485769231 meters Centerline goodness [0,1] 0.9996144454440303 Centerline is valid? [True, True] Translation: X:107.21, Y:-11.05, Z:-1.52 [[ 9.85341631e-01 1.70584328e-01 1.69047275e-03 1.07207884e+02] [-1.70584131e-01 9.85343080e-01 -2.61208372e-04 -1.10451003e+01] [-1.71025368e-03 -3.09883416e-05 9.99998537e-01 -1.51887825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51576923100001 meters Centerline goodness [0,1] 0.9995952279505752 Centerline is valid? [True, True] Translation: X:107.24, Y:-11.05, Z:-1.52 [[ 9.85694946e-01 1.68516716e-01 2.75510200e-03 1.07237972e+02] [-1.68516180e-01 9.85698795e-01 -4.27268895e-04 -1.10543663e+01] [-2.78770267e-03 -4.31224754e-05 9.99996113e-01 -1.51924106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54576923100001 meters Centerline goodness [0,1] 0.9997029681963805 Centerline is valid? [True, True] Translation: X:107.27, Y:-11.06, Z:-1.52 [[ 9.85962599e-01 1.66943916e-01 2.73533022e-03 1.07269099e+02] [-1.66943381e-01 9.85966393e-01 -4.24522367e-04 -1.10636241e+01] [-2.76781510e-03 -3.80820982e-05 9.99996169e-01 -1.51963135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57576923100001 meters Centerline goodness [0,1] 0.9997214365303848 Centerline is valid? [True, True] Translation: X:107.30, Y:-11.08, Z:-1.52 [[ 9.86683911e-01 1.62633042e-01 2.31374260e-03 1.07299211e+02] [-1.62632647e-01 9.86686624e-01 -3.59142513e-04 -1.10806195e+01] [-2.34134731e-03 -2.19299439e-05 9.99997259e-01 -1.51985430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60576923100001 meters Centerline goodness [0,1] 0.9995058545493608 Centerline is valid? [True, True] Translation: X:107.33, Y:-11.09, Z:-1.52 [[ 9.87060579e-01 1.60343252e-01 1.20592117e-03 1.07329741e+02] [-1.60343144e-01 9.87061316e-01 -1.86450628e-04 -1.10911659e+01] [-1.22021424e-03 -9.32312738e-06 9.99999255e-01 -1.52116688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63576923100001 meters Centerline goodness [0,1] 0.999527288354104 Centerline is valid? [True, True] Translation: X:107.36, Y:-11.10, Z:-1.52 [[ 9.87370816e-01 1.58425614e-01 4.44129585e-04 1.07360502e+02] [-1.58425600e-01 9.87370915e-01 -6.73905008e-05 -1.11007510e+01] [-4.49197016e-04 -3.82208210e-06 9.99999899e-01 -1.52326389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66576923100001 meters Centerline goodness [0,1] 0.9995095739690392 Centerline is valid? [True, True] Translation: X:107.39, Y:-11.11, Z:-1.52 [[ 9.87602705e-01 1.56972747e-01 6.73665867e-04 1.07390156e+02] [-1.56972712e-01 9.87602935e-01 -1.03691529e-04 -1.11099891e+01] [-6.81591132e-04 -3.34112412e-06 9.99999768e-01 -1.52327104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.695769231 meters Centerline goodness [0,1] 0.9994175385611045 Centerline is valid? [True, True] Translation: X:107.42, Y:-11.12, Z:-1.52 [[ 9.87704888e-01 1.56286805e-01 3.67279703e-03 1.07420228e+02] [-1.56285752e-01 9.87711716e-01 -5.73772416e-04 -1.11213503e+01] [-3.71733771e-03 -7.28802434e-06 9.99993091e-01 -1.51792273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.725769231 meters Centerline goodness [0,1] 0.9994885891453046 Centerline is valid? [True, True] Translation: X:107.45, Y:-11.13, Z:-1.52 [[ 9.87650361e-01 1.56602542e-01 4.73362560e-03 1.07451260e+02] [-1.56600791e-01 9.87661705e-01 -7.40633064e-04 -1.11291735e+01] [-4.79120576e-03 -9.80300136e-06 9.99988522e-01 -1.51608332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.755769231 meters Centerline goodness [0,1] 0.9996111303145524 Centerline is valid? [True, True] Translation: X:107.48, Y:-11.14, Z:-1.51 [[ 9.87390886e-01 1.58230569e-01 4.72493887e-03 1.07483976e+02] [-1.58228840e-01 9.87402191e-01 -7.39834290e-04 -1.11364770e+01] [-4.78247939e-03 -1.71159616e-05 9.99988564e-01 -1.51480216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.785769231 meters Centerline goodness [0,1] 0.9996808306913207 Centerline is valid? [True, True] Translation: X:107.52, Y:-11.14, Z:-1.52 [[ 9.87009551e-01 1.60582491e-01 5.04075599e-03 1.07515995e+02] [-1.60580547e-01 9.87022423e-01 -7.90520239e-04 -1.11387966e+01] [-5.10228290e-03 -2.91963301e-05 9.99986983e-01 -1.51578321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.815769231 meters Centerline goodness [0,1] 0.9995544806517311 Centerline is valid? [True, True] Translation: X:107.55, Y:-11.14, Z:-1.51 [[ 9.86557711e-01 1.63321950e-01 5.46099104e-03 1.07548326e+02] [-1.63319704e-01 9.86572825e-01 -8.57759357e-04 -1.11405535e+01] [-5.52775629e-03 -4.56583348e-05 9.99984721e-01 -1.51454711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.845769231 meters Centerline goodness [0,1] 0.9993302799861735 Centerline is valid? [True, True] Translation: X:107.58, Y:-11.13, Z:-1.51 [[ 9.85414169e-01 1.70064665e-01 6.07670517e-03 1.07582216e+02] [-1.70062000e-01 9.85432901e-01 -9.56282895e-04 -1.11336380e+01] [-6.15081513e-03 -9.10819233e-05 9.99981079e-01 -1.51302132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.875769231 meters Centerline goodness [0,1] 0.9992550338427483 Centerline is valid? [True, True] Translation: X:107.62, Y:-11.13, Z:-1.51 [[ 9.84706860e-01 1.74131751e-01 5.52573877e-03 1.07615342e+02] [-1.74129611e-01 9.84722358e-01 -8.69783681e-04 -1.11304901e+01] [-5.59277547e-03 -1.05712783e-04 9.99984355e-01 -1.51486184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90576923100001 meters Centerline goodness [0,1] 0.9990825883808752 Centerline is valid? [True, True] Translation: X:107.65, Y:-11.13, Z:-1.52 [[ 9.83939530e-01 1.78439220e-01 4.73781340e-03 1.07647417e+02] [-1.78437695e-01 9.83950930e-01 -7.46137803e-04 -1.11256601e+01] [-4.79491615e-03 -1.11250024e-04 9.99988498e-01 -1.51667876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93576923100001 meters Centerline goodness [0,1] 0.9974221902930673 Centerline is valid? [True, True] Translation: X:107.68, Y:-11.11, Z:-1.52 [[ 9.82435250e-01 1.86571931e-01 3.44867728e-03 1.07679720e+02] [-1.86571172e-01 9.82441297e-01 -5.43299441e-04 -1.11116391e+01] [-3.48948740e-03 -1.09667238e-04 9.99993906e-01 -1.52017168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96576923100001 meters Centerline goodness [0,1] 0.9946408064310323 Centerline is valid? [True, True] Translation: X:107.71, Y:-11.11, Z:-1.52 [[ 9.81916570e-01 1.89293634e-01 2.78735940e-03 1.07709901e+02] [-1.89293149e-01 9.81920522e-01 -4.39216624e-04 -1.11096728e+01] [-2.82010631e-03 -9.63539569e-05 9.99996019e-01 -1.52130550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99576923100001 meters Centerline goodness [0,1] 0.9885463680490505 Centerline is valid? [True, True] Translation: X:107.74, Y:-11.11, Z:-1.52 [[ 9.81440072e-01 1.91756917e-01 2.16101844e-03 1.07738990e+02] [-1.91756631e-01 9.81442448e-01 -3.40743265e-04 -1.11064351e+01] [-2.18625510e-03 -7.99705195e-05 9.99997607e-01 -1.52324353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02576923100001 meters Centerline goodness [0,1] 0.9976980542043086 Centerline is valid? [True, True] Translation: X:107.77, Y:-11.12, Z:-1.52 [[ 9.81414143e-01 1.91887605e-01 2.32976809e-03 1.07768353e+02] [-1.91887274e-01 9.81416904e-01 -3.66787558e-04 -1.11193411e+01] [-2.35685578e-03 -8.70823523e-05 9.99997219e-01 -1.52105954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05576923100001 meters Centerline goodness [0,1] 0.9888389068069937 Centerline is valid? [True, True] Translation: X:107.80, Y:-11.11, Z:-1.52 [[ 9.81457364e-01 1.91651899e-01 3.31532273e-03 1.07798247e+02] [-1.91651227e-01 9.81462956e-01 -5.22255199e-04 -1.11113223e+01] [-3.35395765e-03 -1.22814458e-04 9.99994368e-01 -1.52238623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.085769231 meters Centerline goodness [0,1] 0.9955223880597015 Centerline is valid? [True, True] Translation: X:107.83, Y:-11.12, Z:-1.52 [[ 9.81555840e-01 1.91118907e-01 4.65800945e-03 1.07826824e+02] [-1.91117574e-01 9.81566877e-01 -7.33653910e-04 -1.11184056e+01] [-4.71236292e-03 -1.70105186e-04 9.99988882e-01 -1.51911294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.115769231 meters Centerline goodness [0,1] 0.9971932380605489 Centerline is valid? [True, True] Translation: X:107.86, Y:-11.12, Z:-1.51 [[ 9.81532764e-01 1.91153398e-01 7.33556967e-03 1.07856533e+02] [-1.91150103e-01 9.81560139e-01 -1.15418152e-03 -1.11235880e+01] [-7.42092851e-03 -2.69327926e-04 9.99972428e-01 -1.51314622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.145769231 meters Centerline goodness [0,1] 0.9968247202983485 Centerline is valid? [True, True] Translation: X:107.89, Y:-11.12, Z:-1.51 [[ 9.81456593e-01 1.91551983e-01 7.12703367e-03 1.07885913e+02] [-1.91548884e-01 9.81482434e-01 -1.12125913e-03 -1.11231738e+01] [-7.20983776e-03 -2.64708181e-04 9.99973974e-01 -1.51367236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.175769231 meters Centerline goodness [0,1] 0.9891005835907999 Centerline is valid? [True, True] Translation: X:107.92, Y:-11.11, Z:-1.52 [[ 9.81063921e-01 1.93620976e-01 4.94991203e-03 1.07915949e+02] [-1.93619507e-01 9.81076388e-01 -7.78768516e-04 -1.11131838e+01] [-5.00702774e-03 -1.94377833e-04 9.99987446e-01 -1.51930297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.205769231 meters Centerline goodness [0,1] 0.9933261802575107 Centerline is valid? [True, True] Translation: X:107.95, Y:-11.12, Z:-1.52 [[ 9.80827122e-01 1.94840544e-01 3.91395460e-03 1.07945265e+02] [-1.94839636e-01 9.80834918e-01 -6.15535734e-04 -1.11184167e+01] [-3.95887466e-03 -1.58859348e-04 9.99992151e-01 -1.52095708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.235769231 meters Centerline goodness [0,1] 0.9908661216147164 Centerline is valid? [True, True] Translation: X:107.97, Y:-11.12, Z:-1.52 [[ 9.80740704e-01 1.95294557e-01 2.77624277e-03 1.07973697e+02] [-1.95294101e-01 9.80744627e-01 -4.37014012e-04 -1.11157845e+01] [-2.80813163e-03 -1.13586406e-04 9.99996051e-01 -1.52286798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26576923100001 meters Centerline goodness [0,1] 0.9913127001067236 Centerline is valid? [True, True] Translation: X:108.00, Y:-11.12, Z:-1.52 [[ 9.80914643e-01 1.94420389e-01 2.67887561e-03 1.08002475e+02] [-1.94419962e-01 9.80918295e-01 -4.21345022e-04 -1.11182195e+01] [-2.70967616e-03 -1.07523394e-04 9.99996323e-01 -1.52353395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29576923100001 meters Centerline goodness [0,1] 0.9937844267741175 Centerline is valid? [True, True] Translation: X:108.03, Y:-11.12, Z:-1.52 [[ 9.81305919e-01 1.92435027e-01 2.73003278e-03 1.08031736e+02] [-1.92434577e-01 9.81309711e-01 -4.29045634e-04 -1.11222482e+01] [-2.76157108e-03 -1.04327681e-04 9.99996181e-01 -1.52426630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32576923100001 meters Centerline goodness [0,1] 0.9960366503302791 Centerline is valid? [True, True] Translation: X:108.06, Y:-11.13, Z:-1.52 [[ 9.81738968e-01 1.90217585e-01 2.42261680e-03 1.08061752e+02] [-1.90217224e-01 9.81741953e-01 -3.80598634e-04 -1.11265410e+01] [-2.45078110e-03 -8.71749320e-05 9.99996993e-01 -1.52487882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35576923100001 meters Centerline goodness [0,1] 0.9960366503302791 Centerline is valid? [True, True] Translation: X:108.09, Y:-11.13, Z:-1.53 [[ 9.81747685e-01 1.90172591e-01 2.42257190e-03 1.08089771e+02] [-1.90172230e-01 9.81750670e-01 -3.80884588e-04 -1.11308517e+01] [-2.45079540e-03 -8.67733385e-05 9.99996993e-01 -1.52521052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38576923100001 meters Centerline goodness [0,1] 0.9979531155735586 Centerline is valid? [True, True] Translation: X:108.12, Y:-11.13, Z:-1.53 [[ 9.82602837e-01 1.85693947e-01 3.06972890e-03 1.08118843e+02] [-1.85693347e-01 9.82607627e-01 -4.82070259e-04 -1.11324092e+01] [-3.10585656e-03 -9.63446293e-05 9.99995172e-01 -1.52537714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41576923100001 meters Centerline goodness [0,1] 0.999504875896067 Centerline is valid? [True, True] Translation: X:108.15, Y:-11.14, Z:-1.52 [[ 9.83314868e-01 1.81896608e-01 2.34410168e-03 1.08147044e+02] [-1.81896247e-01 9.83317660e-01 -3.68211785e-04 -1.11430154e+01] [-2.37197306e-03 -6.43151753e-05 9.99997185e-01 -1.52444318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.445769231 meters Centerline goodness [0,1] 0.9992174777404141 Centerline is valid? [True, True] Translation: X:108.18, Y:-11.14, Z:-1.53 [[ 9.83668936e-01 1.79983041e-01 1.23696996e-03 1.08175720e+02] [-1.79982938e-01 9.83669713e-01 -1.94655619e-04 -1.11423007e+01] [-1.25180460e-03 -3.11568025e-05 9.99999216e-01 -1.52800102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.475769231 meters Centerline goodness [0,1] 0.9992723848656052 Centerline is valid? [True, True] Translation: X:108.20, Y:-11.15, Z:-1.53 [[ 9.84015257e-01 1.78084073e-01 -1.91257167e-04 1.08203590e+02] [-1.78084070e-01 9.84015276e-01 2.93391509e-05 -1.11460558e+01] [ 1.93424809e-04 5.18968267e-06 9.99999981e-01 -1.53166709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.505769231 meters Centerline goodness [0,1] 0.9992800728396891 Centerline is valid? [True, True] Translation: X:108.23, Y:-11.15, Z:-1.53 [[ 9.84366236e-01 1.76132136e-01 -7.63728343e-04 1.08231187e+02] [-1.76132096e-01 9.84366533e-01 1.19100373e-04 -1.11496794e+01] [ 7.72766024e-04 1.72786882e-05 9.99999701e-01 -1.53476222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.535769231 meters Centerline goodness [0,1] 0.9996337548742917 Centerline is valid? [True, True] Translation: X:108.26, Y:-11.16, Z:-1.53 [[ 9.85073900e-01 1.72131761e-01 2.61120192e-04 1.08259594e+02] [-1.72131756e-01 9.85073935e-01 -4.10759377e-05 -1.11625678e+01] [-2.64293168e-04 -4.48424286e-06 9.99999965e-01 -1.53105959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.565769231 meters Centerline goodness [0,1] 0.9996567849328586 Centerline is valid? [True, True] Translation: X:108.29, Y:-11.17, Z:-1.53 [[ 9.85510586e-01 1.69612790e-01 6.22125694e-04 1.08286962e+02] [-1.69612761e-01 9.85510782e-01 -9.81834881e-05 -1.11694373e+01] [-6.29764754e-04 -8.75958994e-06 9.99999802e-01 -1.53068001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.595769231 meters Centerline goodness [0,1] 0.999659204668896 Centerline is valid? [True, True] Translation: X:108.32, Y:-11.18, Z:-1.53 [[ 9.86168654e-01 1.65743899e-01 5.88716885e-04 1.08315855e+02] [-1.65743873e-01 9.86168829e-01 -9.23997551e-05 -1.11795120e+01] [-5.95888937e-04 -6.45447473e-06 9.99999822e-01 -1.53035332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.625769231 meters Centerline goodness [0,1] 0.999721323072306 Centerline is valid? [True, True] Translation: X:108.34, Y:-11.19, Z:-1.53 [[ 9.86552837e-01 1.63436006e-01 1.47342661e-03 1.08344249e+02] [-1.63435843e-01 9.86553938e-01 -2.31149959e-04 -1.11868532e+01] [-1.49139305e-03 -1.27690714e-05 9.99998888e-01 -1.52915322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65576923100001 meters Centerline goodness [0,1] 0.9996147260273973 Centerline is valid? [True, True] Translation: X:108.37, Y:-11.20, Z:-1.53 [[ 9.87020779e-01 1.60571230e-01 2.61961293e-03 1.08373014e+02] [-1.60570706e-01 9.87024255e-01 -4.10685945e-04 -1.11962054e+01] [-2.65156585e-03 -1.52775357e-05 9.99996484e-01 -1.52732531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68576923100001 meters Centerline goodness [0,1] 0.9995696333275951 Centerline is valid? [True, True] Translation: X:108.40, Y:-11.21, Z:-1.53 [[ 9.87896288e-01 1.55067018e-01 3.89153146e-03 1.08402302e+02] [-1.55065820e-01 9.87903953e-01 -6.09492237e-04 -1.12117023e+01] [-3.93897145e-03 -1.32839790e-06 9.99992242e-01 -1.52569462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71576923100001 meters Centerline goodness [0,1] 0.9992735508407581 Centerline is valid? [True, True] Translation: X:108.43, Y:-11.22, Z:-1.53 [[ 9.88285797e-01 1.52569713e-01 3.69684629e-03 1.08431884e+02] [-1.52568615e-01 9.88292711e-01 -5.79074637e-04 -1.12223619e+01] [-3.74191550e-03 8.26852200e-06 9.99992999e-01 -1.52665490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74576923100001 meters Centerline goodness [0,1] 0.9990768768381958 Centerline is valid? [True, True] Translation: X:108.46, Y:-11.23, Z:-1.53 [[ 9.88555041e-01 1.50817533e-01 3.60596309e-03 1.08463340e+02] [-1.50816480e-01 9.88561617e-01 -5.63770242e-04 -1.12323410e+01] [-3.64974314e-03 1.34792550e-05 9.99993340e-01 -1.52745010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77576923100001 meters Centerline goodness [0,1] 0.9988579646392014 Centerline is valid? [True, True] Translation: X:108.49, Y:-11.25, Z:-1.53 [[ 9.88899173e-01 1.48516605e-01 4.60911984e-03 1.08493316e+02] [-1.48514854e-01 9.88909914e-01 -7.21843835e-04 -1.12458567e+01] [-4.66521010e-03 2.93080127e-05 9.99989117e-01 -1.52601541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80576923100001 meters Centerline goodness [0,1] 0.9988621726062688 Centerline is valid? [True, True] Translation: X:108.52, Y:-11.25, Z:-1.52 [[ 9.88825482e-01 1.48985713e-01 5.23679712e-03 1.08524725e+02] [-1.48983452e-01 9.88839348e-01 -8.21460459e-04 -1.12522397e+01] [-5.30073692e-03 3.20849230e-05 9.99985950e-01 -1.52433882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.835769231 meters Centerline goodness [0,1] 0.9992030671146722 Centerline is valid? [True, True] Translation: X:108.56, Y:-11.25, Z:-1.52 [[ 9.87952979e-01 1.54677203e-01 4.88618262e-03 1.08557370e+02] [-1.54675301e-01 9.87965062e-01 -7.67121437e-04 -1.12503419e+01] [-4.94603391e-03 2.10814268e-06 9.99987768e-01 -1.52278600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.865769231 meters Centerline goodness [0,1] 0.9997034589396538 Centerline is valid? [True, True] Translation: X:108.59, Y:-11.25, Z:-1.52 [[ 9.87189548e-01 1.59484064e-01 4.65069422e-03 1.08588648e+02] [-1.59482386e-01 9.87200503e-01 -7.31962559e-04 -1.12473237e+01] [-4.70790403e-03 -1.91180209e-05 9.99988918e-01 -1.52451983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.895769231 meters Centerline goodness [0,1] 0.9997668800067817 Centerline is valid? [True, True] Translation: X:108.62, Y:-11.24, Z:-1.52 [[ 9.86346598e-01 1.64621147e-01 4.50176709e-03 1.08620591e+02] [-1.64619627e-01 9.86356871e-01 -7.08660144e-04 -1.12431195e+01] [-4.55700935e-03 -4.20946981e-05 9.99989616e-01 -1.52471742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.925769231 meters Centerline goodness [0,1] 0.9995712846455596 Centerline is valid? [True, True] Translation: X:108.65, Y:-11.23, Z:-1.52 [[ 9.84750213e-01 1.73898614e-01 5.12739269e-03 1.08652840e+02] [-1.73896768e-01 9.84763557e-01 -8.07219683e-04 -1.12301615e+01] [-5.18964385e-03 -9.67272613e-05 9.99986529e-01 -1.52480063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.955769231 meters Centerline goodness [0,1] 0.9994873438000641 Centerline is valid? [True, True] Translation: X:108.68, Y:-11.23, Z:-1.52 [[ 9.84128158e-01 1.77377143e-01 5.39598388e-03 1.08682703e+02] [-1.77375150e-01 9.84142944e-01 -8.49583623e-04 -1.12291937e+01] [-5.46111618e-03 -1.21014285e-04 9.99985081e-01 -1.52342280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.985769231 meters Centerline goodness [0,1] 0.999144732622036 Centerline is valid? [True, True] Translation: X:108.71, Y:-11.22, Z:-1.52 [[ 9.83547590e-01 1.80546583e-01 6.08851552e-03 1.08712307e+02] [-1.80544107e-01 9.83566422e-01 -9.58396655e-04 -1.12247658e+01] [-6.16149467e-03 -1.56616878e-04 9.99981006e-01 -1.52266266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01576923100001 meters Centerline goodness [0,1] 0.9983362484535643 Centerline is valid? [True, True] Translation: X:108.74, Y:-11.21, Z:-1.52 [[ 9.82547367e-01 1.85898818e-01 6.50390863e-03 1.08743829e+02] [-1.85896113e-01 9.82568872e-01 -1.02331296e-03 -1.12148923e+01] [-6.58077083e-03 -2.03597876e-04 9.99978326e-01 -1.52241817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04576923100001 meters Centerline goodness [0,1] 0.998517659190513 Centerline is valid? [True, True] Translation: X:108.77, Y:-11.22, Z:-1.52 [[ 9.82165388e-01 1.87912525e-01 6.32725842e-03 1.08773079e+02] [-1.87910007e-01 9.82185745e-01 -9.95479615e-04 -1.12184000e+01] [-6.40160611e-03 -2.11229554e-04 9.99979487e-01 -1.52206147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07576923100001 meters Centerline goodness [0,1] 0.9927488603837591 Centerline is valid? [True, True] Translation: X:108.80, Y:-11.20, Z:-1.53 [[ 9.81660908e-01 1.90572230e-01 4.90780245e-03 1.08804654e+02] [-1.90570748e-01 9.81673160e-01 -7.72177217e-04 -1.12022083e+01] [-4.96501348e-03 -1.77267398e-04 9.99987659e-01 -1.52684729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10576923100001 meters Centerline goodness [0,1] 0.997595741026962 Centerline is valid? [True, True] Translation: X:108.83, Y:-11.21, Z:-1.53 [[ 9.81523095e-01 1.91304523e-01 3.87209398e-03 1.08832371e+02] [-1.91303606e-01 9.81530722e-01 -6.09263647e-04 -1.12114428e+01] [-3.91713409e-03 -1.42739201e-04 9.99992318e-01 -1.52723853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13576923100001 meters Centerline goodness [0,1] 0.9975678962302391 Centerline is valid? [True, True] Translation: X:108.86, Y:-11.21, Z:-1.53 [[ 9.81331913e-01 1.92300920e-01 2.83411165e-03 1.08861353e+02] [-1.92300433e-01 9.81336000e-01 -4.46060620e-04 -1.12103268e+01] [-2.86699365e-03 -1.07267375e-04 9.99995884e-01 -1.52980358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16576923100001 meters Centerline goodness [0,1] 0.9977719613229791 Centerline is valid? [True, True] Translation: X:108.89, Y:-11.21, Z:-1.53 [[ 9.81215513e-01 1.92903839e-01 2.05557910e-03 1.08890445e+02] [-1.92903584e-01 9.81217663e-01 -3.23492094e-04 -1.12110424e+01] [-2.07937339e-03 -7.91131142e-05 9.99997835e-01 -1.53058059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19576923100001 meters Centerline goodness [0,1] 0.9951015734339879 Centerline is valid? [True, True] Translation: X:108.92, Y:-11.21, Z:-1.53 [[ 9.81393283e-01 1.92002594e-01 1.49270885e-03 1.08918771e+02] [-1.92002459e-01 9.81394416e-01 -2.35116253e-04 -1.12093864e+01] [-1.51007907e-03 -5.58622588e-05 9.99998858e-01 -1.53252370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.225769231 meters Centerline goodness [0,1] 0.9953911150940981 Centerline is valid? [True, True] Translation: X:108.95, Y:-11.21, Z:-1.53 [[ 9.81748424e-01 1.90181064e-01 1.09281747e-03 1.08946155e+02] [-1.90180990e-01 9.81749032e-01 -1.72218293e-04 -1.12119837e+01] [-1.10562515e-03 -3.87580704e-05 9.99999388e-01 -1.53443429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.255769231 meters Centerline goodness [0,1] 0.9987231095528719 Centerline is valid? [True, True] Translation: X:108.98, Y:-11.22, Z:-1.53 [[ 9.82522830e-01 1.86139381e-01 1.00924115e-03 1.08975156e+02] [-1.86139316e-01 9.82523348e-01 -1.58682533e-04 -1.12225242e+01] [-1.02114006e-03 -3.19502461e-05 9.99999478e-01 -1.53455464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.285769231 meters Centerline goodness [0,1] 0.998907642220699 Centerline is valid? [True, True] Translation: X:109.00, Y:-11.23, Z:-1.53 [[ 9.82886112e-01 1.84207735e-01 1.54940274e-03 1.09002262e+02] [-1.84207579e-01 9.82887332e-01 -2.43969234e-04 -1.12283699e+01] [-1.56782934e-03 -4.56177555e-05 9.99998770e-01 -1.53403002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.315769231 meters Centerline goodness [0,1] 0.998979418268413 Centerline is valid? [True, True] Translation: X:109.03, Y:-11.23, Z:-1.53 [[ 9.83367183e-01 1.81576052e-01 4.37283505e-03 1.09030201e+02] [-1.81574795e-01 9.83376898e-01 -6.86218459e-04 -1.12349177e+01] [-4.42474580e-03 -1.19191913e-04 9.99990204e-01 -1.52971690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.345769231 meters Centerline goodness [0,1] 0.9993165897830173 Centerline is valid? [True, True] Translation: X:109.06, Y:-11.24, Z:-1.53 [[ 9.83508759e-01 1.80794965e-01 4.86852574e-03 1.09059055e+02] [-1.80793397e-01 9.83520800e-01 -7.63860953e-04 -1.12396673e+01] [-4.92639854e-03 -1.28933368e-04 9.99987857e-01 -1.52886898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.375769231 meters Centerline goodness [0,1] 0.9995903583286619 Centerline is valid? [True, True] Translation: X:109.09, Y:-11.25, Z:-1.53 [[ 9.83567226e-01 1.80495013e-01 4.13062714e-03 1.09086255e+02] [-1.80493882e-01 9.83575894e-01 -6.48168690e-04 -1.12460873e+01] [-4.17977650e-03 -1.08035445e-04 9.99991259e-01 -1.53007902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40576923100001 meters Centerline goodness [0,1] 0.999509029586304 Centerline is valid? [True, True] Translation: X:109.11, Y:-11.25, Z:-1.54 [[ 9.83667409e-01 1.79990353e-01 1.37917606e-03 1.09113602e+02] [-1.79990226e-01 9.83668375e-01 -2.16886526e-04 -1.12493377e+01] [-1.39568936e-03 -3.48940039e-05 9.99999025e-01 -1.53536698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43576923100001 meters Centerline goodness [0,1] 0.9992151205956599 Centerline is valid? [True, True] Translation: X:109.14, Y:-11.25, Z:-1.54 [[ 9.83772032e-01 1.79421532e-01 7.08390289e-04 1.09141143e+02] [-1.79421498e-01 9.83772287e-01 -1.11889346e-04 -1.12519612e+01] [-7.16970093e-04 -1.70268373e-05 9.99999743e-01 -1.53814318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46576923100001 meters Centerline goodness [0,1] 0.9993341924398625 Centerline is valid? [True, True] Translation: X:109.17, Y:-11.26, Z:-1.54 [[ 9.83980172e-01 1.78277502e-01 3.90820606e-04 1.09168811e+02] [-1.78277492e-01 9.83980250e-01 -6.16989219e-05 -1.12592869e+01] [-3.95559287e-04 -8.96400155e-06 9.99999922e-01 -1.53852227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49576923100001 meters Centerline goodness [0,1] 0.9996353496353496 Centerline is valid? [True, True] Translation: X:109.20, Y:-11.27, Z:-1.54 [[ 9.84670739e-01 1.74422554e-01 5.55907590e-04 1.09196773e+02] [-1.74422533e-01 9.84670896e-01 -8.72668727e-05 -1.12715349e+01] [-5.62607335e-04 -1.10336738e-05 9.99999842e-01 -1.53741099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52576923100001 meters Centerline goodness [0,1] 0.9997449088048977 Centerline is valid? [True, True] Translation: X:109.22, Y:-11.28, Z:-1.54 [[ 9.85068925e-01 1.72157267e-01 1.04299464e-03 1.09224481e+02] [-1.72157190e-01 9.85069477e-01 -1.63713380e-04 -1.12768586e+01] [-1.05560663e-03 -1.82900634e-05 9.99999443e-01 -1.53819077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55576923100001 meters Centerline goodness [0,1] 0.9996812986019632 Centerline is valid? [True, True] Translation: X:109.25, Y:-11.29, Z:-1.54 [[ 9.85364871e-01 1.70454885e-01 1.09666554e-03 1.09252181e+02] [-1.70454799e-01 9.85365481e-01 -1.72054532e-04 -1.12858296e+01] [-1.10994390e-03 -1.73954124e-05 9.99999384e-01 -1.53763801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.585769231 meters Centerline goodness [0,1] 0.99965526899791 Centerline is valid? [True, True] Translation: X:109.28, Y:-11.29, Z:-1.54 [[ 9.85756508e-01 1.68177920e-01 5.42654674e-04 1.09279581e+02] [-1.68177899e-01 9.85756657e-01 -8.53837464e-05 -1.12945815e+01] [-5.49285118e-04 -7.09493925e-06 9.99999849e-01 -1.53867554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.615769231 meters Centerline goodness [0,1] 0.9996394944439732 Centerline is valid? [True, True] Translation: X:109.31, Y:-11.30, Z:-1.54 [[ 9.85910602e-01 1.67272158e-01 5.57608747e-04 1.09307107e+02] [-1.67272135e-01 9.85910759e-01 -8.78230864e-05 -1.12972546e+01] [-5.64442821e-04 -6.68669364e-06 9.99999841e-01 -1.54079685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.645769231 meters Centerline goodness [0,1] 0.9996813256851498 Centerline is valid? [True, True] Translation: X:109.34, Y:-11.30, Z:-1.54 [[ 9.86050640e-01 1.66443751e-01 7.82499839e-04 1.09335625e+02] [-1.66443706e-01 9.86050951e-01 -1.22798437e-04 -1.13040896e+01] [-7.92023743e-04 -9.15669632e-06 9.99999686e-01 -1.53825919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.675769231 meters Centerline goodness [0,1] 0.9997010144153764 Centerline is valid? [True, True] Translation: X:109.36, Y:-11.31, Z:-1.54 [[ 9.86273165e-01 1.65108214e-01 2.12662288e-03 1.09363016e+02] [-1.65107880e-01 9.86275457e-01 -3.32812612e-04 -1.13101802e+01] [-2.15238605e-03 -2.28780487e-05 9.99997683e-01 -1.53597567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.705769231 meters Centerline goodness [0,1] 0.9997227199044451 Centerline is valid? [True, True] Translation: X:109.39, Y:-11.32, Z:-1.53 [[ 9.86385813e-01 1.64413444e-01 3.35383458e-03 1.09391194e+02] [-1.64412611e-01 9.86391514e-01 -5.24192986e-04 -1.13169209e+01] [-3.39437834e-03 -3.43561766e-05 9.99994238e-01 -1.53372262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.735769231 meters Centerline goodness [0,1] 0.9996139327385037 Centerline is valid? [True, True] Translation: X:109.42, Y:-11.32, Z:-1.53 [[ 9.86671171e-01 1.62675040e-01 4.10262263e-03 1.09418579e+02] [-1.62673781e-01 9.86679700e-01 -6.41000312e-04 -1.13246440e+01] [-4.15224921e-03 -3.49326044e-05 9.99991379e-01 -1.53202341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76576923100001 meters Centerline goodness [0,1] 0.9995093438006656 Centerline is valid? [True, True] Translation: X:109.45, Y:-11.33, Z:-1.53 [[ 9.86787673e-01 1.61967706e-01 4.06821469e-03 1.09446690e+02] [-1.61966463e-01 9.86796059e-01 -6.35304482e-04 -1.13298824e+01] [-4.11739703e-03 -3.20037135e-05 9.99991523e-01 -1.53260410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79576923100001 meters Centerline goodness [0,1] 0.9995982322217758 Centerline is valid? [True, True] Translation: X:109.48, Y:-11.33, Z:-1.53 [[ 9.86687269e-01 1.62517832e-01 6.01554774e-03 1.09475819e+02] [-1.62515128e-01 9.86705605e-01 -9.38889165e-04 -1.13329414e+01] [-6.08816090e-03 -5.12275271e-05 9.99981466e-01 -1.52829977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82576923100001 meters Centerline goodness [0,1] 0.9995542253072661 Centerline is valid? [True, True] Translation: X:109.50, Y:-11.33, Z:-1.52 [[ 9.86491085e-01 1.63618377e-01 8.02287235e-03 1.09503548e+02] [-1.63613608e-01 9.86523705e-01 -1.25166218e-03 -1.13343862e+01] [-8.11954869e-03 -7.78975068e-05 9.99967033e-01 -1.52438885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85576923100001 meters Centerline goodness [0,1] 0.9995975514181017 Centerline is valid? [True, True] Translation: X:109.53, Y:-11.33, Z:-1.52 [[ 9.86171687e-01 1.65466362e-01 9.28904231e-03 1.09531900e+02] [-1.65460056e-01 9.86215429e-01 -1.44855061e-03 -1.13345609e+01] [-9.40068324e-03 -1.08445862e-04 9.99955807e-01 -1.52213228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88576923100001 meters Centerline goodness [0,1] 0.9996797267001174 Centerline is valid? [True, True] Translation: X:109.56, Y:-11.33, Z:-1.52 [[ 9.85366847e-01 1.70228968e-01 8.61836537e-03 1.09562464e+02] [-1.70223728e-01 9.85404525e-01 -1.34333969e-03 -1.13312227e+01] [-8.72125156e-03 -1.43367889e-04 9.99961959e-01 -1.52387637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91576923100001 meters Centerline goodness [0,1] 0.9996570644718793 Centerline is valid? [True, True] Translation: X:109.59, Y:-11.33, Z:-1.53 [[ 9.84893158e-01 1.73010198e-01 7.27592652e-03 1.09592223e+02] [-1.73006540e-01 9.84920023e-01 -1.13401373e-03 -1.13303668e+01] [-7.36240165e-03 -1.41900505e-04 9.99972887e-01 -1.52744767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94576923100001 meters Centerline goodness [0,1] 0.9993813201348295 Centerline is valid? [True, True] Translation: X:109.62, Y:-11.32, Z:-1.53 [[ 9.84203516e-01 1.76962482e-01 5.26496448e-03 1.09622624e+02] [-1.76960623e-01 9.84217590e-01 -8.20586795e-04 -1.13188234e+01] [-5.32708373e-03 -1.24066987e-04 9.99985803e-01 -1.53433619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.975769231 meters Centerline goodness [0,1] 0.9993594534002349 Centerline is valid? [True, True] Translation: X:109.65, Y:-11.32, Z:-1.53 [[ 9.84033347e-01 1.77923819e-01 4.63537059e-03 1.09651319e+02] [-1.77922389e-01 9.84044258e-01 -7.22293201e-04 -1.13235066e+01] [-4.68992298e-03 -1.13975613e-04 9.99988996e-01 -1.53435954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.005769231 meters Centerline goodness [0,1] 0.9993964866903762 Centerline is valid? [True, True] Translation: X:109.68, Y:-11.33, Z:-1.53 [[ 9.83913142e-01 1.78600049e-01 4.11728715e-03 1.09679454e+02] [-1.78598928e-01 9.83921751e-01 -6.41455463e-04 -1.13286563e+01] [-4.16565236e-03 -1.04206611e-04 9.99991318e-01 -1.53400566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.035769231 meters Centerline goodness [0,1] 0.9992311963439116 Centerline is valid? [True, True] Translation: X:109.71, Y:-11.33, Z:-1.53 [[ 9.83759897e-01 1.79451100e-01 3.71053122e-03 1.09707408e+02] [-1.79450194e-01 9.83766890e-01 -5.78245714e-04 -1.13270498e+01] [-3.75406458e-03 -9.70006045e-05 9.99992949e-01 -1.53494705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.065769231 meters Centerline goodness [0,1] 0.9992491848292432 Centerline is valid? [True, True] Translation: X:109.74, Y:-11.32, Z:-1.54 [[ 9.83406941e-01 1.81392877e-01 2.72270321e-03 1.09737868e+02] [-1.81392399e-01 9.83410707e-01 -4.23788282e-04 -1.13235668e+01] [-2.75440766e-03 -7.71213287e-05 9.99996204e-01 -1.53662343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.095769231 meters Centerline goodness [0,1] 0.999238804076627 Centerline is valid? [True, True] Translation: X:109.77, Y:-11.32, Z:-1.54 [[ 9.83344488e-01 1.81742562e-01 1.80523156e-03 1.09766495e+02] [-1.81742351e-01 9.83346144e-01 -2.81656259e-04 -1.13220632e+01] [-1.82635643e-03 -5.11218992e-05 9.99998331e-01 -1.53983501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.125769231 meters Centerline goodness [0,1] 0.9994030105326 Centerline is valid? [True, True] Translation: X:109.80, Y:-11.32, Z:-1.54 [[ 9.83533680e-01 1.80715934e-01 1.80299481e-03 1.09795222e+02] [-1.80715722e-01 9.83535332e-01 -2.80756320e-04 -1.13224203e+01] [-1.82404624e-03 -4.96962131e-05 9.99998335e-01 -1.54110680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15576923100001 meters Centerline goodness [0,1] 0.9992339121552605 Centerline is valid? [True, True] Translation: X:109.82, Y:-11.32, Z:-1.54 [[ 9.83783688e-01 1.79346520e-01 2.11698354e-03 1.09823200e+02] [-1.79346225e-01 9.83785964e-01 -3.29561522e-04 -1.13232775e+01] [-2.14176440e-03 -5.54557571e-05 9.99997705e-01 -1.54194916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18576923100001 meters Centerline goodness [0,1] 0.9996129531673332 Centerline is valid? [True, True] Translation: X:109.85, Y:-11.33, Z:-1.54 [[ 9.84168270e-01 1.77216611e-01 2.66249001e-03 1.09851280e+02] [-1.77216138e-01 9.84171869e-01 -4.14345280e-04 -1.13328757e+01] [-2.69377663e-03 -6.40507205e-05 9.99996370e-01 -1.53985941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21576923100001 meters Centerline goodness [0,1] 0.9997217227502355 Centerline is valid? [True, True] Translation: X:109.88, Y:-11.34, Z:-1.54 [[ 9.85122243e-01 1.71850804e-01 1.21115307e-03 1.09879846e+02] [-1.71850702e-01 9.85122988e-01 -1.88181631e-04 -1.13416289e+01] [-1.22547390e-03 -2.27555955e-05 9.99999249e-01 -1.54292078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24576923100001 meters Centerline goodness [0,1] 0.9998069953464434 Centerline is valid? [True, True] Translation: X:109.91, Y:-11.35, Z:-1.54 [[ 9.85629488e-01 1.68920060e-01 7.24421561e-04 1.09908348e+02] [-1.68920023e-01 9.85629755e-01 -1.13421439e-04 -1.13494211e+01] [-7.33170602e-04 -1.05777914e-05 9.99999731e-01 -1.54378153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27576923100001 meters Centerline goodness [0,1] 0.9998069953464434 Centerline is valid? [True, True] Translation: X:109.94, Y:-11.35, Z:-1.54 [[ 9.85641668e-01 1.68848980e-01 7.24453663e-04 1.09935540e+02] [-1.68848943e-01 9.85641934e-01 -1.13214748e-04 -1.13535038e+01] [-7.33168104e-04 -1.07340619e-05 9.99999731e-01 -1.54410328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30576923100001 meters Centerline goodness [0,1] 0.9998706673564408 Centerline is valid? [True, True] Translation: X:109.96, Y:-11.36, Z:-1.54 [[ 9.86156696e-01 1.65813889e-01 8.51315263e-04 1.09963554e+02] [-1.65813836e-01 9.86157064e-01 -1.32578446e-04 -1.13622141e+01] [-8.61513908e-04 -1.04167274e-05 9.99999629e-01 -1.54329306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.335769231 meters Centerline goodness [0,1] 0.9995306566540086 Centerline is valid? [True, True] Translation: X:109.99, Y:-11.37, Z:-1.54 [[ 9.87153661e-01 1.59743728e-01 3.09706061e-03 1.09990113e+02] [-1.59743006e-01 9.87158519e-01 -4.80718076e-04 -1.13736700e+01] [-3.13408147e-03 -2.01911626e-05 9.99995089e-01 -1.54170466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.365769231 meters Centerline goodness [0,1] 0.9995269224152761 Centerline is valid? [True, True] Translation: X:110.02, Y:-11.38, Z:-1.54 [[ 9.87652940e-01 1.56590248e-01 4.60047585e-03 1.10018085e+02] [-1.56588624e-01 9.87663654e-01 -7.13343160e-04 -1.13842694e+01] [-4.65542537e-03 -1.58467137e-05 9.99989163e-01 -1.53904063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.395769231 meters Centerline goodness [0,1] 0.999356057353825 Centerline is valid? [True, True] Translation: X:110.05, Y:-11.39, Z:-1.54 [[ 9.88078412e-01 1.53873301e-01 4.90496595e-03 1.10045443e+02] [-1.53871423e-01 9.88090587e-01 -7.60278438e-04 -1.13938401e+01] [-4.96353723e-03 -3.51937745e-06 9.99987682e-01 -1.53841935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.425769231 meters Centerline goodness [0,1] 0.998980826804255 Centerline is valid? [True, True] Translation: X:110.07, Y:-11.41, Z:-1.54 [[ 9.88646140e-01 1.50246670e-01 2.17888830e-03 1.10071196e+02] [-1.50246289e-01 9.88648541e-01 -3.38047391e-04 -1.14077317e+01] [-2.20494523e-03 6.83936637e-06 9.99997569e-01 -1.54283456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.455769231 meters Centerline goodness [0,1] 0.999061613598072 Centerline is valid? [True, True] Translation: X:110.10, Y:-11.42, Z:-1.55 [[ 9.88839642e-01 1.48978633e-01 1.23672229e-03 1.10097704e+02] [-1.48978509e-01 9.88840415e-01 -1.92092479e-04 -1.14163124e+01] [-1.25153865e-03 5.70361591e-06 9.99999217e-01 -1.54660990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.485769231 meters Centerline goodness [0,1] 0.9987742726275725 Centerline is valid? [True, True] Translation: X:110.13, Y:-11.42, Z:-1.54 [[ 9.88831947e-01 1.49009026e-01 2.77310614e-03 1.10125718e+02] [-1.49008407e-01 9.88835836e-01 -4.29503031e-04 -1.14240625e+01] [-2.80614656e-03 1.14901892e-05 9.99996063e-01 -1.54219529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51576923100001 meters Centerline goodness [0,1] 0.999037021185534 Centerline is valid? [True, True] Translation: X:110.15, Y:-11.43, Z:-1.54 [[ 9.88597927e-01 1.50529975e-01 3.85568748e-03 1.10153468e+02] [-1.50528791e-01 9.88605445e-01 -5.97058277e-04 -1.14279088e+01] [-3.90162880e-03 9.85860087e-06 9.99992389e-01 -1.54043992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54576923100001 meters Centerline goodness [0,1] 0.9992333737941609 Centerline is valid? [True, True] Translation: X:110.18, Y:-11.43, Z:-1.54 [[ 9.88225119e-01 1.52948951e-01 4.21110425e-03 1.10181965e+02] [-1.52947563e-01 9.88234091e-01 -6.51684709e-04 -1.14304188e+01] [-4.26123127e-03 -6.69339673e-08 9.99990921e-01 -1.53954245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57576923100001 meters Centerline goodness [0,1] 0.999491482329011 Centerline is valid? [True, True] Translation: X:110.21, Y:-11.43, Z:-1.54 [[ 9.87688305e-01 1.56383675e-01 3.99471310e-03 1.10209939e+02] [-1.56382454e-01 9.87696383e-01 -6.18121596e-04 -1.14303245e+01] [-4.04222781e-03 -1.41915675e-05 9.99991830e-01 -1.54005459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60576923100001 meters Centerline goodness [0,1] 0.9996798155737705 Centerline is valid? [True, True] Translation: X:110.24, Y:-11.42, Z:-1.54 [[ 9.86364447e-01 1.64509836e-01 4.65730532e-03 1.10241417e+02] [-1.64508270e-01 9.86375441e-01 -7.20012197e-04 -1.14217630e+01] [-4.71230068e-03 -5.59708099e-05 9.99988895e-01 -1.53948017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63576923100001 meters Centerline goodness [0,1] 0.9997651579846285 Centerline is valid? [True, True] Translation: X:110.27, Y:-11.42, Z:-1.54 [[ 9.85783642e-01 1.67914510e-01 5.94375691e-03 1.10271260e+02] [-1.67912021e-01 9.85801557e-01 -9.18811455e-04 -1.14192681e+01] [-6.01364659e-03 -9.22789326e-05 9.99981914e-01 -1.53782385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66576923100001 meters Centerline goodness [0,1] 0.9997625625971335 Centerline is valid? [True, True] Translation: X:110.30, Y:-11.42, Z:-1.54 [[ 9.85282226e-01 1.70780360e-01 7.28041848e-03 1.10300369e+02] [-1.70776708e-01 9.85309114e-01 -1.12498819e-03 -1.14212984e+01] [-7.36558857e-03 -1.34895030e-04 9.99972865e-01 -1.53535080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69576923100001 meters Centerline goodness [0,1] 0.9995541874535612 Centerline is valid? [True, True] Translation: X:110.33, Y:-11.42, Z:-1.54 [[ 9.84819708e-01 1.73438446e-01 7.01771219e-03 1.10328634e+02] [-1.73435121e-01 9.84844700e-01 -1.08418860e-03 -1.14178952e+01] [-7.09939664e-03 -1.49387467e-04 9.99974788e-01 -1.53780924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.725769231 meters Centerline goodness [0,1] 0.9994615898175866 Centerline is valid? [True, True] Translation: X:110.36, Y:-11.42, Z:-1.54 [[ 9.84865379e-01 1.73238607e-01 5.34513949e-03 1.10356857e+02] [-1.73236678e-01 9.84879877e-01 -8.25334026e-04 -1.14224121e+01] [-5.40730004e-03 -1.13131301e-04 9.99985374e-01 -1.54145534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.755769231 meters Centerline goodness [0,1] 0.9996584407821706 Centerline is valid? [True, True] Translation: X:110.38, Y:-11.43, Z:-1.55 [[ 9.85170771e-01 1.71553149e-01 2.84060911e-03 1.10383788e+02] [-1.71552596e-01 9.85174865e-01 -4.38902961e-04 -1.14281315e+01] [-2.87379188e-03 -5.49194987e-05 9.99995869e-01 -1.54705541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.785769231 meters Centerline goodness [0,1] 0.9996806268230886 Centerline is valid? [True, True] Translation: X:110.41, Y:-11.43, Z:-1.55 [[ 9.85253509e-01 1.71082167e-01 2.53277047e-03 1.10412025e+02] [-1.71081726e-01 9.85256763e-01 -3.91174579e-04 -1.14343151e+01] [-2.56235223e-03 -4.79046173e-05 9.99996716e-01 -1.54726269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.815769231 meters Centerline goodness [0,1] 0.9996385823925845 Centerline is valid? [True, True] Translation: X:110.44, Y:-11.43, Z:-1.55 [[ 9.85147657e-01 1.71685153e-01 2.88151536e-03 1.10440149e+02] [-1.71684585e-01 9.85151869e-01 -4.45154678e-04 -1.14334691e+01] [-2.91515670e-03 -5.61686809e-05 9.99995749e-01 -1.54694215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.845769231 meters Centerline goodness [0,1] 0.9996369460758142 Centerline is valid? [True, True] Translation: X:110.47, Y:-11.43, Z:-1.55 [[ 9.85089482e-01 1.72010511e-01 3.33126450e-03 1.10468654e+02] [-1.72009756e-01 9.85095112e-01 -5.13973034e-04 -1.14344952e+01] [-3.37002114e-03 -6.67005666e-05 9.99994319e-01 -1.54735563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.875769231 meters Centerline goodness [0,1] 0.9998298234418209 Centerline is valid? [True, True] Translation: X:110.50, Y:-11.43, Z:-1.55 [[ 9.85004566e-01 1.72494162e-01 3.43069326e-03 1.10497063e+02] [-1.72493365e-01 9.85010538e-01 -5.29091137e-04 -1.14340283e+01] [-3.47053414e-03 -7.06146382e-05 9.99993975e-01 -1.54762118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90576923100001 meters Centerline goodness [0,1] 0.9996175095622609 Centerline is valid? [True, True] Translation: X:110.52, Y:-11.43, Z:-1.55 [[ 9.84901567e-01 1.73087095e-01 3.12410327e-03 1.10524961e+02] [-1.73086437e-01 9.84906520e-01 -4.81777067e-04 -1.14323884e+01] [-3.16033907e-03 -6.62369172e-05 9.99995004e-01 -1.54945202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93576923100001 meters Centerline goodness [0,1] 0.999597235765464 Centerline is valid? [True, True] Translation: X:110.55, Y:-11.43, Z:-1.55 [[ 9.84998774e-01 1.72556633e-01 1.27427435e-03 1.10553714e+02] [-1.72556523e-01 9.84999598e-01 -1.96671352e-04 -1.14348185e+01] [-1.28909667e-03 -2.61633103e-05 9.99999169e-01 -1.55223847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96576923100001 meters Centerline goodness [0,1] 0.9996802592032059 Centerline is valid? [True, True] Translation: X:110.58, Y:-11.44, Z:-1.55 [[ 9.85240525e-01 1.71174899e-01 5.12753038e-04 1.10581859e+02] [-1.71174881e-01 9.85240658e-01 -7.94486596e-05 -1.14390813e+01] [-5.18784757e-04 -9.49440106e-06 9.99999865e-01 -1.55402113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99576923100001 meters Centerline goodness [0,1] 0.9997232865048957 Centerline is valid? [True, True] Translation: X:110.61, Y:-11.44, Z:-1.56 [[ 9.86136071e-01 1.65938662e-01 -9.84886835e-05 1.10610380e+02] [-1.65938661e-01 9.86136076e-01 1.48747691e-05 -1.14447041e+01] [ 9.95915431e-05 1.67453390e-06 9.99999995e-01 -1.55675666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02576923100001 meters Centerline goodness [0,1] 0.9998929404963278 Centerline is valid? [True, True] Translation: X:110.64, Y:-11.45, Z:-1.56 [[ 9.86726934e-01 1.62387513e-01 5.02780011e-04 1.10638941e+02] [-1.62387494e-01 9.86727062e-01 -7.77341563e-05 -1.14516195e+01] [-5.08729700e-04 -4.94280032e-06 9.99999871e-01 -1.55611440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05576923100001 meters Centerline goodness [0,1] 0.9996997190227999 Centerline is valid? [True, True] Translation: X:110.67, Y:-11.46, Z:-1.56 [[ 9.87298473e-01 1.58874460e-01 7.94861781e-04 1.10666687e+02] [-1.58874413e-01 9.87298793e-01 -1.22752776e-04 -1.14579485e+01] [-8.04268358e-04 -5.08957069e-06 9.99999677e-01 -1.55564778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.085769231 meters Centerline goodness [0,1] 0.9995937045590625 Centerline is valid? [True, True] Translation: X:110.69, Y:-11.46, Z:-1.56 [[ 9.87779514e-01 1.55856690e-01 5.68554310e-04 1.10693626e+02] [-1.55856665e-01 9.87779678e-01 -8.80552882e-05 -1.14643105e+01] [-5.75330399e-04 -1.63376905e-06 9.99999834e-01 -1.55774561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.115769231 meters Centerline goodness [0,1] 0.999117520447697 Centerline is valid? [True, True] Translation: X:110.72, Y:-11.47, Z:-1.56 [[ 9.88548627e-01 1.50902593e-01 -1.40100096e-04 1.10719313e+02] [-1.50902592e-01 9.88548637e-01 2.05922582e-05 -1.14715014e+01] [ 1.41603184e-04 7.85019102e-07 9.99999990e-01 -1.56076433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.145769231 meters Centerline goodness [0,1] 0.999006111357821 Centerline is valid? [True, True] Translation: X:110.75, Y:-11.48, Z:-1.56 [[ 9.88775497e-01 1.49408656e-01 2.64717795e-04 1.10745825e+02] [-1.49408651e-01 9.88775532e-01 -4.15654593e-05 -1.14751685e+01] [-2.67956718e-04 1.54777921e-06 9.99999964e-01 -1.56078718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.175769231 meters Centerline goodness [0,1] 0.9989209089754982 Centerline is valid? [True, True] Translation: X:110.77, Y:-11.48, Z:-1.56 [[ 9.88971938e-01 1.48100661e-01 8.36273421e-04 1.10774601e+02] [-1.48100605e-01 9.88972292e-01 -1.28889166e-04 -1.14790248e+01] [-8.46139812e-04 3.61516849e-06 9.99999642e-01 -1.55945546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.205769231 meters Centerline goodness [0,1] 0.9991000642811227 Centerline is valid? [True, True] Translation: X:110.80, Y:-11.48, Z:-1.56 [[ 9.89419686e-01 1.45074042e-01 1.48568337e-03 1.10801785e+02] [-1.45073863e-01 9.89420801e-01 -2.28611839e-04 -1.14849631e+01] [-1.50313167e-03 1.06592290e-05 9.99998870e-01 -1.55600772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.235769231 meters Centerline goodness [0,1] 0.998929817426853 Centerline is valid? [True, True] Translation: X:110.83, Y:-11.49, Z:-1.55 [[ 9.89604777e-01 1.43803507e-01 1.71387154e-03 1.10830203e+02] [-1.43803267e-01 9.89606261e-01 -2.63449564e-04 -1.14889410e+01] [-1.73394297e-03 1.42506214e-05 9.99998497e-01 -1.55296182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26576923100001 meters Centerline goodness [0,1] 0.9988147828897748 Centerline is valid? [True, True] Translation: X:110.86, Y:-11.50, Z:-1.55 [[ 9.90010401e-01 1.40984942e-01 1.62843249e-03 1.10856788e+02] [-1.40984721e-01 9.90011740e-01 -2.50500038e-04 -1.14961901e+01] [-1.64748402e-03 1.84135432e-05 9.99998643e-01 -1.55413019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29576923100001 meters Centerline goodness [0,1] 0.9989432367149759 Centerline is valid? [True, True] Translation: X:110.89, Y:-11.50, Z:-1.55 [[ 9.90209884e-01 1.39568739e-01 2.22558038e-03 1.10885220e+02] [-1.39568324e-01 9.90212384e-01 -3.41689611e-04 -1.15007888e+01] [-2.25148644e-03 2.77239070e-05 9.99997465e-01 -1.55272882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32576923100001 meters Centerline goodness [0,1] 0.9990498607182189 Centerline is valid? [True, True] Translation: X:110.91, Y:-11.51, Z:-1.55 [[ 9.90405051e-01 1.38163250e-01 2.95836352e-03 1.10912233e+02] [-1.38162510e-01 9.90409468e-01 -4.53956513e-04 -1.15074372e+01] [-2.99271135e-03 4.08658924e-05 9.99995521e-01 -1.55131410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35576923100001 meters Centerline goodness [0,1] 0.99881242710211 Centerline is valid? [True, True] Translation: X:110.94, Y:-11.52, Z:-1.55 [[ 9.90623404e-01 1.36557693e-01 4.15540425e-03 1.10938535e+02] [-1.36556222e-01 9.90632118e-01 -6.36953962e-04 -1.15162471e+01] [-4.20345788e-03 6.35351953e-05 9.99991163e-01 -1.54945399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38576923100001 meters Centerline goodness [0,1] 0.9989629629629629 Centerline is valid? [True, True] Translation: X:110.97, Y:-11.52, Z:-1.55 [[ 9.90676279e-01 1.36170251e-01 4.26307430e-03 1.10966809e+02] [-1.36168700e-01 9.90685449e-01 -6.53283254e-04 -1.15210178e+01] [-4.31232342e-03 6.66949377e-05 9.99990700e-01 -1.54946300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41576923100001 meters Centerline goodness [0,1] 0.9988862234407128 Centerline is valid? [True, True] Translation: X:111.00, Y:-11.52, Z:-1.55 [[ 9.90775137e-01 1.35429163e-01 4.85483616e-03 1.10995173e+02] [-1.35427144e-01 9.90787028e-01 -7.43683350e-04 -1.15244293e+01] [-4.91082510e-03 7.93463764e-05 9.99987939e-01 -1.54833227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44576923100001 meters Centerline goodness [0,1] 0.9986743639084883 Centerline is valid? [True, True] Translation: X:111.02, Y:-11.54, Z:-1.55 [[ 9.91139819e-01 1.32703407e-01 5.62723724e-03 1.11022137e+02] [-1.32700653e-01 9.91155787e-01 -8.61564000e-04 -1.15357135e+01] [-5.69180124e-03 1.07192329e-04 9.99983796e-01 -1.54852857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.475769231 meters Centerline goodness [0,1] 0.9985201389782524 Centerline is valid? [True, True] Translation: X:111.05, Y:-11.54, Z:-1.55 [[ 9.91341506e-01 1.31207026e-01 5.17065709e-03 1.11050919e+02] [-1.31204682e-01 9.91354984e-01 -7.91424257e-04 -1.15433333e+01] [-5.22979710e-03 1.06157296e-04 9.99986319e-01 -1.54950032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.505769231 meters Centerline goodness [0,1] 0.9983703227189878 Centerline is valid? [True, True] Translation: X:111.08, Y:-11.55, Z:-1.55 [[ 9.91501947e-01 1.30011665e-01 4.56675888e-03 1.11078302e+02] [-1.30009824e-01 9.91512459e-01 -6.98997293e-04 -1.15512420e+01] [-4.61887613e-03 9.93336613e-05 9.99989328e-01 -1.55152165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.535769231 meters Centerline goodness [0,1] 0.9982279465790724 Centerline is valid? [True, True] Translation: X:111.11, Y:-11.56, Z:-1.56 [[ 9.91695375e-01 1.28585436e-01 2.46346695e-03 1.11105852e+02] [-1.28584895e-01 9.91698433e-01 -3.77167630e-04 -1.15642583e+01] [-2.49151458e-03 5.72707546e-05 9.99996895e-01 -1.55560295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.565769231 meters Centerline goodness [0,1] 0.9982615787440443 Centerline is valid? [True, True] Translation: X:111.13, Y:-11.57, Z:-1.56 [[ 9.91765737e-01 1.28057534e-01 1.41122737e-03 1.11133702e+02] [-1.28057356e-01 9.91766740e-01 -2.16191358e-04 -1.15736163e+01] [-1.42729330e-03 3.36931346e-05 9.99998981e-01 -1.55717121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.595769231 meters Centerline goodness [0,1] 0.9984788756534407 Centerline is valid? [True, True] Translation: X:111.16, Y:-11.58, Z:-1.56 [[ 9.91612359e-01 1.29247437e-01 1.71021254e-04 1.11161461e+02] [-1.29247434e-01 9.91612374e-01 -2.66926810e-05 -1.15811582e+01] [-1.73036752e-04 4.36473419e-06 9.99999985e-01 -1.55824125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.625769231 meters Centerline goodness [0,1] 0.998625589410695 Centerline is valid? [True, True] Translation: X:111.19, Y:-11.59, Z:-1.56 [[ 9.91243561e-01 1.32042186e-01 1.03175473e-03 1.11189581e+02] [-1.32042093e-01 9.91244097e-01 -1.57833943e-04 -1.15854582e+01] [-1.04356153e-03 2.02168250e-05 9.99999455e-01 -1.55772350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65576923100001 meters Centerline goodness [0,1] 0.9989452158002368 Centerline is valid? [True, True] Translation: X:111.22, Y:-11.58, Z:-1.55 [[ 9.90672865e-01 1.36232163e-01 2.84112822e-03 1.11220066e+02] [-1.36231478e-01 9.90676938e-01 -4.34340286e-04 -1.15818570e+01] [-2.87381132e-03 4.32380393e-05 9.99995870e-01 -1.55265856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68576923100001 meters Centerline goodness [0,1] 0.9991718866121669 Centerline is valid? [True, True] Translation: X:111.25, Y:-11.58, Z:-1.55 [[ 9.89924792e-01 1.41527752e-01 4.33617859e-03 1.11249274e+02] [-1.41526206e-01 9.89934287e-01 -6.62948223e-04 -1.15820081e+01] [-4.38635743e-03 4.25859780e-05 9.99990379e-01 -1.55188311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71576923100001 meters Centerline goodness [0,1] 0.9995519235282821 Centerline is valid? [True, True] Translation: X:111.28, Y:-11.57, Z:-1.55 [[ 9.88346377e-01 1.52169086e-01 4.00099163e-03 1.11280746e+02] [-1.52167856e-01 9.88354475e-01 -6.11956381e-04 -1.15706077e+01] [-4.04751883e-03 -3.99744625e-06 9.99991809e-01 -1.55238881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74576923100001 meters Centerline goodness [0,1] 0.9996816435681389 Centerline is valid? [True, True] Translation: X:111.31, Y:-11.57, Z:-1.56 [[ 9.87610882e-01 1.56896732e-01 2.85681097e-03 1.11309470e+02] [-1.56896125e-01 9.87615014e-01 -4.36776850e-04 -1.15663174e+01] [-2.88995827e-03 -1.68570031e-05 9.99995824e-01 -1.55517451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77576923100001 meters Centerline goodness [0,1] 0.9998927475921835 Centerline is valid? [True, True] Translation: X:111.34, Y:-11.56, Z:-1.56 [[ 9.87022131e-01 1.60576031e-01 1.62812187e-03 1.11338289e+02] [-1.60575839e-01 9.87023474e-01 -2.49373166e-04 -1.15621152e+01] [-1.64703786e-03 -1.53002009e-05 9.99998644e-01 -1.55924299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80576923100001 meters Centerline goodness [0,1] 0.999808429118774 Centerline is valid? [True, True] Translation: X:111.37, Y:-11.56, Z:-1.56 [[ 9.86422034e-01 1.64230193e-01 1.21587235e-04 1.11368385e+02] [-1.64230192e-01 9.86422041e-01 -1.89659819e-05 -1.15592129e+01] [-1.23051116e-04 -1.25983253e-06 9.99999992e-01 -1.56207839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.835769231 meters Centerline goodness [0,1] 0.9999144366724422 Centerline is valid? [True, True] Translation: X:111.40, Y:-11.56, Z:-1.56 [[ 9.86589836e-01 1.63219133e-01 1.03827654e-04 1.11396472e+02] [-1.63219132e-01 9.86589841e-01 -1.65265145e-05 -1.15623608e+01] [-1.05132752e-04 -6.41768380e-07 9.99999994e-01 -1.56370718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.865769231 meters Centerline goodness [0,1] 0.9998926347433971 Centerline is valid? [True, True] Translation: X:111.42, Y:-11.57, Z:-1.56 [[ 9.86976627e-01 1.60863673e-01 1.26314776e-04 1.11424354e+02] [-1.60863672e-01 9.86976635e-01 -1.98155880e-05 -1.15712944e+01] [-1.27857341e-04 -7.61936539e-07 9.99999992e-01 -1.56255875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.895769231 meters Centerline goodness [0,1] 0.9997633187021259 Centerline is valid? [True, True] Translation: X:111.45, Y:-11.59, Z:-1.56 [[ 9.88102867e-01 1.53794162e-01 -2.82503605e-04 1.11451577e+02] [-1.53794156e-01 9.88102908e-01 4.24776425e-05 -1.15852270e+01] [ 2.85675447e-04 1.47512308e-06 9.99999959e-01 -1.56390290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.925769231 meters Centerline goodness [0,1] 0.9997423510466988 Centerline is valid? [True, True] Translation: X:111.48, Y:-11.59, Z:-1.56 [[ 9.88666218e-01 1.50130047e-01 -2.80377947e-04 1.11478034e+02] [-1.50130041e-01 9.88666258e-01 4.18220846e-05 -1.15944668e+01] [ 2.83478967e-04 7.45070496e-07 9.99999960e-01 -1.56397494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.955769231 meters Centerline goodness [0,1] 0.9995319945541185 Centerline is valid? [True, True] Translation: X:111.50, Y:-11.61, Z:-1.57 [[ 9.89524232e-01 1.44366729e-01 2.05909173e-04 1.11503905e+02] [-1.44366726e-01 9.89524253e-01 -3.20404969e-05 -1.16087272e+01] [-2.08377703e-04 1.97841498e-06 9.99999978e-01 -1.56543261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.985769231 meters Centerline goodness [0,1] 0.9994858501681698 Centerline is valid? [True, True] Translation: X:111.53, Y:-11.62, Z:-1.56 [[ 9.89861628e-01 1.42032541e-01 8.44823319e-04 1.11532171e+02] [-1.42032483e-01 9.89861989e-01 -1.29121202e-04 -1.16157532e+01] [-8.54597903e-04 7.81976994e-06 9.99999635e-01 -1.56213090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01576923100001 meters Centerline goodness [0,1] 0.9992932408121306 Centerline is valid? [True, True] Translation: X:111.56, Y:-11.62, Z:-1.56 [[ 9.90125611e-01 1.40171444e-01 1.80032843e-03 1.11560442e+02] [-1.40171176e-01 9.90127247e-01 -2.74437828e-04 -1.16237890e+01] [-1.82102258e-03 1.93737677e-05 9.99998342e-01 -1.56055871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04576923100001 meters Centerline goodness [0,1] 0.9990807644619265 Centerline is valid? [True, True] Translation: X:111.59, Y:-11.63, Z:-1.56 [[ 9.90632248e-01 1.36524579e-01 2.96471603e-03 1.11586578e+02] [-1.36523839e-01 9.90636683e-01 -4.51504716e-04 -1.16344601e+01] [-2.99859794e-03 4.25207180e-05 9.99995503e-01 -1.55852493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07576923100001 meters Centerline goodness [0,1] 0.9990768173815965 Centerline is valid? [True, True] Translation: X:111.62, Y:-11.64, Z:-1.56 [[ 9.90957111e-01 1.34153955e-01 2.59238938e-03 1.11615000e+02] [-1.34153382e-01 9.90960501e-01 -3.94434679e-04 -1.16436783e+01] [-2.62187045e-03 4.30900479e-05 9.99996562e-01 -1.56019740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10576923100001 meters Centerline goodness [0,1] 0.9987046081970694 Centerline is valid? [True, True] Translation: X:111.64, Y:-11.66, Z:-1.56 [[ 9.91382097e-01 1.30984043e-01 2.17206613e-03 1.11642505e+02] [-1.30983633e-01 9.91384476e-01 -3.30585591e-04 -1.16550746e+01] [-2.19665408e-03 4.32315239e-05 9.99997586e-01 -1.56156744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13576923100001 meters Centerline goodness [0,1] 0.9985568120624664 Centerline is valid? [True, True] Translation: X:111.67, Y:-11.67, Z:-1.56 [[ 9.91821844e-01 1.27606867e-01 2.43245050e-03 1.11671249e+02] [-1.27606344e-01 9.91824825e-01 -3.69862568e-04 -1.16659920e+01] [-2.45976180e-03 5.64416591e-05 9.99996973e-01 -1.56206571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16576923100001 meters Centerline goodness [0,1] 0.9985568120624664 Centerline is valid? [True, True] Translation: X:111.70, Y:-11.67, Z:-1.56 [[ 9.91821844e-01 1.27606865e-01 2.43247137e-03 1.11700916e+02] [-1.27606342e-01 9.91824826e-01 -3.69725301e-04 -1.16705012e+01] [-2.45976498e-03 5.63028559e-05 9.99996973e-01 -1.56241681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19576923100001 meters Centerline goodness [0,1] 0.9971753212275671 Centerline is valid? [True, True] Translation: X:111.73, Y:-11.69, Z:-1.56 [[ 9.92627584e-01 1.21137044e-01 4.03695257e-03 1.11727806e+02] [-1.21135550e-01 9.92635785e-01 -6.13432742e-04 -1.16913008e+01] [-4.08153301e-03 1.19891791e-04 9.99991663e-01 -1.55957949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.225769231 meters Centerline goodness [0,1] 0.9951404937258375 Centerline is valid? [True, True] Translation: X:111.76, Y:-11.71, Z:-1.56 [[ 9.92907907e-01 1.18749161e-01 5.70298425e-03 1.11756806e+02] [-1.18746144e-01 9.92924269e-01 -8.66045297e-04 -1.17070241e+01] [-5.76547362e-03 1.82695836e-04 9.99983363e-01 -1.55798774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.255769231 meters Centerline goodness [0,1] 0.9934448559145277 Centerline is valid? [True, True] Translation: X:111.79, Y:-11.72, Z:-1.56 [[ 9.93228657e-01 1.16034497e-01 5.72987076e-03 1.11785009e+02] [-1.16031395e-01 9.93245164e-01 -8.71866261e-04 -1.17227897e+01] [-5.79233298e-03 2.01117656e-04 9.99983204e-01 -1.55804016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.285769231 meters Centerline goodness [0,1] 0.9942968188923155 Centerline is valid? [True, True] Translation: X:111.82, Y:-11.73, Z:-1.56 [[ 9.93308946e-01 1.15412246e-01 4.16542210e-03 1.11815971e+02] [-1.15410606e-01 9.93317669e-01 -6.32717229e-04 -1.17305143e+01] [-4.21061068e-03 1.47749795e-04 9.99991124e-01 -1.56094863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.315769231 meters Centerline goodness [0,1] 0.995386488391465 Centerline is valid? [True, True] Translation: X:111.85, Y:-11.74, Z:-1.56 [[ 9.93379108e-01 1.14857375e-01 2.39380477e-03 1.11846933e+02] [-1.14856833e-01 9.93381989e-01 -3.63272991e-04 -1.17372096e+01] [-2.41968712e-03 8.59229667e-05 9.99997069e-01 -1.56329929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.345769231 meters Centerline goodness [0,1] 0.9950941366325982 Centerline is valid? [True, True] Translation: X:111.88, Y:-11.75, Z:-1.56 [[ 9.93325342e-01 1.15341428e-01 1.05829331e-03 1.11877281e+02] [-1.15341322e-01 9.93325905e-01 -1.60148485e-04 -1.17474357e+01] [-1.06970191e-03 3.70145996e-05 9.99999427e-01 -1.56446831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.375769231 meters Centerline goodness [0,1] 0.9943457883647934 Centerline is valid? [True, True] Translation: X:111.91, Y:-11.75, Z:-1.56 [[ 9.93105324e-01 1.17214347e-01 1.61622749e-03 1.11909103e+02] [-1.17214101e-01 9.93106638e-01 -2.46310727e-04 -1.17502999e+01] [-1.63395740e-03 5.51678409e-05 9.99998664e-01 -1.55698459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40576923100001 meters Centerline goodness [0,1] 0.9967155775464938 Centerline is valid? [True, True] Translation: X:111.94, Y:-11.75, Z:-1.56 [[ 9.92743385e-01 1.20215476e-01 2.96841571e-03 1.11940347e+02] [-1.20214658e-01 9.92747818e-01 -4.53021369e-04 -1.17518644e+01] [-3.00134839e-03 9.28868870e-05 9.99995492e-01 -1.56106867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43576923100001 meters Centerline goodness [0,1] 0.9983285475506793 Centerline is valid? [True, True] Translation: X:111.97, Y:-11.75, Z:-1.56 [[ 9.91716446e-01 1.28397048e-01 3.56205559e-03 1.11972589e+02] [-1.28395923e-01 9.91722840e-01 -5.43717898e-04 -1.17466634e+01] [-3.60238366e-03 8.18605674e-05 9.99993508e-01 -1.56031688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46576923100001 meters Centerline goodness [0,1] 0.9987084753657556 Centerline is valid? [True, True] Translation: X:112.00, Y:-11.75, Z:-1.56 [[ 9.91151422e-01 1.32704004e-01 2.91656481e-03 1.12003286e+02] [-1.32703269e-01 9.91155711e-01 -4.45091555e-04 -1.17479294e+01] [-2.94983530e-03 5.41154437e-05 9.99995648e-01 -1.56278664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49576923100001 meters Centerline goodness [0,1] 0.9992880566102865 Centerline is valid? [True, True] Translation: X:112.04, Y:-11.74, Z:-1.56 [[ 9.90259931e-01 1.39228063e-01 9.03272879e-04 1.12035419e+02] [-1.39227995e-01 9.90260343e-01 -1.38065276e-04 -1.17383796e+01] [-9.13697872e-04 1.09596392e-05 9.99999583e-01 -1.56425195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52576923100001 meters Centerline goodness [0,1] 0.999551646099321 Centerline is valid? [True, True] Translation: X:112.06, Y:-11.74, Z:-1.57 [[ 9.89901528e-01 1.41756192e-01 3.82763765e-04 1.12063806e+02] [-1.41756180e-01 9.89901602e-01 -5.88604100e-05 -1.17402560e+01] [-3.87242292e-04 4.00688055e-06 9.99999925e-01 -1.56749004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55576923100001 meters Centerline goodness [0,1] 0.9996584626550259 Centerline is valid? [True, True] Translation: X:112.09, Y:-11.74, Z:-1.57 [[ 9.89670419e-01 1.43360772e-01 3.88979460e-04 1.12092744e+02] [-1.43360760e-01 9.89670495e-01 -5.99059879e-05 -1.17425362e+01] [-3.93549663e-04 3.52279332e-06 9.99999923e-01 -1.56839342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.585769231 meters Centerline goodness [0,1] 0.9996165807523538 Centerline is valid? [True, True] Translation: X:112.12, Y:-11.75, Z:-1.57 [[ 9.89515205e-01 1.44427102e-01 6.86756171e-04 1.12121920e+02] [-1.44427064e-01 9.89515443e-01 -1.05187699e-04 -1.17459137e+01] [-6.94747791e-04 4.89864996e-06 9.99999759e-01 -1.56789766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.615769231 meters Centerline goodness [0,1] 0.9997229798840778 Centerline is valid? [True, True] Translation: X:112.15, Y:-11.75, Z:-1.57 [[ 9.89256227e-01 1.46174713e-01 2.25159298e-03 1.12149570e+02] [-1.46174309e-01 9.89258790e-01 -3.44073390e-04 -1.17470152e+01] [-2.27770297e-03 1.12516966e-05 9.99997406e-01 -1.56555961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.645769231 meters Centerline goodness [0,1] 0.9998077416047167 Centerline is valid? [True, True] Translation: X:112.18, Y:-11.75, Z:-1.57 [[ 9.89093475e-01 1.47264576e-01 2.69123603e-03 1.12177365e+02] [-1.47264003e-01 9.89097136e-01 -4.10962917e-04 -1.17485997e+01] [-2.72241413e-03 1.01585488e-05 9.99996294e-01 -1.56546878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.675769231 meters Centerline goodness [0,1] 0.9998499753530937 Centerline is valid? [True, True] Translation: X:112.21, Y:-11.75, Z:-1.56 [[ 9.88694102e-01 1.49911597e-01 3.23832458e-03 1.12206879e+02] [-1.49910783e-01 9.88699405e-01 -4.94084112e-04 -1.17493180e+01] [-3.27579852e-03 3.03827549e-06 9.99994635e-01 -1.56450303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.705769231 meters Centerline goodness [0,1] 0.9998504976293195 Centerline is valid? [True, True] Translation: X:112.24, Y:-11.75, Z:-1.56 [[ 9.88445759e-01 1.51540442e-01 3.23664782e-03 1.12235159e+02] [-1.51539638e-01 9.88451058e-01 -4.93680793e-04 -1.17520952e+01] [-3.27408057e-03 -2.50375189e-06 9.99994640e-01 -1.56404577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.735769231 meters Centerline goodness [0,1] 0.999978875768394 Centerline is valid? [True, True] Translation: X:112.26, Y:-11.75, Z:-1.56 [[ 9.88052934e-01 1.54058655e-01 4.16302504e-03 1.12263585e+02] [-1.54057348e-01 9.88061704e-01 -6.34633163e-04 -1.17536643e+01] [-4.21109634e-03 -1.42934382e-05 9.99991133e-01 -1.56351325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76576923100001 meters Centerline goodness [0,1] 0.9998922622767136 Centerline is valid? [True, True] Translation: X:112.29, Y:-11.76, Z:-1.56 [[ 9.87957111e-01 1.54662673e-01 4.49488901e-03 1.12292094e+02] [-1.54661158e-01 9.87967336e-01 -6.84986550e-04 -1.17579394e+01] [-4.54674537e-03 -1.84474048e-05 9.99989663e-01 -1.56280366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79576923100001 meters Centerline goodness [0,1] 0.9999359836118046 Centerline is valid? [True, True] Translation: X:112.32, Y:-11.76, Z:-1.56 [[ 9.87930209e-01 1.54837109e-01 4.40141360e-03 1.12319856e+02] [-1.54835658e-01 9.87940013e-01 -6.70626825e-04 -1.17612749e+01] [-4.45217052e-03 -1.89632720e-05 9.99990089e-01 -1.56486759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82576923100001 meters Centerline goodness [0,1] 0.9998513200654192 Centerline is valid? [True, True] Translation: X:112.35, Y:-11.77, Z:-1.57 [[ 9.87918581e-01 1.54925613e-01 3.86405457e-03 1.12348237e+02] [-1.54924496e-01 9.87926138e-01 -5.88495249e-04 -1.17658254e+01] [-3.90857349e-03 -1.72513140e-05 9.99992361e-01 -1.56657538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85576923100001 meters Centerline goodness [0,1] 0.9998946525641565 Centerline is valid? [True, True] Translation: X:112.38, Y:-11.77, Z:-1.57 [[ 9.88082707e-01 1.53910248e-01 2.04929041e-03 1.12375246e+02] [-1.53909931e-01 9.88084832e-01 -3.12362744e-04 -1.17727460e+01] [-2.07294860e-03 -6.76592081e-06 9.99997851e-01 -1.56995731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88576923100001 meters Centerline goodness [0,1] 0.9999148356327713 Centerline is valid? [True, True] Translation: X:112.40, Y:-11.78, Z:-1.57 [[ 9.88260920e-01 1.52765161e-01 1.77778880e-03 1.12403002e+02] [-1.52764921e-01 9.88262519e-01 -2.70854430e-04 -1.17789971e+01] [-1.79829916e-03 -3.90891731e-06 9.99998383e-01 -1.57026094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91576923100001 meters Centerline goodness [0,1] 0.9998508257858284 Centerline is valid? [True, True] Translation: X:112.43, Y:-11.79, Z:-1.57 [[ 9.88469654e-01 1.51398794e-01 2.47951235e-03 1.12431266e+02] [-1.51398323e-01 9.88472764e-01 -3.77448805e-04 -1.17860204e+01] [-2.50807572e-03 -2.29732291e-06 9.99996855e-01 -1.56964596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94576923100001 meters Centerline goodness [0,1] 0.9997038290670616 Centerline is valid? [True, True] Translation: X:112.46, Y:-11.80, Z:-1.57 [[ 9.88967499e-01 1.48059307e-01 4.66133081e-03 1.12458058e+02] [-1.48057610e-01 9.88978484e-01 -7.08843318e-04 -1.17990879e+01] [-4.71490673e-03 1.08775019e-05 9.99988885e-01 -1.56567639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.975769231 meters Centerline goodness [0,1] 0.999617615193423 Centerline is valid? [True, True] Translation: X:112.49, Y:-11.81, Z:-1.56 [[ 9.89253965e-01 1.46115262e-01 5.18872783e-03 1.12487162e+02] [-1.46113135e-01 9.89267572e-01 -7.88616823e-04 -1.18082424e+01] [-5.24826914e-03 2.20010283e-05 9.99986227e-01 -1.56402520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.005769231 meters Centerline goodness [0,1] 0.9995297336582446 Centerline is valid? [True, True] Translation: X:112.52, Y:-11.82, Z:-1.57 [[ 9.89993541e-01 1.41061567e-01 3.79786653e-03 1.12516139e+02] [-1.41060391e-01 9.90000825e-01 -5.77034238e-04 -1.18247229e+01] [-3.84128835e-03 3.55316306e-05 9.99992622e-01 -1.56721675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.035769231 meters Centerline goodness [0,1] 0.9994895680469598 Centerline is valid? [True, True] Translation: X:112.55, Y:-11.84, Z:-1.57 [[ 9.90390065e-01 1.38258337e-01 3.48582759e-03 1.12545304e+02] [-1.38257331e-01 9.90396199e-01 -5.29151206e-04 -1.18410375e+01] [-3.52550997e-03 4.21248785e-05 9.99993784e-01 -1.57067293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.065769231 meters Centerline goodness [0,1] 0.9991484832357637 Centerline is valid? [True, True] Translation: X:112.58, Y:-11.85, Z:-1.57 [[ 9.90813437e-01 1.35181678e-01 3.82721250e-03 1.12576116e+02] [-1.35180440e-01 9.90820827e-01 -5.81447994e-04 -1.18501736e+01] [-3.87068297e-03 5.87422145e-05 9.99992507e-01 -1.56729710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.095769231 meters Centerline goodness [0,1] 0.9980492355972096 Centerline is valid? [True, True] Translation: X:112.60, Y:-11.87, Z:-1.57 [[ 9.91392869e-01 1.30860627e-01 3.95919540e-03 1.12603430e+02] [-1.30859266e-01 9.91400772e-01 -6.01919906e-04 -1.18745874e+01] [-4.00391699e-03 7.86416962e-05 9.99991981e-01 -1.56926449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.125769231 meters Centerline goodness [0,1] 0.9983515438425936 Centerline is valid? [True, True] Translation: X:112.63, Y:-11.88, Z:-1.57 [[ 9.91511457e-01 1.29978939e-01 3.24127522e-03 1.12633486e+02] [-1.29978023e-01 9.91516753e-01 -4.92401030e-04 -1.18849435e+01] [-3.27778045e-03 6.69267164e-05 9.99994626e-01 -1.57157998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15576923100001 meters Centerline goodness [0,1] 0.9985686819055757 Centerline is valid? [True, True] Translation: X:112.67, Y:-11.89, Z:-1.57 [[ 9.91480255e-01 1.30228947e-01 2.70663260e-03 1.12667183e+02] [-1.30228311e-01 9.91483948e-01 -4.10799650e-04 -1.18851379e+01] [-2.73708078e-03 5.48195496e-05 9.99996253e-01 -1.56924418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18576923100001 meters Centerline goodness [0,1] 0.9989608296396836 Centerline is valid? [True, True] Translation: X:112.70, Y:-11.89, Z:-1.57 [[ 9.90941613e-01 1.34271204e-01 2.44200212e-03 1.12697195e+02] [-1.34270694e-01 9.90944621e-01 -3.72549114e-04 -1.18891208e+01] [-2.46991149e-03 4.12851010e-05 9.99996949e-01 -1.57030832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21576923100001 meters Centerline goodness [0,1] 0.9992516410442814 Centerline is valid? [True, True] Translation: X:112.73, Y:-11.89, Z:-1.57 [[ 9.90527118e-01 1.37295956e-01 2.41829529e-03 1.12729781e+02] [-1.37295468e-01 9.90530070e-01 -3.67483600e-04 -1.18895171e+01] [-2.44584821e-03 3.19814882e-05 9.99997008e-01 -1.56954793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24576923100001 meters Centerline goodness [0,1] 0.9993417001125481 Centerline is valid? [True, True] Translation: X:112.76, Y:-11.90, Z:-1.57 [[ 9.90120308e-01 1.40205808e-01 2.02650416e-03 1.12760639e+02] [-1.40205471e-01 9.90122382e-01 -3.07982262e-04 -1.18969620e+01] [-2.04966803e-03 2.08125209e-05 9.99997899e-01 -1.57393466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27576923100001 meters Centerline goodness [0,1] 0.9996378586796754 Centerline is valid? [True, True] Translation: X:112.79, Y:-11.89, Z:-1.58 [[ 9.89335072e-01 1.45656999e-01 3.93570766e-04 1.12792717e+02] [-1.45656987e-01 9.89335150e-01 -5.99347711e-05 -1.18936138e+01] [-3.98103311e-04 1.96923926e-06 9.99999921e-01 -1.57531201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30576923100001 meters Centerline goodness [0,1] 0.9998083842534438 Centerline is valid? [True, True] Translation: X:112.82, Y:-11.89, Z:-1.58 [[ 9.88874708e-01 1.48750484e-01 -3.25482418e-04 1.12822963e+02] [-1.48750475e-01 9.88874761e-01 4.99366689e-05 -1.18937649e+01] [ 3.29289452e-04 -9.65444475e-07 9.99999946e-01 -1.57660725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.335769231 meters Centerline goodness [0,1] 0.9999357972906456 Centerline is valid? [True, True] Translation: X:112.85, Y:-11.89, Z:-1.57 [[ 9.87851477e-01 1.55399566e-01 6.58802454e-04 1.12854346e+02] [-1.55399533e-01 9.87851697e-01 -1.01058814e-04 -1.18860566e+01] [-6.66503618e-04 -2.54649502e-06 9.99999778e-01 -1.57420450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.365769231 meters Centerline goodness [0,1] 0.9999784617372762 Centerline is valid? [True, True] Translation: X:112.88, Y:-11.88, Z:-1.57 [[ 9.87306445e-01 1.58825364e-01 6.98172467e-04 1.12884127e+02] [-1.58825327e-01 9.87306692e-01 -1.07201687e-04 -1.18842640e+01] [-7.06336696e-04 -5.04655374e-06 9.99999751e-01 -1.57407840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.395769231 meters Centerline goodness [0,1] 0.9999572686095205 Centerline is valid? [True, True] Translation: X:112.91, Y:-11.88, Z:-1.58 [[ 9.86911376e-01 1.61263255e-01 -3.15133310e-04 1.12913528e+02] [-1.61263248e-01 9.86911426e-01 4.77628547e-05 -1.18836324e+01] [ 3.18711057e-04 3.68171645e-06 9.99999949e-01 -1.57628183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.425769231 meters Centerline goodness [0,1] 0.9998487500270089 Centerline is valid? [True, True] Translation: X:112.94, Y:-11.88, Z:-1.58 [[ 9.86605670e-01 1.63117724e-01 -1.36362543e-03 1.12942954e+02] [-1.63117592e-01 9.86606612e-01 2.08178683e-04 -1.18849114e+01] [ 1.37931950e-03 1.70410281e-05 9.99999049e-01 -1.57807258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.97, Y:-11.88, Z:-1.58 [[ 9.86276227e-01 1.65095727e-01 -1.61395743e-03 1.12972268e+02] [-1.65095545e-01 9.86277547e-01 2.45804705e-04 -1.18791723e+01] [ 1.63239128e-03 2.40258446e-05 9.99998667e-01 -1.57979873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.485769231 meters Centerline goodness [0,1] 0.9999786639356504 Centerline is valid? [True, True] Translation: X:113.00, Y:-11.88, Z:-1.58 [[ 9.86136140e-01 1.65938271e-01 -5.14337420e-05 1.13000824e+02] [-1.65938271e-01 9.86136142e-01 7.16656830e-06 -1.18769006e+01] [ 5.19098798e-05 1.46761421e-06 9.99999999e-01 -1.57775050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51576923100001 meters Centerline goodness [0,1] 0.9999571468363652 Centerline is valid? [True, True] Translation: X:113.03, Y:-11.88, Z:-1.57 [[ 9.86134493e-01 1.65914329e-01 3.34606644e-03 1.13029749e+02] [-1.65913549e-01 9.86140169e-01 -5.11503602e-04 -1.18791238e+01] [-3.38455630e-03 -5.07464107e-05 9.99994271e-01 -1.56930160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54576923100001 meters Centerline goodness [0,1] 0.999957644168661 Centerline is valid? [True, True] Translation: X:113.06, Y:-11.88, Z:-1.57 [[ 9.86409648e-01 1.64260938e-01 3.78826230e-03 1.13057486e+02] [-1.64259925e-01 9.86416921e-01 -5.78931498e-04 -1.18825263e+01] [-3.83190187e-03 -5.11960672e-05 9.99992657e-01 -1.57022661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57576923100001 meters Centerline goodness [0,1] 0.9998934765009161 Centerline is valid? [True, True] Translation: X:113.09, Y:-11.89, Z:-1.57 [[ 9.86809417e-01 1.61847474e-01 3.54528195e-03 1.13085756e+02] [-1.61846573e-01 9.86815785e-01 -5.41523106e-04 -1.18901524e+01] [-3.58618434e-03 -3.94116322e-05 9.99993569e-01 -1.57089830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60576923100001 meters Centerline goodness [0,1] 0.9999355697779305 Centerline is valid? [True, True] Translation: X:113.11, Y:-11.90, Z:-1.57 [[ 9.87626184e-01 1.56809759e-01 2.28485783e-03 1.13114465e+02] [-1.56809372e-01 9.87628827e-01 -3.48866976e-04 -1.18981356e+01] [-2.31129720e-03 -1.37369601e-05 9.99997329e-01 -1.57417923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63576923100001 meters Centerline goodness [0,1] 0.9998933606330113 Centerline is valid? [True, True] Translation: X:113.14, Y:-11.90, Z:-1.58 [[ 9.87942347e-01 1.54809587e-01 1.97740223e-03 1.13142971e+02] [-1.54809293e-01 9.87944326e-01 -3.02027082e-04 -1.19037378e+01] [-2.00032000e-03 -7.73489741e-06 9.99997999e-01 -1.57507347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66576923100001 meters Centerline goodness [0,1] 0.9998505997353481 Centerline is valid? [True, True] Translation: X:113.17, Y:-11.91, Z:-1.57 [[ 9.88195520e-01 1.53179413e-01 2.38366461e-03 1.13172248e+02] [-1.53178981e-01 9.88198395e-01 -3.63798788e-04 -1.19105132e+01] [-2.41126003e-03 -5.62298426e-06 9.99997093e-01 -1.57463610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69576923100001 meters Centerline goodness [0,1] 0.9998939667055455 Centerline is valid? [True, True] Translation: X:113.20, Y:-11.92, Z:-1.57 [[ 9.88552502e-01 1.50833918e-01 3.61657525e-03 1.13200278e+02] [-1.50832908e-01 9.88559118e-01 -5.51830269e-04 -1.19186311e+01] [-3.65843316e-03 1.46300242e-08 9.99993308e-01 -1.57166686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.725769231 meters Centerline goodness [0,1] 0.9998063558319169 Centerline is valid? [True, True] Translation: X:113.23, Y:-11.92, Z:-1.57 [[ 9.88568003e-01 1.50716905e-01 4.20918560e-03 1.13230145e+02] [-1.50715538e-01 9.88576964e-01 -6.41950691e-04 -1.19216160e+01] [-4.25785674e-03 2.22242251e-07 9.99990935e-01 -1.56959980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.755769231 meters Centerline goodness [0,1] 0.9998517326103533 Centerline is valid? [True, True] Translation: X:113.26, Y:-11.92, Z:-1.57 [[ 9.87972610e-01 1.54567520e-01 4.35940984e-03 1.13259563e+02] [-1.54566091e-01 9.87982227e-01 -6.64831715e-04 -1.19163053e+01] [-4.40978084e-03 -1.69814124e-05 9.99990277e-01 -1.56958601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.785769231 meters Centerline goodness [0,1] 0.9998722044728434 Centerline is valid? [True, True] Translation: X:113.29, Y:-11.92, Z:-1.57 [[ 9.87550748e-01 1.57245572e-01 4.16530602e-03 1.13288446e+02] [-1.57244292e-01 9.87559532e-01 -6.35177929e-04 -1.19154601e+01] [-4.21336658e-03 -2.77001563e-05 9.99991123e-01 -1.57007495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.815769231 meters Centerline goodness [0,1] 0.9998932695796956 Centerline is valid? [True, True] Translation: X:113.32, Y:-11.91, Z:-1.57 [[ 9.87092220e-01 1.60111414e-01 3.64488879e-03 1.13317256e+02] [-1.60110453e-01 9.87098948e-01 -5.55803789e-04 -1.19136600e+01] [-3.68685643e-03 -3.49552015e-05 9.99993203e-01 -1.57118258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.845769231 meters Centerline goodness [0,1] 0.9998928142685646 Centerline is valid? [True, True] Translation: X:113.35, Y:-11.91, Z:-1.57 [[ 9.86441256e-01 1.64086068e-01 3.06776060e-03 1.13347652e+02] [-1.64085407e-01 9.86446025e-01 -4.67621780e-04 -1.19061493e+01] [-3.10291047e-03 -4.20933319e-05 9.99995185e-01 -1.57292330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.875769231 meters Centerline goodness [0,1] 0.9999358069071768 Centerline is valid? [True, True] Translation: X:113.38, Y:-11.91, Z:-1.57 [[ 9.86322339e-01 1.64787726e-01 3.64003462e-03 1.13376223e+02] [-1.64786801e-01 9.86329054e-01 -5.54667973e-04 -1.19054056e+01] [-3.68167438e-03 -5.27482480e-05 9.99993221e-01 -1.57299682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90576923100001 meters Centerline goodness [0,1] 0.9998715863367862 Centerline is valid? [True, True] Translation: X:113.40, Y:-11.91, Z:-1.57 [[ 9.86287638e-01 1.64977135e-01 4.38629670e-03 1.13404910e+02] [-1.64975796e-01 9.86297390e-01 -6.67890088e-04 -1.19066901e+01] [-4.43637958e-03 -6.49010532e-05 9.99990157e-01 -1.57166313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93576923100001 meters Centerline goodness [0,1] 0.9998719535618251 Centerline is valid? [True, True] Translation: X:113.43, Y:-11.91, Z:-1.57 [[ 9.86276514e-01 1.65024839e-01 5.04393970e-03 1.13433266e+02] [-1.65023070e-01 9.86289408e-01 -7.67699987e-04 -1.19093554e+01] [-5.10147387e-03 -7.52019480e-05 9.99986985e-01 -1.57104771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96576923100001 meters Centerline goodness [0,1] 0.9999574884155933 Centerline is valid? [True, True] Translation: X:113.46, Y:-11.91, Z:-1.57 [[ 9.86490939e-01 1.63745011e-01 4.81656611e-03 1.13460897e+02] [-1.63743384e-01 9.86502695e-01 -7.32992855e-04 -1.19120405e+01] [-4.87157937e-03 -6.55900232e-05 9.99988132e-01 -1.57113139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99576923100001 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:113.49, Y:-11.92, Z:-1.57 [[ 9.86695287e-01 1.62517415e-01 4.52768533e-03 1.13489861e+02] [-1.62515966e-01 9.86705674e-01 -6.88679183e-04 -1.19159204e+01] [-4.57941517e-03 -5.63046512e-05 9.99989513e-01 -1.57172345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02576923100001 meters Centerline goodness [0,1] 0.9999144732622036 Centerline is valid? [True, True] Translation: X:113.52, Y:-11.92, Z:-1.57 [[ 9.86807197e-01 1.61837788e-01 4.48179122e-03 1.13519416e+02] [-1.61836362e-01 9.86817373e-01 -6.81489992e-04 -1.19164154e+01] [-4.53300027e-03 -5.28175571e-05 9.99989725e-01 -1.57063811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05576923100001 meters Centerline goodness [0,1] 0.9999135919813359 Centerline is valid? [True, True] Translation: X:113.55, Y:-11.92, Z:-1.57 [[ 9.86776679e-01 1.62010641e-01 4.93341352e-03 1.13548031e+02] [-1.62008916e-01 9.86789009e-01 -7.49874113e-04 -1.19193047e+01] [-4.98972583e-03 -5.92986903e-05 9.99987549e-01 -1.57046305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.085769231 meters Centerline goodness [0,1] 0.9999135919813359 Centerline is valid? [True, True] Translation: X:113.58, Y:-11.92, Z:-1.57 [[ 9.86784258e-01 1.61964469e-01 4.93344879e-03 1.13576054e+02] [-1.61962745e-01 9.86796589e-01 -7.49641975e-04 -1.19234687e+01] [-4.98972580e-03 -5.93000096e-05 9.99987549e-01 -1.57079453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.115769231 meters Centerline goodness [0,1] 0.9999570750971176 Centerline is valid? [True, True] Translation: X:113.61, Y:-11.93, Z:-1.57 [[ 9.86760052e-01 1.62122663e-01 4.56521288e-03 1.13605081e+02] [-1.62121190e-01 9.86770611e-01 -6.93510284e-04 -1.19260699e+01] [-4.61725164e-03 -5.57894997e-05 9.99989339e-01 -1.57170311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.145769231 meters Centerline goodness [0,1] 0.9999142440614013 Centerline is valid? [True, True] Translation: X:113.63, Y:-11.93, Z:-1.57 [[ 9.86661337e-01 1.62736687e-01 4.02209111e-03 1.13634199e+02] [-1.62735549e-01 9.86669533e-01 -6.10879384e-04 -1.19258820e+01] [-4.06788725e-03 -5.18061360e-05 9.99991725e-01 -1.57350995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.175769231 meters Centerline goodness [0,1] 0.9999354366633668 Centerline is valid? [True, True] Translation: X:113.66, Y:-11.93, Z:-1.57 [[ 9.86612574e-01 1.63020917e-01 4.45082965e-03 1.13662517e+02] [-1.63019527e-01 9.86622611e-01 -6.75902127e-04 -1.19281431e+01] [-4.50147535e-03 -5.87186060e-05 9.99989867e-01 -1.57254244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.205769231 meters Centerline goodness [0,1] 0.9999356112637363 Centerline is valid? [True, True] Translation: X:113.69, Y:-11.93, Z:-1.57 [[ 9.86532910e-01 1.63491834e-01 4.82062470e-03 1.13690335e+02] [-1.63490211e-01 9.86544685e-01 -7.31551133e-04 -1.19296209e+01] [-4.87536431e-03 -6.64256814e-05 9.99988113e-01 -1.57220268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.235769231 meters Centerline goodness [0,1] 0.999957193613287 Centerline is valid? [True, True] Translation: X:113.72, Y:-11.93, Z:-1.57 [[ 9.86376132e-01 1.64393647e-01 6.07090733e-03 1.13719597e+02] [-1.64391094e-01 9.86394810e-01 -9.20670708e-04 -1.19300827e+01] [-6.13966389e-03 -8.98754841e-05 9.99981148e-01 -1.56995835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26576923100001 meters Centerline goodness [0,1] 0.9998506602948393 Centerline is valid? [True, True] Translation: X:113.75, Y:-11.93, Z:-1.57 [[ 9.86294242e-01 1.64879178e-01 6.20678437e-03 1.13747894e+02] [-1.64876520e-01 9.86313767e-01 -9.41028013e-04 -1.19300787e+01] [-6.27699280e-03 -9.52224985e-05 9.99980295e-01 -1.57112502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29576923100001 meters Centerline goodness [0,1] 0.999893757171391 Centerline is valid? [True, True] Translation: X:113.77, Y:-11.93, Z:-1.58 [[ 9.86444118e-01 1.64041060e-01 4.30497958e-03 1.13774735e+02] [-1.64039772e-01 9.86453510e-01 -6.52920753e-04 -1.19323623e+01] [-4.35376803e-03 -6.21180340e-05 9.99990520e-01 -1.57511927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32576923100001 meters Centerline goodness [0,1] 0.9998299319727891 Centerline is valid? [True, True] Translation: X:113.80, Y:-11.94, Z:-1.58 [[ 9.86574865e-01 1.63278957e-01 3.16512205e-03 1.13802534e+02] [-1.63278258e-01 9.86579941e-01 -4.79791582e-04 -1.19357706e+01] [-3.20098580e-03 -4.34452996e-05 9.99994876e-01 -1.57705947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35576923100001 meters Centerline goodness [0,1] 0.9999358974358974 Centerline is valid? [True, True] Translation: X:113.83, Y:-11.94, Z:-1.58 [[ 9.86699238e-01 1.62534580e-01 2.66924167e-03 1.13830626e+02] [-1.62534081e-01 9.86702847e-01 -4.04372001e-04 -1.19396589e+01] [-2.69947279e-03 -3.48491958e-05 9.99996356e-01 -1.57713057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38576923100001 meters Centerline goodness [0,1] 0.9999147157903714 Centerline is valid? [True, True] Translation: X:113.86, Y:-11.94, Z:-1.58 [[ 9.86835771e-01 1.61693015e-01 3.24508649e-03 1.13859043e+02] [-1.61692274e-01 9.86841105e-01 -4.91235453e-04 -1.19416880e+01] [-3.28181408e-03 -3.99366958e-05 9.99994614e-01 -1.57669960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41576923100001 meters Centerline goodness [0,1] 0.9999569873973074 Centerline is valid? [True, True] Translation: X:113.89, Y:-11.95, Z:-1.58 [[ 9.86970723e-01 1.60865746e-01 3.31706714e-03 1.13886893e+02] [-1.60864967e-01 9.86976297e-01 -5.02202109e-04 -1.19456730e+01] [-3.35465376e-03 -3.79411158e-05 9.99994372e-01 -1.57746290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44576923100001 meters Centerline goodness [0,1] 0.9999356306055014 Centerline is valid? [True, True] Translation: X:113.91, Y:-11.95, Z:-1.58 [[ 9.87106714e-01 1.60040763e-01 2.69975135e-03 1.13914898e+02] [-1.60040244e-01 9.87110406e-01 -4.08599971e-04 -1.19506956e+01] [-2.73034530e-03 -2.87370901e-05 9.99996272e-01 -1.57850580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.475769231 meters Centerline goodness [0,1] 0.9999139858936865 Centerline is valid? [True, True] Translation: X:113.94, Y:-11.96, Z:-1.58 [[ 9.87640253e-01 1.56733446e-01 1.16491646e-03 1.13942925e+02] [-1.56733347e-01 9.87640940e-01 -1.76569513e-04 -1.19569443e+01] [-1.17819353e-03 -8.19409662e-06 9.99999306e-01 -1.58212736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.505769231 meters Centerline goodness [0,1] 0.9998939734509521 Centerline is valid? [True, True] Translation: X:113.97, Y:-11.96, Z:-1.59 [[ 9.87850659e-01 1.55402060e-01 1.12935409e-03 1.13970142e+02] [-1.55401966e-01 9.87851304e-01 -1.71265527e-04 -1.19601563e+01] [-1.14224893e-03 -6.31908273e-06 9.99999348e-01 -1.58525706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.535769231 meters Centerline goodness [0,1] 0.9999361525528337 Centerline is valid? [True, True] Translation: X:114.00, Y:-11.97, Z:-1.58 [[ 9.88043373e-01 1.54152421e-01 2.70636461e-03 1.13997947e+02] [-1.54151878e-01 9.88047079e-01 -4.09166314e-04 -1.19672439e+01] [-2.73708963e-03 -1.29171244e-05 9.99996254e-01 -1.57840718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.565769231 meters Centerline goodness [0,1] 0.9999572658703874 Centerline is valid? [True, True] Translation: X:114.03, Y:-11.97, Z:-1.58 [[ 9.87941795e-01 1.54804170e-01 2.58443318e-03 1.14027002e+02] [-1.54803678e-01 9.87945175e-01 -3.90631288e-04 -1.19699365e+01] [-2.61374965e-03 -1.41587868e-05 9.99996584e-01 -1.57924114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.595769231 meters Centerline goodness [0,1] 0.9999146101955426 Centerline is valid? [True, True] Translation: X:114.05, Y:-11.97, Z:-1.58 [[ 9.87733540e-01 1.56136105e-01 1.99280285e-03 1.14054884e+02] [-1.56135814e-01 9.87735550e-01 -3.01350861e-04 -1.19704482e+01] [-2.01541397e-03 -1.34935439e-05 9.99997969e-01 -1.58124391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.625769231 meters Centerline goodness [0,1] 0.9997867621972023 Centerline is valid? [True, True] Translation: X:114.09, Y:-11.97, Z:-1.59 [[ 9.87122956e-01 1.59961476e-01 -7.71948390e-04 1.14085528e+02] [-1.59961434e-01 9.87123258e-01 1.16176913e-04 -1.19658445e+01] [ 7.80592040e-04 8.80107432e-06 9.99999695e-01 -1.58714748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65576923100001 meters Centerline goodness [0,1] 0.9998089253110272 Centerline is valid? [True, True] Translation: X:114.11, Y:-11.96, Z:-1.59 [[ 9.86723020e-01 1.62407614e-01 -1.20332992e-03 1.14113422e+02] [-1.62407514e-01 9.86723754e-01 1.80206702e-04 -1.19639629e+01] [ 1.21662115e-03 1.76157197e-05 9.99999260e-01 -1.58882726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68576923100001 meters Centerline goodness [0,1] 0.9998306734961689 Centerline is valid? [True, True] Translation: X:114.14, Y:-11.96, Z:-1.59 [[ 9.86288444e-01 1.65029606e-01 -5.78848352e-04 1.14142869e+02] [-1.65029584e-01 9.86288613e-01 8.66918667e-05 -1.19621873e+01] [ 5.85218263e-04 1.00239164e-05 9.99999829e-01 -1.58748711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71576923100001 meters Centerline goodness [0,1] 0.9997856974476566 Centerline is valid? [True, True] Translation: X:114.17, Y:-11.95, Z:-1.58 [[ 9.85255984e-01 1.71078282e-01 1.69362896e-03 1.14174217e+02] [-1.71078095e-01 9.85257438e-01 -2.55470067e-04 -1.19542874e+01] [-1.71236591e-03 -3.80394041e-05 9.99998533e-01 -1.58135144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74576923100001 meters Centerline goodness [0,1] 0.9995310168407588 Centerline is valid? [True, True] Translation: X:114.20, Y:-11.95, Z:-1.58 [[ 9.84769592e-01 1.73841559e-01 2.82201297e-03 1.14203961e+02] [-1.73841053e-01 9.84773632e-01 -4.25527961e-04 -1.19491492e+01] [-2.85301841e-03 -7.15347114e-05 9.99995928e-01 -1.58019995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77576923100001 meters Centerline goodness [0,1] 0.9992385303636018 Centerline is valid? [True, True] Translation: X:114.23, Y:-11.94, Z:-1.58 [[ 9.84438116e-01 1.75681588e-01 4.19236279e-03 1.14233971e+02] [-1.75680485e-01 9.84447036e-01 -6.32727589e-04 -1.19448443e+01] [-4.23831771e-03 -1.13635174e-04 9.99991012e-01 -1.57809615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80576923100001 meters Centerline goodness [0,1] 0.9993230665087155 Centerline is valid? [True, True] Translation: X:114.26, Y:-11.95, Z:-1.58 [[ 9.84638558e-01 1.74543589e-01 4.63091124e-03 1.14262186e+02] [-1.74542236e-01 9.84649441e-01 -6.97979648e-04 -1.19488089e+01] [-4.68165203e-03 -1.21031926e-04 9.99989034e-01 -1.57843383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.835769231 meters Centerline goodness [0,1] 0.9993815048626514 Centerline is valid? [True, True] Translation: X:114.29, Y:-11.95, Z:-1.58 [[ 9.84938235e-01 1.72835948e-01 4.94050452e-03 1.14289322e+02] [-1.72834393e-01 9.84950618e-01 -7.43219979e-04 -1.19536496e+01] [-4.99460812e-03 -1.21863325e-04 9.99987519e-01 -1.57852107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.32, Y:-11.97, Z:-1.58 [[ 9.85886018e-01 1.67322787e-01 5.64316482e-03 1.14317414e+02] [-1.67320674e-01 9.85902162e-01 -8.48003792e-04 -1.19701650e+01] [-5.70549876e-03 -1.08183057e-04 9.99983718e-01 -1.57637405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.895769231 meters Centerline goodness [0,1] 0.9998940633077673 Centerline is valid? [True, True] Translation: X:114.35, Y:-11.97, Z:-1.58 [[ 9.86280005e-01 1.64976608e-01 5.87118165e-03 1.14345939e+02] [-1.64974279e-01 9.86297475e-01 -8.82194231e-04 -1.19712471e+01] [-5.93627305e-03 -9.85034293e-05 9.99982375e-01 -1.57821975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.925769231 meters Centerline goodness [0,1] 0.9999359918069513 Centerline is valid? [True, True] Translation: X:114.37, Y:-11.98, Z:-1.58 [[ 9.86849120e-01 1.61535338e-01 5.92859582e-03 1.14372805e+02] [-1.61532902e-01 9.86866925e-01 -8.90550658e-04 -1.19815339e+01] [-5.99459053e-03 -7.88241565e-05 9.99982029e-01 -1.57787718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.955769231 meters Centerline goodness [0,1] 0.9999364770152667 Centerline is valid? [True, True] Translation: X:114.40, Y:-11.99, Z:-1.58 [[ 9.87047748e-01 1.60307506e-01 6.18435559e-03 1.14400551e+02] [-1.60304834e-01 9.87067119e-01 -9.28549758e-04 -1.19904102e+01] [-6.25322755e-03 -7.48591486e-05 9.99980446e-01 -1.57566614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.985769231 meters Centerline goodness [0,1] 0.9999785949740999 Centerline is valid? [True, True] Translation: X:114.43, Y:-11.99, Z:-1.58 [[ 9.87221327e-01 1.59228624e-01 6.34798772e-03 1.14428154e+02] [-1.59225788e-01 9.87241733e-01 -9.52997766e-04 -1.19937013e+01] [-6.41874293e-03 -6.99436271e-05 9.99979397e-01 -1.57648275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.46, Y:-12.00, Z:-1.58 [[ 9.87410892e-01 1.58048540e-01 6.35530836e-03 1.14456138e+02] [-1.58045678e-01 9.87431342e-01 -9.53332062e-04 -1.19996394e+01] [-6.42610340e-03 -6.30985546e-05 9.99979350e-01 -1.57713646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04576923100001 meters Centerline goodness [0,1] 0.9999788368746296 Centerline is valid? [True, True] Translation: X:114.48, Y:-12.01, Z:-1.58 [[ 9.87962495e-01 1.54595690e-01 5.50286051e-03 1.14482370e+02] [-1.54593491e-01 9.87977819e-01 -8.25350269e-04 -1.20109374e+01] [-5.56429972e-03 -3.52913029e-05 9.99984519e-01 -1.57976251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07576923100001 meters Centerline goodness [0,1] 0.9999362136417758 Centerline is valid? [True, True] Translation: X:114.51, Y:-12.02, Z:-1.58 [[ 9.88240144e-01 1.52824536e-01 5.10672109e-03 1.14510182e+02] [-1.52822620e-01 9.88253338e-01 -7.65654087e-04 -1.20205988e+01] [-5.16374489e-03 -2.37723893e-05 9.99986667e-01 -1.57923103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10576923100001 meters Centerline goodness [0,1] 0.9998944457345521 Centerline is valid? [True, True] Translation: X:114.54, Y:-12.03, Z:-1.58 [[ 9.88694567e-01 1.49892426e-01 3.91323867e-03 1.14535857e+02] [-1.49891276e-01 9.88702311e-01 -5.87112797e-04 -1.20298793e+01] [-3.95703188e-03 -6.08510379e-06 9.99992171e-01 -1.58333252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13576923100001 meters Centerline goodness [0,1] 0.9998927912860758 Centerline is valid? [True, True] Translation: X:114.56, Y:-12.04, Z:-1.58 [[ 9.88875811e-01 1.48715552e-01 2.88347140e-03 1.14564258e+02] [-1.48714924e-01 9.88880015e-01 -4.32111428e-04 -1.20370176e+01] [-2.91566893e-03 -1.51069179e-06 9.99995749e-01 -1.58268320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16576923100001 meters Centerline goodness [0,1] 0.9999148881843521 Centerline is valid? [True, True] Translation: X:114.59, Y:-12.04, Z:-1.58 [[ 9.89019418e-01 1.47765594e-01 2.43315481e-03 1.14591435e+02] [-1.47765144e-01 9.89022411e-01 -3.64704886e-04 -1.20429101e+01] [-2.46033547e-03 1.16474451e-06 9.99996973e-01 -1.58475025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19576923100001 meters Centerline goodness [0,1] 0.9998078647367747 Centerline is valid? [True, True] Translation: X:114.62, Y:-12.05, Z:-1.58 [[ 9.89336344e-01 1.45566725e-01 4.89145678e-03 1.14618704e+02] [-1.45564885e-01 9.89348436e-01 -7.32108101e-04 -1.20527558e+01] [-4.94592569e-03 1.22768114e-05 9.99987769e-01 -1.58171486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.225769231 meters Centerline goodness [0,1] 0.9997452283391011 Centerline is valid? [True, True] Translation: X:114.65, Y:-12.06, Z:-1.58 [[ 9.89610454e-01 1.43649937e-01 5.98704849e-03 1.14645016e+02] [-1.43647146e-01 9.89628564e-01 -8.95778762e-04 -1.20619593e+01] [-6.05363277e-03 2.64495981e-05 9.99981676e-01 -1.58035095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.255769231 meters Centerline goodness [0,1] 0.999742682534577 Centerline is valid? [True, True] Translation: X:114.67, Y:-12.07, Z:-1.58 [[ 9.89919088e-01 1.41523390e-01 5.59732517e-03 1.14673008e+02] [-1.41520920e-01 9.89934911e-01 -8.37043944e-04 -1.20706123e+01] [-5.65944889e-03 3.64671720e-05 9.99983985e-01 -1.58053591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.285769231 meters Centerline goodness [0,1] 0.9993595764665699 Centerline is valid? [True, True] Translation: X:114.70, Y:-12.08, Z:-1.59 [[ 9.90417914e-01 1.38088377e-01 1.98872770e-03 1.14699398e+02] [-1.38088058e-01 9.90419911e-01 -2.97663290e-04 -1.20841280e+01] [-2.01077935e-03 2.01915094e-05 9.99997978e-01 -1.58847949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.315769231 meters Centerline goodness [0,1] 0.9993121533897941 Centerline is valid? [True, True] Translation: X:114.73, Y:-12.09, Z:-1.59 [[ 9.90500639e-01 1.37504492e-01 9.99181383e-04 1.14727722e+02] [-1.37504411e-01 9.90501143e-01 -1.49771393e-04 -1.20918289e+01] [-1.01028454e-03 1.09568131e-05 9.99999490e-01 -1.59044650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.345769231 meters Centerline goodness [0,1] 0.999357959166203 Centerline is valid? [True, True] Translation: X:114.75, Y:-12.10, Z:-1.59 [[ 9.90426211e-01 1.38039198e-01 1.04903158e-03 1.14754465e+02] [-1.38039109e-01 9.90426766e-01 -1.57287845e-04 -1.20987169e+01] [-1.06070085e-03 1.09746192e-05 9.99999437e-01 -1.59100091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.375769231 meters Centerline goodness [0,1] 0.9993987287407662 Centerline is valid? [True, True] Translation: X:114.78, Y:-12.10, Z:-1.59 [[ 9.89951295e-01 1.41396562e-01 1.85644294e-03 1.14781571e+02] [-1.41396290e-01 9.89953035e-01 -2.77701445e-04 -1.21035148e+01] [-1.87705736e-03 1.24167600e-05 9.99998238e-01 -1.58933171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40576923100001 meters Centerline goodness [0,1] 0.9998065431408796 Centerline is valid? [True, True] Translation: X:114.81, Y:-12.11, Z:-1.59 [[ 9.89682258e-01 1.43274333e-01 1.22180319e-03 1.14809386e+02] [-1.43274217e-01 9.89683013e-01 -1.82928986e-04 -1.21063267e+01] [-1.23540689e-03 5.98867680e-06 9.99999237e-01 -1.59127244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43576923100001 meters Centerline goodness [0,1] 0.9999573724370178 Centerline is valid? [True, True] Translation: X:114.84, Y:-12.11, Z:-1.60 [[ 9.89064156e-01 1.47482242e-01 -1.04094039e-03 1.14837874e+02] [-1.47482161e-01 9.89064704e-01 1.54706205e-04 -1.21085082e+01] [ 1.05237381e-03 5.05776325e-07 9.99999446e-01 -1.59593519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46576923100001 meters Centerline goodness [0,1] 0.999870862209978 Centerline is valid? [True, True] Translation: X:114.87, Y:-12.11, Z:-1.60 [[ 9.88864384e-01 1.48812859e-01 -1.40084702e-03 1.14866001e+02] [-1.48812713e-01 9.88865377e-01 2.08316851e-04 -1.21131568e+01] [ 1.41624934e-03 2.46673097e-06 9.99998997e-01 -1.59770489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49576923100001 meters Centerline goodness [0,1] 0.9999146429943238 Centerline is valid? [True, True] Translation: X:114.89, Y:-12.12, Z:-1.60 [[ 9.88718687e-01 1.49783925e-01 -3.65669475e-04 1.14894523e+02] [-1.49783916e-01 9.88718755e-01 5.39711334e-05 -1.21186281e+01] [ 3.69628276e-04 1.40913760e-06 9.99999932e-01 -1.59645390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52576923100001 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:114.92, Y:-12.13, Z:-1.59 [[ 9.88458703e-01 1.51461715e-01 2.95659384e-03 1.14922350e+02] [-1.51461074e-01 9.88463125e-01 -4.41055078e-04 -1.21261587e+01] [-2.98928695e-03 -1.18441471e-05 9.99995532e-01 -1.58836836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.95, Y:-12.13, Z:-1.59 [[ 9.88181637e-01 1.53245232e-01 3.59888257e-03 1.14950160e+02] [-1.53244293e-01 9.88188190e-01 -5.36674700e-04 -1.21283260e+01] [-3.63861609e-03 -2.11761337e-05 9.99993380e-01 -1.58790179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.585769231 meters Centerline goodness [0,1] 0.9999788386659895 Centerline is valid? [True, True] Translation: X:114.98, Y:-12.13, Z:-1.59 [[ 9.87893817e-01 1.55096710e-01 3.28889307e-03 1.14977706e+02] [-1.55095937e-01 9.87899291e-01 -4.90287682e-04 -1.21295750e+01] [-3.32513714e-03 -2.57417821e-05 9.99994471e-01 -1.58881475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.01, Y:-12.13, Z:-1.59 [[ 9.87319090e-01 1.58728071e-01 2.53275629e-03 1.15006898e+02] [-1.58727625e-01 9.87322338e-01 -3.77474688e-04 -1.21279737e+01] [-2.56056269e-03 -2.93304255e-05 9.99996721e-01 -1.59098717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.645769231 meters Centerline goodness [0,1] 0.9999785513587715 Centerline is valid? [True, True] Translation: X:115.04, Y:-12.13, Z:-1.59 [[ 9.87086529e-01 1.60169890e-01 2.40634489e-03 1.15035406e+02] [-1.60169492e-01 9.87089462e-01 -3.58583158e-04 -1.21330689e+01] [-2.43271191e-03 -3.14704344e-05 9.99997040e-01 -1.58929658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.675769231 meters Centerline goodness [0,1] 0.9999572539967513 Centerline is valid? [True, True] Translation: X:115.06, Y:-12.13, Z:-1.59 [[ 9.86811526e-01 1.61829240e-01 3.78277229e-03 1.15063758e+02] [-1.61828269e-01 9.86818775e-01 -5.63405093e-04 -1.21325099e+01] [-3.82408613e-03 -5.61848516e-05 9.99992687e-01 -1.58792315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.705769231 meters Centerline goodness [0,1] 0.9998944947352872 Centerline is valid? [True, True] Translation: X:115.09, Y:-12.14, Z:-1.59 [[ 9.86698054e-01 1.62483158e-01 5.11601429e-03 1.15090261e+02] [-1.62481394e-01 9.86711314e-01 -7.61295685e-04 -1.21352007e+01] [-5.17172690e-03 -8.00881637e-05 9.99986623e-01 -1.58610456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.735769231 meters Centerline goodness [0,1] 0.9999571303024457 Centerline is valid? [True, True] Translation: X:115.12, Y:-12.14, Z:-1.58 [[ 9.86714239e-01 1.62364352e-01 5.72950188e-03 1.15118618e+02] [-1.62362143e-01 9.86730870e-01 -8.51795944e-04 -1.21441236e+01] [-5.79177767e-03 -8.97750153e-05 9.99983223e-01 -1.58357525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76576923100001 meters Centerline goodness [0,1] 0.9999151229656036 Centerline is valid? [True, True] Translation: X:115.15, Y:-12.14, Z:-1.59 [[ 9.86758451e-01 1.62109774e-01 5.30847635e-03 1.15145522e+02] [-1.62107872e-01 9.86772727e-01 -7.89340437e-04 -1.21449244e+01] [-5.36621948e-03 -8.16574594e-05 9.99985598e-01 -1.58621384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79576923100001 meters Centerline goodness [0,1] 0.9999358700299273 Centerline is valid? [True, True] Translation: X:115.17, Y:-12.16, Z:-1.59 [[ 9.87146131e-01 1.59763797e-01 4.24806006e-03 1.15172549e+02] [-1.59762559e-01 9.87155270e-01 -6.31241750e-04 -1.21579263e+01] [-4.29434445e-03 -5.55530967e-05 9.99990778e-01 -1.58685167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82576923100001 meters Centerline goodness [0,1] 0.9999786884896532 Centerline is valid? [True, True] Translation: X:115.20, Y:-12.16, Z:-1.59 [[ 9.87391465e-01 1.58244389e-01 4.09972012e-03 1.15199685e+02] [-1.58243224e-01 9.87399975e-01 -6.09109612e-04 -1.21638646e+01] [-4.14445172e-03 -4.73232974e-05 9.99991411e-01 -1.58793824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85576923100001 meters Centerline goodness [0,1] 0.9999572027732603 Centerline is valid? [True, True] Translation: X:115.23, Y:-12.17, Z:-1.59 [[ 9.87784433e-01 1.55800528e-01 2.84772189e-03 1.15226449e+02] [-1.55799955e-01 9.87788538e-01 -4.23118807e-04 -1.21717906e+01] [-2.87886918e-03 -2.57247726e-05 9.99995856e-01 -1.59157942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88576923100001 meters Centerline goodness [0,1] 0.9999575118966689 Centerline is valid? [True, True] Translation: X:115.25, Y:-12.18, Z:-1.59 [[ 9.87855678e-01 1.55338826e-01 3.31795178e-03 1.15253671e+02] [-1.55338047e-01 9.87861250e-01 -4.92720311e-04 -1.21761335e+01] [-3.35421458e-03 -2.86675919e-05 9.99994374e-01 -1.59145449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:-12.18, Z:-1.59 [[ 9.87854002e-01 1.55329552e-01 4.14731733e-03 1.15281918e+02] [-1.55328338e-01 9.87862707e-01 -6.15327304e-04 -1.21806236e+01] [-4.19255864e-03 -3.63423674e-05 9.99991211e-01 -1.58902852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94576923100001 meters Centerline goodness [0,1] 0.9999357188772231 Centerline is valid? [True, True] Translation: X:115.31, Y:-12.18, Z:-1.59 [[ 9.87667112e-01 1.56504652e-01 4.46875084e-03 1.15310813e+02] [-1.56503255e-01 9.87677221e-01 -6.62767241e-04 -1.21827383e+01] [-4.51740956e-03 -4.47806432e-05 9.99989795e-01 -1.58804902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.975769231 meters Centerline goodness [0,1] 0.9999357188772231 Centerline is valid? [True, True] Translation: X:115.34, Y:-12.19, Z:-1.59 [[ 9.87674199e-01 1.56459921e-01 4.46878120e-03 1.15338851e+02] [-1.56458524e-01 9.87684307e-01 -6.62562403e-04 -1.21867985e+01] [-4.51740952e-03 -4.47831213e-05 9.99989795e-01 -1.58838050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.005769231 meters Centerline goodness [0,1] 0.9999787265726381 Centerline is valid? [True, True] Translation: X:115.37, Y:-12.19, Z:-1.59 [[ 9.87538601e-01 1.57339128e-01 3.45101918e-03 1.15368133e+02] [-1.57338301e-01 9.87544631e-01 -5.11626310e-04 -1.21885680e+01] [-3.48853430e-03 -3.77267644e-05 9.99993914e-01 -1.59149807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.035769231 meters Centerline goodness [0,1] 0.9999787690282584 Centerline is valid? [True, True] Translation: X:115.40, Y:-12.19, Z:-1.59 [[ 9.87521802e-01 1.57461013e-01 2.59236398e-03 1.15396396e+02] [-1.57460546e-01 9.87525204e-01 -3.84359020e-04 -1.21920706e+01] [-2.62054633e-03 -2.86321367e-05 9.99996566e-01 -1.59259672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.065769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:-12.19, Z:-1.60 [[ 9.87738364e-01 1.56107196e-01 1.86221467e-03 1.15424531e+02] [-1.56106952e-01 9.87740119e-01 -2.76284593e-04 -1.21936432e+01] [-1.88251415e-03 -1.78077648e-05 9.99998228e-01 -1.59570254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:-12.20, Z:-1.60 [[ 9.87887860e-01 1.55157600e-01 1.92231013e-03 1.15453149e+02] [-1.55157340e-01 9.87889730e-01 -2.84925533e-04 -1.21984904e+01] [-1.94323880e-03 -1.67860497e-05 9.99998112e-01 -1.59554311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.125769231 meters Centerline goodness [0,1] 0.9999787586558477 Centerline is valid? [True, True] Translation: X:115.48, Y:-12.20, Z:-1.59 [[ 9.88060271e-01 1.54047443e-01 2.50716350e-03 1.15481749e+02] [-1.54046997e-01 9.88063452e-01 -3.71352907e-04 -1.22045561e+01] [-2.53444259e-03 -1.93019536e-05 9.99996788e-01 -1.59318748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15576923100001 meters Centerline goodness [0,1] 0.9999366112367147 Centerline is valid? [True, True] Translation: X:115.51, Y:-12.21, Z:-1.59 [[ 9.88523434e-01 1.51041128e-01 2.82828076e-03 1.15509367e+02] [-1.51040548e-01 9.88527479e-01 -4.18825042e-04 -1.22102574e+01] [-2.85909306e-03 -1.31667061e-05 9.99995913e-01 -1.59428685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18576923100001 meters Centerline goodness [0,1] 0.9999134124166594 Centerline is valid? [True, True] Translation: X:115.54, Y:-12.22, Z:-1.59 [[ 9.88938225e-01 1.48306185e-01 2.54209468e-03 1.15537654e+02] [-1.48305708e-01 9.88941492e-01 -3.76270720e-04 -1.22184259e+01] [-2.56978618e-03 -4.89865318e-06 9.99996698e-01 -1.59257090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21576923100001 meters Centerline goodness [0,1] 0.9997430516894351 Centerline is valid? [True, True] Translation: X:115.56, Y:-12.23, Z:-1.59 [[ 9.89656359e-01 1.43431772e-01 2.75991181e-03 1.15564839e+02] [-1.43431191e-01 9.89660208e-01 -4.08428850e-04 -1.22276542e+01] [-2.78995657e-03 8.34677145e-06 9.99996108e-01 -1.59395089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24576923100001 meters Centerline goodness [0,1] 0.9996813324552272 Centerline is valid? [True, True] Translation: X:115.59, Y:-12.23, Z:-1.59 [[ 9.89772561e-01 1.42599743e-01 3.94857402e-03 1.15592229e+02] [-1.42598549e-01 9.89780437e-01 -5.83740464e-04 -1.22324552e+01] [-3.99146256e-03 1.47093687e-05 9.99992034e-01 -1.59226437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27576923100001 meters Centerline goodness [0,1] 0.999870611575951 Centerline is valid? [True, True] Translation: X:115.62, Y:-12.24, Z:-1.59 [[ 9.89740886e-01 1.42790906e-01 4.87197070e-03 1.15620720e+02] [-1.42789093e-01 9.89752877e-01 -7.19737091e-04 -1.22352658e+01] [-4.92481893e-03 1.66889498e-05 9.99987873e-01 -1.58909063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30576923100001 meters Centerline goodness [0,1] 0.9998073341468113 Centerline is valid? [True, True] Translation: X:115.65, Y:-12.23, Z:-1.59 [[ 9.89236076e-01 1.46276683e-01 3.88810615e-03 1.15650157e+02] [-1.46275555e-01 9.89243717e-01 -5.74316265e-04 -1.22321667e+01] [-3.93029366e-03 -6.00516612e-07 9.99992276e-01 -1.59122643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33576923100001 meters Centerline goodness [0,1] 0.999978660748581 Centerline is valid? [True, True] Translation: X:115.68, Y:-12.23, Z:-1.59 [[ 9.88919454e-01 1.48428473e-01 2.70210853e-03 1.15677984e+02] [-1.48427935e-01 9.88923146e-01 -3.99343140e-04 -1.22316197e+01] [-2.73145156e-03 -6.15019102e-06 9.99996270e-01 -1.59492870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.71, Y:-12.23, Z:-1.60 [[ 9.88626019e-01 1.50373174e-01 2.54995014e-03 1.15707112e+02] [-1.50372703e-01 9.88629308e-01 -3.76549002e-04 -1.22324527e+01] [-2.57757831e-03 -1.11767541e-05 9.99996678e-01 -1.59546708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.395769231 meters Centerline goodness [0,1] 0.9999572412023774 Centerline is valid? [True, True] Translation: X:115.74, Y:-12.23, Z:-1.59 [[ 9.88259911e-01 1.52704597e-01 4.86364510e-03 1.15735661e+02] [-1.52702915e-01 9.88271878e-01 -7.17550384e-04 -1.22304217e+01] [-4.91617692e-03 -3.35665049e-05 9.99987915e-01 -1.59227494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.425769231 meters Centerline goodness [0,1] 0.9999787211405469 Centerline is valid? [True, True] Translation: X:115.76, Y:-12.23, Z:-1.59 [[ 9.88256976e-01 1.52713087e-01 5.18297884e-03 1.15764595e+02] [-1.52711180e-01 9.88270566e-01 -7.64218888e-04 -1.22336902e+01] [-5.23889166e-03 -3.62541665e-05 9.99986276e-01 -1.59162464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.455769231 meters Centerline goodness [0,1] 0.9999787365242723 Centerline is valid? [True, True] Translation: X:115.79, Y:-12.23, Z:-1.59 [[ 9.88109033e-01 1.53714367e-01 3.52584112e-03 1.15793526e+02] [-1.53713490e-01 9.88115324e-01 -5.19894237e-04 -1.22348240e+01] [-3.56385285e-03 -2.82571517e-05 9.99993649e-01 -1.59487510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.82, Y:-12.23, Z:-1.60 [[ 9.87993850e-01 1.54474090e-01 2.43062249e-03 1.15821622e+02] [-1.54473675e-01 9.87996840e-01 -3.58564508e-04 -1.22339643e+01] [-2.45683626e-03 -2.12076597e-05 9.99996982e-01 -1.59982450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51576923100001 meters Centerline goodness [0,1] 0.9999571027175428 Centerline is valid? [True, True] Translation: X:115.85, Y:-12.24, Z:-1.60 [[ 9.87959505e-01 1.54701479e-01 1.86227642e-03 1.15850030e+02] [-1.54701236e-01 9.87961260e-01 -2.74675151e-04 -1.22412258e+01] [-1.88234961e-03 -1.67285377e-05 9.99998228e-01 -1.59650998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54576923100001 meters Centerline goodness [0,1] 0.9999786771290886 Centerline is valid? [True, True] Translation: X:115.88, Y:-12.24, Z:-1.60 [[ 9.88102734e-01 1.53766951e-01 2.95154762e-03 1.15878431e+02] [-1.53766338e-01 9.88107142e-01 -4.34853867e-04 -1.22430128e+01] [-2.98331144e-03 -2.41683758e-05 9.99995550e-01 -1.59627518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57576923100001 meters Centerline goodness [0,1] 0.999935935764927 Centerline is valid? [True, True] Translation: X:115.91, Y:-12.25, Z:-1.60 [[ 9.88310587e-01 1.52415919e-01 3.40159012e-03 1.15906937e+02] [-1.52415097e-01 9.88316441e-01 -5.00898061e-04 -1.22496956e+01] [-3.43819227e-03 -2.34108318e-05 9.99994089e-01 -1.59516443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60576923100001 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:115.93, Y:-12.26, Z:-1.60 [[ 9.88849842e-01 1.48896089e-01 2.43808405e-03 1.15933740e+02] [-1.48895656e-01 9.88852848e-01 -3.59197647e-04 -1.22588150e+01] [-2.46438948e-03 -7.82758693e-06 9.99996963e-01 -1.59834160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63576923100001 meters Centerline goodness [0,1] 0.9999785628537129 Centerline is valid? [True, True] Translation: X:115.96, Y:-12.26, Z:-1.60 [[ 9.89068887e-01 1.47440919e-01 1.97802394e-03 1.15961283e+02] [-1.47440631e-01 9.89070865e-01 -2.91390522e-04 -1.22643823e+01] [-1.99936873e-03 -3.43579813e-06 9.99998001e-01 -1.60042346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66576923100001 meters Centerline goodness [0,1] 0.9999787093614938 Centerline is valid? [True, True] Translation: X:115.99, Y:-12.27, Z:-1.60 [[ 9.89233072e-01 1.46338265e-01 1.74416902e-03 1.15988849e+02] [-1.46338039e-01 9.89234609e-01 -2.56900572e-04 -1.22696272e+01] [-1.76298674e-03 -1.10373316e-06 9.99998446e-01 -1.60186630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.02, Y:-12.28, Z:-1.60 [[ 9.89395310e-01 1.45224830e-01 2.58245694e-03 1.16017227e+02] [-1.45224333e-01 9.89398680e-01 -3.79794786e-04 -1.22758759e+01] [-2.61023512e-03 7.31593506e-07 9.99996593e-01 -1.59900955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.725769231 meters Centerline goodness [0,1] 0.9998301774645495 Centerline is valid? [True, True] Translation: X:116.05, Y:-12.29, Z:-1.59 [[ 9.89741541e-01 1.42802911e-01 4.36014892e-03 1.16045395e+02] [-1.42801474e-01 9.89751145e-01 -6.40877570e-04 -1.22864235e+01] [-4.40698157e-03 1.16674629e-05 9.99990289e-01 -1.59374418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.755769231 meters Centerline goodness [0,1] 0.9998726141695505 Centerline is valid? [True, True] Translation: X:116.07, Y:-12.29, Z:-1.60 [[ 9.89926815e-01 1.41517131e-01 4.21925047e-03 1.16072592e+02] [-1.41515775e-01 9.89935807e-01 -6.19811910e-04 -1.22942176e+01] [-4.26450112e-03 1.64779299e-05 9.99990907e-01 -1.59581388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.785769231 meters Centerline goodness [0,1] 0.9999787292876439 Centerline is valid? [True, True] Translation: X:116.10, Y:-12.30, Z:-1.60 [[ 9.90035523e-01 1.40795108e-01 2.52979178e-03 1.16100903e+02] [-1.40794618e-01 9.90038755e-01 -3.71604790e-04 -1.22992211e+01] [-2.55691204e-03 1.17208748e-05 9.99996731e-01 -1.59848943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.815769231 meters Centerline goodness [0,1] 0.9998927866883952 Centerline is valid? [True, True] Translation: X:116.13, Y:-12.30, Z:-1.60 [[ 9.90015859e-01 1.40938043e-01 2.25108908e-03 1.16129852e+02] [-1.40937655e-01 9.90018418e-01 -3.30622585e-04 -1.23027988e+01] [-2.27521695e-03 1.00583850e-05 9.99997412e-01 -1.59860667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.845769231 meters Centerline goodness [0,1] 0.9998294606693668 Centerline is valid? [True, True] Translation: X:116.16, Y:-12.31, Z:-1.60 [[ 9.89954265e-01 1.41356969e-01 2.95980851e-03 1.16157312e+02] [-1.41356301e-01 9.89958690e-01 -4.34500724e-04 -1.23067742e+01] [-2.99150786e-03 1.17482613e-05 9.99995525e-01 -1.59807604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.875769231 meters Centerline goodness [0,1] 0.9998940633077673 Centerline is valid? [True, True] Translation: X:116.19, Y:-12.31, Z:-1.60 [[ 9.90115672e-01 1.40181127e-01 4.49531250e-03 1.16185349e+02] [-1.40179579e-01 9.90125876e-01 -6.59206387e-04 -1.23149579e+01] [-4.54333352e-03 2.25395599e-05 9.99989679e-01 -1.59522880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90576923100001 meters Centerline goodness [0,1] 0.9999573797042152 Centerline is valid? [True, True] Translation: X:116.21, Y:-12.32, Z:-1.60 [[ 9.90329810e-01 1.38653315e-01 4.70385776e-03 1.16212284e+02] [-1.38651603e-01 9.90340980e-01 -6.89621805e-04 -1.23228578e+01] [-4.75404145e-03 3.07556104e-05 9.99988699e-01 -1.59562066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93576923100001 meters Centerline goodness [0,1] 0.9998928234588014 Centerline is valid? [True, True] Translation: X:116.24, Y:-12.33, Z:-1.60 [[ 9.90587398e-01 1.36835975e-01 3.53885180e-03 1.16240873e+02] [-1.36834996e-01 9.90593718e-01 -5.18508010e-04 -1.23334145e+01] [-3.57651491e-03 2.93887290e-05 9.99993604e-01 -1.59719299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96576923100001 meters Centerline goodness [0,1] 0.9998946148171567 Centerline is valid? [True, True] Translation: X:116.27, Y:-12.34, Z:-1.60 [[ 9.90541629e-01 1.37164518e-01 3.62994084e-03 1.16269258e+02] [-1.37163490e-01 9.90548280e-01 -5.31757349e-04 -1.23408358e+01] [-3.66856989e-03 2.88324353e-05 9.99993270e-01 -1.59781153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99576923100001 meters Centerline goodness [0,1] 0.999785899329865 Centerline is valid? [True, True] Translation: X:116.30, Y:-12.34, Z:-1.59 [[ 9.90417024e-01 1.38023252e-01 4.86840467e-03 1.16298407e+02] [-1.38021414e-01 9.90428988e-01 -7.13051179e-04 -1.23444825e+01] [-4.92022676e-03 3.42739280e-05 9.99987895e-01 -1.59412578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02576923100001 meters Centerline goodness [0,1] 0.9998082127559828 Centerline is valid? [True, True] Translation: X:116.33, Y:-12.34, Z:-1.59 [[ 9.89849290e-01 1.41955366e-01 6.85974490e-03 1.16327582e+02] [-1.41951815e-01 9.89873059e-01 -1.00435316e-03 -1.23430030e+01] [-6.93285000e-03 2.04050283e-05 9.99975967e-01 -1.58986780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05576923100001 meters Centerline goodness [0,1] 0.9999361661382642 Centerline is valid? [True, True] Translation: X:116.36, Y:-12.34, Z:-1.59 [[ 9.89460675e-01 1.44646063e-01 6.71484628e-03 1.16356029e+02] [-1.44642723e-01 9.89483459e-01 -9.82904889e-04 -1.23422725e+01] [-6.78640264e-03 1.29208238e-06 9.99976972e-01 -1.59115230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:-12.34, Z:-1.59 [[ 9.88529257e-01 1.50894277e-01 6.38952001e-03 1.16385957e+02] [-1.50891387e-01 9.88549905e-01 -9.34831836e-04 -1.23361633e+01] [-6.45742017e-03 -4.00149149e-05 9.99979150e-01 -1.59245295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.115769231 meters Centerline goodness [0,1] 0.9999570455960998 Centerline is valid? [True, True] Translation: X:116.42, Y:-12.34, Z:-1.59 [[ 9.88032732e-01 1.54090428e-01 6.88921959e-03 1.16415679e+02] [-1.54087148e-01 9.88056747e-01 -1.00757457e-03 -1.23352480e+01] [-6.96219749e-03 -6.60235419e-05 9.99975761e-01 -1.59106670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.145769231 meters Centerline goodness [0,1] 0.9998723621511232 Centerline is valid? [True, True] Translation: X:116.45, Y:-12.33, Z:-1.59 [[ 9.87522560e-01 1.57291703e-01 7.64949269e-03 1.16445115e+02] [-1.57287758e-01 9.87552181e-01 -1.11833969e-03 -1.23337260e+01] [-7.73017875e-03 -9.87858832e-05 9.99970117e-01 -1.59007167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.175769231 meters Centerline goodness [0,1] 0.9998085635887946 Centerline is valid? [True, True] Translation: X:116.48, Y:-12.33, Z:-1.59 [[ 9.86771204e-01 1.61952907e-01 7.33799701e-03 1.16475889e+02] [-1.61949409e-01 9.86798479e-01 -1.07237054e-03 -1.23293782e+01] [-7.41479782e-03 -1.30199915e-04 9.99972502e-01 -1.59101756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.205769231 meters Centerline goodness [0,1] 0.9996610743941705 Centerline is valid? [True, True] Translation: X:116.50, Y:-12.33, Z:-1.59 [[ 9.86561110e-01 1.63278447e-01 6.10939350e-03 1.16504453e+02] [-1.63276047e-01 9.86580020e-01 -8.92919184e-04 -1.23294004e+01] [-6.17320001e-03 -1.16598277e-04 9.99980939e-01 -1.59368874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.235769231 meters Centerline goodness [0,1] 0.9999148646347693 Centerline is valid? [True, True] Translation: X:116.53, Y:-12.33, Z:-1.60 [[ 9.86658509e-01 1.62742666e-01 4.45106525e-03 1.16532295e+02] [-1.62741387e-01 9.86668545e-01 -6.50554020e-04 -1.23290578e+01] [-4.49759897e-03 -8.24978737e-05 9.99989882e-01 -1.59815400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26576923100001 meters Centerline goodness [0,1] 0.9999574621945254 Centerline is valid? [True, True] Translation: X:116.56, Y:-12.33, Z:-1.60 [[ 9.86898123e-01 1.61290916e-01 4.16359234e-03 1.16560576e+02] [-1.61289786e-01 9.86906903e-01 -6.08117448e-04 -1.23335159e+01] [-4.20716184e-03 -7.13949478e-05 9.99991147e-01 -1.59918611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29576923100001 meters Centerline goodness [0,1] 0.9998933378842503 Centerline is valid? [True, True] Translation: X:116.59, Y:-12.34, Z:-1.60 [[ 9.87152517e-01 1.59732751e-01 3.91885491e-03 1.16588870e+02] [-1.59731738e-01 9.87160293e-01 -5.72217638e-04 -1.23387702e+01] [-3.95993986e-03 -6.10994227e-05 9.99992158e-01 -1.60033173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32576923100001 meters Centerline goodness [0,1] 0.9998708205050918 Centerline is valid? [True, True] Translation: X:116.62, Y:-12.34, Z:-1.60 [[ 9.87370748e-01 1.58386709e-01 3.55753707e-03 1.16617400e+02] [-1.58385865e-01 9.87377156e-01 -5.19339860e-04 -1.23437141e+01] [-3.59488736e-03 -5.06825998e-05 9.99993537e-01 -1.60124145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35576923100001 meters Centerline goodness [0,1] 0.9999573151211183 Centerline is valid? [True, True] Translation: X:116.65, Y:-12.34, Z:-1.61 [[ 9.87630747e-01 1.56784887e-01 2.00174327e-03 1.16645810e+02] [-1.56784616e-01 9.87632775e-01 -2.92482440e-04 -1.23444552e+01] [-2.02284409e-03 -2.49778990e-05 9.99997954e-01 -1.60537875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38576923100001 meters Centerline goodness [0,1] 0.9999150707036393 Centerline is valid? [True, True] Translation: X:116.67, Y:-12.35, Z:-1.61 [[ 9.87821605e-01 1.55586258e-01 1.18050913e-03 1.16673918e+02] [-1.55586162e-01 9.87822310e-01 -1.72569939e-04 -1.23498419e+01] [-1.19298276e-03 -1.32025709e-05 9.99999288e-01 -1.60615525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41576923100001 meters Centerline goodness [0,1] 0.9998938496486424 Centerline is valid? [True, True] Translation: X:116.70, Y:-12.36, Z:-1.61 [[ 9.88327419e-01 1.52335633e-01 1.66352916e-03 1.16701790e+02] [-1.52335440e-01 9.88328819e-01 -2.42885287e-04 -1.23575146e+01] [-1.68111389e-03 -1.33642575e-05 9.99998587e-01 -1.60511623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44576923100001 meters Centerline goodness [0,1] 0.9999783923941228 Centerline is valid? [True, True] Translation: X:116.73, Y:-12.36, Z:-1.60 [[ 9.88553542e-01 1.50854189e-01 2.21527587e-03 1.16730566e+02] [-1.50853844e-01 9.88556024e-01 -3.23037752e-04 -1.23635631e+01] [-2.23865590e-03 -1.48427666e-05 9.99997494e-01 -1.60408676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.475769231 meters Centerline goodness [0,1] 0.9999360600183295 Centerline is valid? [True, True] Translation: X:116.76, Y:-12.37, Z:-1.60 [[ 9.88716493e-01 1.49777812e-01 2.51063843e-03 1.16757789e+02] [-1.49777365e-01 9.88719681e-01 -3.66178530e-04 -1.23680580e+01] [-2.53716305e-03 -1.39900573e-05 9.99996781e-01 -1.60377577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.505769231 meters Centerline goodness [0,1] 0.9999787306448868 Centerline is valid? [True, True] Translation: X:116.79, Y:-12.37, Z:-1.60 [[ 9.88883651e-01 1.48659798e-01 3.06407421e-03 1.16785596e+02] [-1.48659128e-01 9.88888398e-01 -4.46553695e-04 -1.23718261e+01] [-3.09641202e-03 -1.39129510e-05 9.99995206e-01 -1.60316984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.535769231 meters Centerline goodness [0,1] 0.9999786265415607 Centerline is valid? [True, True] Translation: X:116.81, Y:-12.38, Z:-1.60 [[ 9.89010452e-01 1.47814153e-01 3.04988289e-03 1.16814240e+02] [-1.47813486e-01 9.89015155e-01 -4.44216214e-04 -1.23775833e+01] [-3.08204184e-03 -1.14793439e-05 9.99995250e-01 -1.60304265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.565769231 meters Centerline goodness [0,1] 0.999936294912087 Centerline is valid? [True, True] Translation: X:116.84, Y:-12.39, Z:-1.60 [[ 9.89280870e-01 1.45995368e-01 2.95170527e-03 1.16842178e+02] [-1.45994736e-01 9.89285274e-01 -4.29790566e-04 -1.23851009e+01] [-2.98282598e-03 -5.74984462e-06 9.99995551e-01 -1.60453720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.595769231 meters Centerline goodness [0,1] 0.9999364299033735 Centerline is valid? [True, True] Translation: X:116.87, Y:-12.39, Z:-1.61 [[ 9.89342387e-01 1.45584355e-01 2.61453238e-03 1.16869401e+02] [-1.45583858e-01 9.89345842e-01 -3.80736684e-04 -1.23893363e+01] [-2.64210605e-03 -3.95477067e-06 9.99996510e-01 -1.60553497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.625769231 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:116.90, Y:-12.39, Z:-1.61 [[ 9.89153454e-01 1.46877178e-01 1.59343419e-03 1.16898496e+02] [-1.46876994e-01 9.89154737e-01 -2.32105013e-04 -1.23922678e+01] [-1.61024391e-03 -4.45134990e-06 9.99998704e-01 -1.60657240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65576923100001 meters Centerline goodness [0,1] 0.9999786921224777 Centerline is valid? [True, True] Translation: X:116.93, Y:-12.40, Z:-1.61 [[ 9.88985940e-01 1.48003187e-01 1.36624319e-03 1.16926218e+02] [-1.48003053e-01 9.88986884e-01 -1.99148568e-04 -1.23955134e+01] [-1.38067122e-03 -5.25302994e-06 9.99999047e-01 -1.60711773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68576923100001 meters Centerline goodness [0,1] 0.9999576638936517 Centerline is valid? [True, True] Translation: X:116.95, Y:-12.40, Z:-1.61 [[ 9.88799747e-01 1.49240869e-01 1.49072884e-03 1.16954329e+02] [-1.49240712e-01 9.88800871e-01 -2.17129781e-04 -1.23981491e+01] [-1.50643861e-03 -7.77956017e-06 9.99998865e-01 -1.60736210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71576923100001 meters Centerline goodness [0,1] 0.9999366701146271 Centerline is valid? [True, True] Translation: X:116.98, Y:-12.40, Z:-1.60 [[ 9.88551198e-01 1.50858066e-01 2.89368183e-03 1.16981800e+02] [-1.50857480e-01 9.88555433e-01 -4.20833207e-04 -1.23984311e+01] [-2.92405098e-03 -2.05183796e-05 9.99995725e-01 -1.60414599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74576923100001 meters Centerline goodness [0,1] 0.9998942224290761 Centerline is valid? [True, True] Translation: X:117.01, Y:-12.40, Z:-1.60 [[ 9.88517931e-01 1.51059222e-01 3.66217248e-03 1.17010760e+02] [-1.51058289e-01 9.88524714e-01 -5.31703508e-04 -1.24032199e+01] [-3.70046672e-03 -2.76030565e-05 9.99993153e-01 -1.60272204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77576923100001 meters Centerline goodness [0,1] 0.9998276493526079 Centerline is valid? [True, True] Translation: X:117.04, Y:-12.41, Z:-1.60 [[ 9.88463988e-01 1.51328536e-01 6.21440119e-03 1.17038765e+02] [-1.51325857e-01 9.88483521e-01 -9.01824309e-04 -1.24124081e+01] [-6.27930492e-03 -4.89787340e-05 9.99980284e-01 -1.59855375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80576923100001 meters Centerline goodness [0,1] 0.9998718934153216 Centerline is valid? [True, True] Translation: X:117.07, Y:-12.42, Z:-1.60 [[ 9.88497523e-01 1.51076749e-01 6.96148510e-03 1.17067273e+02] [-1.51073383e-01 9.88522035e-01 -1.00983543e-03 -1.24189129e+01] [-7.03414407e-03 -5.34752872e-05 9.99975259e-01 -1.59657961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83576923100001 meters Centerline goodness [0,1] 0.9998487009899278 Centerline is valid? [True, True] Translation: X:117.10, Y:-12.42, Z:-1.60 [[ 9.88505040e-01 1.51038449e-01 6.72113715e-03 1.17096135e+02] [-1.51035313e-01 9.88527887e-01 -9.74666040e-04 -1.24239241e+01] [-6.79124356e-03 -5.16667616e-05 9.99976938e-01 -1.59664997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.865769231 meters Centerline goodness [0,1] 0.9998487009899278 Centerline is valid? [True, True] Translation: X:117.12, Y:-12.43, Z:-1.60 [[ 9.88512548e-01 1.50989298e-01 6.72118551e-03 1.17124183e+02] [-1.50986163e-01 9.88535396e-01 -9.74332437e-04 -1.24278994e+01] [-6.79124355e-03 -5.16661689e-05 9.99976938e-01 -1.59698144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.895769231 meters Centerline goodness [0,1] 0.9999154780771262 Centerline is valid? [True, True] Translation: X:117.15, Y:-12.43, Z:-1.60 [[ 9.88491464e-01 1.51152319e-01 6.13201153e-03 1.17152548e+02] [-1.51149714e-01 9.88510482e-01 -8.88730720e-04 -1.24285794e+01] [-6.19589138e-03 -4.83490606e-05 9.99980804e-01 -1.60026956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.925769231 meters Centerline goodness [0,1] 0.9999363543788188 Centerline is valid? [True, True] Translation: X:117.18, Y:-12.43, Z:-1.60 [[ 9.88261797e-01 1.52682456e-01 5.16603975e-03 1.17180325e+02] [-1.52680630e-01 9.88275298e-01 -7.48473427e-04 -1.24301309e+01] [-5.21974823e-03 -4.90665075e-05 9.99986376e-01 -1.60268817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.955769231 meters Centerline goodness [0,1] 0.9999576844955992 Centerline is valid? [True, True] Translation: X:117.21, Y:-12.43, Z:-1.60 [[ 9.87805040e-01 1.55640401e-01 4.15543886e-03 1.17208681e+02] [-1.55639246e-01 9.87813779e-01 -6.01944191e-04 -1.24275531e+01] [-4.19848660e-03 -5.21458660e-05 9.99991185e-01 -1.60347570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.985769231 meters Centerline goodness [0,1] 0.9998940363667189 Centerline is valid? [True, True] Translation: X:117.24, Y:-12.43, Z:-1.61 [[ 9.87588595e-01 1.57017715e-01 3.76891898e-03 1.17237688e+02] [-1.57016775e-01 9.87595785e-01 -5.45713647e-04 -1.24273857e+01] [-3.80785521e-03 -5.28429304e-05 9.99992749e-01 -1.60508926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01576923100001 meters Centerline goodness [0,1] 0.999913824676304 Centerline is valid? [True, True] Translation: X:117.26, Y:-12.43, Z:-1.60 [[ 9.87570184e-01 1.57123749e-01 4.15445143e-03 1.17264678e+02] [-1.57122608e-01 9.87578920e-01 -6.01513749e-04 -1.24334046e+01] [-4.19736075e-03 -5.87212018e-05 9.99991189e-01 -1.60269699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04576923100001 meters Centerline goodness [0,1] 0.9998303575215234 Centerline is valid? [True, True] Translation: X:117.29, Y:-12.44, Z:-1.60 [[ 9.87757886e-01 1.55901543e-01 5.39144299e-03 1.17293003e+02] [-1.55899608e-01 9.87772597e-01 -7.79824779e-04 -1.24356022e+01] [-5.44709553e-03 -7.02457743e-05 9.99985162e-01 -1.60304524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07576923100001 meters Centerline goodness [0,1] 0.9999351869855467 Centerline is valid? [True, True] Translation: X:117.32, Y:-12.45, Z:-1.60 [[ 9.88631904e-01 1.50165076e-01 7.57677166e-03 1.17319401e+02] [-1.50161091e-01 9.88660936e-01 -1.09532825e-03 -1.24538969e+01] [-7.65533821e-03 -5.48598488e-05 9.99970696e-01 -1.59716517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10576923100001 meters Centerline goodness [0,1] 0.9999367422245651 Centerline is valid? [True, True] Translation: X:117.35, Y:-12.46, Z:-1.60 [[ 9.89234914e-01 1.46170990e-01 6.95172838e-03 1.17346581e+02] [-1.46167539e-01 9.89259340e-01 -1.00472686e-03 -1.24626966e+01] [-7.02392414e-03 -2.22061351e-05 9.99975332e-01 -1.59927923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13576923100001 meters Centerline goodness [0,1] 0.999956960554348 Centerline is valid? [True, True] Translation: X:117.37, Y:-12.48, Z:-1.60 [[ 9.90385246e-01 1.38230523e-01 5.42098138e-03 1.17373911e+02] [-1.38228308e-01 9.90400082e-01 -7.83080551e-04 -1.24784498e+01] [-5.47718604e-03 2.62183425e-05 9.99985000e-01 -1.60212901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16576923100001 meters Centerline goodness [0,1] 0.9998299861863776 Centerline is valid? [True, True] Translation: X:117.40, Y:-12.49, Z:-1.60 [[ 9.90742815e-01 1.35668905e-01 4.75641266e-03 1.17401098e+02] [-1.35667170e-01 9.90754231e-01 -6.87081168e-04 -1.24884666e+01] [-4.80565152e-03 3.54316856e-05 9.99988452e-01 -1.60491883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19576923100001 meters Centerline goodness [0,1] 0.999722204414813 Centerline is valid? [True, True] Translation: X:117.43, Y:-12.50, Z:-1.61 [[ 9.90983228e-01 1.33910895e-01 4.48478770e-03 1.17429619e+02] [-1.33909334e-01 9.90993376e-01 -6.47768930e-04 -1.24956890e+01] [-4.53113821e-03 4.13732104e-05 9.99989733e-01 -1.60548740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.225769231 meters Centerline goodness [0,1] 0.9994674051981253 Centerline is valid? [True, True] Translation: X:117.46, Y:-12.50, Z:-1.61 [[ 9.91334373e-01 1.31288728e-01 4.40797396e-03 1.17458468e+02] [-1.31287196e-01 9.91344172e-01 -6.36320202e-04 -1.25024879e+01] [-4.45336097e-03 5.20955481e-05 9.99990082e-01 -1.60537858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.255769231 meters Centerline goodness [0,1] 0.9994881419552978 Centerline is valid? [True, True] Translation: X:117.49, Y:-12.51, Z:-1.61 [[ 9.91493857e-01 1.30085315e-01 4.21215002e-03 1.17487274e+02] [-1.30083906e-01 9.91502803e-01 -6.07962588e-04 -1.25088146e+01] [-4.25544556e-03 5.48582434e-05 9.99990944e-01 -1.60633959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.285769231 meters Centerline goodness [0,1] 0.9994020160601401 Centerline is valid? [True, True] Translation: X:117.52, Y:-12.52, Z:-1.61 [[ 9.91773575e-01 1.27957113e-01 3.48616629e-03 1.17516543e+02] [-1.27956135e-01 9.91779701e-01 -5.02946184e-04 -1.25214226e+01] [-3.52186450e-03 5.27323691e-05 9.99993797e-01 -1.60852378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.315769231 meters Centerline goodness [0,1] 0.9994001199760048 Centerline is valid? [True, True] Translation: X:117.55, Y:-12.53, Z:-1.61 [[ 9.91860158e-01 1.27298882e-01 2.90198031e-03 1.17545742e+02] [-1.27298202e-01 9.91864402e-01 -4.18666180e-04 -1.25305713e+01] [-2.93166670e-03 4.58414280e-05 9.99995702e-01 -1.60991240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.345769231 meters Centerline goodness [0,1] 0.9995979516695586 Centerline is valid? [True, True] Translation: X:117.57, Y:-12.54, Z:-1.61 [[ 9.91861066e-01 1.27321401e-01 9.41723890e-04 1.17574507e+02] [-1.27321329e-01 9.91861513e-01 -1.35988220e-04 -1.25403659e+01] [-9.51373893e-04 1.49798833e-05 9.99999547e-01 -1.61317380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.375769231 meters Centerline goodness [0,1] 0.999743803240889 Centerline is valid? [True, True] Translation: X:117.60, Y:-12.54, Z:-1.61 [[ 9.91731437e-01 1.28330366e-01 2.73212258e-04 1.17603578e+02] [-1.28330360e-01 9.91731474e-01 -3.96819593e-05 -1.25440967e+01] [-2.76045596e-04 4.29241911e-06 9.99999962e-01 -1.61396045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40576923100001 meters Centerline goodness [0,1] 0.9997250946308867 Centerline is valid? [True, True] Translation: X:117.63, Y:-12.55, Z:-1.61 [[ 9.91491976e-01 1.30166372e-01 6.13474316e-04 1.17632499e+02] [-1.30166342e-01 9.91492166e-01 -8.87431355e-05 -1.25478341e+01] [-6.19806350e-04 8.13439902e-06 9.99999808e-01 -1.61456236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43576923100001 meters Centerline goodness [0,1] 0.9997435842646211 Centerline is valid? [True, True] Translation: X:117.66, Y:-12.55, Z:-1.61 [[ 9.91107578e-01 1.33052239e-01 1.69452628e-03 1.17661567e+02] [-1.33052015e-01 9.91109026e-01 -2.44598116e-04 -1.25497457e+01] [-1.71200462e-03 1.69629107e-05 9.99998534e-01 -1.61324415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46576923100001 meters Centerline goodness [0,1] 0.9999356623560445 Centerline is valid? [True, True] Translation: X:117.69, Y:-12.54, Z:-1.61 [[ 9.89842591e-01 1.42133386e-01 3.12190237e-03 1.17692237e+02] [-1.42132672e-01 9.89847514e-01 -4.50438449e-04 -1.25406361e+01] [-3.15422965e-03 2.13883458e-06 9.99995025e-01 -1.60992113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49576923100001 meters Centerline goodness [0,1] 0.9998728490294143 Centerline is valid? [True, True] Translation: X:117.72, Y:-12.53, Z:-1.61 [[ 9.89022052e-01 1.47735784e-01 3.08519247e-03 1.17721573e+02] [-1.47735114e-01 9.89026864e-01 -4.45239122e-04 -1.25343242e+01] [-3.11711598e-03 -1.54399517e-05 9.99995142e-01 -1.61060851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52576923100001 meters Centerline goodness [0,1] 0.99991442202777 Centerline is valid? [True, True] Translation: X:117.75, Y:-12.52, Z:-1.61 [[ 9.87382309e-01 1.58336614e-01 2.38580153e-03 1.17754911e+02] [-1.58336246e-01 9.87385191e-01 -3.43772484e-04 -1.25177415e+01] [-2.41013687e-03 -3.83239882e-05 9.99997095e-01 -1.61160667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55576923100001 meters Centerline goodness [0,1] 0.9998284255903233 Centerline is valid? [True, True] Translation: X:117.78, Y:-12.51, Z:-1.61 [[ 9.86782841e-01 1.62035554e-01 2.02582814e-03 1.17784686e+02] [-1.62035295e-01 9.86784920e-01 -2.92369504e-04 -1.25134043e+01] [-2.04643091e-03 -3.97504493e-05 9.99997905e-01 -1.61244730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58576923100001 meters Centerline goodness [0,1] 0.999639906799407 Centerline is valid? [True, True] Translation: X:117.82, Y:-12.51, Z:-1.61 [[ 9.86360191e-01 1.64589667e-01 1.95332324e-03 1.17815326e+02] [-1.64589432e-01 9.86362124e-01 -2.81580544e-04 -1.25112188e+01] [-1.97302931e-03 -4.37565232e-05 9.99998053e-01 -1.61250330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.615769231 meters Centerline goodness [0,1] 0.9994509555485165 Centerline is valid? [True, True] Translation: X:117.84, Y:-12.50, Z:-1.61 [[ 9.85917333e-01 1.67187038e-01 3.93787450e-03 1.17843879e+02] [-1.67186103e-01 9.85925192e-01 -5.67845263e-04 -1.25049106e+01] [-3.97738605e-03 -9.85094045e-05 9.99992085e-01 -1.60938577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.645769231 meters Centerline goodness [0,1] 0.9995774082447652 Centerline is valid? [True, True] Translation: X:117.87, Y:-12.51, Z:-1.61 [[ 9.85900814e-01 1.67263780e-01 4.73421769e-03 1.17872319e+02] [-1.67262433e-01 9.85912173e-01 -6.81843449e-04 -1.25064371e+01] [-4.78157057e-03 -1.19626760e-04 9.99988561e-01 -1.60796723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.675769231 meters Centerline goodness [0,1] 0.9995766658199983 Centerline is valid? [True, True] Translation: X:117.90, Y:-12.51, Z:-1.61 [[ 9.86109950e-01 1.66024624e-01 4.79478301e-03 1.17901422e+02] [-1.66023230e-01 9.86121601e-01 -6.90076817e-04 -1.25067605e+01] [-4.84280884e-03 -1.15553745e-04 9.99988267e-01 -1.60774997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.705769231 meters Centerline goodness [0,1] 0.9996624187695164 Centerline is valid? [True, True] Translation: X:117.93, Y:-12.51, Z:-1.61 [[ 9.86237033e-01 1.65280561e-01 4.34181473e-03 1.17929811e+02] [-1.65279410e-01 9.86246585e-01 -6.24996847e-04 -1.25073517e+01] [-4.38539978e-03 -1.01217540e-04 9.99990379e-01 -1.60881540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.735769231 meters Centerline goodness [0,1] 0.9998280568272186 Centerline is valid? [True, True] Translation: X:117.96, Y:-12.51, Z:-1.61 [[ 9.86403057e-01 1.64286657e-01 4.34792355e-03 1.17958162e+02] [-1.64285496e-01 9.86412634e-01 -6.25258314e-04 -1.25105914e+01] [-4.39156832e-03 -9.75440632e-05 9.99990352e-01 -1.60968487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76576923100001 meters Centerline goodness [0,1] 0.9997841617923204 Centerline is valid? [True, True] Translation: X:117.99, Y:-12.52, Z:-1.61 [[ 9.86954107e-01 1.60926779e-01 4.91545952e-03 1.17985609e+02] [-1.60925255e-01 9.86966343e-01 -7.06652912e-04 -1.25150890e+01] [-4.96511249e-03 -9.35875826e-05 9.99987669e-01 -1.60990205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79576923100001 meters Centerline goodness [0,1] 0.9998085472994533 Centerline is valid? [True, True] Translation: X:118.01, Y:-12.52, Z:-1.61 [[ 9.87363859e-01 1.58384805e-01 5.18306143e-03 1.18013743e+02] [-1.58383077e-01 9.87377459e-01 -7.44722025e-04 -1.25219489e+01] [-5.23559068e-03 -8.55976045e-05 9.99986291e-01 -1.60961801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82576923100001 meters Centerline goodness [0,1] 0.9998921134966016 Centerline is valid? [True, True] Translation: X:118.04, Y:-12.54, Z:-1.61 [[ 9.88327626e-01 1.52256716e-01 5.13767803e-03 1.18041632e+02] [-1.52254938e-01 9.88340978e-01 -7.37832903e-04 -1.25369805e+01] [-5.19011774e-03 -5.30162069e-05 9.99986530e-01 -1.60809946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85576923100001 meters Centerline goodness [0,1] 0.999806568088033 Centerline is valid? [True, True] Translation: X:118.07, Y:-12.55, Z:-1.61 [[ 9.88788502e-01 1.49221831e-01 5.49034904e-03 1.18069168e+02] [-1.49219753e-01 9.88803744e-01 -7.88479857e-04 -1.25454241e+01] [-5.54653610e-03 -3.96287108e-05 9.99984617e-01 -1.60732225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88576923100001 meters Centerline goodness [0,1] 0.9999146193088433 Centerline is valid? [True, True] Translation: X:118.10, Y:-12.55, Z:-1.61 [[ 9.89153232e-01 1.46769122e-01 5.89143187e-03 1.18096329e+02] [-1.46766687e-01 9.89170776e-01 -8.45817785e-04 -1.25526723e+01] [-5.95177217e-03 -2.80225430e-05 9.99982288e-01 -1.60633107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91576923100001 meters Centerline goodness [0,1] 0.9999151211645376 Centerline is valid? [True, True] Translation: X:118.12, Y:-12.56, Z:-1.60 [[ 9.89528074e-01 1.44166921e-01 7.07740551e-03 1.18123882e+02] [-1.44163345e-01 9.89553383e-01 -1.01550460e-03 -1.25588675e+01] [-7.14987274e-03 -1.54321412e-05 9.99974439e-01 -1.60478655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94576923100001 meters Centerline goodness [0,1] 0.9999358686590136 Centerline is valid? [True, True] Translation: X:118.15, Y:-12.56, Z:-1.60 [[ 9.89544179e-01 1.44048322e-01 7.23872639e-03 1.18152393e+02] [-1.44044582e-01 9.89570655e-01 -1.03815081e-03 -1.25620767e+01] [-7.31277509e-03 -1.54032234e-05 9.99973261e-01 -1.60417465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.975769231 meters Centerline goodness [0,1] 0.9998734016964173 Centerline is valid? [True, True] Translation: X:118.18, Y:-12.56, Z:-1.61 [[ 9.89327453e-01 1.45581676e-01 6.09639849e-03 1.18180247e+02] [-1.45579054e-01 9.89346236e-01 -8.74106259e-04 -1.25617258e+01] [-6.15870276e-03 -2.27306043e-05 9.99981035e-01 -1.60700066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.005769231 meters Centerline goodness [0,1] 0.9999787802911344 Centerline is valid? [True, True] Translation: X:118.21, Y:-12.56, Z:-1.61 [[ 9.89098146e-01 1.47135706e-01 5.99509270e-03 1.18208733e+02] [-1.47133200e-01 9.89116314e-01 -8.59284229e-04 -1.25631471e+01] [-6.05627539e-03 -3.21607355e-05 9.99981660e-01 -1.60730346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.035769231 meters Centerline goodness [0,1] 0.9998499431927801 Centerline is valid? [True, True] Translation: X:118.24, Y:-12.56, Z:-1.61 [[ 9.88902736e-01 1.48440623e-01 6.06303709e-03 1.18238148e+02] [-1.48438087e-01 9.88921321e-01 -8.68724178e-04 -1.25643146e+01] [-6.12482061e-03 -4.09019108e-05 9.99981242e-01 -1.60717956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.065769231 meters Centerline goodness [0,1] 0.9998727006555916 Centerline is valid? [True, True] Translation: X:118.27, Y:-12.56, Z:-1.61 [[ 9.88458275e-01 1.51415897e-01 4.84408614e-03 1.18268054e+02] [-1.51414314e-01 9.88470143e-01 -6.93950562e-04 -1.25609959e+01] [-4.89330967e-03 -4.75228066e-05 9.99988027e-01 -1.60920472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.095769231 meters Centerline goodness [0,1] 0.9998066927273508 Centerline is valid? [True, True] Translation: X:118.30, Y:-12.56, Z:-1.61 [[ 9.88190341e-01 1.53180218e-01 3.95861808e-03 1.18297156e+02] [-1.53179175e-01 9.88198269e-01 -5.67027328e-04 -1.25617193e+01] [-3.99875690e-03 -4.60469229e-05 9.99992004e-01 -1.61046306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.125769231 meters Centerline goodness [0,1] 0.9997036786182957 Centerline is valid? [True, True] Translation: X:118.33, Y:-12.56, Z:-1.61 [[ 9.87921940e-01 1.54908941e-01 3.66894444e-03 1.18325392e+02] [-1.54908057e-01 9.87928751e-01 -5.25693141e-04 -1.25593105e+01] [-3.70609026e-03 -4.90052656e-05 9.99993131e-01 -1.61239293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15576923100001 meters Centerline goodness [0,1] 0.999658579262958 Centerline is valid? [True, True] Translation: X:118.35, Y:-12.56, Z:-1.61 [[ 9.87591309e-01 1.56961163e-01 5.15743164e-03 1.18354624e+02] [-1.56959449e-01 9.87604773e-01 -7.37923497e-04 -1.25555974e+01] [-5.20932944e-03 -8.07407976e-05 9.99986428e-01 -1.60832033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18576923100001 meters Centerline goodness [0,1] 0.9998502577705521 Centerline is valid? [True, True] Translation: X:118.38, Y:-12.56, Z:-1.61 [[ 9.87526583e-01 1.57355978e-01 5.50855705e-03 1.18382756e+02] [-1.57354032e-01 9.87541942e-01 -7.87772860e-04 -1.25550508e+01] [-5.56389190e-03 -8.88470186e-05 9.99984517e-01 -1.60849999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21576923100001 meters Centerline goodness [0,1] 0.999660051842094 Centerline is valid? [True, True] Translation: X:118.41, Y:-12.55, Z:-1.61 [[ 9.87734028e-01 1.56080700e-01 4.50608084e-03 1.18410395e+02] [-1.56079385e-01 9.87744304e-01 -6.44257942e-04 -1.25547787e+01] [-4.55141191e-03 -6.69508337e-05 9.99989640e-01 -1.61231329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24576923100001 meters Centerline goodness [0,1] 0.9996833438885371 Centerline is valid? [True, True] Translation: X:118.44, Y:-12.56, Z:-1.61 [[ 9.87996130e-01 1.54431105e-01 3.83163730e-03 1.18438692e+02] [-1.54430142e-01 9.88003558e-01 -5.47594555e-04 -1.25601800e+01] [-3.87023692e-03 -5.06989914e-05 9.99992509e-01 -1.61454331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27576923100001 meters Centerline goodness [0,1] 0.9998293915676782 Centerline is valid? [True, True] Translation: X:118.47, Y:-12.57, Z:-1.61 [[ 9.88797172e-01 1.49227831e-01 3.34782488e-03 1.18466489e+02] [-1.49227067e-01 9.88802839e-01 -4.78377741e-04 -1.25684406e+01] [-3.38172602e-03 -2.65675294e-05 9.99994282e-01 -1.61453819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30576923100001 meters Centerline goodness [0,1] 0.9998727195587611 Centerline is valid? [True, True] Translation: X:118.49, Y:-12.57, Z:-1.61 [[ 9.89290454e-01 1.45904056e-01 4.05025486e-03 1.18493274e+02] [-1.45902910e-01 9.89298745e-01 -5.78523342e-04 -1.25748908e+01] [-4.09132095e-03 -1.86163506e-05 9.99991630e-01 -1.61415904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33576923100001 meters Centerline goodness [0,1] 0.999914801167224 Centerline is valid? [True, True] Translation: X:118.52, Y:-12.58, Z:-1.61 [[ 9.89816694e-01 1.42271028e-01 4.67625913e-03 1.18520928e+02] [-1.42269463e-01 9.89827740e-01 -6.67470289e-04 -1.25840830e+01] [-4.72365269e-03 -4.61563869e-06 9.99988843e-01 -1.61286680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.365769231 meters Centerline goodness [0,1] 0.9998722860791827 Centerline is valid? [True, True] Translation: X:118.55, Y:-12.60, Z:-1.61 [[ 9.90828679e-01 1.35049362e-01 4.49437701e-03 1.18547877e+02] [-1.35047842e-01 9.90838871e-01 -6.41315757e-04 -1.25989597e+01] [-4.53981273e-03 2.84781278e-05 9.99989695e-01 -1.61453795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.395769231 meters Centerline goodness [0,1] 0.9998721963064733 Centerline is valid? [True, True] Translation: X:118.58, Y:-12.61, Z:-1.61 [[ 9.91391658e-01 1.30846949e-01 4.65373174e-03 1.18575628e+02] [-1.30845275e-01 9.91402579e-01 -6.63810035e-04 -1.26087937e+01] [-4.70057917e-03 4.91769240e-05 9.99988951e-01 -1.61458859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.425769231 meters Centerline goodness [0,1] 0.9997251295062903 Centerline is valid? [True, True] Translation: X:118.60, Y:-12.63, Z:-1.61 [[ 9.92343814e-01 1.23381017e-01 5.55686772e-03 1.18601660e+02] [-1.23378515e-01 9.92359368e-01 -7.92256312e-04 -1.26251679e+01] [-5.61215912e-03 1.00592565e-04 9.99984247e-01 -1.61295124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.455769231 meters Centerline goodness [0,1] 0.9996582365003418 Centerline is valid? [True, True] Translation: X:118.63, Y:-12.64, Z:-1.61 [[ 9.92721134e-01 1.20271381e-01 6.28855900e-03 1.18629698e+02] [-1.20268116e-01 9.92741042e-01 -8.96137351e-04 -1.26363292e+01] [-6.35069030e-03 1.33301342e-04 9.99979825e-01 -1.61159167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.485769231 meters Centerline goodness [0,1] 0.9996594802817801 Centerline is valid? [True, True] Translation: X:118.66, Y:-12.65, Z:-1.61 [[ 9.93129657e-01 1.16899010e-01 5.30152727e-03 1.18657946e+02] [-1.16896643e-01 9.93143798e-01 -7.55284946e-04 -1.26489569e+01] [-5.35347100e-03 1.30365138e-04 9.99985662e-01 -1.61302288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51576923100001 meters Centerline goodness [0,1] 0.9995731238794502 Centerline is valid? [True, True] Translation: X:118.69, Y:-12.65, Z:-1.62 [[ 9.93205717e-01 1.16296241e-01 4.19379118e-03 1.18687550e+02] [-1.16294754e-01 9.93214566e-01 -5.97432284e-04 -1.26532609e+01] [-4.23481362e-03 1.05657246e-04 9.99991028e-01 -1.61523683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54576923100001 meters Centerline goodness [0,1] 0.9995735971345727 Centerline is valid? [True, True] Translation: X:118.72, Y:-12.66, Z:-1.62 [[ 9.93211363e-01 1.16275527e-01 3.34512031e-03 1.18715809e+02] [-1.16274580e-01 9.93216993e-01 -4.76708386e-04 -1.26583562e+01] [-3.37785986e-03 8.45197249e-05 9.99994291e-01 -1.61697544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57576923100001 meters Centerline goodness [0,1] 0.9998059968528379 Centerline is valid? [True, True] Translation: X:118.74, Y:-12.66, Z:-1.62 [[ 9.93101658e-01 1.17177315e-01 4.30961540e-03 1.18744888e+02] [-1.17175755e-01 9.93111004e-01 -6.13618752e-04 -1.26640744e+01] [-4.35182867e-03 1.04403363e-04 9.99990525e-01 -1.61540715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60576923100001 meters Centerline goodness [0,1] 0.999638482477033 Centerline is valid? [True, True] Translation: X:118.77, Y:-12.67, Z:-1.61 [[ 9.93024269e-01 1.17775449e-01 5.63434383e-03 1.18772850e+02] [-1.17772792e-01 9.93040244e-01 -8.02084675e-04 -1.26712056e+01] [-5.68959606e-03 1.32917141e-04 9.99983805e-01 -1.61345785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63576923100001 meters Centerline goodness [0,1] 0.9996594005449592 Centerline is valid? [True, True] Translation: X:118.80, Y:-12.67, Z:-1.61 [[ 9.92830819e-01 1.19302705e-01 7.33684075e-03 1.18802516e+02] [-1.19298246e-01 9.92857915e-01 -1.04399324e-03 -1.26743972e+01] [-7.40899163e-03 1.61236433e-04 9.99972540e-01 -1.61090092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66576923100001 meters Centerline goodness [0,1] 0.9997230448028293 Centerline is valid? [True, True] Translation: X:118.83, Y:-12.68, Z:-1.61 [[ 9.92662997e-01 1.20744906e-01 6.39073236e-03 1.18830693e+02] [-1.20741554e-01 9.92683560e-01 -9.09232804e-04 -1.26787883e+01] [-6.45376018e-03 1.30934808e-04 9.99979166e-01 -1.61317973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69576923100001 meters Centerline goodness [0,1] 0.999892890040916 Centerline is valid? [True, True] Translation: X:118.86, Y:-12.68, Z:-1.62 [[ 9.92495635e-01 1.22181261e-01 4.91462802e-03 1.18859315e+02] [-1.22179295e-01 9.92507799e-01 -6.99356410e-04 -1.26828038e+01] [-4.96325489e-03 9.36423972e-05 9.99987679e-01 -1.61670822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.725769231 meters Centerline goodness [0,1] 0.9998078893442623 Centerline is valid? [True, True] Translation: X:118.89, Y:-12.68, Z:-1.62 [[ 9.92152317e-01 1.25028271e-01 1.30779338e-03 1.18886870e+02] [-1.25028134e-01 9.92153179e-01 -1.86440416e-04 -1.26849916e+01] [-1.32084169e-03 2.14663238e-05 9.99999127e-01 -1.62332127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.755769231 meters Centerline goodness [0,1] 0.9998078893442623 Centerline is valid? [True, True] Translation: X:118.91, Y:-12.69, Z:-1.62 [[ 9.92158139e-01 1.24982068e-01 1.30780187e-03 1.18914934e+02] [-1.24981931e-01 9.92159000e-01 -1.86380800e-04 -1.26888891e+01] [-1.32084165e-03 2.14676243e-05 9.99999127e-01 -1.62365279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.785769231 meters Centerline goodness [0,1] 0.999741746653467 Centerline is valid? [True, True] Translation: X:118.94, Y:-12.69, Z:-1.62 [[ 9.91916423e-01 1.26887276e-01 1.19509327e-03 1.18944630e+02] [-1.26887163e-01 9.91917143e-01 -1.70205886e-04 -1.26882594e+01] [-1.20703046e-03 1.71880187e-05 9.99999271e-01 -1.62238030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.815769231 meters Centerline goodness [0,1] 0.999978816700913 Centerline is valid? [True, True] Translation: X:118.97, Y:-12.69, Z:-1.62 [[ 9.91433044e-01 1.30558285e-01 3.87999197e-03 1.18972557e+02] [-1.30557126e-01 9.91440635e-01 -5.51559909e-04 -1.26932460e+01] [-3.91879242e-03 4.02741200e-05 9.99992321e-01 -1.61928563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.845769231 meters Centerline goodness [0,1] 0.9999576118517263 Centerline is valid? [True, True] Translation: X:119.00, Y:-12.70, Z:-1.62 [[ 9.91244976e-01 1.31943987e-01 4.91754881e-03 1.19000321e+02] [-1.31942145e-01 9.91257173e-01 -6.98711101e-04 -1.26982448e+01] [-4.96674626e-03 4.37619333e-05 9.99987665e-01 -1.61776587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.875769231 meters Centerline goodness [0,1] 0.9999574096552312 Centerline is valid? [True, True] Translation: X:119.03, Y:-12.70, Z:-1.62 [[ 9.91147445e-01 1.32678957e-01 4.79965874e-03 1.19028786e+02] [-1.32677212e-01 9.91159065e-01 -6.81626818e-04 -1.27023624e+01] [-4.84766281e-03 3.87873383e-05 9.99988249e-01 -1.61784696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90576923100001 meters Centerline goodness [0,1] 0.9999573306024919 Centerline is valid? [True, True] Translation: X:119.06, Y:-12.70, Z:-1.62 [[ 9.90949633e-01 1.34170740e-01 4.12762358e-03 1.19058020e+02] [-1.34169463e-01 9.90958229e-01 -5.86067032e-04 -1.27046472e+01] [-4.16893560e-03 2.69618719e-05 9.99991310e-01 -1.61957604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93576923100001 meters Centerline goodness [0,1] 0.9999365307719974 Centerline is valid? [True, True] Translation: X:119.09, Y:-12.71, Z:-1.62 [[ 9.90771633e-01 1.35442153e-01 5.19564220e-03 1.19086490e+02] [-1.35440149e-01 9.90785255e-01 -7.37326213e-04 -1.27069374e+01] [-5.24763073e-03 2.68233441e-05 9.99986231e-01 -1.61790804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96576923100001 meters Centerline goodness [0,1] 0.999914842885123 Centerline is valid? [True, True] Translation: X:119.12, Y:-12.71, Z:-1.62 [[ 9.90520975e-01 1.37219230e-01 6.25154366e-03 1.19115162e+02] [-1.37216367e-01 9.90540702e-01 -8.86760297e-04 -1.27116854e+01] [-6.31408901e-03 2.05405673e-05 9.99980066e-01 -1.61715520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99576923100001 meters Centerline goodness [0,1] 0.9999575992707075 Centerline is valid? [True, True] Translation: X:119.14, Y:-12.72, Z:-1.62 [[ 9.90525981e-01 1.37197920e-01 5.91703595e-03 1.19142996e+02] [-1.37195356e-01 9.90543654e-01 -8.39119816e-04 -1.27170581e+01] [-5.97620790e-03 1.93801278e-05 9.99982142e-01 -1.61805250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02576923100001 meters Centerline goodness [0,1] 0.9998067134849559 Centerline is valid? [True, True] Translation: X:119.17, Y:-12.72, Z:-1.61 [[ 9.90650693e-01 1.36317752e-01 5.35489806e-03 1.19171188e+02] [-1.36315641e-01 9.90665165e-01 -7.59068329e-04 -1.27223694e+01] [-5.40838546e-03 2.20152061e-05 9.99985374e-01 -1.61433787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05576923100001 meters Centerline goodness [0,1] 0.9999571697789961 Centerline is valid? [True, True] Translation: X:119.20, Y:-12.73, Z:-1.62 [[ 9.91020847e-01 1.33642329e-01 4.17229938e-03 1.19199567e+02] [-1.33641025e-01 9.91029630e-01 -5.91172857e-04 -1.27325951e+01] [-4.21387802e-03 2.82742623e-05 9.99991121e-01 -1.62106968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08576923100001 meters Centerline goodness [0,1] 0.9999366914976682 Centerline is valid? [True, True] Translation: X:119.23, Y:-12.74, Z:-1.62 [[ 9.91210826e-01 1.32238893e-01 3.73824103e-03 1.19226995e+02] [-1.32237836e-01 9.91217874e-01 -5.29704295e-04 -1.27416060e+01] [-3.77545884e-03 3.07117270e-05 9.99992872e-01 -1.62291288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.115769231 meters Centerline goodness [0,1] 0.9999359808796228 Centerline is valid? [True, True] Translation: X:119.25, Y:-12.75, Z:-1.62 [[ 9.91493661e-01 1.30013696e-01 6.06295925e-03 1.19254429e+02] [-1.30010876e-01 9.91512196e-01 -8.58684682e-04 -1.27540016e+01] [-6.12313881e-03 6.31297768e-05 9.99981251e-01 -1.61873129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.145769231 meters Centerline goodness [0,1] 0.9999569670367502 Centerline is valid? [True, True] Translation: X:119.28, Y:-12.76, Z:-1.62 [[ 9.91618894e-01 1.28951954e-01 7.96002345e-03 1.19282954e+02] [-1.28947063e-01 9.91650838e-01 -1.12672052e-03 -1.27614596e+01] [-8.03885674e-03 9.08557130e-05 9.99967684e-01 -1.61554789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.175769231 meters Centerline goodness [0,1] 0.999957138571 Centerline is valid? [True, True] Translation: X:119.31, Y:-12.77, Z:-1.61 [[ 9.91806433e-01 1.27460148e-01 8.59712606e-03 1.19312115e+02] [-1.27454390e-01 9.91843687e-01 -1.21659693e-03 -1.27700686e+01] [-8.68207283e-03 1.10887205e-04 9.99962304e-01 -1.61471521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.205769231 meters Centerline goodness [0,1] 0.9998508925148042 Centerline is valid? [True, True] Translation: X:119.34, Y:-12.79, Z:-1.62 [[ 9.92207340e-01 1.24406726e-01 6.89640073e-03 1.19341302e+02] [-1.24402953e-01 9.92231301e-01 -9.75187159e-04 -1.27853081e+01] [-6.96414451e-03 1.09655245e-04 9.99975744e-01 -1.61803517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.235769231 meters Centerline goodness [0,1] 0.9999149804455024 Centerline is valid? [True, True] Translation: X:119.37, Y:-12.79, Z:-1.62 [[ 9.92237573e-01 1.24199402e-01 6.25364756e-03 1.19371911e+02] [-1.24196286e-01 9.92257274e-01 -8.85820901e-04 -1.27931418e+01] [-6.31524571e-03 1.02264983e-04 9.99980053e-01 -1.61876334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26576923100001 meters Centerline goodness [0,1] 0.9999149026699288 Centerline is valid? [True, True] Translation: X:119.40, Y:-12.80, Z:-1.62 [[ 9.91634838e-01 1.28835053e-01 7.86624342e-03 1.19400977e+02] [-1.28830266e-01 9.91666033e-01 -1.11446546e-03 -1.27963777e+01] [-7.94426862e-03 9.17325457e-05 9.99968440e-01 -1.61606575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29576923100001 meters Centerline goodness [0,1] 0.9999358288770054 Centerline is valid? [True, True] Translation: X:119.43, Y:-12.80, Z:-1.62 [[ 9.91136099e-01 1.32600662e-01 8.14230439e-03 1.19432259e+02] [-1.32595656e-01 9.91169542e-01 -1.15398966e-03 -1.27956871e+01] [-8.22342391e-03 6.41266152e-05 9.99966185e-01 -1.61503262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.46, Y:-12.80, Z:-1.62 [[ 9.90595010e-01 1.36625363e-01 7.41858030e-03 1.19462158e+02] [-1.36621320e-01 9.90622789e-01 -1.05146728e-03 -1.27951312e+01] [-7.49267181e-03 2.80420112e-05 9.99971929e-01 -1.61677382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35576923100001 meters Centerline goodness [0,1] 0.9999575632837531 Centerline is valid? [True, True] Translation: X:119.49, Y:-12.79, Z:-1.62 [[ 9.89507833e-01 1.44392646e-01 5.00117485e-03 1.19491702e+02] [-1.44390907e-01 9.89520471e-01 -7.08978172e-04 -1.27888701e+01] [-5.05113613e-03 -2.05847202e-05 9.99987243e-01 -1.62313564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38576923100001 meters Centerline goodness [0,1] 0.999978555958227 Centerline is valid? [True, True] Translation: X:119.52, Y:-12.79, Z:-1.62 [[ 9.89073581e-01 1.47349990e-01 4.62936257e-03 1.19520507e+02] [-1.47348532e-01 9.89084415e-01 -6.56228734e-04 -1.27896523e+01] [-4.67552567e-03 -3.30712756e-05 9.99989069e-01 -1.62413536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41576923100001 meters Centerline goodness [0,1] 0.999957211013885 Centerline is valid? [True, True] Translation: X:119.55, Y:-12.79, Z:-1.63 [[ 9.88733400e-01 1.49633891e-01 3.99533240e-03 1.19548634e+02] [-1.49632824e-01 9.88741471e-01 -5.66387075e-04 -1.27921300e+01] [-4.03510154e-03 -3.78270502e-05 9.99991858e-01 -1.62525576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44576923100001 meters Centerline goodness [0,1] 0.9998929496649325 Centerline is valid? [True, True] Translation: X:119.58, Y:-12.80, Z:-1.63 [[ 9.88706330e-01 1.49826499e-01 3.43688162e-03 1.19577453e+02] [-1.49825712e-01 9.88712303e-01 -4.86927020e-04 -1.27967688e+01] [-3.47104172e-03 -3.35054088e-05 9.99993975e-01 -1.62676693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.475769231 meters Centerline goodness [0,1] 0.9998526253736999 Centerline is valid? [True, True] Translation: X:119.61, Y:-12.80, Z:-1.63 [[ 9.88710881e-01 1.49805422e-01 3.02164627e-03 1.19605154e+02] [-1.49804813e-01 9.88715497e-01 -4.28119893e-04 -1.28000520e+01] [-3.05168318e-03 -2.93703572e-05 9.99995343e-01 -1.62882367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.505769231 meters Centerline goodness [0,1] 0.9999149641786602 Centerline is valid? [True, True] Translation: X:119.63, Y:-12.80, Z:-1.63 [[ 9.88486764e-01 1.51276752e-01 3.04330376e-03 1.19633870e+02] [-1.51276142e-01 9.88491448e-01 -4.30901703e-04 -1.28023569e+01] [-3.07346515e-03 -3.44386225e-05 9.99995276e-01 -1.62824384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.535769231 meters Centerline goodness [0,1] 0.9998520897603854 Centerline is valid? [True, True] Translation: X:119.66, Y:-12.80, Z:-1.63 [[ 9.88157597e-01 1.53397862e-01 3.69581451e-03 1.19661902e+02] [-1.53396978e-01 9.88164507e-01 -5.23086608e-04 -1.28015778e+01] [-3.73231309e-03 -5.00347712e-05 9.99993034e-01 -1.62797602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.565769231 meters Centerline goodness [0,1] 0.9998708649893464 Centerline is valid? [True, True] Translation: X:119.69, Y:-12.79, Z:-1.62 [[ 9.87192290e-01 1.59461180e-01 4.84909213e-03 1.19692413e+02] [-1.59459735e-01 9.87204195e-01 -6.85650390e-04 -1.27939590e+01] [-4.89637871e-03 -9.63661677e-05 9.99988008e-01 -1.62425560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.595769231 meters Centerline goodness [0,1] 0.9998100664767331 Centerline is valid? [True, True] Translation: X:119.72, Y:-12.79, Z:-1.62 [[ 9.86683158e-01 1.62575765e-01 5.04651066e-03 1.19721924e+02] [-1.62574241e-01 9.86696056e-01 -7.13453381e-04 -1.27882657e+01] [-5.09536239e-03 -1.16480207e-04 9.99987012e-01 -1.62488862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.625769231 meters Centerline goodness [0,1] 0.9996818596364716 Centerline is valid? [True, True] Translation: X:119.75, Y:-12.78, Z:-1.63 [[ 9.86241645e-01 1.65222516e-01 5.37937940e-03 1.19751000e+02] [-1.65220825e-01 9.86256306e-01 -7.60187861e-04 -1.27846404e+01] [-5.43104701e-03 -1.39056578e-04 9.99985242e-01 -1.62519873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65576923100001 meters Centerline goodness [0,1] 0.9992621482028038 Centerline is valid? [True, True] Translation: X:119.78, Y:-12.78, Z:-1.63 [[ 9.85574729e-01 1.69143396e-01 5.74157075e-03 1.19782257e+02] [-1.69141540e-01 9.85591438e-01 -8.10872838e-04 -1.27773634e+01] [-5.79599675e-03 -1.71962339e-04 9.99983188e-01 -1.62529043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68576923100001 meters Centerline goodness [0,1] 0.9989360343873686 Centerline is valid? [True, True] Translation: X:119.81, Y:-12.78, Z:-1.63 [[ 9.85387114e-01 1.70242889e-01 5.44011178e-03 1.19810091e+02] [-1.70241238e-01 9.85402116e-01 -7.68593284e-04 -1.27758041e+01] [-5.49154520e-03 -1.68769446e-04 9.99984907e-01 -1.62568808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71576923100001 meters Centerline goodness [0,1] 0.9988925331175192 Centerline is valid? [True, True] Translation: X:119.84, Y:-12.78, Z:-1.63 [[ 9.85267432e-01 1.70959953e-01 4.55864499e-03 1.19838809e+02] [-1.70958801e-01 9.85277968e-01 -6.43990524e-04 -1.27750244e+01] [-4.60162906e-03 -1.44837594e-04 9.99989402e-01 -1.62652068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74576923100001 meters Centerline goodness [0,1] 0.9986005979263406 Centerline is valid? [True, True] Translation: X:119.87, Y:-12.77, Z:-1.63 [[ 9.85135111e-01 1.71724820e-01 4.40454971e-03 1.19868977e+02] [-1.71723755e-01 9.85144946e-01 -6.21593576e-04 -1.27694381e+01] [-4.44586294e-03 -1.44012160e-04 9.99990107e-01 -1.62654405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77576923100001 meters Centerline goodness [0,1] 0.9992947512395282 Centerline is valid? [True, True] Translation: X:119.90, Y:-12.78, Z:-1.62 [[ 9.85246670e-01 1.71022691e-01 6.34336255e-03 1.19897037e+02] [-1.71020471e-01 9.85267069e-01 -8.94702961e-04 -1.27752141e+01] [-6.40292074e-03 -2.03341740e-04 9.99979480e-01 -1.62287583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80576923100001 meters Centerline goodness [0,1] 0.9990653610043121 Centerline is valid? [True, True] Translation: X:119.93, Y:-12.78, Z:-1.62 [[ 9.85515034e-01 1.69265937e-01 1.04479800e-02 1.19925714e+02] [-1.69259826e-01 9.85570364e-01 -1.47278547e-03 -1.27756131e+01] [-1.05465119e-02 -3.16971059e-04 9.99944334e-01 -1.61748651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83576923100001 meters Centerline goodness [0,1] 0.9994047619047619 Centerline is valid? [True, True] Translation: X:119.95, Y:-12.78, Z:-1.62 [[ 9.85735805e-01 1.67952997e-01 1.08034301e-02 1.19953975e+02] [-1.67946390e-01 9.85794955e-01 -1.52236032e-03 -1.27811164e+01] [-1.09056519e-02 -3.13752016e-04 9.99940482e-01 -1.61740203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.865769231 meters Centerline goodness [0,1] 0.999236689778004 Centerline is valid? [True, True] Translation: X:119.98, Y:-12.78, Z:-1.62 [[ 9.86038574e-01 1.66210032e-01 1.01071973e-02 1.19981780e+02] [-1.66204163e-01 9.86090335e-01 -1.42381499e-03 -1.27805499e+01] [-1.02032619e-02 -2.75921764e-04 9.99947907e-01 -1.61980734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.895769231 meters Centerline goodness [0,1] 0.9998517420311341 Centerline is valid? [True, True] Translation: X:120.01, Y:-12.79, Z:-1.62 [[ 9.87018819e-01 1.60435574e-01 7.36729926e-03 1.20010426e+02] [-1.60432298e-01 9.87046302e-01 -1.03738456e-03 -1.27943618e+01] [-7.43829887e-03 -1.58034666e-04 9.99972323e-01 -1.62415527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.925769231 meters Centerline goodness [0,1] 0.9999575758861337 Centerline is valid? [True, True] Translation: X:120.04, Y:-12.80, Z:-1.63 [[ 9.87723977e-01 1.56053955e-01 6.96486821e-03 1.20037804e+02] [-1.56050918e-01 9.87748525e-01 -9.80752868e-04 -1.28039002e+01] [-7.03258867e-03 -1.18160953e-04 9.99975264e-01 -1.62558774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.955769231 meters Centerline goodness [0,1] 0.9999362800280368 Centerline is valid? [True, True] Translation: X:120.07, Y:-12.82, Z:-1.62 [[ 9.89002149e-01 1.47682293e-01 8.04300639e-03 1.20066032e+02] [-1.47677969e-01 9.89034851e-01 -1.13213446e-03 -1.28195900e+01] [-8.12200983e-03 -6.80914341e-05 9.99967014e-01 -1.62442743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.985769231 meters Centerline goodness [0,1] 0.9999787098147754 Centerline is valid? [True, True] Translation: X:120.09, Y:-12.83, Z:-1.62 [[ 9.89474665e-01 1.44446161e-01 8.67149299e-03 1.20094380e+02] [-1.44441011e-01 9.89512660e-01 -1.22059010e-03 -1.28281376e+01] [-8.75686165e-03 -4.47762374e-05 9.99961657e-01 -1.62338846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01576923100001 meters Centerline goodness [0,1] 0.9999788099677912 Centerline is valid? [True, True] Translation: X:120.12, Y:-12.84, Z:-1.62 [[ 9.90072540e-01 1.40324811e-01 8.08164099e-03 1.20122150e+02] [-1.40320203e-01 9.90105523e-01 -1.13721621e-03 -1.28368910e+01] [-8.16125703e-03 -8.09096406e-06 9.99966696e-01 -1.62378175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.15, Y:-12.84, Z:-1.63 [[ 9.90219361e-01 1.39340988e-01 7.05023496e-03 1.20150447e+02] [-1.39337458e-01 9.90244459e-01 -9.91816128e-04 -1.28406332e+01] [-7.11965674e-03 -2.46287600e-07 9.99974655e-01 -1.62550652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.18, Y:-12.84, Z:-1.63 [[ 9.90286045e-01 1.38924460e-01 5.79172026e-03 1.20179436e+02] [-1.38922071e-01 9.90302981e-01 -8.14589564e-04 -1.28434656e+01] [-5.84872425e-03 2.07890237e-06 9.99982896e-01 -1.62764476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.21, Y:-12.85, Z:-1.63 [[ 9.90340417e-01 1.38527864e-01 5.99082790e-03 1.20208123e+02] [-1.38525303e-01 9.90358537e-01 -8.42292031e-04 -1.28465065e+01] [-6.04974846e-03 4.27459100e-06 9.99981700e-01 -1.62806969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13576923100001 meters Centerline goodness [0,1] 0.9999787279302276 Centerline is valid? [True, True] Translation: X:120.24, Y:-12.85, Z:-1.63 [[ 9.90358448e-01 1.38331762e-01 7.38029373e-03 1.20236243e+02] [-1.38327874e-01 9.90385947e-01 -1.03715493e-03 -1.28501913e+01] [-7.45281066e-03 6.25480805e-06 9.99972227e-01 -1.62678171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.26, Y:-12.85, Z:-1.62 [[ 9.90456693e-01 1.37423230e-01 1.05069541e-02 1.20264437e+02] [-1.37415307e-01 9.90512421e-01 -1.47580948e-03 -1.28526937e+01] [-1.06100790e-02 1.79090576e-05 9.99943711e-01 -1.62061584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19576923100001 meters Centerline goodness [0,1] 0.99997873833266 Centerline is valid? [True, True] Translation: X:120.29, Y:-12.86, Z:-1.62 [[ 9.90598206e-01 1.36375717e-01 1.08100703e-02 1.20293114e+02] [-1.36367275e-01 9.90657187e-01 -1.51773372e-03 -1.28564748e+01] [-1.09160559e-02 2.93244648e-05 9.99940418e-01 -1.62028868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.225769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:-12.86, Z:-1.62 [[ 9.90772393e-01 1.35164884e-01 1.00258991e-02 1.20321183e+02] [-1.35157564e-01 9.90823119e-01 -1.40721579e-03 -1.28612023e+01] [-1.01240988e-02 3.91544569e-05 9.99948749e-01 -1.62248418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.255769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.35, Y:-12.87, Z:-1.63 [[ 9.90937583e-01 1.34068437e-01 8.26805176e-03 1.20349543e+02] [-1.34063423e-01 9.90972075e-01 -1.16020510e-03 -1.28664589e+01] [-8.34895528e-03 4.12475167e-05 9.99965146e-01 -1.62695627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.285769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.38, Y:-12.87, Z:-1.63 [[ 9.91150286e-01 1.32635400e-01 5.38155799e-03 1.20377537e+02] [-1.32633255e-01 9.91164895e-01 -7.55110929e-04 -1.28727877e+01] [-5.43416580e-03 3.46548569e-05 9.99985234e-01 -1.63328982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.315769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.41, Y:-12.88, Z:-1.63 [[ 9.91605387e-01 1.29183477e-01 5.51231532e-03 1.20405401e+02] [-1.29181175e-01 9.91620707e-01 -7.73186354e-04 -1.28825597e+01] [-5.56600892e-03 5.46083853e-05 9.99984508e-01 -1.63258135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.345769231 meters Centerline goodness [0,1] 0.9999787351677796 Centerline is valid? [True, True] Translation: X:120.43, Y:-12.89, Z:-1.63 [[ 9.91848288e-01 1.27268806e-01 6.29486384e-03 1.20432515e+02] [-1.27265767e-01 9.91868260e-01 -8.82632848e-04 -1.28914552e+01] [-6.35600728e-03 7.43172061e-05 9.99979798e-01 -1.63203991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.375769231 meters Centerline goodness [0,1] 0.9999789198532821 Centerline is valid? [True, True] Translation: X:120.46, Y:-12.90, Z:-1.63 [[ 9.91990571e-01 1.26109843e-01 7.14246493e-03 1.20459704e+02] [-1.26105906e-01 9.92016280e-01 -1.00067763e-03 -1.29004354e+01] [-7.21163679e-03 9.19557590e-05 9.99973992e-01 -1.63109370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.49, Y:-12.90, Z:-1.63 [[ 9.92034590e-01 1.25756122e-01 7.26425095e-03 1.20488804e+02] [-1.25752039e-01 9.92061182e-01 -1.01801460e-03 -1.29025523e+01] [-7.33460295e-03 9.64113299e-05 9.99973097e-01 -1.62924645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43576923100001 meters Centerline goodness [0,1] 0.9999142899997857 Centerline is valid? [True, True] Translation: X:120.52, Y:-12.91, Z:-1.63 [[ 9.91949481e-01 1.26487421e-01 6.09587911e-03 1.20516370e+02] [-1.26484560e-01 9.91968208e-01 -8.54136389e-04 -1.29068726e+01] [-6.15495579e-03 7.62255589e-05 9.99981055e-01 -1.63175920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46576923100001 meters Centerline goodness [0,1] 0.999978795139846 Centerline is valid? [True, True] Translation: X:120.54, Y:-12.91, Z:-1.64 [[ 9.91897268e-01 1.26920448e-01 5.56860129e-03 1.20543694e+02] [-1.26918069e-01 9.91912897e-01 -7.79987563e-04 -1.29133966e+01] [-5.62256381e-03 6.69114089e-05 9.99984191e-01 -1.63528471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49576923100001 meters Centerline goodness [0,1] 0.9999571165144303 Centerline is valid? [True, True] Translation: X:120.57, Y:-12.91, Z:-1.63 [[ 9.91641834e-01 1.28900237e-01 5.58580664e-03 1.20573090e+02] [-1.28897877e-01 9.91657565e-01 -7.81942607e-04 -1.29133543e+01] [-5.64000000e-03 5.54083832e-05 9.99984094e-01 -1.63475945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.60, Y:-12.91, Z:-1.63 [[ 9.91418574e-01 1.30592792e-01 5.89357762e-03 1.20601708e+02] [-1.30590196e-01 9.91436090e-01 -8.24725209e-04 -1.29148494e+01] [-5.95080872e-03 4.80044318e-05 9.99982293e-01 -1.63348391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.63, Y:-12.91, Z:-1.63 [[ 9.90782682e-01 1.35318413e-01 6.21328119e-03 1.20630427e+02] [-1.35315622e-01 9.90802163e-01 -8.69191090e-04 -1.29130784e+01] [-6.27375001e-03 2.04254670e-05 9.99980320e-01 -1.63267414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:-12.91, Z:-1.63 [[ 9.90428934e-01 1.37905884e-01 5.70031554e-03 1.20659325e+02] [-1.37903580e-01 9.90445338e-01 -7.97064206e-04 -1.29129898e+01] [-5.75577079e-03 3.34153146e-06 9.99983435e-01 -1.63361904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.69, Y:-12.91, Z:-1.64 [[ 9.90100599e-01 1.40253152e-01 5.46419851e-03 1.20687487e+02] [-1.40251072e-01 9.90115677e-01 -7.63917524e-04 -1.29124046e+01] [-5.51733045e-03 -1.00045001e-05 9.99984779e-01 -1.63539700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.72, Y:-12.91, Z:-1.64 [[ 9.89790283e-01 1.42424483e-01 5.51922163e-03 1.20716473e+02] [-1.42422398e-01 9.89805671e-01 -7.71116628e-04 -1.29111637e+01] [-5.57278275e-03 -2.28170322e-05 9.99984472e-01 -1.63660707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.675769231 meters Centerline goodness [0,1] 0.9999357972906456 Centerline is valid? [True, True] Translation: X:120.75, Y:-12.90, Z:-1.64 [[ 9.89184945e-01 1.46584067e-01 5.12408669e-03 1.20746131e+02] [-1.46582325e-01 9.89198215e-01 -7.15781551e-04 -1.29041248e+01] [-5.17365958e-03 -4.30602089e-05 9.99986616e-01 -1.63829900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.705769231 meters Centerline goodness [0,1] 0.9999357972906456 Centerline is valid? [True, True] Translation: X:120.77, Y:-12.91, Z:-1.64 [[ 9.89195257e-01 1.46514458e-01 5.12411795e-03 1.20773378e+02] [-1.46512717e-01 9.89208528e-01 -7.15557648e-04 -1.29077880e+01] [-5.17366072e-03 -4.29222127e-05 9.99986616e-01 -1.63862070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.735769231 meters Centerline goodness [0,1] 0.9999576934467149 Centerline is valid? [True, True] Translation: X:120.80, Y:-12.90, Z:-1.64 [[ 9.88723173e-01 1.49704736e-01 3.87029724e-03 1.20802853e+02] [-1.49703767e-01 9.88730747e-01 -5.40492789e-04 -1.29005352e+01] [-3.90759621e-03 -4.50003304e-05 9.99992364e-01 -1.64075359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.83, Y:-12.90, Z:-1.64 [[ 9.88582147e-01 1.50637996e-01 3.67862281e-03 1.20832341e+02] [-1.50637129e-01 9.88588990e-01 -5.13173375e-04 -1.29000073e+01] [-3.71394941e-03 -4.68231427e-05 9.99993102e-01 -1.64017646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.86, Y:-12.90, Z:-1.64 [[ 9.88448040e-01 1.51511320e-01 3.84596902e-03 1.20861039e+02] [-1.51510378e-01 9.88455521e-01 -5.36610015e-04 -1.28985967e+01] [-3.88287180e-03 -5.22931036e-05 9.99992460e-01 -1.63992251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82576923100001 meters Centerline goodness [0,1] 0.999914524435327 Centerline is valid? [True, True] Translation: X:120.89, Y:-12.90, Z:-1.64 [[ 9.88440913e-01 1.51559485e-01 3.77937795e-03 1.20890188e+02] [-1.51558579e-01 9.88448137e-01 -5.26703580e-04 -1.28996337e+01] [-3.81554602e-03 -5.21817840e-05 9.99992719e-01 -1.63928996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85576923100001 meters Centerline goodness [0,1] 0.9999786921224777 Centerline is valid? [True, True] Translation: X:120.92, Y:-12.90, Z:-1.64 [[ 9.88751329e-01 1.49507549e-01 4.27801852e-03 1.20918428e+02] [-1.49506368e-01 9.88760583e-01 -5.96184276e-04 -1.28992399e+01] [-4.31907014e-03 -5.01130168e-05 9.99990672e-01 -1.64019479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.95, Y:-12.91, Z:-1.64 [[ 9.89118903e-01 1.47020468e-01 5.36455571e-03 1.20946990e+02] [-1.47018580e-01 9.89133449e-01 -7.46674035e-04 -1.29050700e+01] [-5.41603785e-03 -5.01399604e-05 9.99985332e-01 -1.63853080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:-12.91, Z:-1.64 [[ 9.89846865e-01 1.41954621e-01 7.21597087e-03 1.20974613e+02] [-1.41951075e-01 9.89873166e-01 -1.00387261e-03 -1.29105097e+01] [-7.28540029e-03 -3.06346656e-05 9.99973461e-01 -1.63594444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.00, Y:-12.92, Z:-1.63 [[ 9.90159103e-01 1.39692349e-01 8.42599168e-03 1.21002848e+02] [-1.39687438e-01 9.90194954e-01 -1.17154326e-03 -1.29152277e+01] [-8.50703008e-03 -1.69909596e-05 9.99963814e-01 -1.63389935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.975769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.03, Y:-12.92, Z:-1.63 [[ 9.90374828e-01 1.38127260e-01 8.86338673e-03 1.21031210e+02] [-1.38121767e-01 9.90414489e-01 -1.23192453e-03 -1.29189659e+01] [-8.94858900e-03 -4.15959297e-06 9.99959961e-01 -1.63278973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.005769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.06, Y:-12.92, Z:-1.63 [[ 9.90592971e-01 1.36542794e-01 9.03496079e-03 1.21058407e+02] [-1.36537022e-01 9.90634173e-01 -1.25543082e-03 -1.29191041e+01] [-9.12176094e-03 1.00142999e-05 9.99958396e-01 -1.63313453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.035769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.09, Y:-12.92, Z:-1.63 [[ 9.90687461e-01 1.35839690e-01 9.27002114e-03 1.21086271e+02] [-1.35833591e-01 9.90730830e-01 -1.28730769e-03 -1.29206622e+01] [-9.35896322e-03 1.61393310e-05 9.99956204e-01 -1.63280949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.065769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.11, Y:-12.92, Z:-1.63 [[ 9.90771469e-01 1.35206062e-01 9.55073331e-03 1.21113089e+02] [-1.35199565e-01 9.90817501e-01 -1.32560651e-03 -1.29233250e+01] [-9.64226375e-03 2.21181202e-05 9.99953512e-01 -1.63262813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.14, Y:-12.93, Z:-1.63 [[ 9.91101504e-01 1.32765373e-01 9.54804159e-03 1.21141220e+02] [-1.32758775e-01 9.91147493e-01 -1.32443014e-03 -1.29268404e+01] [-9.63935595e-03 4.50583975e-05 9.99953539e-01 -1.63267940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.125769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.17, Y:-12.93, Z:-1.64 [[ 9.91369253e-01 1.30919746e-01 6.85744425e-03 1.21168545e+02] [-1.30916301e-01 9.91392969e-01 -9.50859466e-04 -1.29295955e+01] [-6.92290829e-03 4.49016034e-05 9.99976035e-01 -1.63828364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15576923100001 meters Centerline goodness [0,1] 0.9999785126453082 Centerline is valid? [True, True] Translation: X:121.20, Y:-12.93, Z:-1.64 [[ 9.91474979e-01 1.30185037e-01 5.40583874e-03 1.21197657e+02] [-1.30182886e-01 9.91489715e-01 -7.49336180e-04 -1.29317483e+01] [-5.45738587e-03 3.92003836e-05 9.99985108e-01 -1.64136268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:-12.94, Z:-1.64 [[ 9.91634600e-01 1.29001644e-01 4.40400914e-03 1.21224810e+02] [-1.29000205e-01 9.91644379e-01 -6.10441279e-04 -1.29370859e+01] [-4.44595884e-03 3.72166110e-05 9.99990116e-01 -1.64369735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.25, Y:-12.94, Z:-1.65 [[ 9.91865771e-01 1.27201811e-01 4.68941494e-03 1.21251495e+02] [-1.27200161e-01 9.91876856e-01 -6.49667369e-04 -1.29449476e+01] [-4.73396102e-03 4.78884896e-05 9.99988794e-01 -1.64537893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24576923100001 meters Centerline goodness [0,1] 0.9999151427722857 Centerline is valid? [True, True] Translation: X:121.28, Y:-12.95, Z:-1.64 [[ 9.92297282e-01 1.23693283e-01 6.78790972e-03 1.21280477e+02] [-1.23689749e-01 9.92320494e-01 -9.39631285e-04 -1.29488680e+01] [-6.85200801e-03 9.27987236e-05 9.99976520e-01 -1.64018403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.31, Y:-12.95, Z:-1.64 [[ 9.92480351e-01 1.22185093e-01 7.31823834e-03 1.21309274e+02] [-1.22180947e-01 9.92507325e-01 -1.01265013e-03 -1.29538956e+01] [-7.38713591e-03 1.10886059e-04 9.99972709e-01 -1.63955884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:-12.96, Z:-1.64 [[ 9.92621355e-01 1.21061484e-01 6.85299112e-03 1.21337907e+02] [-1.21057824e-01 9.92645004e-01 -9.47982763e-04 -1.29590986e+01] [-6.91735160e-03 1.11379743e-04 9.99976069e-01 -1.64065689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.37, Y:-12.96, Z:-1.64 [[ 9.92605992e-01 1.21233750e-01 5.97675840e-03 1.21365030e+02] [-1.21230970e-01 9.92623981e-01 -8.26622482e-04 -1.29631972e+01] [-6.03288826e-03 9.59422097e-05 9.99981797e-01 -1.64296490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.365769231 meters Centerline goodness [0,1] 0.999978741948513 Centerline is valid? [True, True] Translation: X:121.39, Y:-12.96, Z:-1.64 [[ 9.92538566e-01 1.21794535e-01 5.76944315e-03 1.21394074e+02] [-1.21791956e-01 9.92555330e-01 -7.97554022e-04 -1.29635775e+01] [-5.82362927e-03 8.89313596e-05 9.99983039e-01 -1.64326974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.42, Y:-12.96, Z:-1.64 [[ 9.92196893e-01 1.24533654e-01 6.05757342e-03 1.21423787e+02] [-1.24530864e-01 9.92215382e-01 -8.37067704e-04 -1.29594804e+01] [-6.11466062e-03 7.61811253e-05 9.99981302e-01 -1.64245445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.45, Y:-12.96, Z:-1.65 [[ 9.92015853e-01 1.25988069e-01 5.61723988e-03 1.21451046e+02] [-1.25985694e-01 9.92031755e-01 -7.76063573e-04 -1.29629735e+01] [-5.67025509e-03 6.21755044e-05 9.99983922e-01 -1.64503849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:-12.96, Z:-1.65 [[ 9.91825633e-01 1.27564995e-01 3.01427440e-03 1.21480825e+02] [-1.27564319e-01 9.91830213e-01 -4.16478244e-04 -1.29605640e+01] [-3.04277647e-03 2.85599375e-05 9.99995370e-01 -1.65015336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.51, Y:-12.96, Z:-1.65 [[ 9.91841415e-01 1.27453308e-01 2.50240429e-03 1.21509047e+02] [-1.27452841e-01 9.91844571e-01 -3.45838485e-04 -1.29631834e+01] [-2.52607437e-03 2.40783949e-05 9.99996809e-01 -1.65152508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:-12.97, Z:-1.65 [[ 9.91926497e-01 1.26767897e-01 3.42402922e-03 1.21535446e+02] [-1.26767020e-01 9.91932406e-01 -4.72948417e-04 -1.29668102e+01] [-3.45636022e-03 3.50760874e-05 9.99994026e-01 -1.65057280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:-12.98, Z:-1.65 [[ 9.92391051e-01 1.22980732e-01 5.97849780e-03 1.21563578e+02] [-1.22977997e-01 9.92409055e-01 -8.24389241e-04 -1.29752621e+01] [-6.03449934e-03 8.28928228e-05 9.99981789e-01 -1.64563365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57576923100001 meters Centerline goodness [0,1] 0.9999786269983757 Centerline is valid? [True, True] Translation: X:121.59, Y:-12.98, Z:-1.65 [[ 9.92701166e-01 1.20422863e-01 6.53671113e-03 1.21590967e+02] [-1.20419540e-01 9.92722682e-01 -9.01059615e-04 -1.29828919e+01] [-6.59764958e-03 1.07335186e-04 9.99978230e-01 -1.64500167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60576923100001 meters Centerline goodness [0,1] 0.9999354783207157 Centerline is valid? [True, True] Translation: X:121.62, Y:-12.99, Z:-1.65 [[ 9.92785559e-01 1.19776474e-01 5.51633666e-03 1.21617993e+02] [-1.19774098e-01 9.92800880e-01 -7.60252214e-04 -1.29867791e+01] [-5.56768422e-03 9.40531705e-05 9.99984496e-01 -1.64717080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63576923100001 meters Centerline goodness [0,1] 0.9999784802771741 Centerline is valid? [True, True] Translation: X:121.65, Y:-12.99, Z:-1.65 [[ 9.92576769e-01 1.21512026e-01 5.11705797e-03 1.21647440e+02] [-1.21510007e-01 9.92589956e-01 -7.04786397e-04 -1.29865804e+01] [-5.16478037e-03 7.77808553e-05 9.99986659e-01 -1.64805423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:-12.99, Z:-1.64 [[ 9.92139170e-01 1.24950932e-01 6.86530085e-03 1.21675404e+02] [-1.24947382e-01 9.92162919e-01 -9.45205287e-04 -1.29851306e+01] [-6.92960122e-03 7.99738189e-05 9.99975987e-01 -1.64495938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.70, Y:-12.99, Z:-1.64 [[ 9.92062557e-01 1.25466260e-01 8.37257991e-03 1.21704736e+02] [-1.25461007e-01 9.92097883e-01 -1.15180744e-03 -1.29858289e+01] [-8.45093177e-03 9.22327332e-05 9.99964286e-01 -1.64105294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.725769231 meters Centerline goodness [0,1] 0.9999577032885694 Centerline is valid? [True, True] Translation: X:121.73, Y:-12.99, Z:-1.64 [[ 9.92111134e-01 1.24999532e-01 9.51917832e-03 1.21731579e+02] [-1.24992724e-01 9.92156795e-01 -1.30909856e-03 -1.29889297e+01] [-9.60815416e-03 1.08943226e-04 9.99953835e-01 -1.63962407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.755769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.76, Y:-12.99, Z:-1.64 [[ 9.92316475e-01 1.23348003e-01 9.65833519e-03 1.21759944e+02] [-1.23340925e-01 9.92363469e-01 -1.32737725e-03 -1.29940846e+01] [-9.74830834e-03 1.25910319e-04 9.99952476e-01 -1.64035742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.785769231 meters Centerline goodness [0,1] 0.9998729405785439 Centerline is valid? [True, True] Translation: X:121.79, Y:-13.02, Z:-1.64 [[ 9.93132603e-01 1.16642243e-01 9.06756822e-03 1.21786065e+02] [-1.16635730e-01 9.93173980e-01 -1.24566356e-03 -1.30159086e+01] [-9.15096981e-03 1.79506656e-04 9.99958113e-01 -1.64370578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.815769231 meters Centerline goodness [0,1] 0.9998525446579036 Centerline is valid? [True, True] Translation: X:121.81, Y:-13.03, Z:-1.64 [[ 9.93533068e-01 1.13160525e-01 9.31330932e-03 1.21814322e+02] [-1.13153500e-01 9.93576695e-01 -1.27944089e-03 -1.30271859e+01] [-9.39826930e-03 2.17333279e-04 9.99955812e-01 -1.64320384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.845769231 meters Centerline goodness [0,1] 0.999211356466877 Centerline is valid? [True, True] Translation: X:121.84, Y:-13.04, Z:-1.64 [[ 9.94020101e-01 1.08744262e-01 9.93599919e-03 1.21842417e+02] [-1.08736049e-01 9.94069721e-01 -1.36472457e-03 -1.30401940e+01] [-1.00254819e-02 2.76162364e-04 9.99949705e-01 -1.64098762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.875769231 meters Centerline goodness [0,1] 0.9992745118958711 Centerline is valid? [True, True] Translation: X:121.87, Y:-13.05, Z:-1.64 [[ 9.94085774e-01 1.08197841e-01 9.31138046e-03 1.21870350e+02] [-1.08190604e-01 9.94129347e-01 -1.27889704e-03 -1.30476572e+01] [-9.39509047e-03 2.63929477e-04 9.99955830e-01 -1.64244603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90576923100001 meters Centerline goodness [0,1] 0.9995102944620691 Centerline is valid? [True, True] Translation: X:121.90, Y:-13.06, Z:-1.65 [[ 9.94104584e-01 1.08092544e-01 8.48989810e-03 1.21896841e+02] [-1.08086527e-01 9.94140807e-01 -1.16576782e-03 -1.30556539e+01] [-8.56616495e-03 2.41251534e-04 9.99963281e-01 -1.64551865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93576923100001 meters Centerline goodness [0,1] 0.9996601023941538 Centerline is valid? [True, True] Translation: X:121.92, Y:-13.07, Z:-1.65 [[ 9.94136001e-01 1.07975323e-01 5.91102876e-03 1.21923980e+02] [-1.07972405e-01 9.94153560e-01 -8.11396040e-04 -1.30676788e+01] [-5.96408103e-03 1.68410022e-04 9.99982201e-01 -1.65136047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96576923100001 meters Centerline goodness [0,1] 0.9997208443385085 Centerline is valid? [True, True] Translation: X:121.95, Y:-13.07, Z:-1.65 [[ 9.94113377e-01 1.08238571e-01 4.79640736e-03 1.21952515e+02] [-1.08236654e-01 9.94124938e-01 -6.58401040e-04 -1.30681613e+01] [-4.83949256e-03 1.35378199e-04 9.99988280e-01 -1.65243396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99576923100001 meters Centerline goodness [0,1] 0.9996816976127321 Centerline is valid? [True, True] Translation: X:121.98, Y:-13.08, Z:-1.65 [[ 9.93989896e-01 1.09394685e-01 4.10973576e-03 1.21979359e+02] [-1.09393288e-01 9.93998386e-01 -5.64025233e-04 -1.30808581e+01] [-4.14677208e-03 1.11057875e-04 9.99991396e-01 -1.65490078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02576923100001 meters Centerline goodness [0,1] 0.9998932171535965 Centerline is valid? [True, True] Translation: X:122.01, Y:-13.08, Z:-1.65 [[ 9.93916788e-01 1.10030984e-01 4.75411436e-03 1.22007903e+02] [-1.10029123e-01 9.93928150e-01 -6.52150745e-04 -1.30838186e+01] [-4.79700488e-03 1.25092541e-04 9.99988486e-01 -1.65293578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05576923100001 meters Centerline goodness [0,1] 0.9997228854024557 Centerline is valid? [True, True] Translation: X:122.03, Y:-13.10, Z:-1.65 [[ 9.93815807e-01 1.10864136e-01 6.26780202e-03 1.22033785e+02] [-1.10860919e-01 9.93835559e-01 -8.59391657e-04 -1.30970043e+01] [-6.32444023e-03 1.59222721e-04 9.99979988e-01 -1.65086327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08576923100001 meters Centerline goodness [0,1] 0.9996592699859449 Centerline is valid? [True, True] Translation: X:122.06, Y:-13.10, Z:-1.65 [[ 9.93693479e-01 1.11901844e-01 7.15874082e-03 1.22061880e+02] [-1.11897679e-01 9.93719250e-01 -9.80930877e-04 -1.31018268e+01] [-7.22354653e-03 1.73698135e-04 9.99973895e-01 -1.65027299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.09, Y:-13.10, Z:-1.65 [[ 9.93556017e-01 1.13094355e-01 7.49050528e-03 1.22091512e+02] [-1.13089831e-01 9.93584238e-01 -1.02619734e-03 -1.30970901e+01] [-7.55850510e-03 1.72484574e-04 9.99971419e-01 -1.64855256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.145769231 meters Centerline goodness [0,1] 0.9999361511939727 Centerline is valid? [True, True] Translation: X:122.12, Y:-13.11, Z:-1.65 [[ 9.93232289e-01 1.15889798e-01 7.69251152e-03 1.22119534e+02] [-1.15885114e-01 9.93262065e-01 -1.05338502e-03 -1.31076291e+01] [-7.76275646e-03 1.54808439e-04 9.99969857e-01 -1.64924826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:-13.11, Z:-1.65 [[ 9.93057565e-01 1.17376613e-01 7.70736239e-03 1.22149134e+02] [-1.17371956e-01 9.93087463e-01 -1.05542685e-03 -1.31079421e+01] [-7.77796740e-03 1.43471425e-04 9.99969741e-01 -1.64839454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.205769231 meters Centerline goodness [0,1] 0.9999788386659895 Centerline is valid? [True, True] Translation: X:122.18, Y:-13.11, Z:-1.65 [[ 9.92481383e-01 1.22233992e-01 6.28934537e-03 1.22177341e+02] [-1.22230991e-01 9.92501307e-01 -8.60798282e-04 -1.31095091e+01] [-6.34740231e-03 8.55733493e-05 9.99979851e-01 -1.65176203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.21, Y:-13.11, Z:-1.65 [[ 9.92099666e-01 1.25310697e-01 5.95672381e-03 1.22205733e+02] [-1.25308061e-01 9.92117546e-01 -8.15057866e-04 -1.31097516e+01] [-6.01190568e-03 6.21931242e-05 9.99981926e-01 -1.65328807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.23, Y:-13.11, Z:-1.65 [[ 9.91704822e-01 1.28404015e-01 5.82707592e-03 1.22234939e+02] [-1.28401549e-01 9.91721940e-01 -7.96944592e-04 -1.31099090e+01] [-5.88116993e-03 4.21282211e-05 9.99982705e-01 -1.65324890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.26, Y:-13.11, Z:-1.65 [[ 9.91368567e-01 1.30952807e-01 6.30288434e-03 1.22264072e+02] [-1.30949975e-01 9.91388603e-01 -8.61681049e-04 -1.31114928e+01] [-6.36144725e-03 2.88809583e-05 9.99979765e-01 -1.65302089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.29, Y:-13.11, Z:-1.65 [[ 9.90960104e-01 1.33933535e-01 7.73820560e-03 1.22292206e+02] [-1.33929361e-01 9.90990317e-01 -1.05745379e-03 -1.31108411e+01] [-7.81011534e-03 1.15215839e-05 9.99969501e-01 -1.65064989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:-13.11, Z:-1.65 [[ 9.90790518e-01 1.35124538e-01 8.68952394e-03 1.22320309e+02] [-1.35119325e-01 9.90828623e-01 -1.18684025e-03 -1.31123583e+01] [-8.77020028e-03 1.78745404e-06 9.99961541e-01 -1.64945024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.35, Y:-13.12, Z:-1.65 [[ 9.90692435e-01 1.35838105e-01 8.74691458e-03 1.22349127e+02] [-1.35832856e-01 9.90731048e-01 -1.19414864e-03 -1.31160879e+01] [-8.82805073e-03 -5.08436844e-06 9.99961032e-01 -1.64869576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:-13.12, Z:-1.65 [[ 9.90573450e-01 1.36698039e-01 8.82532094e-03 1.22377764e+02] [-1.36692733e-01 9.90612763e-01 -1.20442521e-03 -1.31195594e+01] [-8.90711812e-03 -1.32856012e-05 9.99960331e-01 -1.64955394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44576923100001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.41, Y:-13.12, Z:-1.65 [[ 9.90502869e-01 1.37200594e-01 8.94784988e-03 1.22405984e+02] [-1.37195164e-01 9.90543284e-01 -1.22071438e-03 -1.31228453e+01] [-9.03071534e-03 -1.84806386e-05 9.99959222e-01 -1.64968127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.475769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:-13.12, Z:-1.65 [[ 9.90224184e-01 1.39245650e-01 8.16792280e-03 1.22434174e+02] [-1.39241198e-01 9.90257869e-01 -1.11401980e-03 -1.31224068e+01] [-8.24347224e-03 -3.41820063e-05 9.99966021e-01 -1.65051847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.505769231 meters Centerline goodness [0,1] 0.9999576970261009 Centerline is valid? [True, True] Translation: X:122.46, Y:-13.12, Z:-1.65 [[ 9.89639622e-01 1.43451750e-01 5.91733771e-03 1.22463352e+02] [-1.43449490e-01 9.89657311e-01 -8.06853921e-04 -1.31154611e+01] [-5.97188113e-03 -5.03444675e-05 9.99982167e-01 -1.65461182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.535769231 meters Centerline goodness [0,1] 0.9999785995548708 Centerline is valid? [True, True] Translation: X:122.49, Y:-13.11, Z:-1.66 [[ 9.89236252e-01 1.46221797e-01 5.55185566e-03 1.22493032e+02] [-1.46219853e-01 9.89251829e-01 -7.56657030e-04 -1.31125434e+01] [-5.60282312e-03 -6.32789554e-05 9.99984302e-01 -1.65593618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.565769231 meters Centerline goodness [0,1] 0.9999787500796872 Centerline is valid? [True, True] Translation: X:122.52, Y:-13.11, Z:-1.66 [[ 9.88694785e-01 1.49837211e-01 5.60646108e-03 1.22522979e+02] [-1.49835288e-01 9.88710677e-01 -7.63823061e-04 -1.31085102e+01] [-5.65761705e-03 -8.48578351e-05 9.99983992e-01 -1.65609776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.595769231 meters Centerline goodness [0,1] 0.9999787500796872 Centerline is valid? [True, True] Translation: X:122.55, Y:-13.11, Z:-1.66 [[ 9.88705368e-01 1.49767364e-01 5.60647789e-03 1.22550237e+02] [-1.49765441e-01 9.88721260e-01 -7.63699692e-04 -1.31120822e+01] [-5.65762117e-03 -8.45826492e-05 9.99983992e-01 -1.65641947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.625769231 meters Centerline goodness [0,1] 0.9999359685819176 Centerline is valid? [True, True] Translation: X:122.58, Y:-13.11, Z:-1.66 [[ 9.88185671e-01 1.53141427e-01 6.06488487e-03 1.22580578e+02] [-1.53139245e-01 9.88204276e-01 -8.25372529e-04 -1.31084865e+01] [-6.11974388e-03 -1.13150580e-04 9.99981268e-01 -1.65594213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65576923100001 meters Centerline goodness [0,1] 0.9995346377578002 Centerline is valid? [True, True] Translation: X:122.61, Y:-13.10, Z:-1.65 [[ 9.87547145e-01 1.57140130e-01 7.59047223e-03 1.22610420e+02] [-1.57136831e-01 9.87576301e-01 -1.03283356e-03 -1.30983288e+01] [-7.65847009e-03 -1.72770921e-04 9.99970659e-01 -1.65483775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68576923100001 meters Centerline goodness [0,1] 0.9995944244028433 Centerline is valid? [True, True] Translation: X:122.64, Y:-13.10, Z:-1.65 [[ 9.87480436e-01 1.57528208e-01 8.20075775e-03 1.22639370e+02] [-1.57524374e-01 9.87514469e-01 -1.11543913e-03 -1.30993122e+01] [-8.27408007e-03 -1.90344915e-04 9.99965751e-01 -1.65438568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71576923100001 meters Centerline goodness [0,1] 0.9995966886011463 Centerline is valid? [True, True] Translation: X:122.67, Y:-13.10, Z:-1.66 [[ 9.87677019e-01 1.56315695e-01 7.71425056e-03 1.22667910e+02] [-1.56312268e-01 9.87707130e-01 -1.04893489e-03 -1.31026190e+01] [-7.78338527e-03 -1.69823119e-04 9.99969695e-01 -1.65573176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74576923100001 meters Centerline goodness [0,1] 0.9995975514181017 Centerline is valid? [True, True] Translation: X:122.70, Y:-13.11, Z:-1.66 [[ 9.87976278e-01 1.54450213e-01 6.92869396e-03 1.22695985e+02] [-1.54447404e-01 9.88000563e-01 -9.41850447e-04 -1.31074292e+01] [-6.99102253e-03 -1.39592896e-04 9.99975553e-01 -1.65716137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77576923100001 meters Centerline goodness [0,1] 0.9996380051956901 Centerline is valid? [True, True] Translation: X:122.72, Y:-13.11, Z:-1.66 [[ 9.88448608e-01 1.51441285e-01 5.90646458e-03 1.22723735e+02] [-1.51439190e-01 9.88466250e-01 -8.02919226e-04 -1.31117791e+01] [-5.95993601e-03 -1.00825819e-04 9.99982234e-01 -1.65914873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80576923100001 meters Centerline goodness [0,1] 0.999765173024785 Centerline is valid? [True, True] Translation: X:122.75, Y:-13.11, Z:-1.66 [[ 9.88539229e-01 1.50852098e-01 5.81692534e-03 1.22751705e+02] [-1.50850059e-01 9.88556339e-01 -7.90098641e-04 -1.31137408e+01] [-5.86954646e-03 -9.64400304e-05 9.99982769e-01 -1.66027458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83576923100001 meters Centerline goodness [0,1] 0.9997236335806459 Centerline is valid? [True, True] Translation: X:122.78, Y:-13.12, Z:-1.66 [[ 9.88548640e-01 1.50782944e-01 6.00757526e-03 1.22780015e+02] [-1.50780770e-01 9.88566889e-01 -8.15701337e-04 -1.31165382e+01] [-6.06188384e-03 -9.94663785e-05 9.99981622e-01 -1.65981085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.865769231 meters Centerline goodness [0,1] 0.9997037726666808 Centerline is valid? [True, True] Translation: X:122.81, Y:-13.11, Z:-1.66 [[ 9.88320777e-01 1.52210109e-01 7.35694918e-03 1.22809127e+02] [-1.52206894e-01 9.88348150e-01 -9.98149456e-04 -1.31116893e+01] [-7.42315555e-03 -1.33286539e-04 9.99972439e-01 -1.65908398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.895769231 meters Centerline goodness [0,1] 0.9996403942970766 Centerline is valid? [True, True] Translation: X:122.84, Y:-13.11, Z:-1.66 [[ 9.88209966e-01 1.52888755e-01 8.12963530e-03 1.22837501e+02] [-1.52884858e-01 9.88243394e-01 -1.10238274e-03 -1.31144369e+01] [-8.20260030e-03 -1.53512529e-04 9.99966346e-01 -1.65867965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.925769231 meters Centerline goodness [0,1] 0.9995531439514842 Centerline is valid? [True, True] Translation: X:122.87, Y:-13.11, Z:-1.66 [[ 9.88316768e-01 1.52155309e-01 8.87287893e-03 1.22865804e+02] [-1.52150641e-01 9.88356583e-01 -1.20272642e-03 -1.31146655e+01] [-8.95256952e-03 -1.61339524e-04 9.99959912e-01 -1.65750083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.955769231 meters Centerline goodness [0,1] 0.9996599723727553 Centerline is valid? [True, True] Translation: X:122.89, Y:-13.12, Z:-1.66 [[ 9.88504073e-01 1.50948180e-01 8.62227976e-03 1.22894015e+02] [-1.50943730e-01 9.88541666e-01 -1.16823358e-03 -1.31186602e+01] [-8.69982553e-03 -1.46675419e-04 9.99962145e-01 -1.65708690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.985769231 meters Centerline goodness [0,1] 0.9996832435856826 Centerline is valid? [True, True] Translation: X:122.92, Y:-13.12, Z:-1.66 [[ 9.88607634e-01 1.50298434e-01 8.08252383e-03 1.22921681e+02] [-1.50294505e-01 9.88640664e-01 -1.09479631e-03 -1.31215127e+01] [-8.15525790e-03 -1.32434933e-04 9.99966737e-01 -1.65854596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01576923100001 meters Centerline goodness [0,1] 0.9998076100897819 Centerline is valid? [True, True] Translation: X:122.95, Y:-13.12, Z:-1.66 [[ 9.88709881e-01 1.49675952e-01 7.06259193e-03 1.22948633e+02] [-1.49672936e-01 9.88735100e-01 -9.56629110e-04 -1.31228418e+01] [-7.12621690e-03 -1.11250214e-04 9.99974602e-01 -1.66007421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04576923100001 meters Centerline goodness [0,1] 0.9996140486298727 Centerline is valid? [True, True] Translation: X:122.98, Y:-13.13, Z:-1.66 [[ 9.88872981e-01 1.48594369e-01 7.06692961e-03 1.22977572e+02] [-1.48591331e-01 9.88898227e-01 -9.55951781e-04 -1.31270097e+01] [-7.13052321e-03 -1.04769589e-04 9.99974572e-01 -1.66051942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07576923100001 meters Centerline goodness [0,1] 0.9997860001283999 Centerline is valid? [True, True] Translation: X:123.01, Y:-13.13, Z:-1.66 [[ 9.89374799e-01 1.45192329e-01 7.52963615e-03 1.23006018e+02] [-1.45188784e-01 9.89403447e-01 -1.01815575e-03 -1.31342840e+01] [-7.59767636e-03 -8.58810801e-05 9.99971134e-01 -1.66021183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10576923100001 meters Centerline goodness [0,1] 0.999612160910129 Centerline is valid? [True, True] Translation: X:123.03, Y:-13.14, Z:-1.66 [[ 9.89687908e-01 1.43032265e-01 7.72115258e-03 1.23034732e+02] [-1.43028472e-01 9.89718024e-01 -1.04408397e-03 -1.31408691e+01] [-7.79110157e-03 -7.10273707e-05 9.99969646e-01 -1.66054349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13576923100001 meters Centerline goodness [0,1] 0.9996372404668928 Centerline is valid? [True, True] Translation: X:123.06, Y:-13.15, Z:-1.66 [[ 9.89972352e-01 1.41068318e-01 7.38052451e-03 1.23062234e+02] [-1.41064807e-01 9.89999862e-01 -9.96719597e-04 -1.31478533e+01] [-7.44732381e-03 -5.44074241e-05 9.99972267e-01 -1.66212295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16576923100001 meters Centerline goodness [0,1] 0.9994648514427605 Centerline is valid? [True, True] Translation: X:123.09, Y:-13.16, Z:-1.66 [[ 9.90305577e-01 1.38730901e-01 6.97143024e-03 1.23090278e+02] [-1.38727715e-01 9.90330115e-01 -9.40751331e-04 -1.31556935e+01] [-7.03452859e-03 -3.54993006e-05 9.99975257e-01 -1.66340463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19576923100001 meters Centerline goodness [0,1] 0.9994051160023796 Centerline is valid? [True, True] Translation: X:123.12, Y:-13.17, Z:-1.66 [[ 9.90815196e-01 1.35011542e-01 7.55850163e-03 1.23116605e+02] [-1.35007692e-01 9.90844026e-01 -1.01963117e-03 -1.31660650e+01] [-7.62695816e-03 -1.01898004e-05 9.99970914e-01 -1.66208117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22576923100002 meters Centerline goodness [0,1] 0.9993161954826164 Centerline is valid? [True, True] Translation: X:123.14, Y:-13.17, Z:-1.66 [[ 9.90962508e-01 1.33894938e-01 8.09028348e-03 1.23144887e+02] [-1.33890494e-01 9.90995533e-01 -1.09082350e-03 -1.31718999e+01] [-8.16349053e-03 -2.24686117e-06 9.99966678e-01 -1.66042050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.255769231 meters Centerline goodness [0,1] 0.9992704645424311 Centerline is valid? [True, True] Translation: X:123.17, Y:-13.18, Z:-1.66 [[ 9.91060465e-01 1.33112489e-01 8.95653836e-03 1.23172806e+02] [-1.33107016e-01 9.91100936e-01 -1.20716185e-03 -1.31783075e+01] [-9.03752187e-03 4.19229679e-06 9.99959161e-01 -1.65853914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.285769231 meters Centerline goodness [0,1] 0.9993803815994701 Centerline is valid? [True, True] Translation: X:123.20, Y:-13.18, Z:-1.66 [[ 9.91139885e-01 1.32526794e-01 8.85310379e-03 1.23198947e+02] [-1.32521425e-01 9.91179423e-01 -1.19292029e-03 -1.31833681e+01] [-8.93310821e-03 9.12494636e-06 9.99960099e-01 -1.65895444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.315769231 meters Centerline goodness [0,1] 0.9993271693362851 Centerline is valid? [True, True] Translation: X:123.23, Y:-13.19, Z:-1.66 [[ 9.91348282e-01 1.30953122e-01 8.93666119e-03 1.23227205e+02] [-1.30947595e-01 9.91388561e-01 -1.20338652e-03 -1.31915380e+01] [-9.01729090e-03 2.27408672e-05 9.99959343e-01 -1.65960197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.345769231 meters Centerline goodness [0,1] 0.9993116947366157 Centerline is valid? [True, True] Translation: X:123.26, Y:-13.20, Z:-1.66 [[ 9.91368854e-01 1.30795280e-01 8.96602600e-03 1.23255160e+02] [-1.30789713e-01 9.91409398e-01 -1.20699266e-03 -1.31964565e+01] [-9.04687138e-03 2.39109683e-05 9.99959076e-01 -1.65979632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.375769231 meters Centerline goodness [0,1] 0.9992305719415234 Centerline is valid? [True, True] Translation: X:123.28, Y:-13.20, Z:-1.66 [[ 9.91406502e-01 1.30485825e-01 9.30577502e-03 1.23282075e+02] [-1.30479821e-01 9.91450175e-01 -1.25203437e-03 -1.32018887e+01] [-9.38958501e-03 2.70591588e-05 9.99955917e-01 -1.66004126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40576923100001 meters Centerline goodness [0,1] 0.9993445673087088 Centerline is valid? [True, True] Translation: X:123.31, Y:-13.21, Z:-1.66 [[ 9.91509680e-01 1.29649035e-01 9.98405354e-03 1.23308922e+02] [-1.29642091e-01 9.91559946e-01 -1.34237818e-03 -1.32081146e+01] [-1.00738256e-02 3.66273811e-05 9.99949257e-01 -1.65961196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43576923100001 meters Centerline goodness [0,1] 0.9993862303964105 Centerline is valid? [True, True] Translation: X:123.34, Y:-13.22, Z:-1.66 [[ 9.91691422e-01 1.28218354e-01 1.04008213e-02 1.23337168e+02] [-1.28210751e-01 9.91745961e-01 -1.39730374e-03 -1.32156625e+01] [-1.04941325e-02 5.21970261e-05 9.99944934e-01 -1.65957496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46576923100001 meters Centerline goodness [0,1] 0.9994279418619433 Centerline is valid? [True, True] Translation: X:123.36, Y:-13.23, Z:-1.66 [[ 9.92339137e-01 1.23128051e-01 1.01251785e-02 1.23363632e+02] [-1.23120584e-01 9.92390786e-01 -1.35986819e-03 -1.32322414e+01] [-1.02155718e-02 1.02832539e-04 9.99947814e-01 -1.66026527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49576923100001 meters Centerline goodness [0,1] 0.9999154995035596 Centerline is valid? [True, True] Translation: X:123.39, Y:-13.25, Z:-1.66 [[ 9.92748348e-01 1.19879055e-01 8.92919742e-03 1.23389640e+02] [-1.19873120e-01 9.92788496e-01 -1.19882228e-03 -1.32450384e+01] [-9.00851816e-03 1.19758086e-04 9.99959415e-01 -1.66360643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52576923100001 meters Centerline goodness [0,1] 0.9998933174020653 Centerline is valid? [True, True] Translation: X:123.42, Y:-13.25, Z:-1.67 [[ 9.93167656e-01 1.16441177e-01 7.71098650e-03 1.23419008e+02] [-1.16436651e-01 9.93197581e-01 -1.03480942e-03 -1.32506689e+01] [-7.77902757e-03 1.29897806e-04 9.99969734e-01 -1.66548625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55576923100001 meters Centerline goodness [0,1] 0.9998518048057584 Centerline is valid? [True, True] Translation: X:123.45, Y:-13.27, Z:-1.67 [[ 9.93641542e-01 1.12458368e-01 5.44065039e-03 1.23445766e+02] [-1.12456055e-01 9.93656431e-01 -7.30154904e-04 -1.32668370e+01] [-5.48824927e-03 1.13678167e-04 9.99984933e-01 -1.66989580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58576923100001 meters Centerline goodness [0,1] 0.9998521897039571 Centerline is valid? [True, True] Translation: X:123.47, Y:-13.27, Z:-1.67 [[ 9.93788177e-01 1.11182052e-01 4.85912324e-03 1.23473112e+02] [-1.11180192e-01 9.93800050e-01 -6.52118043e-04 -1.32749559e+01] [-4.90150074e-03 1.07828948e-04 9.99987982e-01 -1.67093751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.615769231 meters Centerline goodness [0,1] 0.99991414098051 Centerline is valid? [True, True] Translation: X:123.50, Y:-13.28, Z:-1.67 [[ 9.94148847e-01 1.07875308e-01 5.56667085e-03 1.23502202e+02] [-1.07872818e-01 9.94164422e-01 -7.46480928e-04 -1.32812871e+01] [-5.61471297e-03 1.41620682e-04 9.99984227e-01 -1.66883377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.645769231 meters Centerline goodness [0,1] 0.9995296733367539 Centerline is valid? [True, True] Translation: X:123.53, Y:-13.30, Z:-1.67 [[ 9.94383112e-01 1.05637426e-01 6.55442818e-03 1.23529034e+02] [-1.05633927e-01 9.94404697e-01 -8.78788989e-04 -1.32971376e+01] [-6.61058718e-03 1.81482944e-04 9.99978133e-01 -1.66941456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.675769231 meters Centerline goodness [0,1] 0.9993210125400497 Centerline is valid? [True, True] Translation: X:123.56, Y:-13.31, Z:-1.67 [[ 9.94649713e-01 1.03031381e-01 7.51558628e-03 1.23557889e+02] [-1.03026709e-01 9.94678080e-01 -1.00721811e-03 -1.33082685e+01] [-7.57936401e-03 2.27523089e-04 9.99971250e-01 -1.66804387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.705769231 meters Centerline goodness [0,1] 0.9988547189819724 Centerline is valid? [True, True] Translation: X:123.59, Y:-13.32, Z:-1.67 [[ 9.94963676e-01 9.99230990e-02 7.91565620e-03 1.23586001e+02] [-9.99178187e-02 9.94995128e-01 -1.06074046e-03 -1.33203298e+01] [-7.98203183e-03 2.64483129e-04 9.99968108e-01 -1.66747490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.735769231 meters Centerline goodness [0,1] 0.9989523422633684 Centerline is valid? [True, True] Translation: X:123.62, Y:-13.33, Z:-1.67 [[ 9.95512684e-01 9.44267777e-02 6.17081264e-03 1.23615198e+02] [-9.44234640e-02 9.95531780e-01 -8.26791469e-04 -1.33292428e+01] [-6.22131135e-03 2.40411889e-04 9.99980619e-01 -1.66998176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76576923100001 meters Centerline goodness [0,1] 0.9921238227965709 Centerline is valid? [True, True] Translation: X:123.64, Y:-13.35, Z:-1.67 [[ 9.95811679e-01 9.12482148e-02 5.73268965e-03 1.23641966e+02] [-9.12453021e-02 9.95828150e-01 -7.68152182e-04 -1.33521492e+01] [-5.77886625e-03 2.41853916e-04 9.99983273e-01 -1.67259012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79576923100001 meters Centerline goodness [0,1] 0.9882656951622469 Centerline is valid? [True, True] Translation: X:123.67, Y:-13.37, Z:-1.67 [[ 9.96440695e-01 8.40072754e-02 6.97993929e-03 1.23670270e+02] [-8.40027801e-02 9.96465081e-01 -9.35255102e-04 -1.33737665e+01] [-7.03383400e-03 3.45591939e-04 9.99975203e-01 -1.67059027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82576923100001 meters Centerline goodness [0,1] 0.9804545648737557 Centerline is valid? [True, True] Translation: X:123.70, Y:-13.39, Z:-1.67 [[ 9.96697321e-01 8.08276012e-02 7.83262734e-03 1.23699288e+02] [-8.08218421e-02 9.96728011e-01 -1.04955075e-03 -1.33893925e+01] [-7.89183174e-03 4.13037048e-04 9.99968774e-01 -1.66888872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85576923100001 meters Centerline goodness [0,1] 0.9700101186247282 Centerline is valid? [True, True] Translation: X:123.73, Y:-13.41, Z:-1.67 [[ 9.96926628e-01 7.79770971e-02 7.54124082e-03 1.23726925e+02] [-7.79716768e-02 9.96955062e-01 -1.01055752e-03 -1.34113573e+01] [-7.59707856e-03 4.19448505e-04 9.99971054e-01 -1.66819804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88576923100001 meters Centerline goodness [0,1] 0.9759084992424727 Centerline is valid? [True, True] Translation: X:123.76, Y:-13.42, Z:-1.67 [[ 9.96803197e-01 7.96416934e-02 6.37073712e-03 1.23757973e+02] [-7.96378600e-02 9.96823496e-01 -8.53552216e-04 -1.34189586e+01] [-6.41847879e-03 3.43471707e-04 9.99979342e-01 -1.66922023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91576923100001 meters Centerline goodness [0,1] 0.9907706702960191 Centerline is valid? [True, True] Translation: X:123.79, Y:-13.43, Z:-1.67 [[ 9.96218931e-01 8.67360146e-02 4.97052245e-03 1.23786298e+02] [-8.67337673e-02 9.96231303e-01 -6.66325284e-04 -1.34263126e+01] [-5.00958446e-03 2.32693724e-04 9.99987425e-01 -1.67278306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94576923100001 meters Centerline goodness [0,1] 0.9944860012823253 Centerline is valid? [True, True] Translation: X:123.82, Y:-13.43, Z:-1.67 [[ 9.95888454e-01 9.04316753e-02 5.31974503e-03 1.23816697e+02] [-9.04291545e-02 9.95902636e-01 -7.13000808e-04 -1.34307375e+01] [-5.36242595e-03 2.29009227e-04 9.99985596e-01 -1.67325377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97576923100002 meters Centerline goodness [0,1] 0.9961619203121356 Centerline is valid? [True, True] Translation: X:123.85, Y:-13.44, Z:-1.67 [[ 9.95578176e-01 9.37419076e-02 6.04561765e-03 1.23846122e+02] [-9.37387126e-02 9.95596503e-01 -8.10312714e-04 -1.34358103e+01] [-6.09495606e-03 2.40021238e-04 9.99981397e-01 -1.67251640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00576923100002 meters Centerline goodness [0,1] 0.9975732288828338 Centerline is valid? [True, True] Translation: X:123.88, Y:-13.44, Z:-1.67 [[ 9.95005087e-01 9.93902684e-02 9.29796294e-03 1.23875944e+02] [-9.93829572e-02 9.95048479e-01 -1.24623603e-03 -1.34415566e+01] [-9.37578761e-03 3.15952134e-04 9.99955996e-01 -1.66693734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03576923100002 meters Centerline goodness [0,1] 0.9987638006735154 Centerline is valid? [True, True] Translation: X:123.91, Y:-13.44, Z:-1.66 [[ 9.94751617e-01 1.01744348e-01 1.08309039e-02 1.23907867e+02] [-1.01734567e-01 9.94810520e-01 -1.45166533e-03 -1.34416348e+01] [-1.09223959e-02 3.42169120e-04 9.99940290e-01 -1.66376112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06576923100002 meters Centerline goodness [0,1] 0.9990411455114956 Centerline is valid? [True, True] Translation: X:123.94, Y:-13.45, Z:-1.66 [[ 9.94212042e-01 1.06867098e-01 1.10380784e-02 1.23936874e+02] [-1.06857250e-01 9.94273271e-01 -1.47985024e-03 -1.34513319e+01] [-1.11330137e-02 2.91786219e-04 9.99937984e-01 -1.66347566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09576923100002 meters Centerline goodness [0,1] 0.9997462733904218 Centerline is valid? [True, True] Translation: X:123.97, Y:-13.45, Z:-1.67 [[ 9.93868203e-01 1.10189022e-01 9.18557316e-03 1.23968543e+02] [-1.10182344e-01 9.93910627e-01 -1.23143393e-03 -1.34504055e+01] [-9.26532928e-03 2.11795049e-04 9.99957053e-01 -1.66721457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.00, Y:-13.45, Z:-1.67 [[ 9.93448983e-01 1.14028988e-01 7.51719550e-03 1.24000178e+02] [-1.14024625e-01 9.93477412e-01 -1.00788866e-03 -1.34498214e+01] [-7.58309245e-03 1.44140568e-04 9.99971238e-01 -1.67127896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15576923100002 meters Centerline goodness [0,1] 0.9996763614395443 Centerline is valid? [True, True] Translation: X:124.03, Y:-13.45, Z:-1.67 [[ 9.92490534e-01 1.22209898e-01 5.22310803e-03 1.24032784e+02] [-1.22207905e-01 9.92504276e-01 -7.00262255e-04 -1.34455893e+01] [-5.26953603e-03 5.66985677e-05 9.99986114e-01 -1.67375725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.185769231 meters Centerline goodness [0,1] 0.9995525631738186 Centerline is valid? [True, True] Translation: X:124.06, Y:-13.44, Z:-1.67 [[ 9.91919667e-01 1.26760319e-01 5.21497313e-03 1.24064587e+02] [-1.26758396e-01 9.91933375e-01 -6.98960928e-04 -1.34446505e+01] [-5.26150640e-03 3.22714643e-05 9.99986158e-01 -1.67414186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.215769231 meters Centerline goodness [0,1] 0.9992105319307829 Centerline is valid? [True, True] Translation: X:124.10, Y:-13.44, Z:-1.67 [[ 9.91359375e-01 1.31072408e-01 5.15880642e-03 1.24095901e+02] [-1.31070579e-01 9.91372798e-01 -6.92566464e-04 -1.34419462e+01] [-5.20507671e-03 1.04145132e-05 9.99986453e-01 -1.67363480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.245769231 meters Centerline goodness [0,1] 0.9989156780201557 Centerline is valid? [True, True] Translation: X:124.13, Y:-13.43, Z:-1.67 [[ 9.90213728e-01 1.39462992e-01 5.18144847e-03 1.24126996e+02] [-1.39461261e-01 9.90227283e-01 -6.95762111e-04 -1.34339136e+01] [-5.22784471e-03 -3.36581423e-05 9.99986334e-01 -1.67414493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.275769231 meters Centerline goodness [0,1] 0.9986600591275496 Centerline is valid? [True, True] Translation: X:124.16, Y:-13.43, Z:-1.67 [[ 9.89715928e-01 1.42919055e-01 6.04369987e-03 1.24157186e+02] [-1.42916765e-01 9.89734378e-01 -8.11349989e-04 -1.34336609e+01] [-6.09761491e-03 -6.07400278e-05 9.99981408e-01 -1.67365411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.305769231 meters Centerline goodness [0,1] 0.9986364411113005 Centerline is valid? [True, True] Translation: X:124.19, Y:-13.43, Z:-1.67 [[ 9.89025449e-01 1.47520850e-01 8.14005290e-03 1.24187941e+02] [-1.47516854e-01 9.89058939e-01 -1.09248539e-03 -1.34306783e+01] [-8.21215645e-03 -1.20299138e-04 9.99966272e-01 -1.67054128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.335769231 meters Centerline goodness [0,1] 0.9986846850669325 Centerline is valid? [True, True] Translation: X:124.22, Y:-13.43, Z:-1.67 [[ 9.88935246e-01 1.48118949e-01 8.23748502e-03 1.24217468e+02] [-1.48114879e-01 9.88969545e-01 -1.10536029e-03 -1.34326028e+01] [-8.31034662e-03 -1.26964342e-04 9.99965460e-01 -1.67111530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.365769231 meters Centerline goodness [0,1] 0.9987331081081081 Centerline is valid? [True, True] Translation: X:124.25, Y:-13.44, Z:-1.67 [[ 9.89045444e-01 1.47414324e-01 7.62405472e-03 1.24246202e+02] [-1.47410817e-01 9.89074823e-01 -1.02288316e-03 -1.34357929e+01] [-7.69154820e-03 -1.12190210e-04 9.99970413e-01 -1.67316594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.395769231 meters Centerline goodness [0,1] 0.9986738535249828 Centerline is valid? [True, True] Translation: X:124.28, Y:-13.44, Z:-1.68 [[ 9.89477465e-01 1.44582598e-01 5.49709670e-03 1.24275685e+02] [-1.44580732e-01 9.89492733e-01 -7.37394800e-04 -1.34423151e+01] [-5.54595169e-03 -6.51387255e-05 9.99984619e-01 -1.67671245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.425769231 meters Centerline goodness [0,1] 0.9985695070136857 Centerline is valid? [True, True] Translation: X:124.30, Y:-13.45, Z:-1.68 [[ 9.89671180e-01 1.43253968e-01 5.40888365e-03 1.24303967e+02] [-1.43252141e-01 9.89685959e-01 -7.25646537e-04 -1.34464952e+01] [-5.45704795e-03 -5.66827002e-05 9.99985109e-01 -1.67741766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.455769231 meters Centerline goodness [0,1] 0.9988177672690424 Centerline is valid? [True, True] Translation: X:124.33, Y:-13.45, Z:-1.68 [[ 9.89849087e-01 1.41994639e-01 6.02560209e-03 1.24332791e+02] [-1.41992350e-01 9.89867425e-01 -8.08120805e-04 -1.34482492e+01] [-6.07929605e-03 -5.56717621e-05 9.99981519e-01 -1.67672739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.485769231 meters Centerline goodness [0,1] 0.9990372272143774 Centerline is valid? [True, True] Translation: X:124.36, Y:-13.45, Z:-1.68 [[ 9.89801519e-01 1.42323251e-01 6.08654324e-03 1.24361526e+02] [-1.42320923e-01 9.89820231e-01 -8.16138226e-04 -1.34510754e+01] [-6.14073908e-03 -5.84275941e-05 9.99981144e-01 -1.67640062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.515769231 meters Centerline goodness [0,1] 0.9990372272143774 Centerline is valid? [True, True] Translation: X:124.39, Y:-13.45, Z:-1.68 [[ 9.89808116e-01 1.42277360e-01 6.08658116e-03 1.24389618e+02] [-1.42275033e-01 9.89826828e-01 -8.15855267e-04 -1.34547472e+01] [-6.14073906e-03 -5.84283719e-05 9.99981144e-01 -1.67673209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.545769231 meters Centerline goodness [0,1] 0.9989986791086114 Centerline is valid? [True, True] Translation: X:124.42, Y:-13.46, Z:-1.68 [[ 9.89748672e-01 1.42694545e-01 5.98602537e-03 1.24418569e+02] [-1.42692304e-01 9.89766772e-01 -8.02035957e-04 -1.34563574e+01] [-6.03921516e-03 -6.03457294e-05 9.99981762e-01 -1.67811419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.575769231 meters Centerline goodness [0,1] 0.9989503448866801 Centerline is valid? [True, True] Translation: X:124.45, Y:-13.46, Z:-1.68 [[ 9.89661578e-01 1.43348184e-01 4.61079436e-03 1.24447827e+02] [-1.43346862e-01 9.89672317e-01 -6.17793928e-04 -1.34581201e+01] [-4.65173517e-03 -4.95359877e-05 9.99989179e-01 -1.68097804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.605769231 meters Centerline goodness [0,1] 0.998833361615476 Centerline is valid? [True, True] Translation: X:124.48, Y:-13.46, Z:-1.68 [[ 9.89700240e-01 1.43085452e-01 4.47079775e-03 1.24476029e+02] [-1.43084206e-01 9.89710337e-01 -5.98923117e-04 -1.34608180e+01] [-4.51049194e-03 -4.69461926e-05 9.99989827e-01 -1.68125321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.635769231 meters Centerline goodness [0,1] 0.9990190433540187 Centerline is valid? [True, True] Translation: X:124.50, Y:-13.47, Z:-1.68 [[ 9.89755146e-01 1.42679910e-01 5.21482892e-03 1.24504475e+02] [-1.42678212e-01 9.89768882e-01 -6.98089715e-04 -1.34650764e+01] [-5.26107877e-03 -5.31045764e-05 9.99986159e-01 -1.67949037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.665769231 meters Centerline goodness [0,1] 0.9989018879080964 Centerline is valid? [True, True] Translation: X:124.53, Y:-13.47, Z:-1.68 [[ 9.89907270e-01 1.41543201e-01 7.00854028e-03 1.24531857e+02] [-1.41540109e-01 9.89932078e-01 -9.37749596e-04 -1.34716959e+01] [-7.07071092e-03 -6.37044140e-05 9.99975000e-01 -1.67680086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.695769231 meters Centerline goodness [0,1] 0.9989566476450047 Centerline is valid? [True, True] Translation: X:124.56, Y:-13.48, Z:-1.68 [[ 9.89893246e-01 1.41592901e-01 7.92540726e-03 1.24560182e+02] [-1.41588953e-01 9.89924969e-01 -1.05984073e-03 -1.34771751e+01] [-7.99562446e-03 -7.30209419e-05 9.99968032e-01 -1.67526000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72576923100002 meters Centerline goodness [0,1] 0.9988708268530158 Centerline is valid? [True, True] Translation: X:124.59, Y:-13.48, Z:-1.67 [[ 9.89748470e-01 1.42541106e-01 8.94428939e-03 1.24588857e+02] [-1.42536121e-01 9.89788879e-01 -1.19558565e-03 -1.34817010e+01] [-9.02337827e-03 -9.15552460e-05 9.99959284e-01 -1.67335439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75576923100002 meters Centerline goodness [0,1] 0.9989923677214647 Centerline is valid? [True, True] Translation: X:124.62, Y:-13.49, Z:-1.67 [[ 9.89574134e-01 1.43799807e-01 8.04050323e-03 1.24618042e+02] [-1.43795823e-01 9.89606794e-01 -1.07450696e-03 -1.34857851e+01] [-8.11145052e-03 -9.28864819e-05 9.99967097e-01 -1.67442816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78576923100002 meters Centerline goodness [0,1] 0.998889292351069 Centerline is valid? [True, True] Translation: X:124.65, Y:-13.49, Z:-1.68 [[ 9.89225579e-01 1.46219732e-01 7.24864485e-03 1.24648211e+02] [-1.46216560e-01 9.89252131e-01 -9.68537339e-04 -1.34859741e+01] [-7.31235664e-03 -1.01770004e-04 9.99973259e-01 -1.67637758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81576923100002 meters Centerline goodness [0,1] 0.9987281399046105 Centerline is valid? [True, True] Translation: X:124.68, Y:-13.48, Z:-1.67 [[ 9.88103051e-01 1.53578524e-01 8.12387828e-03 1.24679150e+02] [-1.53574790e-01 9.88136431e-01 -1.08520030e-03 -1.34763299e+01] [-8.19416355e-03 -1.75333171e-04 9.99966412e-01 -1.67456291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84576923100002 meters Centerline goodness [0,1] 0.9986410446968893 Centerline is valid? [True, True] Translation: X:124.71, Y:-13.47, Z:-1.67 [[ 9.87476204e-01 1.57522716e-01 8.79430803e-03 1.24708557e+02] [-1.57518497e-01 9.87515338e-01 -1.17474354e-03 -1.34726893e+01] [-8.86956286e-03 -2.25234887e-04 9.99960639e-01 -1.67299451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87576923100002 meters Centerline goodness [0,1] 0.9983711287865967 Centerline is valid? [True, True] Translation: X:124.74, Y:-13.46, Z:-1.67 [[ 9.86202020e-01 1.65346479e-01 8.13126105e-03 1.24741290e+02] [-1.65343140e-01 9.86235503e-01 -1.08582950e-03 -1.34601970e+01] [-8.19887641e-03 -2.73600983e-04 9.99966351e-01 -1.67399354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90576923100002 meters Centerline goodness [0,1] 0.9983394794160143 Centerline is valid? [True, True] Translation: X:124.77, Y:-13.46, Z:-1.67 [[ 9.85616556e-01 1.68823055e-01 7.66690129e-03 1.24772106e+02] [-1.68820192e-01 9.85646334e-01 -1.02376214e-03 -1.34595951e+01] [-7.72968780e-03 -2.85290831e-04 9.99970085e-01 -1.67499417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.935769231 meters Centerline goodness [0,1] 0.9971133586177834 Centerline is valid? [True, True] Translation: X:124.80, Y:-13.45, Z:-1.68 [[ 9.85107004e-01 1.71763384e-01 7.84411575e-03 1.24802854e+02] [-1.71760479e-01 9.85138183e-01 -1.04746989e-03 -1.34520480e+01] [-7.90745491e-03 -3.15439154e-04 9.99968686e-01 -1.67580505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.965769231 meters Centerline goodness [0,1] 0.9962578851705335 Centerline is valid? [True, True] Translation: X:124.83, Y:-13.45, Z:-1.68 [[ 9.84524387e-01 1.75050106e-01 8.31820489e-03 1.24834252e+02] [-1.75046958e-01 9.84559459e-01 -1.11063262e-03 -1.34476829e+01] [-8.38418366e-03 -3.62631558e-04 9.99964786e-01 -1.67506321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.995769231 meters Centerline goodness [0,1] 0.9956907531629448 Centerline is valid? [True, True] Translation: X:124.86, Y:-13.45, Z:-1.68 [[ 9.84530833e-01 1.75025686e-01 8.06526152e-03 1.24862983e+02] [-1.75022725e-01 9.84563805e-01 -1.07706637e-03 -1.34460677e+01] [-8.12927885e-03 -3.51198999e-04 9.99966895e-01 -1.67618285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.025769231 meters Centerline goodness [0,1] 0.9960857726344452 Centerline is valid? [True, True] Translation: X:124.89, Y:-13.45, Z:-1.68 [[ 9.84753900e-01 1.73803932e-01 7.20767741e-03 1.24892409e+02] [-1.73801537e-01 9.84780229e-01 -9.62088734e-04 -1.34473289e+01] [-7.26519302e-03 -3.05284778e-04 9.99973562e-01 -1.67874142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.055769231 meters Centerline goodness [0,1] 0.9957864871159668 Centerline is valid? [True, True] Translation: X:124.92, Y:-13.45, Z:-1.68 [[ 9.85361107e-01 1.70408425e-01 4.94541403e-03 1.24922228e+02] [-1.70407255e-01 9.85373499e-01 -6.59996345e-04 -1.34453058e+01] [-4.98554887e-03 -1.92399703e-04 9.99987554e-01 -1.68306351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.085769231 meters Centerline goodness [0,1] 0.9974411463664279 Centerline is valid? [True, True] Translation: X:124.95, Y:-13.45, Z:-1.68 [[ 9.85709673e-01 1.68389190e-01 4.63917593e-03 1.24950916e+02] [-1.68388138e-01 9.85720575e-01 -6.19113800e-04 -1.34508622e+01] [-4.67718323e-03 -1.70915738e-04 9.99989047e-01 -1.68370558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.115769231 meters Centerline goodness [0,1] 0.9984494148133988 Centerline is valid? [True, True] Translation: X:124.98, Y:-13.45, Z:-1.68 [[ 9.86531330e-01 1.63484136e-01 5.37321194e-03 1.24981009e+02] [-1.63482655e-01 9.86545948e-01 -7.16637403e-04 -1.34545691e+01] [-5.41807931e-03 -1.71441703e-04 9.99985307e-01 -1.68285942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.145769231 meters Centerline goodness [0,1] 0.9987089947089947 Centerline is valid? [True, True] Translation: X:125.01, Y:-13.46, Z:-1.68 [[ 9.86973733e-01 1.60784360e-01 5.58922095e-03 1.25009259e+02] [-1.60782714e-01 9.86989546e-01 -7.45604901e-04 -1.34575209e+01] [-5.63638425e-03 -1.62757661e-04 9.99984102e-01 -1.68298496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.175769231 meters Centerline goodness [0,1] 0.9990141237489016 Centerline is valid? [True, True] Translation: X:125.04, Y:-13.47, Z:-1.68 [[ 9.87340098e-01 1.58515721e-01 5.68297862e-03 1.25037039e+02] [-1.58513982e-01 9.87356442e-01 -7.57992520e-04 -1.34659966e+01] [-5.73127928e-03 -1.52435161e-04 9.99983564e-01 -1.68248206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.205769231 meters Centerline goodness [0,1] 0.9987052405917687 Centerline is valid? [True, True] Translation: X:125.07, Y:-13.47, Z:-1.68 [[ 9.87647199e-01 1.56600520e-01 5.41185483e-03 1.25065359e+02] [-1.56598915e-01 9.87662017e-01 -7.21669506e-04 -1.34654665e+01] [-5.45809727e-03 -1.34735728e-04 9.99985095e-01 -1.68497386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.235769231 meters Centerline goodness [0,1] 0.9989529467071242 Centerline is valid? [True, True] Translation: X:125.09, Y:-13.48, Z:-1.69 [[ 9.88275285e-01 1.52628117e-01 4.07664626e-03 1.25094086e+02] [-1.52627174e-01 9.88283689e-01 -5.43180951e-04 -1.34762438e+01] [-4.11178769e-03 -8.53946901e-05 9.99991543e-01 -1.68665310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.265769231 meters Centerline goodness [0,1] 0.9990331313652185 Centerline is valid? [True, True] Translation: X:125.12, Y:-13.48, Z:-1.69 [[ 9.88556907e-01 1.50791481e-01 4.14385816e-03 1.25122148e+02] [-1.50790489e-01 9.88565589e-01 -5.52355617e-04 -1.34811499e+01] [-4.17976610e-03 -7.88194393e-05 9.99991262e-01 -1.68650082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.295769231 meters Centerline goodness [0,1] 0.9991090558112895 Centerline is valid? [True, True] Translation: X:125.15, Y:-13.48, Z:-1.68 [[ 9.88764178e-01 1.49368367e-01 5.87299179e-03 1.25149506e+02] [-1.49366354e-01 9.88781614e-01 -7.82389866e-04 -1.34842445e+01] [-5.92397060e-03 -1.03628299e-04 9.99982448e-01 -1.68343163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.325769231 meters Centerline goodness [0,1] 0.9992351978925453 Centerline is valid? [True, True] Translation: X:125.18, Y:-13.49, Z:-1.68 [[ 9.88822933e-01 1.48939742e-01 6.79420146e-03 1.25178365e+02] [-1.48937042e-01 9.88846267e-01 -9.04528001e-04 -1.34881379e+01] [-6.85314092e-03 -1.17490239e-04 9.99976510e-01 -1.68164344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.355769231 meters Centerline goodness [0,1] 0.9990107526881721 Centerline is valid? [True, True] Translation: X:125.21, Y:-13.49, Z:-1.68 [[ 9.88884515e-01 1.48511786e-01 7.18783414e-03 1.25206807e+02] [-1.48508755e-01 9.88910630e-01 -9.56564326e-04 -1.34933963e+01] [-7.25018667e-03 -1.21524653e-04 9.99973710e-01 -1.68080958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.385769231 meters Centerline goodness [0,1] 0.9991262280757838 Centerline is valid? [True, True] Translation: X:125.24, Y:-13.49, Z:-1.68 [[ 9.88790968e-01 1.49158117e-01 6.65418534e-03 1.25235181e+02] [-1.49155535e-01 9.88813351e-01 -8.85319010e-04 -1.34906311e+01] [-6.71179982e-03 -1.17113135e-04 9.99977469e-01 -1.68242198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.415769231 meters Centerline goodness [0,1] 0.9991892641505409 Centerline is valid? [True, True] Translation: X:125.26, Y:-13.49, Z:-1.68 [[ 9.88643737e-01 1.50142699e-01 6.38204553e-03 1.25263861e+02] [-1.50140347e-01 9.88664329e-01 -8.48733210e-04 -1.34903034e+01] [-6.43713185e-03 -1.19107759e-04 9.99979274e-01 -1.68311344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.445769231 meters Centerline goodness [0,1] 0.9991732734133209 Centerline is valid? [True, True] Translation: X:125.29, Y:-13.49, Z:-1.68 [[ 9.88449328e-01 1.51397274e-01 6.84041177e-03 1.25292050e+02] [-1.51394606e-01 9.88472987e-01 -9.09234350e-04 -1.34890937e+01] [-6.89921786e-03 -1.36869360e-04 9.99976191e-01 -1.68343323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47576923100002 meters Centerline goodness [0,1] 0.9991071048939155 Centerline is valid? [True, True] Translation: X:125.32, Y:-13.49, Z:-1.68 [[ 9.88079818e-01 1.53739738e-01 7.89724756e-03 1.25321201e+02] [-1.53736260e-01 9.88111361e-01 -1.04913567e-03 -1.34852103e+01] [-7.96465388e-03 -1.77463524e-04 9.99968266e-01 -1.68189959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50576923100002 meters Centerline goodness [0,1] 0.9991251093613298 Centerline is valid? [True, True] Translation: X:125.35, Y:-13.49, Z:-1.68 [[ 9.87950464e-01 1.54583376e-01 7.60667298e-03 1.25349598e+02] [-1.54580178e-01 9.87979731e-01 -1.01007297e-03 -1.34871983e+01] [-7.67137921e-03 -1.77938805e-04 9.99970559e-01 -1.68230197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53576923100002 meters Centerline goodness [0,1] 0.9991366058079053 Centerline is valid? [True, True] Translation: X:125.38, Y:-13.49, Z:-1.68 [[ 9.87913551e-01 1.54868685e-01 6.51971367e-03 1.25377758e+02] [-1.54866343e-01 9.87935052e-01 -8.65564878e-04 -1.34854744e+01] [-6.57510256e-03 -1.54580941e-04 9.99978372e-01 -1.68490069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56576923100002 meters Centerline goodness [0,1] 0.9989360796663546 Centerline is valid? [True, True] Translation: X:125.41, Y:-13.49, Z:-1.69 [[ 9.87872024e-01 1.55233473e-01 3.38125775e-03 1.25406281e+02] [-1.55232845e-01 9.87877807e-01 -4.48939140e-04 -1.34880722e+01] [-3.40995987e-03 -8.13878433e-05 9.99994183e-01 -1.69020516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59576923100002 meters Centerline goodness [0,1] 0.9990147783251232 Centerline is valid? [True, True] Translation: X:125.44, Y:-13.49, Z:-1.69 [[ 9.87929366e-01 1.54878772e-01 2.85203271e-03 1.25435346e+02] [-1.54878324e-01 9.87933480e-01 -3.78622260e-04 -1.34905693e+01] [-2.87625915e-03 -6.76659951e-05 9.99995861e-01 -1.69153691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62576923100002 meters Centerline goodness [0,1] 0.9991057551046479 Centerline is valid? [True, True] Translation: X:125.46, Y:-13.50, Z:-1.69 [[ 9.88476092e-01 1.51317578e-01 4.24347441e-03 1.25464699e+02] [-1.51316556e-01 9.88485196e-01 -5.62689162e-04 -1.34955464e+01] [-4.27975640e-03 -8.59031498e-05 9.99990838e-01 -1.69086381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65576923100002 meters Centerline goodness [0,1] 0.999375511434601 Centerline is valid? [True, True] Translation: X:125.49, Y:-13.50, Z:-1.69 [[ 9.88927863e-01 1.48307576e-01 5.15213732e-03 1.25493128e+02] [-1.48306028e-01 9.88941280e-01 -6.83374728e-04 -1.35045073e+01] [-5.19651092e-03 -8.82847099e-05 9.99986494e-01 -1.69010930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.685769231 meters Centerline goodness [0,1] 0.9992804537374079 Centerline is valid? [True, True] Translation: X:125.52, Y:-13.51, Z:-1.69 [[ 9.89468669e-01 1.44670710e-01 4.70527317e-03 1.25520116e+02] [-1.44669379e-01 9.89479854e-01 -6.23650824e-04 -1.35112953e+01] [-4.74599702e-03 -6.36259994e-05 9.99988736e-01 -1.69334689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.715769231 meters Centerline goodness [0,1] 0.9992613228652231 Centerline is valid? [True, True] Translation: X:125.55, Y:-13.52, Z:-1.70 [[ 9.90087368e-01 1.40406308e-01 3.61553154e-03 1.25546340e+02] [-1.40405495e-01 9.90093969e-01 -4.79113764e-04 -1.35239066e+01] [-3.64698657e-03 -3.32760080e-05 9.99993349e-01 -1.69637309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.745769231 meters Centerline goodness [0,1] 0.999487234269843 Centerline is valid? [True, True] Translation: X:125.57, Y:-13.54, Z:-1.70 [[ 9.91049029e-01 1.33468583e-01 2.82138762e-03 1.25572906e+02] [-1.33468059e-01 9.91053045e-01 -3.73770901e-04 -1.35431990e+01] [-2.84603146e-03 -6.13984210e-06 9.99995950e-01 -1.69654590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.775769231 meters Centerline goodness [0,1] 0.999619916381604 Centerline is valid? [True, True] Translation: X:125.60, Y:-13.55, Z:-1.69 [[ 9.91232858e-01 1.32057012e-01 4.28565715e-03 1.25601104e+02] [-1.32055794e-01 9.91242123e-01 -5.67289993e-04 -1.35512895e+01] [-4.32303851e-03 -3.62937433e-06 9.99990656e-01 -1.69326698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.805769231 meters Centerline goodness [0,1] 0.9995094275232489 Centerline is valid? [True, True] Translation: X:125.63, Y:-13.56, Z:-1.69 [[ 9.91199252e-01 1.32262414e-01 5.54039232e-03 1.25629923e+02] [-1.32260384e-01 9.91214736e-01 -7.32893008e-04 -1.35574185e+01] [-5.58865271e-03 -6.33141436e-06 9.99984383e-01 -1.69057218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.835769231 meters Centerline goodness [0,1] 0.9993998756885355 Centerline is valid? [True, True] Translation: X:125.66, Y:-13.56, Z:-1.69 [[ 9.90634693e-01 1.36465574e-01 4.47786432e-03 1.25658878e+02] [-1.36464291e-01 9.90644813e-01 -5.92344352e-04 -1.35578909e+01] [-4.51680768e-03 -2.42717132e-05 9.99989799e-01 -1.69288172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.865769231 meters Centerline goodness [0,1] 0.9993121238177128 Centerline is valid? [True, True] Translation: X:125.69, Y:-13.56, Z:-1.70 [[ 9.90300068e-01 1.38916707e-01 2.81494433e-03 1.25686652e+02] [-1.38916209e-01 9.90304068e-01 -3.72549209e-04 -1.35580747e+01] [-2.83940413e-03 -2.21058888e-05 9.99995969e-01 -1.69697786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.895769231 meters Centerline goodness [0,1] 0.9993204502017413 Centerline is valid? [True, True] Translation: X:125.72, Y:-13.56, Z:-1.70 [[ 9.89865529e-01 1.41997026e-01 1.75491074e-03 1.25715443e+02] [-1.41996838e-01 9.89867084e-01 -2.32283712e-04 -1.35607339e+01] [-1.77011197e-03 -1.92621357e-05 9.99998433e-01 -1.69854719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.925769231 meters Centerline goodness [0,1] 0.9994046733144814 Centerline is valid? [True, True] Translation: X:125.74, Y:-13.57, Z:-1.70 [[ 9.89814637e-01 1.42328793e-01 3.08209852e-03 1.25744094e+02] [-1.42328214e-01 9.89819435e-01 -4.07392451e-04 -1.35667280e+01] [-3.10870469e-03 -3.54265666e-05 9.99995167e-01 -1.69606657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.955769231 meters Centerline goodness [0,1] 0.9995344407999154 Centerline is valid? [True, True] Translation: X:125.77, Y:-13.57, Z:-1.69 [[ 9.89844691e-01 1.41963531e-01 7.33780217e-03 1.25771506e+02] [-1.41960249e-01 9.89871885e-01 -9.68826250e-04 -1.35735924e+01] [-7.40102207e-03 -8.26887037e-05 9.99972609e-01 -1.68870804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.985769231 meters Centerline goodness [0,1] 0.9995745133496436 Centerline is valid? [True, True] Translation: X:125.80, Y:-13.58, Z:-1.69 [[ 9.89929114e-01 1.41286144e-01 8.86418912e-03 1.25799826e+02] [-1.41281334e-01 9.89968796e-01 -1.16964102e-03 -1.35788426e+01] [-8.94052470e-03 -9.44827648e-05 9.99960028e-01 -1.68614271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.015769231 meters Centerline goodness [0,1] 0.9995525727069351 Centerline is valid? [True, True] Translation: X:125.83, Y:-13.58, Z:-1.69 [[ 9.89990485e-01 1.40832002e-01 9.22963818e-03 1.25828708e+02] [-1.40826772e-01 9.90033504e-01 -1.21736694e-03 -1.35841290e+01] [-9.30909525e-03 -9.45984636e-05 9.99956665e-01 -1.68583594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.045769231 meters Centerline goodness [0,1] 0.9996411685241472 Centerline is valid? [True, True] Translation: X:125.86, Y:-13.59, Z:-1.69 [[ 9.90049002e-01 1.40469603e-01 8.44178016e-03 1.25856051e+02] [-1.40465216e-01 9.90084988e-01 -1.11325693e-03 -1.35885696e+01] [-8.51445857e-03 -8.35975616e-05 9.99963748e-01 -1.68822237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.075769231 meters Centerline goodness [0,1] 0.9996146435452794 Centerline is valid? [True, True] Translation: X:125.88, Y:-13.60, Z:-1.69 [[ 9.90187990e-01 1.39595852e-01 6.38295749e-03 1.25884492e+02] [-1.39593328e-01 9.90208561e-01 -8.41475132e-04 -1.35966843e+01] [-6.43792559e-03 -5.77997075e-05 9.99979275e-01 -1.69122315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.105769231 meters Centerline goodness [0,1] 0.9995747937749808 Centerline is valid? [True, True] Translation: X:125.91, Y:-13.60, Z:-1.69 [[ 9.90297885e-01 1.38833396e-01 5.94863139e-03 1.25912957e+02] [-1.38831191e-01 9.90315751e-01 -7.83971266e-04 -1.36017327e+01] [-5.99986476e-03 -4.94904941e-05 9.99981999e-01 -1.69176896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.135769231 meters Centerline goodness [0,1] 0.999554518455664 Centerline is valid? [True, True] Translation: X:125.94, Y:-13.61, Z:-1.69 [[ 9.90410077e-01 1.38010863e-01 6.39381280e-03 1.25940201e+02] [-1.38008301e-01 9.90430714e-01 -8.42357845e-04 -1.36063111e+01] [-6.44888311e-03 -4.81195409e-05 9.99979205e-01 -1.69142264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.165769231 meters Centerline goodness [0,1] 0.9994901210962397 Centerline is valid? [True, True] Translation: X:125.97, Y:-13.61, Z:-1.69 [[ 9.90416774e-01 1.37958209e-01 6.49206243e-03 1.25968780e+02] [-1.37955570e-01 9.90438050e-01 -8.54848502e-04 -1.36106879e+01] [-6.54791902e-03 -4.89598754e-05 9.99978561e-01 -1.69168832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.195769231 meters Centerline goodness [0,1] 0.9995686959522115 Centerline is valid? [True, True] Translation: X:126.00, Y:-13.61, Z:-1.69 [[ 9.90373889e-01 1.38280242e-01 6.17533149e-03 1.25997420e+02] [-1.38277861e-01 9.90393140e-01 -8.12881128e-04 -1.36140617e+01] [-6.22841135e-03 -4.88553870e-05 9.99980602e-01 -1.69241562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22576923100002 meters Centerline goodness [0,1] 0.9995521910651456 Centerline is valid? [True, True] Translation: X:126.03, Y:-13.61, Z:-1.70 [[ 9.90086128e-01 1.40389635e-01 4.49541393e-03 1.26025236e+02] [-1.40388395e-01 9.90096333e-01 -5.91804979e-04 -1.36127459e+01] [-4.53397613e-03 -4.51660457e-05 9.99989720e-01 -1.69510658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25576923100002 meters Centerline goodness [0,1] 0.999595607015154 Centerline is valid? [True, True] Translation: X:126.05, Y:-13.61, Z:-1.70 [[ 9.89883092e-01 1.41825007e-01 4.13893821e-03 1.26054506e+02] [-1.41823970e-01 9.89891744e-01 -5.44544549e-04 -1.36128537e+01] [-4.17433080e-03 -4.79652042e-05 9.99991286e-01 -1.69670136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28576923100002 meters Centerline goodness [0,1] 0.9995303259964561 Centerline is valid? [True, True] Translation: X:126.08, Y:-13.61, Z:-1.70 [[ 9.89660381e-01 1.43378861e-01 3.85127165e-03 1.26082957e+02] [-1.43377975e-01 9.89667873e-01 -5.06644901e-04 -1.36133993e+01] [-3.88412199e-03 -5.07811430e-05 9.99992455e-01 -1.69773434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31576923100002 meters Centerline goodness [0,1] 0.9994668486489945 Centerline is valid? [True, True] Translation: X:126.11, Y:-13.61, Z:-1.70 [[ 9.89198607e-01 1.46555468e-01 2.75885715e-03 1.26112491e+02] [-1.46555026e-01 9.89202453e-01 -3.62761184e-04 -1.36116525e+01] [-2.78223289e-03 -4.54815229e-05 9.99996129e-01 -1.70046131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34576923100002 meters Centerline goodness [0,1] 0.9994625158557823 Centerline is valid? [True, True] Translation: X:126.14, Y:-13.61, Z:-1.70 [[ 9.89141099e-01 1.46949623e-01 2.38647732e-03 1.26140064e+02] [-1.46949293e-01 9.89143977e-01 -3.13977602e-04 -1.36131173e+01] [-2.40670855e-03 -4.01230039e-05 9.99997103e-01 -1.70168532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37576923100002 meters Centerline goodness [0,1] 0.9995707417582418 Centerline is valid? [True, True] Translation: X:126.17, Y:-13.62, Z:-1.70 [[ 9.89368279e-01 1.45417389e-01 2.04742088e-03 1.26168699e+02] [-1.45417143e-01 9.89370397e-01 -2.69235548e-04 -1.36153043e+01] [-2.06480914e-03 -3.13569842e-05 9.99997868e-01 -1.70277685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40576923100002 meters Centerline goodness [0,1] 0.9995707417582418 Centerline is valid? [True, True] Translation: X:126.20, Y:-13.62, Z:-1.70 [[ 9.89377969e-01 1.45351447e-01 2.04740486e-03 1.26195979e+02] [-1.45351201e-01 9.89380087e-01 -2.69357726e-04 -1.36187398e+01] [-2.06481314e-03 -3.10961564e-05 9.99997868e-01 -1.70309858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.435769231 meters Centerline goodness [0,1] 0.9996167440275945 Centerline is valid? [True, True] Translation: X:126.22, Y:-13.62, Z:-1.70 [[ 9.89555727e-01 1.44131908e-01 2.33596398e-03 1.26223897e+02] [-1.44131585e-01 9.89558483e-01 -3.06839993e-04 -1.36234852e+01] [-2.35579840e-03 -3.30509181e-05 9.99997225e-01 -1.70299632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.465769231 meters Centerline goodness [0,1] 0.9996157540826128 Centerline is valid? [True, True] Translation: X:126.25, Y:-13.63, Z:-1.70 [[ 9.89731475e-01 1.42896418e-01 3.49585633e-03 1.26251658e+02] [-1.42895689e-01 9.89737648e-01 -4.58787292e-04 -1.36306342e+01] [-3.52553969e-03 -4.54665757e-05 9.99993784e-01 -1.70056326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.495769231 meters Centerline goodness [0,1] 0.9996800955447973 Centerline is valid? [True, True] Translation: X:126.28, Y:-13.64, Z:-1.70 [[ 9.89893892e-01 1.41721627e-01 5.00622531e-03 1.26280420e+02] [-1.41720118e-01 9.89906550e-01 -6.56544738e-04 -1.36359962e+01] [-5.04874181e-03 -5.95732164e-05 9.99987253e-01 -1.69772446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.525769231 meters Centerline goodness [0,1] 0.999682088887947 Centerline is valid? [True, True] Translation: X:126.31, Y:-13.64, Z:-1.70 [[ 9.90010625e-01 1.40830203e-01 6.76880228e-03 1.26308785e+02] [-1.40827428e-01 9.90033761e-01 -8.87205170e-04 -1.36375993e+01] [-6.82628806e-03 -7.48904715e-05 9.99976698e-01 -1.69551540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.555769231 meters Centerline goodness [0,1] 0.9997256689457247 Centerline is valid? [True, True] Translation: X:126.34, Y:-13.64, Z:-1.70 [[ 9.89945458e-01 1.41297546e-01 6.55688531e-03 1.26338035e+02] [-1.41294954e-01 9.89967170e-01 -8.59145773e-04 -1.36387855e+01] [-6.61249639e-03 -7.59473539e-05 9.99978134e-01 -1.69603827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.585769231 meters Centerline goodness [0,1] 0.9997860276024393 Centerline is valid? [True, True] Translation: X:126.37, Y:-13.64, Z:-1.70 [[ 9.89855180e-01 1.41934288e-01 6.43282943e-03 1.26366832e+02] [-1.41931808e-01 9.89876079e-01 -8.42633184e-04 -1.36436907e+01] [-6.48730251e-03 -7.89382918e-05 9.99978954e-01 -1.69520310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.615769231 meters Centerline goodness [0,1] 0.9997461714189018 Centerline is valid? [True, True] Translation: X:126.40, Y:-13.64, Z:-1.69 [[ 9.89739379e-01 1.42678912e-01 7.66091796e-03 1.26395608e+02] [-1.42675421e-01 9.89769023e-01 -1.00305502e-03 -1.36410532e+01] [-7.72565408e-03 -1.00261646e-04 9.99970152e-01 -1.69324960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.645769231 meters Centerline goodness [0,1] 0.9997446971469907 Centerline is valid? [True, True] Translation: X:126.42, Y:-13.65, Z:-1.69 [[ 9.89789264e-01 1.42294901e-01 8.32907268e-03 1.26424084e+02] [-1.42290767e-01 9.89824302e-01 -1.08991212e-03 -1.36455560e+01] [-8.39940749e-03 -1.06366827e-04 9.99964719e-01 -1.69100095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.675769231 meters Centerline goodness [0,1] 0.999788104167991 Centerline is valid? [True, True] Translation: X:126.45, Y:-13.65, Z:-1.69 [[ 9.89973695e-01 1.41035185e-01 7.82048652e-03 1.26452205e+02] [-1.41031503e-01 9.90004580e-01 -1.02301782e-03 -1.36508649e+01] [-7.88659898e-03 -9.01742386e-05 9.99968896e-01 -1.69264871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.705769231 meters Centerline goodness [0,1] 0.9997244303126656 Centerline is valid? [True, True] Translation: X:126.48, Y:-13.66, Z:-1.69 [[ 9.90152057e-01 1.39819242e-01 7.03452391e-03 1.26480826e+02] [-1.39816234e-01 9.90177042e-01 -9.19920317e-04 -1.36572435e+01] [-7.09404663e-03 -7.26796501e-05 9.99974834e-01 -1.69455238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.735769231 meters Centerline goodness [0,1] 0.9997858122001371 Centerline is valid? [True, True] Translation: X:126.51, Y:-13.66, Z:-1.70 [[ 9.90361130e-01 1.38344244e-01 6.76040328e-03 1.26509291e+02] [-1.38341434e-01 9.90384202e-01 -8.83767391e-04 -1.36639143e+01] [-6.81766074e-03 -5.99950103e-05 9.99976758e-01 -1.69536687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.765769231 meters Centerline goodness [0,1] 0.9997874691830315 Centerline is valid? [True, True] Translation: X:126.54, Y:-13.67, Z:-1.70 [[ 9.90887146e-01 1.34566202e-01 5.88221212e-03 1.26537074e+02] [-1.34564009e-01 9.90904605e-01 -7.68751519e-04 -1.36738434e+01] [-5.93215905e-03 -2.97880468e-05 9.99982404e-01 -1.69753685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.795769231 meters Centerline goodness [0,1] 0.9998511145142079 Centerline is valid? [True, True] Translation: X:126.56, Y:-13.68, Z:-1.70 [[ 9.91134018e-01 1.32770589e-01 5.03286224e-03 1.26563721e+02] [-1.32768961e-01 9.91146796e-01 -6.57664864e-04 -1.36806490e+01] [-5.07562383e-03 -1.63738708e-05 9.99987119e-01 -1.70069204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.825769231 meters Centerline goodness [0,1] 0.9999361702127659 Centerline is valid? [True, True] Translation: X:126.59, Y:-13.69, Z:-1.70 [[ 9.91326562e-01 1.31323667e-01 5.07362891e-03 1.26590495e+02] [-1.31321995e-01 9.91339545e-01 -6.62663090e-04 -1.36869951e+01] [-5.11671232e-03 -9.36354930e-06 9.99986909e-01 -1.70231724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.855769231 meters Centerline goodness [0,1] 0.9999788261200983 Centerline is valid? [True, True] Translation: X:126.62, Y:-13.69, Z:-1.70 [[ 9.91283506e-01 1.31523988e-01 7.64529040e-03 1.26619335e+02] [-1.31520205e-01 9.91312988e-01 -9.97717961e-04 -1.36906551e+01] [-7.71009951e-03 -1.64888012e-05 9.99970277e-01 -1.69556071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.65, Y:-13.69, Z:-1.69 [[ 9.91094755e-01 1.32898739e-01 8.31339818e-03 1.26648220e+02] [-1.32894317e-01 9.91129620e-01 -1.08451157e-03 -1.36906949e+01] [-8.38378541e-03 -2.99496480e-05 9.99964855e-01 -1.69358231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.915769231 meters Centerline goodness [0,1] 0.9999151409720601 Centerline is valid? [True, True] Translation: X:126.68, Y:-13.69, Z:-1.70 [[ 9.90628640e-01 1.36408643e-01 6.89783547e-03 1.26676918e+02] [-1.36405685e-01 9.90652653e-01 -8.99662820e-04 -1.36905566e+01] [-6.95608079e-03 -4.96722151e-05 9.99975805e-01 -1.69515727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.71, Y:-13.69, Z:-1.70 [[ 9.90514896e-01 1.37290783e-01 5.61078372e-03 1.26705184e+02] [-1.37288841e-01 9.90530786e-01 -7.31703603e-04 -1.36917141e+01] [-5.65811017e-03 -4.55346759e-05 9.99983992e-01 -1.69976217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97576923100002 meters Centerline goodness [0,1] 0.9999572959815519 Centerline is valid? [True, True] Translation: X:126.73, Y:-13.70, Z:-1.70 [[ 9.90553553e-01 1.37038810e-01 4.90134027e-03 1.26733215e+02] [-1.37037327e-01 9.90565678e-01 -6.38901894e-04 -1.36973533e+01] [-4.94265381e-03 -3.88000267e-05 9.99987784e-01 -1.70061662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.76, Y:-13.70, Z:-1.70 [[ 9.90793637e-01 1.35199178e-01 7.01077233e-03 1.26762008e+02] [-1.35196100e-01 9.90818440e-01 -9.13293528e-04 -1.37025907e+01] [-7.06987904e-03 -4.29436597e-05 9.99975007e-01 -1.69662691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.79, Y:-13.71, Z:-1.69 [[ 9.90914689e-01 1.34233897e-01 8.32706238e-03 1.26790329e+02] [-1.34229525e-01 9.90949675e-01 -1.08426697e-03 -1.37077154e+01] [-8.39724515e-03 -4.33215594e-05 9.99964742e-01 -1.69465900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.82, Y:-13.71, Z:-1.70 [[ 9.90975288e-01 1.33776775e-01 8.47070033e-03 1.26817642e+02] [-1.33772238e-01 9.91011490e-01 -1.10257817e-03 -1.37121636e+01] [-8.54206071e-03 -4.05168138e-05 9.99963515e-01 -1.69559222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.84, Y:-13.72, Z:-1.70 [[ 9.91219877e-01 1.32044047e-01 6.89388458e-03 1.26844872e+02] [-1.32041001e-01 9.91243850e-01 -8.97032252e-04 -1.37184459e+01] [-6.95196845e-03 -2.11192244e-05 9.99975835e-01 -1.70186220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.87, Y:-13.73, Z:-1.70 [[ 9.91321977e-01 1.31318086e-01 6.02477535e-03 1.26872722e+02] [-1.31315749e-01 9.91340285e-01 -7.83603494e-04 -1.37252431e+01] [-6.07550383e-03 -1.43445227e-05 9.99981544e-01 -1.70099069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.90, Y:-13.73, Z:-1.70 [[ 9.91391208e-01 1.30808406e-01 5.71259158e-03 1.26901261e+02] [-1.30806298e-01 9.91407666e-01 -7.42754720e-04 -1.37318009e+01] [-5.76066565e-03 -1.08824578e-05 9.99983407e-01 -1.70133235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.185769231 meters Centerline goodness [0,1] 0.9999787157056808 Centerline is valid? [True, True] Translation: X:126.93, Y:-13.74, Z:-1.70 [[ 9.91452719e-01 1.30302998e-01 6.52952642e-03 1.26928237e+02] [-1.30300234e-01 9.91474220e-01 -8.48639892e-04 -1.37382533e+01] [-6.58443744e-03 -9.41249571e-06 9.99978322e-01 -1.70002838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.96, Y:-13.74, Z:-1.70 [[ 9.91510547e-01 1.29808182e-01 7.52796410e-03 1.26956025e+02] [-1.29804500e-01 9.91539125e-01 -9.77804823e-04 -1.37445053e+01] [-7.59119800e-03 -7.65982041e-06 9.99971186e-01 -1.69879639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.245769231 meters Centerline goodness [0,1] 0.9999572146753664 Centerline is valid? [True, True] Translation: X:126.98, Y:-13.75, Z:-1.70 [[ 9.91543336e-01 1.29553163e-01 7.60198899e-03 1.26983011e+02] [-1.29549402e-01 9.91572477e-01 -9.87100666e-04 -1.37494332e+01] [-7.66580507e-03 -6.08004313e-06 9.99970617e-01 -1.69843424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.275769231 meters Centerline goodness [0,1] 0.9998730293090679 Centerline is valid? [True, True] Translation: X:127.01, Y:-13.76, Z:-1.70 [[ 9.91460428e-01 1.30274495e-01 5.89714383e-03 1.27010486e+02] [-1.30272246e-01 9.91477965e-01 -7.65533047e-04 -1.37556636e+01] [-5.94661759e-03 -9.23844808e-06 9.99982319e-01 -1.70299644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.305769231 meters Centerline goodness [0,1] 0.9999150761130337 Centerline is valid? [True, True] Translation: X:127.04, Y:-13.76, Z:-1.71 [[ 9.91380568e-01 1.30925575e-01 4.80247287e-03 1.27039071e+02] [-1.30924092e-01 9.91392200e-01 -6.23190579e-04 -1.37614639e+01] [-4.84272573e-03 -1.09403711e-05 9.99988274e-01 -1.70502982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.335769231 meters Centerline goodness [0,1] 0.9998724055801292 Centerline is valid? [True, True] Translation: X:127.07, Y:-13.77, Z:-1.71 [[ 9.91237356e-01 1.32024470e-01 4.24765230e-03 1.27067701e+02] [-1.32023321e-01 9.91246457e-01 -5.51062700e-04 -1.37655376e+01] [-4.28322405e-03 -1.45552279e-05 9.99990827e-01 -1.70534569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.365769231 meters Centerline goodness [0,1] 0.9998730266220849 Centerline is valid? [True, True] Translation: X:127.10, Y:-13.76, Z:-1.70 [[ 9.90759892e-01 1.35559397e-01 4.29946538e-03 1.27095632e+02] [-1.35558253e-01 9.90769221e-01 -5.57661685e-04 -1.37644767e+01] [-4.33537425e-03 -3.03191855e-05 9.99990602e-01 -1.70491146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.395769231 meters Centerline goodness [0,1] 0.9998500364197266 Centerline is valid? [True, True] Translation: X:127.12, Y:-13.77, Z:-1.70 [[ 9.90539704e-01 1.37151225e-01 4.54264646e-03 1.27123991e+02] [-1.37149967e-01 9.90550120e-01 -5.88835943e-04 -1.37675051e+01] [-4.58047857e-03 -3.97584315e-05 9.99989509e-01 -1.70359959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.425769231 meters Centerline goodness [0,1] 0.9998707147320562 Centerline is valid? [True, True] Translation: X:127.15, Y:-13.77, Z:-1.70 [[ 9.90277877e-01 1.38973257e-01 6.01330319e-03 1.27152665e+02] [-1.38971089e-01 9.90296132e-01 -7.79010560e-04 -1.37739742e+01] [-6.06321252e-03 -6.42383664e-05 9.99981616e-01 -1.70173750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.455769231 meters Centerline goodness [0,1] 0.9998516634880271 Centerline is valid? [True, True] Translation: X:127.18, Y:-13.78, Z:-1.70 [[ 9.90229383e-01 1.39268919e-01 7.06656919e-03 1.27180664e+02] [-1.39265934e-01 9.90254595e-01 -9.15082386e-04 -1.37772637e+01] [-7.12514515e-03 -7.79908935e-05 9.99974613e-01 -1.70099958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.485769231 meters Centerline goodness [0,1] 0.9997872928764384 Centerline is valid? [True, True] Translation: X:127.21, Y:-13.78, Z:-1.70 [[ 9.90292972e-01 1.38777109e-01 7.79383914e-03 1.27209201e+02] [-1.38773468e-01 9.90323638e-01 -1.00859626e-03 -1.37819324e+01] [-7.85839320e-03 -8.27722968e-05 9.99969119e-01 -1.70010911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.515769231 meters Centerline goodness [0,1] 0.9999138784825389 Centerline is valid? [True, True] Translation: X:127.24, Y:-13.79, Z:-1.70 [[ 9.90399643e-01 1.38046130e-01 7.19812206e-03 1.27237566e+02] [-1.38043008e-01 9.90425798e-01 -9.31206509e-04 -1.37896095e+01] [-7.25775524e-03 -7.13838233e-05 9.99973660e-01 -1.70104539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.27, Y:-13.80, Z:-1.70 [[ 9.90479732e-01 1.37528248e-01 5.99018697e-03 1.27265151e+02] [-1.37526076e-01 9.90497843e-01 -7.74805940e-04 -1.37950362e+01] [-6.03982498e-03 -5.63773329e-05 9.99981759e-01 -1.70326477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.575769231 meters Centerline goodness [0,1] 0.9999157007376186 Centerline is valid? [True, True] Translation: X:127.29, Y:-13.80, Z:-1.70 [[ 9.90587866e-01 1.36766448e-01 5.53341319e-03 1.27292893e+02] [-1.36764585e-01 9.90603319e-01 -7.15454923e-04 -1.38007874e+01] [-5.57926770e-03 -4.80539932e-05 9.99984435e-01 -1.70432823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.605769231 meters Centerline goodness [0,1] 0.9999576737492593 Centerline is valid? [True, True] Translation: X:127.32, Y:-13.81, Z:-1.70 [[ 9.90794844e-01 1.35176152e-01 7.27902767e-03 1.27320910e+02] [-1.35172891e-01 9.90821581e-01 -9.40381244e-04 -1.38113506e+01] [-7.33933482e-03 -5.22023258e-05 9.99973065e-01 -1.70175468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.635769231 meters Centerline goodness [0,1] 0.9999571606048923 Centerline is valid? [True, True] Translation: X:127.35, Y:-13.82, Z:-1.70 [[ 9.90698390e-01 1.35770639e-01 9.11226392e-03 1.27349713e+02] [-1.35765559e-01 9.90740293e-01 -1.17664481e-03 -1.38170578e+01] [-9.18764084e-03 -7.14314828e-05 9.99957790e-01 -1.69838078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.665769231 meters Centerline goodness [0,1] 0.9999366447034972 Centerline is valid? [True, True] Translation: X:127.38, Y:-13.81, Z:-1.69 [[ 9.90192483e-01 1.39201147e-01 1.19116263e-02 1.27377786e+02] [-1.39192723e-01 9.90264117e-01 -1.53735834e-03 -1.38148170e+01] [-1.20096582e-02 -1.35731034e-04 9.99927872e-01 -1.69388369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.695769231 meters Centerline goodness [0,1] 0.9999786834924966 Centerline is valid? [True, True] Translation: X:127.41, Y:-13.82, Z:-1.70 [[ 9.89953142e-01 1.40938452e-01 1.13635144e-02 1.27406998e+02] [-1.40930908e-01 9.90018348e-01 -1.46595222e-03 -1.38177250e+01] [-1.14566967e-02 -1.50246390e-04 9.99934359e-01 -1.69581951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72576923100002 meters Centerline goodness [0,1] 0.9999575542774677 Centerline is valid? [True, True] Translation: X:127.44, Y:-13.82, Z:-1.70 [[ 9.89788572e-01 1.42251515e-01 9.11537365e-03 1.27435913e+02] [-1.42246717e-01 9.89830535e-01 -1.17582454e-03 -1.38199990e+01] [-9.18993800e-03 -1.32814284e-04 9.99957763e-01 -1.70097593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75576923100002 meters Centerline goodness [0,1] 0.9999786666666667 Centerline is valid? [True, True] Translation: X:127.46, Y:-13.83, Z:-1.71 [[ 9.89850998e-01 1.42003547e-01 5.47669568e-03 1.27463522e+02] [-1.42001811e-01 9.89866146e-01 -7.06489793e-04 -1.38263986e+01] [-5.52151970e-03 -7.83810777e-05 9.99984753e-01 -1.70855167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78576923100002 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:127.49, Y:-13.83, Z:-1.71 [[ 9.90100471e-01 1.40235608e-01 5.91880125e-03 1.27491767e+02] [-1.40233552e-01 9.90118159e-01 -7.63037699e-04 -1.38333859e+01] [-5.96731765e-03 -7.45305370e-05 9.99982193e-01 -1.70708836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81576923100002 meters Centerline goodness [0,1] 0.999978621515307 Centerline is valid? [True, True] Translation: X:127.52, Y:-13.84, Z:-1.70 [[ 9.90387784e-01 1.38113952e-01 7.52154048e-03 1.27519682e+02] [-1.38110575e-01 9.90416342e-01 -9.69155476e-04 -1.38404864e+01] [-7.58331050e-03 -7.89645334e-05 9.99971243e-01 -1.70351541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.55, Y:-13.85, Z:-1.70 [[ 9.90904057e-01 1.34224379e-01 9.64190638e-03 1.27548559e+02] [-1.34218651e-01 9.90950963e-01 -1.24167970e-03 -1.38528658e+01] [-9.72132010e-03 -6.37382141e-05 9.99952745e-01 -1.70000960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.58, Y:-13.86, Z:-1.70 [[ 9.91150159e-01 1.32418670e-01 9.30905994e-03 1.27577868e+02] [-1.32413252e-01 9.91193873e-01 -1.19868275e-03 -1.38618475e+01] [-9.38581115e-03 -4.45683097e-05 9.99955951e-01 -1.70160691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.61, Y:-13.87, Z:-1.70 [[ 9.91358548e-01 1.30951833e-01 7.73601030e-03 1.27607256e+02] [-1.30948046e-01 9.91388731e-01 -9.96128731e-04 -1.38705976e+01] [-7.79983832e-03 -2.54947027e-05 9.99969580e-01 -1.70423725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.935769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.64, Y:-13.87, Z:-1.71 [[ 9.91242165e-01 1.31887718e-01 6.67840026e-03 1.27636746e+02] [-1.31884917e-01 9.91264661e-01 -8.60003823e-04 -1.38728069e+01] [-6.73348612e-03 -2.83082126e-05 9.99977329e-01 -1.70647566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.67, Y:-13.88, Z:-1.71 [[ 9.91069998e-01 1.33216313e-01 5.80277659e-03 1.27666264e+02] [-1.33214221e-01 9.91086986e-01 -7.47262974e-04 -1.38753306e+01] [-5.85060398e-03 -3.24224478e-05 9.99982885e-01 -1.70921376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.995769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.69, Y:-13.88, Z:-1.71 [[ 9.90967464e-01 1.34015380e-01 4.83363208e-03 1.27694314e+02] [-1.34013939e-01 9.90979251e-01 -6.22414352e-04 -1.38795026e+01] [-4.87344219e-03 -3.09817018e-05 9.99988124e-01 -1.71205086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.72, Y:-13.89, Z:-1.71 [[ 9.90951257e-01 1.34174399e-01 3.58286658e-03 1.27723321e+02] [-1.34173608e-01 9.90957734e-01 -4.61318263e-04 -1.38875550e+01] [-3.61236644e-03 -2.35822230e-05 9.99993475e-01 -1.71363080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.055769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.75, Y:-13.89, Z:-1.71 [[ 9.90954701e-01 1.34153084e-01 3.42506246e-03 1.27753087e+02] [-1.34152362e-01 9.90960620e-01 -4.40931179e-04 -1.38923980e+01] [-3.45325430e-03 -2.25373935e-05 9.99994037e-01 -1.71416891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.78, Y:-13.90, Z:-1.71 [[ 9.91018009e-01 1.33677457e-01 3.69364689e-03 1.27781347e+02] [-1.33676613e-01 9.91024892e-01 -4.75300212e-04 -1.39004660e+01] [-3.72403293e-03 -2.27231373e-05 9.99993066e-01 -1.71439480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.115769231 meters Centerline goodness [0,1] 0.9999788023317435 Centerline is valid? [True, True] Translation: X:127.81, Y:-13.91, Z:-1.71 [[ 9.91082955e-01 1.33160015e-01 4.79453695e-03 1.27811525e+02] [-1.33158589e-01 9.91094551e-01 -6.16782694e-04 -1.39079737e+01] [-4.83397024e-03 -2.71509621e-05 9.99988316e-01 -1.71273810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.145769231 meters Centerline goodness [0,1] 0.9999787960391001 Centerline is valid? [True, True] Translation: X:127.84, Y:-13.91, Z:-1.71 [[ 9.91140856e-01 1.32680506e-01 5.97390734e-03 1.27841704e+02] [-1.32678284e-01 9.91158858e-01 -7.68500213e-04 -1.39147339e+01] [-6.02305618e-03 -3.09158138e-05 9.99981861e-01 -1.71083325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.175769231 meters Centerline goodness [0,1] 0.9999787098147754 Centerline is valid? [True, True] Translation: X:127.87, Y:-13.92, Z:-1.71 [[ 9.91069025e-01 1.33172533e-01 6.87487184e-03 1.27872073e+02] [-1.33169602e-01 9.91092869e-01 -8.84402816e-04 -1.39195689e+01] [-6.93141462e-03 -3.90197129e-05 9.99975977e-01 -1.70871403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.90, Y:-13.92, Z:-1.71 [[ 9.90998166e-01 1.33733174e-01 6.17027509e-03 1.27900752e+02] [-1.33730823e-01 9.91017375e-01 -7.93890817e-04 -1.39237439e+01] [-6.22101936e-03 -3.84116227e-05 9.99980649e-01 -1.71068183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.235769231 meters Centerline goodness [0,1] 0.9999784659115379 Centerline is valid? [True, True] Translation: X:127.93, Y:-13.93, Z:-1.71 [[ 9.90885336e-01 1.34611140e-01 5.10799052e-03 1.27931009e+02] [-1.34609542e-01 9.90898501e-01 -6.56984695e-04 -1.39292292e+01] [-5.14993761e-03 -3.65877635e-05 9.99986738e-01 -1.71270509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.265769231 meters Centerline goodness [0,1] 0.9999788976112096 Centerline is valid? [True, True] Translation: X:127.96, Y:-13.93, Z:-1.71 [[ 9.90663016e-01 1.36245040e-01 4.90685137e-03 1.27960892e+02] [-1.36243585e-01 9.90675167e-01 -6.31196360e-04 -1.39312603e+01] [-4.94709317e-03 -4.32241318e-05 9.99987762e-01 -1.71355570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.99, Y:-13.93, Z:-1.71 [[ 9.90540146e-01 1.37089003e-01 6.06822576e-03 1.27991203e+02] [-1.37086795e-01 9.90558732e-01 -7.80414920e-04 -1.39329879e+01] [-6.11792032e-03 -5.88413089e-05 9.99981284e-01 -1.71094544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.02, Y:-13.94, Z:-1.71 [[ 9.90540146e-01 1.37089003e-01 6.06822576e-03 1.28020958e+02] [-1.37086795e-01 9.90558732e-01 -7.80414920e-04 -1.39368146e+01] [-6.11792032e-03 -5.88413089e-05 9.99981284e-01 -1.71129647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.05, Y:-13.94, Z:-1.71 [[ 9.90263355e-01 1.39015246e-01 7.29712749e-03 1.28051738e+02] [-1.39012105e-01 9.90290237e-01 -9.38460004e-04 -1.39367845e+01] [-7.35673437e-03 -8.50664975e-05 9.99972935e-01 -1.70870683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.385769231 meters Centerline goodness [0,1] 0.9999573460726396 Centerline is valid? [True, True] Translation: X:128.08, Y:-13.94, Z:-1.71 [[ 9.90250372e-01 1.39110603e-01 7.24166760e-03 1.28080763e+02] [-1.39107511e-01 9.90276847e-01 -9.31379641e-04 -1.39394741e+01] [-7.30082054e-03 -8.50713190e-05 9.99973345e-01 -1.70971947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.415769231 meters Centerline goodness [0,1] 0.9998924268502581 Centerline is valid? [True, True] Translation: X:128.11, Y:-13.94, Z:-1.71 [[ 9.90329351e-01 1.38562891e-01 6.93559020e-03 1.28110555e+02] [-1.38560042e-01 9.90353633e-01 -8.91880949e-04 -1.39435582e+01] [-6.99226856e-03 -7.77397902e-05 9.99975551e-01 -1.71090744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.445769231 meters Centerline goodness [0,1] 0.9999787084548726 Centerline is valid? [True, True] Translation: X:128.14, Y:-13.95, Z:-1.71 [[ 9.90641692e-01 1.36313384e-01 6.90648285e-03 1.28140346e+02] [-1.36310504e-01 9.90665765e-01 -8.88137896e-04 -1.39468352e+01] [-6.96308120e-03 -6.15997336e-05 9.99975756e-01 -1.71110922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.17, Y:-13.95, Z:-1.71 [[ 9.90752625e-01 1.35428193e-01 8.27293050e-03 1.28169908e+02] [-1.35424030e-01 9.90787162e-01 -1.06389546e-03 -1.39491896e+01] [-8.34079477e-03 -6.62963630e-05 9.99965213e-01 -1.70820461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50576923100002 meters Centerline goodness [0,1] 0.9999571587695999 Centerline is valid? [True, True] Translation: X:128.20, Y:-13.95, Z:-1.70 [[ 9.90782397e-01 1.35055649e-01 1.04982986e-02 1.28199773e+02] [-1.35048927e-01 9.90838012e-01 -1.34991540e-03 -1.39502275e+01] [-1.05844271e-02 -8.03115498e-05 9.99943980e-01 -1.70427338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.23, Y:-13.95, Z:-1.70 [[ 9.90721387e-01 1.35384706e-01 1.19211711e-02 1.28230190e+02] [-1.35376064e-01 9.90793103e-01 -1.53271902e-03 -1.39501805e+01] [-1.20189208e-02 -9.53436923e-05 9.99927766e-01 -1.70116125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.26, Y:-13.95, Z:-1.70 [[ 9.90705263e-01 1.35589752e-01 1.08858021e-02 1.28260940e+02] [-1.35582557e-01 9.90765064e-01 -1.39960041e-03 -1.39528351e+01] [-1.09750439e-02 -8.93333893e-05 9.99939768e-01 -1.70400726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.29, Y:-13.95, Z:-1.71 [[ 9.90958397e-01 1.33942734e-01 7.79738662e-03 1.28291088e+02] [-1.33938992e-01 9.90989072e-01 -1.00256679e-03 -1.39525015e+01] [-7.86141147e-03 -5.08721257e-05 9.99969097e-01 -1.70988276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.32, Y:-13.96, Z:-1.71 [[ 9.91237678e-01 1.31921288e-01 6.68132282e-03 1.28319802e+02] [-1.31918495e-01 9.91260194e-01 -8.59002908e-04 -1.39564669e+01] [-6.73625013e-03 -2.99140023e-05 9.99977311e-01 -1.71316593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65576923100002 meters Centerline goodness [0,1] 0.9999787048276155 Centerline is valid? [True, True] Translation: X:128.35, Y:-13.97, Z:-1.71 [[ 9.92032084e-01 1.25846138e-01 5.92395139e-03 1.28348708e+02] [-1.25843834e-01 9.92049772e-01 -7.61502111e-04 -1.39698086e+01] [-5.97268673e-03 9.94177051e-06 9.99982163e-01 -1.71375848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.685769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.38, Y:-13.98, Z:-1.71 [[ 9.92441146e-01 1.22580920e-01 5.87275714e-03 1.28378241e+02] [-1.22578599e-01 9.92458522e-01 -7.54921278e-04 -1.39791460e+01] [-5.92100681e-03 2.93405986e-05 9.99982470e-01 -1.71389962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.41, Y:-13.99, Z:-1.71 [[ 9.92776945e-01 1.19807159e-01 6.33889310e-03 1.28408536e+02] [-1.19804399e-01 9.92797181e-01 -8.14710456e-04 -1.39865582e+01] [-6.39084335e-03 4.93984808e-05 9.99979577e-01 -1.71305421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.745769231 meters Centerline goodness [0,1] 0.9999787089081928 Centerline is valid? [True, True] Translation: X:128.44, Y:-14.00, Z:-1.71 [[ 9.93320614e-01 1.15114396e-01 7.92680472e-03 1.28437924e+02] [-1.15109929e-01 9.93352237e-01 -1.01906734e-03 -1.39993167e+01] [-7.99141852e-03 9.98066664e-05 9.99968063e-01 -1.71146014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.775769231 meters Centerline goodness [0,1] 0.99997860001284 Centerline is valid? [True, True] Translation: X:128.47, Y:-14.01, Z:-1.71 [[ 9.93563991e-01 1.12897795e-01 9.20242460e-03 1.28467911e+02] [-1.12891679e-01 9.93606597e-01 -1.18301751e-03 -1.40091843e+01] [-9.27714986e-03 1.36526438e-04 9.99956957e-01 -1.71048204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.805769231 meters Centerline goodness [0,1] 0.9999785554983702 Centerline is valid? [True, True] Translation: X:128.50, Y:-14.02, Z:-1.71 [[ 9.93946425e-01 1.09403437e-01 1.00693203e-02 1.28498451e+02] [-1.09395916e-01 9.93997411e-01 -1.29638207e-03 -1.40233705e+01] [-1.01507069e-02 1.86991803e-04 9.99948463e-01 -1.71005423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.53, Y:-14.03, Z:-1.71 [[ 9.94104722e-01 1.07974134e-01 9.86852685e-03 1.28529817e+02] [-1.07966837e-01 9.94153684e-01 -1.27077911e-03 -1.40315148e+01] [-9.94804360e-03 1.97813889e-04 9.99950497e-01 -1.71059531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.865769231 meters Centerline goodness [0,1] 0.9999787568509155 Centerline is valid? [True, True] Translation: X:128.56, Y:-14.04, Z:-1.71 [[ 9.94259858e-01 1.06555227e-01 9.66010965e-03 1.28559258e+02] [-1.06548150e-01 9.94306763e-01 -1.24581985e-03 -1.40427759e+01] [-9.73786098e-03 2.09401861e-04 9.99952564e-01 -1.71169499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.895769231 meters Centerline goodness [0,1] 0.9999787270251872 Centerline is valid? [True, True] Translation: X:128.59, Y:-14.05, Z:-1.71 [[ 9.94357757e-01 1.05661061e-01 9.40168152e-03 1.28590757e+02] [-1.05654319e-01 9.94402180e-01 -1.21240327e-03 -1.40514944e+01] [-9.47715641e-03 2.12234339e-04 9.99955068e-01 -1.71219437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.62, Y:-14.06, Z:-1.72 [[ 9.94383028e-01 1.05524285e-01 8.18652191e-03 1.28620115e+02] [-1.05519156e-01 9.94416709e-01 -1.05708472e-03 -1.40635029e+01] [-8.25236228e-03 1.87312219e-04 9.99965931e-01 -1.71528326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.955769231 meters Centerline goodness [0,1] 0.9999786388687145 Centerline is valid? [True, True] Translation: X:128.65, Y:-14.07, Z:-1.72 [[ 9.94337330e-01 1.05987406e-01 7.74233773e-03 1.28652580e+02] [-1.05982832e-01 9.94367457e-01 -9.99891851e-04 -1.40704169e+01] [-7.80470462e-03 1.73674918e-04 9.99969528e-01 -1.71648286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.68, Y:-14.08, Z:-1.72 [[ 9.94010786e-01 1.08978693e-01 8.13649843e-03 1.28682276e+02] [-1.08973723e-01 9.94044073e-01 -1.05307711e-03 -1.40780927e+01] [-8.20280101e-03 1.60105483e-04 9.99966344e-01 -1.71674663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.71, Y:-14.08, Z:-1.72 [[ 9.93748479e-01 1.11364314e-01 7.87078545e-03 1.28712953e+02] [-1.11359741e-01 9.93779639e-01 -1.01825957e-03 -1.40820326e+01] [-7.93522410e-03 1.35405276e-04 9.99968506e-01 -1.71769004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.045769231 meters Centerline goodness [0,1] 0.9999786739459597 Centerline is valid? [True, True] Translation: X:128.74, Y:-14.08, Z:-1.72 [[ 9.93400535e-01 1.14436908e-01 7.71829221e-03 1.28744938e+02] [-1.14432594e-01 9.93430512e-01 -9.99613727e-04 -1.40847783e+01] [-7.78197969e-03 1.09792610e-04 9.99969714e-01 -1.71826410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.78, Y:-14.08, Z:-1.72 [[ 9.92693719e-01 1.20417269e-01 7.67211094e-03 1.28776621e+02] [-1.20413172e-01 9.92723364e-01 -9.95351078e-04 -1.40847355e+01] [-7.73614124e-03 6.42555475e-05 9.99970074e-01 -1.71760872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.81, Y:-14.09, Z:-1.72 [[ 9.92312747e-01 1.23503340e-01 7.89534944e-03 1.28808180e+02] [-1.23499100e-01 9.92344156e-01 -1.02412600e-03 -1.40877640e+01] [-7.96138685e-03 4.11847317e-05 9.99968307e-01 -1.71791696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.84, Y:-14.09, Z:-1.72 [[ 9.91801756e-01 1.27514186e-01 8.33126462e-03 1.28839273e+02] [-1.27509592e-01 9.91836747e-01 -1.08237958e-03 -1.40907747e+01] [-8.40127315e-03 1.11898133e-05 9.99964709e-01 -1.71887651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.87, Y:-14.10, Z:-1.72 [[ 9.91594098e-01 1.29118759e-01 8.33613220e-03 1.28872433e+02] [-1.29114214e-01 9.91629137e-01 -1.08343905e-03 -1.40953386e+01] [-8.40624389e-03 -1.98139109e-06 9.99964667e-01 -1.71875678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.91, Y:-14.10, Z:-1.72 [[ 9.91470525e-01 1.30093056e-01 7.87369932e-03 1.28905072e+02] [-1.30089020e-01 9.91501789e-01 -1.02472836e-03 -1.41011713e+01] [-7.94009700e-03 -8.29386316e-06 9.99968477e-01 -1.72037628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.94, Y:-14.11, Z:-1.72 [[ 9.91402191e-01 1.30658865e-01 7.06799942e-03 1.28937939e+02] [-1.30655620e-01 9.91427386e-01 -9.20982002e-04 -1.41079147e+01] [-7.12774265e-03 -1.04102692e-05 9.99974597e-01 -1.72096995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.97, Y:-14.12, Z:-1.72 [[ 9.91225889e-01 1.31942911e-01 7.89338386e-03 1.28970316e+02] [-1.31938889e-01 9.91257317e-01 -1.03033306e-03 -1.41160414e+01] [-7.96031964e-03 -2.01514963e-05 9.99968316e-01 -1.71986130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28576923100002 meters Centerline goodness [0,1] 0.99997860001284 Centerline is valid? [True, True] Translation: X:129.00, Y:-14.12, Z:-1.72 [[ 9.91030568e-01 1.33363460e-01 8.52064719e-03 1.29003504e+02] [-1.33358811e-01 9.91067196e-01 -1.11404389e-03 -1.41198345e+01] [-8.59310666e-03 -3.22518271e-05 9.99963078e-01 -1.71923687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.04, Y:-14.12, Z:-1.72 [[ 9.90408646e-01 1.37862303e-01 9.20320763e-03 1.29035506e+02] [-1.37857052e-01 9.90451402e-01 -1.20548789e-03 -1.41172825e+01] [-9.28152124e-03 -7.48014434e-05 9.99956923e-01 -1.71839812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34576923100002 meters Centerline goodness [0,1] 0.9999786934844676 Centerline is valid? [True, True] Translation: X:129.07, Y:-14.12, Z:-1.72 [[ 9.89913049e-01 1.41376580e-01 9.20972114e-03 1.29067862e+02] [-1.41371468e-01 9.89955883e-01 -1.20699205e-03 -1.41167295e+01] [-9.28785804e-03 -1.07174622e-04 9.99956861e-01 -1.71848347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37576923100002 meters Centerline goodness [0,1] 0.9999785564180641 Centerline is valid? [True, True] Translation: X:129.10, Y:-14.12, Z:-1.72 [[ 9.89390079e-01 1.45007884e-01 8.94346053e-03 1.29100324e+02] [-1.45003199e-01 9.89430490e-01 -1.17351817e-03 -1.41166086e+01] [-9.01910193e-03 -1.35763154e-04 9.99959318e-01 -1.71935262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40576923100002 meters Centerline goodness [0,1] 0.9997015052663 Centerline is valid? [True, True] Translation: X:129.13, Y:-14.11, Z:-1.72 [[ 9.88706611e-01 1.49616118e-01 8.61712185e-03 1.29130873e+02] [-1.49611927e-01 9.88744147e-01 -1.13256475e-03 -1.41118364e+01] [-8.68957874e-03 -1.69449950e-04 9.99962231e-01 -1.72040411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.435769231 meters Centerline goodness [0,1] 0.9997450442985532 Centerline is valid? [True, True] Translation: X:129.16, Y:-14.11, Z:-1.72 [[ 9.88618491e-01 1.50197721e-01 8.60952657e-03 1.29161116e+02] [-1.50193560e-01 9.88655964e-01 -1.13153167e-03 -1.41127375e+01] [-8.68181326e-03 -1.74442308e-04 9.99962297e-01 -1.72099511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.465769231 meters Centerline goodness [0,1] 0.9999150598827826 Centerline is valid? [True, True] Translation: X:129.19, Y:-14.12, Z:-1.72 [[ 9.88615544e-01 1.50226678e-01 8.44100814e-03 1.29192591e+02] [-1.50222683e-01 9.88651564e-01 -1.10898898e-03 -1.41168546e+01] [-8.51181564e-03 -1.71667143e-04 9.99963759e-01 -1.72137021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.495769231 meters Centerline goodness [0,1] 0.9998501648186995 Centerline is valid? [True, True] Translation: X:129.22, Y:-14.12, Z:-1.72 [[ 9.88580064e-01 1.50459217e-01 8.45464065e-03 1.29224889e+02] [-1.50455205e-01 9.88616202e-01 -1.11218253e-03 -1.41204597e+01] [-8.52573284e-03 -1.72563223e-04 9.99963640e-01 -1.72215425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.525769231 meters Centerline goodness [0,1] 0.9998937887671 Centerline is valid? [True, True] Translation: X:129.26, Y:-14.12, Z:-1.72 [[ 9.88480311e-01 1.51066259e-01 9.25529635e-03 1.29256075e+02] [-1.51061458e-01 9.88523621e-01 -1.21964181e-03 -1.41163183e+01] [-9.33332579e-03 -1.92526646e-04 9.99956425e-01 -1.72228900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.555769231 meters Centerline goodness [0,1] 0.9999140708915145 Centerline is valid? [True, True] Translation: X:129.29, Y:-14.12, Z:-1.72 [[ 9.88417584e-01 1.51445526e-01 9.74336996e-03 1.29287035e+02] [-1.51440223e-01 9.88465584e-01 -1.28406178e-03 -1.41216592e+01] [-9.82545128e-03 -2.06348873e-04 9.99951708e-01 -1.72078217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.585769231 meters Centerline goodness [0,1] 0.9997879918588873 Centerline is valid? [True, True] Translation: X:129.32, Y:-14.12, Z:-1.72 [[ 9.88450730e-01 1.51237196e-01 9.61583809e-03 1.29317561e+02] [-1.51232019e-01 9.88497481e-01 -1.26740905e-03 -1.41231613e+01] [-9.69691112e-03 -2.01451210e-04 9.99952964e-01 -1.72107249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.615769231 meters Centerline goodness [0,1] 0.9998082372744125 Centerline is valid? [True, True] Translation: X:129.35, Y:-14.13, Z:-1.72 [[ 9.88651243e-01 1.49951092e-01 9.13175915e-03 1.29347539e+02] [-1.49946363e-01 9.88693399e-01 -1.20426810e-03 -1.41254197e+01] [-9.20909132e-03 -1.78672918e-04 9.99957579e-01 -1.72240472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.645769231 meters Centerline goodness [0,1] 0.9999356057353825 Centerline is valid? [True, True] Translation: X:129.38, Y:-14.13, Z:-1.72 [[ 9.88773626e-01 1.49125983e-01 9.38920344e-03 1.29377595e+02] [-1.49120945e-01 9.88818189e-01 -1.23835881e-03 -1.41294076e+01] [-9.46888662e-03 -1.75670358e-04 9.99955154e-01 -1.72273113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.675769231 meters Centerline goodness [0,1] 0.9998939464641751 Centerline is valid? [True, True] Translation: X:129.41, Y:-14.14, Z:-1.72 [[ 9.89224006e-01 1.46154968e-01 8.63665942e-03 1.29408125e+02] [-1.46150592e-01 9.89261698e-01 -1.13903448e-03 -1.41362307e+01] [-8.71039191e-03 -1.35492638e-04 9.99962055e-01 -1.72481351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.44, Y:-14.14, Z:-1.73 [[ 9.89449003e-01 1.44667300e-01 7.87670777e-03 1.29437660e+02] [-1.44663612e-01 9.89480348e-01 -1.03901553e-03 -1.41417348e+01] [-7.94415912e-03 -1.11420116e-04 9.99968438e-01 -1.72703047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.735769231 meters Centerline goodness [0,1] 0.9999154870061272 Centerline is valid? [True, True] Translation: X:129.47, Y:-14.15, Z:-1.73 [[ 9.89633126e-01 1.43442365e-01 7.11086575e-03 1.29468829e+02] [-1.43439327e-01 9.89658668e-01 -9.38009961e-04 -1.41477373e+01] [-7.17188029e-03 -9.16920688e-05 9.99974278e-01 -1.72882884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.765769231 meters Centerline goodness [0,1] 0.9999364204726078 Centerline is valid? [True, True] Translation: X:129.50, Y:-14.15, Z:-1.73 [[ 9.89729759e-01 1.42776718e-01 7.05781442e-03 1.29499210e+02] [-1.42773709e-01 9.89754920e-01 -9.31004687e-04 -1.41513878e+01] [-7.11843234e-03 -8.62272974e-05 9.99974660e-01 -1.72924755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.53, Y:-14.15, Z:-1.73 [[ 9.89758345e-01 1.42536164e-01 7.86519898e-03 1.29529395e+02] [-1.42532413e-01 9.89789590e-01 -1.03825701e-03 -1.41546423e+01] [-7.93288125e-03 -9.34222455e-05 9.99968530e-01 -1.72761558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.825769231 meters Centerline goodness [0,1] 0.9999366714514903 Centerline is valid? [True, True] Translation: X:129.56, Y:-14.16, Z:-1.73 [[ 9.89773535e-01 1.42452287e-01 7.46293886e-03 1.29559791e+02] [-1.42448907e-01 9.89801666e-01 -9.85187270e-04 -1.41601053e+01] [-7.52717150e-03 -8.79751978e-05 9.99971667e-01 -1.72807114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.59, Y:-14.17, Z:-1.73 [[ 9.89989899e-01 1.40880968e-01 8.51778522e-03 1.29590542e+02] [-1.40876505e-01 9.90026538e-01 -1.12467451e-03 -1.41681234e+01] [-8.59127864e-03 -8.65394091e-05 9.99963091e-01 -1.72745111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.62, Y:-14.17, Z:-1.73 [[ 9.90119034e-01 1.39907650e-01 9.49466211e-03 1.29621113e+02] [-1.39902060e-01 9.90164553e-01 -1.25364261e-03 -1.41743242e+01] [-9.57667206e-03 -8.70673751e-05 9.99954139e-01 -1.72631598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.65, Y:-14.18, Z:-1.73 [[ 9.90225379e-01 1.39120131e-01 9.96431009e-03 1.29652430e+02] [-1.39113919e-01 9.90275508e-01 -1.31722115e-03 -1.41807544e+01] [-1.00506642e-02 -8.18284107e-05 9.99949487e-01 -1.72677649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.68, Y:-14.19, Z:-1.73 [[ 9.90299495e-01 1.38686184e-01 8.54708955e-03 1.29684700e+02] [-1.38681588e-01 9.90336376e-01 -1.13087735e-03 -1.41883713e+01] [-8.62133076e-03 -6.54166880e-05 9.99962833e-01 -1.72817690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97576923100002 meters Centerline goodness [0,1] 0.9999573050977714 Centerline is valid? [True, True] Translation: X:129.72, Y:-14.19, Z:-1.73 [[ 9.90227058e-01 1.39210385e-01 8.41681692e-03 1.29716420e+02] [-1.39205934e-01 9.90262826e-01 -1.11530618e-03 -1.41907022e+01] [-8.49012311e-03 -6.72644996e-05 9.99963956e-01 -1.72910547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.75, Y:-14.19, Z:-1.73 [[ 9.90011572e-01 1.40654235e-01 9.66819338e-03 1.29747632e+02] [-1.40648407e-01 9.90058775e-01 -1.28353143e-03 -1.41932049e+01] [-9.75261383e-03 -8.91050312e-05 9.99952438e-01 -1.72737776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.78, Y:-14.20, Z:-1.73 [[ 9.89950265e-01 1.41038039e-01 1.03317471e-02 1.29780371e+02] [-1.41031404e-01 9.90004173e-01 -1.37166016e-03 -1.41991326e+01] [-1.04219290e-02 -9.92254602e-05 9.99945685e-01 -1.72603511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.81, Y:-14.20, Z:-1.73 [[ 9.89940318e-01 1.41145431e-01 9.80482464e-03 1.29812555e+02] [-1.41139443e-01 9.89988868e-01 -1.30350707e-03 -1.42024787e+01] [-9.89065131e-03 -9.34532858e-05 9.99951082e-01 -1.72786587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.84, Y:-14.21, Z:-1.73 [[ 9.89964818e-01 1.41027453e-01 8.99538051e-03 1.29843512e+02] [-1.41022391e-01 9.90005682e-01 -1.19775745e-03 -1.42077493e+01] [-9.07439450e-03 -8.28123243e-05 9.99958823e-01 -1.72991682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.87, Y:-14.21, Z:-1.73 [[ 9.89951786e-01 1.41120348e-01 8.97262256e-03 1.29873648e+02] [-1.41115314e-01 9.89992445e-01 -1.19484953e-03 -1.42124074e+01] [-9.05144613e-03 -8.33310224e-05 9.99959031e-01 -1.73013047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15576923100002 meters Centerline goodness [0,1] 0.9999573688024896 Centerline is valid? [True, True] Translation: X:129.90, Y:-14.22, Z:-1.73 [[ 9.89737194e-01 1.42490051e-01 1.08107325e-02 1.29904574e+02] [-1.42482817e-01 9.89796228e-01 -1.44033084e-03 -1.42157329e+01] [-1.09056551e-02 -1.14794625e-04 9.99940525e-01 -1.72716671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.185769231 meters Centerline goodness [0,1] 0.9999573688024896 Centerline is valid? [True, True] Translation: X:129.94, Y:-14.22, Z:-1.73 [[ 9.89734105e-01 1.42511507e-01 1.08107013e-02 1.29935131e+02] [-1.42504272e-01 9.89793139e-01 -1.44056533e-03 -1.42198524e+01] [-1.09056551e-02 -1.14794480e-04 9.99940525e-01 -1.72752751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.215769231 meters Centerline goodness [0,1] 0.9999358233859582 Centerline is valid? [True, True] Translation: X:129.97, Y:-14.22, Z:-1.73 [[ 9.89511958e-01 1.43979777e-01 1.16579897e-02 1.29967254e+02] [-1.43971462e-01 9.89580620e-01 -1.55375544e-03 -1.42245415e+01] [-1.17602301e-02 -1.40958230e-04 9.99930836e-01 -1.72571661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.245769231 meters Centerline goodness [0,1] 0.9998089253110272 Centerline is valid? [True, True] Translation: X:130.00, Y:-14.22, Z:-1.72 [[ 9.89263970e-01 1.45623059e-01 1.22768674e-02 1.29999116e+02] [-1.45613938e-01 9.89340132e-01 -1.63834828e-03 -1.42231243e+01] [-1.23845789e-02 -1.66924091e-04 9.99923294e-01 -1.72493815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.275769231 meters Centerline goodness [0,1] 0.9999363233077919 Centerline is valid? [True, True] Translation: X:130.03, Y:-14.22, Z:-1.73 [[ 9.88801388e-01 1.48799208e-01 1.14284980e-02 1.30030368e+02] [-1.48791497e-01 9.88867412e-01 -1.52676374e-03 -1.42219522e+01] [-1.15284505e-02 -1.90797228e-04 9.99933527e-01 -1.72719005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.305769231 meters Centerline goodness [0,1] 0.9998313908150146 Centerline is valid? [True, True] Translation: X:130.06, Y:-14.22, Z:-1.73 [[ 9.88537346e-01 1.50631029e-01 1.02082409e-02 1.30061480e+02] [-1.50624970e-01 9.88590035e-01 -1.36418575e-03 -1.42218564e+01] [-1.02972539e-02 -1.89067422e-04 9.99946964e-01 -1.73037606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.335769231 meters Centerline goodness [0,1] 0.9996352948748203 Centerline is valid? [True, True] Translation: X:130.09, Y:-14.22, Z:-1.73 [[ 9.87957721e-01 1.54480205e-01 8.68379444e-03 1.30092664e+02] [-1.54475968e-01 9.87995864e-01 -1.16057934e-03 -1.42192318e+01] [-8.75883953e-03 -1.94834235e-04 9.99961622e-01 -1.73383452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.365769231 meters Centerline goodness [0,1] 0.9996380514392778 Centerline is valid? [True, True] Translation: X:130.12, Y:-14.22, Z:-1.73 [[ 9.87876001e-01 1.55024042e-01 8.27966827e-03 1.30121316e+02] [-1.55020208e-01 9.87910679e-01 -1.10668464e-03 -1.42202111e+01] [-8.35113543e-03 -1.90248698e-04 9.99965111e-01 -1.73492186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.395769231 meters Centerline goodness [0,1] 0.9995312566582861 Centerline is valid? [True, True] Translation: X:130.15, Y:-14.22, Z:-1.74 [[ 9.87947640e-01 1.54598144e-01 7.67299422e-03 1.30149779e+02] [-1.54594841e-01 9.87977421e-01 -1.02535462e-03 -1.42220532e+01] [-7.73926296e-03 -1.73208648e-04 9.99970036e-01 -1.73626668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.425769231 meters Centerline goodness [0,1] 0.999723498383529 Centerline is valid? [True, True] Translation: X:130.18, Y:-14.22, Z:-1.74 [[ 9.88046039e-01 1.54008754e-01 6.80656425e-03 1.30179098e+02] [-1.54006142e-01 9.88069472e-01 -9.09379360e-04 -1.42216111e+01] [-6.86541073e-03 -1.49744025e-04 9.99976422e-01 -1.73786455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.455769231 meters Centerline goodness [0,1] 0.9997861008320678 Centerline is valid? [True, True] Translation: X:130.21, Y:-14.22, Z:-1.74 [[ 9.88065748e-01 1.53884805e-01 6.74869546e-03 1.30207456e+02] [-1.53882236e-01 9.88088784e-01 -9.01417572e-04 -1.42220128e+01] [-6.80702476e-03 -1.47844522e-04 9.99976821e-01 -1.73911881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.485769231 meters Centerline goodness [0,1] 0.9997003681191678 Centerline is valid? [True, True] Translation: X:130.24, Y:-14.22, Z:-1.74 [[ 9.88183288e-01 1.53081146e-01 7.74281456e-03 1.30236801e+02] [-1.53077742e-01 9.88213608e-01 -1.03391814e-03 -1.42225825e+01] [-7.80982809e-03 -1.63551939e-04 9.99969489e-01 -1.73783145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.515769231 meters Centerline goodness [0,1] 0.9997031382527566 Centerline is valid? [True, True] Translation: X:130.27, Y:-14.23, Z:-1.73 [[ 9.88312662e-01 1.52157047e-01 9.29062888e-03 1.30266628e+02] [-1.52152110e-01 9.88356311e-01 -1.24002602e-03 -1.42267123e+01] [-9.37113038e-03 -1.88055375e-04 9.99956072e-01 -1.73498730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.545769231 meters Centerline goodness [0,1] 0.9996575342465753 Centerline is valid? [True, True] Translation: X:130.30, Y:-14.23, Z:-1.73 [[ 9.88452183e-01 1.51090418e-01 1.15744452e-02 1.30296317e+02] [-1.51082687e-01 9.88519922e-01 -1.54452251e-03 -1.42315162e+01] [-1.16749322e-02 -2.22011631e-04 9.99931821e-01 -1.73112796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.575769231 meters Centerline goodness [0,1] 0.9995350016909029 Centerline is valid? [True, True] Translation: X:130.32, Y:-14.24, Z:-1.73 [[ 9.88651457e-01 1.49653223e-01 1.31228663e-02 1.30324596e+02] [-1.49643163e-01 9.88738519e-01 -1.75080029e-03 -1.42362500e+01] [-1.32370963e-02 -2.32815956e-04 9.99912359e-01 -1.72794723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.35, Y:-14.25, Z:-1.73 [[ 9.89505977e-01 1.43962114e-01 1.23624870e-02 1.30354742e+02] [-1.43952745e-01 9.89583189e-01 -1.64901328e-03 -1.42499032e+01] [-1.24711048e-02 -1.47905448e-04 9.99922222e-01 -1.73128236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.39, Y:-14.27, Z:-1.74 [[ 9.90376652e-01 1.38018591e-01 1.02448300e-02 1.30385487e+02] [-1.38011836e-01 9.90429637e-01 -1.36675367e-03 -1.42658239e+01] [-1.03354207e-02 -6.03068793e-05 9.99946586e-01 -1.73664392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.42, Y:-14.27, Z:-1.74 [[ 9.90643498e-01 1.36136180e-01 9.61253592e-03 1.30415734e+02] [-1.36130139e-01 9.90690133e-01 -1.28307035e-03 -1.42744553e+01] [-9.69771678e-03 -3.74905487e-05 9.99952975e-01 -1.73760968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.45, Y:-14.28, Z:-1.74 [[ 9.90872169e-01 1.34497788e-01 9.09344357e-03 1.30445728e+02] [-1.34492297e-01 9.90913894e-01 -1.21540778e-03 -1.42831151e+01] [-9.17428923e-03 -1.86843795e-05 9.99957915e-01 -1.73812436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.48, Y:-14.29, Z:-1.74 [[ 9.90939725e-01 1.33972502e-01 9.47788193e-03 1.30476497e+02] [-1.33966514e-01 9.90985050e-01 -1.26675396e-03 -1.42906175e+01] [-9.56214949e-03 -1.44419842e-05 9.99954281e-01 -1.73746266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.51, Y:-14.30, Z:-1.74 [[ 9.90825136e-01 1.34800143e-01 9.71966311e-03 1.30507637e+02] [-1.34793869e-01 9.90872808e-01 -1.30073899e-03 -1.42951126e+01] [-9.80628967e-03 -2.13461144e-05 9.99951917e-01 -1.73800846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.54, Y:-14.30, Z:-1.74 [[ 9.90592171e-01 1.36506646e-01 9.64810223e-03 1.30537737e+02] [-1.36500545e-01 9.90639154e-01 -1.29113822e-03 -1.43017788e+01] [-9.73403678e-03 -3.79797980e-05 9.99952622e-01 -1.73855515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.57, Y:-14.31, Z:-1.74 [[ 9.90441312e-01 1.37621768e-01 9.28748325e-03 1.30569256e+02] [-1.37616152e-01 9.90484854e-01 -1.24411190e-03 -1.43063275e+01] [-9.37032837e-03 -4.58878926e-05 9.99956096e-01 -1.73955499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.60, Y:-14.31, Z:-1.74 [[ 9.90230423e-01 1.39177829e-01 8.55809934e-03 1.30601083e+02] [-1.39173108e-01 9.90267403e-01 -1.14760509e-03 -1.43094180e+01] [-8.63452799e-03 -5.46638125e-05 9.99962720e-01 -1.74099261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:-14.31, Z:-1.74 [[ 9.89715496e-01 1.42886652e-01 6.82945125e-03 1.30631431e+02] [-1.42883725e-01 9.89739057e-01 -9.17222938e-04 -1.43089233e+01] [-6.89043355e-03 -6.80276758e-05 9.99976258e-01 -1.74470680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.66, Y:-14.31, Z:-1.75 [[ 9.89448529e-01 1.44748250e-01 6.28907205e-03 1.30662119e+02] [-1.44745804e-01 9.89468513e-01 -8.44768774e-04 -1.43114447e+01] [-6.34511757e-03 -7.44615672e-05 9.99979867e-01 -1.74634957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.935769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.69, Y:-14.31, Z:-1.75 [[ 9.88846395e-01 1.48789795e-01 6.66356095e-03 1.30692164e+02] [-1.48787141e-01 9.88868841e-01 -8.95130404e-04 -1.43143183e+01] [-6.72257407e-03 -1.06305707e-04 9.99977398e-01 -1.74515589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.965769231 meters Centerline goodness [0,1] 0.9999144622885615 Centerline is valid? [True, True] Translation: X:130.72, Y:-14.31, Z:-1.74 [[ 9.88517188e-01 1.50925603e-01 7.43171316e-03 1.30722685e+02] [-1.50922363e-01 9.88545115e-01 -9.98212637e-04 -1.43117729e+01] [-7.49723959e-03 -1.34861360e-04 9.99971886e-01 -1.74463812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.995769231 meters Centerline goodness [0,1] 0.9998311915764596 Centerline is valid? [True, True] Translation: X:130.75, Y:-14.31, Z:-1.74 [[ 9.88188557e-01 1.53040396e-01 7.87482730e-03 1.30752552e+02] [-1.53036825e-01 9.88219921e-01 -1.05766728e-03 -1.43114876e+01] [-7.94392703e-03 -1.59963863e-04 9.99968434e-01 -1.74372583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.025769231 meters Centerline goodness [0,1] 0.9998495820529901 Centerline is valid? [True, True] Translation: X:130.78, Y:-14.31, Z:-1.74 [[ 9.87765976e-01 1.55764023e-01 7.47975330e-03 1.30782642e+02] [-1.55760881e-01 9.87794280e-01 -1.00440893e-03 -1.43138326e+01] [-7.54490830e-03 -1.72931991e-04 9.99971522e-01 -1.74468233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.055769231 meters Centerline goodness [0,1] 0.9999353879950895 Centerline is valid? [True, True] Translation: X:130.81, Y:-14.32, Z:-1.75 [[ 9.87737399e-01 1.55946545e-01 7.45022754e-03 1.30813227e+02] [-1.55943434e-01 9.87765481e-01 -1.00030774e-03 -1.43180417e+01] [-7.51507212e-03 -1.73772698e-04 9.99971746e-01 -1.74534681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.085769231 meters Centerline goodness [0,1] 0.9999363151973167 Centerline is valid? [True, True] Translation: X:130.84, Y:-14.33, Z:-1.74 [[ 9.88288728e-01 1.52329102e-01 9.01302069e-03 1.30842608e+02] [-1.52324398e-01 9.88329810e-01 -1.21013678e-03 -1.43260789e+01] [-9.09217608e-03 -1.76938415e-04 9.99958650e-01 -1.74340215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.115769231 meters Centerline goodness [0,1] 0.999936106319085 Centerline is valid? [True, True] Translation: X:130.87, Y:-14.34, Z:-1.74 [[ 9.88875108e-01 1.48437261e-01 9.61251288e-03 1.30872090e+02] [-1.48431727e-01 9.88921815e-01 -1.29060413e-03 -1.43354242e+01] [-9.69759743e-03 -1.50555592e-04 9.99952966e-01 -1.74258731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.145769231 meters Centerline goodness [0,1] 0.9999786507258753 Centerline is valid? [True, True] Translation: X:130.90, Y:-14.35, Z:-1.74 [[ 9.89532596e-01 1.43997814e-01 9.47998501e-03 1.30902021e+02] [-1.43992226e-01 9.89578000e-01 -1.27289650e-03 -1.43487225e+01] [-9.56447892e-03 -1.05471569e-04 9.99954254e-01 -1.74232801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.93, Y:-14.37, Z:-1.75 [[ 9.90599660e-01 1.36540913e-01 8.30019263e-03 1.30932295e+02] [-1.36536370e-01 9.90634432e-01 -1.11417063e-03 -1.43667620e+01] [-8.37458649e-03 -2.95811278e-05 9.99964932e-01 -1.74522857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.96, Y:-14.38, Z:-1.75 [[ 9.90891056e-01 1.34441500e-01 7.77158777e-03 1.30963972e+02] [-1.34437445e-01 9.90921532e-01 -1.04430799e-03 -1.43752041e+01] [-7.84143199e-03 -9.99695735e-06 9.99969255e-01 -1.74706987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.00, Y:-14.38, Z:-1.75 [[ 9.91004940e-01 1.33617472e-01 7.45526198e-03 1.30996232e+02] [-1.33613707e-01 9.91032982e-01 -1.00314944e-03 -1.43816734e+01] [-7.52244881e-03 -1.99913755e-06 9.99971706e-01 -1.74735243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.03, Y:-14.39, Z:-1.74 [[ 9.90865426e-01 1.34522349e-01 9.45759570e-03 1.31027049e+02] [-1.34516306e-01 9.90910560e-01 -1.27508285e-03 -1.43867934e+01] [-9.54315859e-03 -8.76532536e-06 9.99954463e-01 -1.74378238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.295769231 meters Centerline goodness [0,1] 0.9999576844955992 Centerline is valid? [True, True] Translation: X:131.06, Y:-14.39, Z:-1.74 [[ 9.90789165e-01 1.35032255e-01 1.01548311e-02 1.31059482e+02] [-1.35025298e-01 9.90841203e-01 -1.37074956e-03 -1.43929725e+01] [-1.02469205e-02 -1.30352823e-05 9.99947499e-01 -1.74172989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.09, Y:-14.40, Z:-1.74 [[ 9.90732779e-01 1.35363506e-01 1.11929663e-02 1.31091122e+02] [-1.35355048e-01 9.90796004e-01 -1.51323955e-03 -1.44021096e+01] [-1.12947837e-02 -1.58084710e-05 9.99936212e-01 -1.74130310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.12, Y:-14.41, Z:-1.74 [[ 9.90756088e-01 1.35163441e-01 1.15420702e-02 1.31122706e+02] [-1.35154406e-01 9.90823316e-01 -1.56277177e-03 -1.44092509e+01] [-1.16473818e-02 -1.16359984e-05 9.99932167e-01 -1.74168486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.385769231 meters Centerline goodness [0,1] 0.9999576737492593 Centerline is valid? [True, True] Translation: X:131.15, Y:-14.42, Z:-1.74 [[ 9.90787783e-01 1.34940251e-01 1.14323462e-02 1.31154996e+02] [-1.34931349e-01 9.90853737e-01 -1.54998965e-03 -1.44169704e+01] [-1.15369390e-02 -6.87108404e-06 9.99933447e-01 -1.74323838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.415769231 meters Centerline goodness [0,1] 0.9999787631668365 Centerline is valid? [True, True] Translation: X:131.19, Y:-14.43, Z:-1.75 [[ 9.90864146e-01 1.34519006e-01 9.63750557e-03 1.31186322e+02] [-1.34512645e-01 9.90911014e-01 -1.30812368e-03 -1.44280862e+01] [-9.72587791e-03 -1.93511022e-07 9.99952703e-01 -1.74659087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.22, Y:-14.44, Z:-1.75 [[ 9.90961001e-01 1.33799545e-01 9.69411833e-03 1.31217619e+02] [-1.33793057e-01 9.91008417e-01 -1.31763806e-03 -1.44393569e+01] [-9.78325222e-03 8.72220508e-06 9.99952143e-01 -1.74603478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47576923100002 meters Centerline goodness [0,1] 0.999978840904763 Centerline is valid? [True, True] Translation: X:131.25, Y:-14.45, Z:-1.74 [[ 9.90955713e-01 1.33747743e-01 1.08773487e-02 1.31250040e+02] [-1.33739545e-01 9.91015409e-01 -1.48081016e-03 -1.44468164e+01] [-1.09776752e-02 1.26856163e-05 9.99939743e-01 -1.74405514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.28, Y:-14.45, Z:-1.74 [[ 9.90911667e-01 1.33973562e-01 1.20479821e-02 1.31282781e+02] [-1.33963490e-01 9.90984906e-01 -1.64277193e-03 -1.44542725e+01] [-1.21594564e-02 1.38521375e-05 9.99926071e-01 -1.74208911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53576923100002 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:131.32, Y:-14.46, Z:-1.74 [[ 9.90733957e-01 1.35281696e-01 1.20452655e-02 1.31315327e+02] [-1.35271697e-01 9.90807177e-01 -1.64475528e-03 -1.44609959e+01] [-1.21570408e-02 1.31406834e-07 9.99926100e-01 -1.74236879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56576923100002 meters Centerline goodness [0,1] 0.9999573751625072 Centerline is valid? [True, True] Translation: X:131.35, Y:-14.47, Z:-1.75 [[ 9.90195341e-01 1.39383497e-01 9.24268172e-03 1.31345685e+02] [-1.39377775e-01 9.90238476e-01 -1.26342802e-03 -1.44651228e+01] [-9.32856007e-03 -3.71838721e-05 9.99956487e-01 -1.74774993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59576923100002 meters Centerline goodness [0,1] 0.9999369615465434 Centerline is valid? [True, True] Translation: X:131.38, Y:-14.47, Z:-1.75 [[ 9.89731134e-01 1.42757916e-01 7.24288852e-03 1.31377421e+02] [-1.42754487e-01 9.89757634e-01 -9.90829971e-04 -1.44659484e+01] [-7.31015303e-03 -5.32995661e-05 9.99973279e-01 -1.75257808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62576923100002 meters Centerline goodness [0,1] 0.9999139877432535 Centerline is valid? [True, True] Translation: X:131.41, Y:-14.46, Z:-1.76 [[ 9.88747171e-01 1.49518034e-01 4.83631796e-03 1.31409036e+02] [-1.49516580e-01 9.88758996e-01 -6.62702144e-04 -1.44630036e+01] [-4.88103881e-03 -6.78648523e-05 9.99988085e-01 -1.75729527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65576923100002 meters Centerline goodness [0,1] 0.999914853761335 Centerline is valid? [True, True] Translation: X:131.44, Y:-14.46, Z:-1.76 [[ 9.88286767e-01 1.52510086e-01 5.47169985e-03 1.31440399e+02] [-1.52508276e-01 9.88301910e-01 -7.48984168e-04 -1.44647433e+01] [-5.52191905e-03 -9.42683709e-05 9.99984750e-01 -1.75633733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.685769231 meters Centerline goodness [0,1] 0.9998728732758438 Centerline is valid? [True, True] Translation: X:131.47, Y:-14.47, Z:-1.75 [[ 9.87907652e-01 1.54896834e-01 6.74113811e-03 1.31471072e+02] [-1.54894128e-01 9.87930642e-01 -9.24823556e-04 -1.44664299e+01] [-6.80302915e-03 -1.30522442e-04 9.99976851e-01 -1.75441345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.715769231 meters Centerline goodness [0,1] 0.9997209521969648 Centerline is valid? [True, True] Translation: X:131.50, Y:-14.47, Z:-1.75 [[ 9.87277468e-01 1.58782229e-01 8.45009800e-03 1.31502749e+02] [-1.58778121e-01 9.87313610e-01 -1.15912572e-03 -1.44679028e+01] [-8.52694533e-03 -1.97311982e-04 9.99963625e-01 -1.75189952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.745769231 meters Centerline goodness [0,1] 0.9996835576557951 Centerline is valid? [True, True] Translation: X:131.53, Y:-14.47, Z:-1.75 [[ 9.87012347e-01 1.60402903e-01 8.80548822e-03 1.31534146e+02] [-1.60398493e-01 9.87051600e-01 -1.20933731e-03 -1.44672687e+01] [-8.88545246e-03 -2.18756185e-04 9.99960500e-01 -1.75289599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.775769231 meters Centerline goodness [0,1] 0.9991044585172392 Centerline is valid? [True, True] Translation: X:131.57, Y:-14.47, Z:-1.75 [[ 9.86560942e-01 1.63124483e-01 9.37605554e-03 1.31566344e+02] [-1.63119589e-01 9.86605462e-01 -1.28951365e-03 -1.44680078e+01] [-9.46081885e-03 -2.57234530e-04 9.99955212e-01 -1.75256220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.805769231 meters Centerline goodness [0,1] 0.9991490266992873 Centerline is valid? [True, True] Translation: X:131.60, Y:-14.47, Z:-1.75 [[ 9.86434621e-01 1.63885317e-01 9.39900059e-03 1.31597815e+02] [-1.63880430e-01 9.86479363e-01 -1.29300269e-03 -1.44716503e+01] [-9.48382427e-03 -2.64849638e-04 9.99954992e-01 -1.75284279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.835769231 meters Centerline goodness [0,1] 0.9989601901366607 Centerline is valid? [True, True] Translation: X:131.63, Y:-14.48, Z:-1.75 [[ 9.86388901e-01 1.64172870e-01 9.17635836e-03 1.31630160e+02] [-1.64168219e-01 9.86431549e-01 -1.26299197e-03 -1.44750462e+01] [-9.25919840e-03 -2.60665147e-04 9.99957099e-01 -1.75350788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.865769231 meters Centerline goodness [0,1] 0.9992939213043199 Centerline is valid? [True, True] Translation: X:131.66, Y:-14.48, Z:-1.76 [[ 9.86333618e-01 1.64611821e-01 6.99595114e-03 1.31661436e+02] [-1.64609122e-01 9.86358407e-01 -9.63726763e-04 -1.44767027e+01] [-7.05915604e-03 -2.01041274e-04 9.99975064e-01 -1.75716563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.895769231 meters Centerline goodness [0,1] 0.9991926745841212 Centerline is valid? [True, True] Translation: X:131.69, Y:-14.48, Z:-1.76 [[ 9.86184491e-01 1.65520202e-01 6.57356185e-03 1.31691701e+02] [-1.65517830e-01 9.86206381e-01 -9.07102205e-04 -1.44778923e+01] [-6.63303238e-03 -1.93471562e-04 9.99977982e-01 -1.75784927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.925769231 meters Centerline goodness [0,1] 0.9986432647787229 Centerline is valid? [True, True] Translation: X:131.72, Y:-14.47, Z:-1.76 [[ 9.85574139e-01 1.69041769e-01 8.27630201e-03 1.31723525e+02] [-1.69038131e-01 9.85608850e-01 -1.14223339e-03 -1.44718400e+01] [-8.35028166e-03 -2.73254931e-04 9.99965098e-01 -1.75524102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.955769231 meters Centerline goodness [0,1] 0.997887219792525 Centerline is valid? [True, True] Translation: X:131.75, Y:-14.47, Z:-1.76 [[ 9.85278703e-01 1.70743919e-01 8.50830242e-03 1.31753328e+02] [-1.70740137e-01 9.85315395e-01 -1.17428705e-03 -1.44701880e+01] [-8.58386372e-03 -2.95708704e-04 9.99963114e-01 -1.75545273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.985769231 meters Centerline goodness [0,1] 0.9976004926422186 Centerline is valid? [True, True] Translation: X:131.78, Y:-14.47, Z:-1.76 [[ 9.85124678e-01 1.71670646e-01 7.65227775e-03 1.31783314e+02] [-1.71667615e-01 9.85154361e-01 -1.05611222e-03 -1.44704951e+01] [-7.71997826e-03 -2.73246061e-04 9.99970163e-01 -1.75776410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.015769231 meters Centerline goodness [0,1] 0.9978716230454756 Centerline is valid? [True, True] Translation: X:131.81, Y:-14.47, Z:-1.76 [[ 9.85285062e-01 1.70775694e-01 7.00067128e-03 1.31812830e+02] [-1.70773136e-01 9.85309902e-01 -9.66046895e-04 -1.44714137e+01] [-7.06280806e-03 -2.43695012e-04 9.99975028e-01 -1.75936766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.045769231 meters Centerline goodness [0,1] 0.9980131890429489 Centerline is valid? [True, True] Translation: X:131.84, Y:-14.48, Z:-1.76 [[ 9.85520067e-01 1.69375555e-01 7.88162098e-03 1.31842109e+02] [-1.69372269e-01 9.85551547e-01 -1.08740425e-03 -1.44752105e+01] [-7.95192345e-03 -2.63269316e-04 9.99968348e-01 -1.75761013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.075769231 meters Centerline goodness [0,1] 0.998470460773692 Centerline is valid? [True, True] Translation: X:131.87, Y:-14.48, Z:-1.75 [[ 9.86208490e-01 1.65200664e-01 1.00774494e-02 1.31871386e+02] [-1.65195077e-01 9.86259932e-01 -1.39004227e-03 -1.44796242e+01] [-1.01686204e-02 -2.93873534e-04 9.99948255e-01 -1.75406460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.105769231 meters Centerline goodness [0,1] 0.9996173794745344 Centerline is valid? [True, True] Translation: X:131.90, Y:-14.49, Z:-1.75 [[ 9.86527977e-01 1.63275643e-01 1.01791083e-02 1.31901625e+02] [-1.63269842e-01 9.86580452e-01 -1.40392427e-03 -1.44905095e+01] [-1.02717359e-02 -2.76930840e-04 9.99947206e-01 -1.75357458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.135769231 meters Centerline goodness [0,1] 0.9996173794745344 Centerline is valid? [True, True] Translation: X:131.93, Y:-14.49, Z:-1.75 [[ 9.86524230e-01 1.63298287e-01 1.01790759e-02 1.31932172e+02] [-1.63292485e-01 9.86576704e-01 -1.40415911e-03 -1.44947680e+01] [-1.02717360e-02 -2.76929616e-04 9.99947206e-01 -1.75393549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.165769231 meters Centerline goodness [0,1] 0.9995976622056582 Centerline is valid? [True, True] Translation: X:131.96, Y:-14.49, Z:-1.76 [[ 9.86893370e-01 1.61200724e-01 7.47014013e-03 1.31962969e+02] [-1.61197538e-01 9.86921624e-01 -1.03057583e-03 -1.44941408e+01] [-7.53857240e-03 -1.87099743e-04 9.99971567e-01 -1.75870020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.195769231 meters Centerline goodness [0,1] 0.9997043044818992 Centerline is valid? [True, True] Translation: X:131.99, Y:-14.49, Z:-1.76 [[ 9.86986362e-01 1.60682749e-01 6.24307014e-03 1.31992770e+02] [-1.60680512e-01 9.87006095e-01 -8.61577077e-04 -1.44937526e+01] [-6.30038885e-03 -1.52774883e-04 9.99980141e-01 -1.76154189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22576923100002 meters Centerline goodness [0,1] 0.9998490923985686 Centerline is valid? [True, True] Translation: X:132.02, Y:-14.50, Z:-1.76 [[ 9.87037864e-01 1.60350862e-01 6.62231408e-03 1.32022591e+02] [-1.60348339e-01 9.87060067e-01 -9.13654536e-04 -1.45045101e+01] [-6.68312707e-03 -1.60065443e-04 9.99977655e-01 -1.75967496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25576923100002 meters Centerline goodness [0,1] 0.9996808714337383 Centerline is valid? [True, True] Translation: X:132.05, Y:-14.50, Z:-1.75 [[ 9.87238757e-01 1.58919077e-01 1.02158611e-02 1.32053391e+02] [-1.58912992e-01 9.87291585e-01 -1.40987763e-03 -1.45018638e+01] [-1.03100902e-02 -2.31547210e-04 9.99946823e-01 -1.75427216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28576923100002 meters Centerline goodness [0,1] 0.9998921693372728 Centerline is valid? [True, True] Translation: X:132.08, Y:-14.51, Z:-1.75 [[ 9.87409187e-01 1.57807096e-01 1.09552360e-02 1.32084087e+02] [-1.57800029e-01 9.87469931e-01 -1.51190240e-03 -1.45105505e+01] [-1.10565551e-02 -2.35870243e-04 9.99938847e-01 -1.75318904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31576923100002 meters Centerline goodness [0,1] 0.9998718879446556 Centerline is valid? [True, True] Translation: X:132.11, Y:-14.52, Z:-1.76 [[ 9.87940808e-01 1.54606003e-01 8.36324698e-03 1.32113687e+02] [-1.54601769e-01 9.87976194e-01 -1.15436457e-03 -1.45169718e+01] [-8.44116062e-03 -1.52528915e-04 9.99964361e-01 -1.75874874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34576923100002 meters Centerline goodness [0,1] 0.9999146010802963 Centerline is valid? [True, True] Translation: X:132.15, Y:-14.52, Z:-1.76 [[ 9.88309273e-01 1.52282256e-01 7.40909642e-03 1.32145013e+02] [-1.52278872e-01 9.88337038e-01 -1.02209006e-03 -1.45248677e+01] [-7.47833059e-03 -1.18107765e-04 9.99972030e-01 -1.76083787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37576923100002 meters Centerline goodness [0,1] 0.9999363111413043 Centerline is valid? [True, True] Translation: X:132.18, Y:-14.53, Z:-1.76 [[ 9.88649697e-01 1.50039855e-01 7.73419760e-03 1.32175626e+02] [-1.50036087e-01 9.88679944e-01 -1.06836312e-03 -1.45320536e+01] [-7.80694310e-03 -1.04171869e-04 9.99969520e-01 -1.76008877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40576923100002 meters Centerline goodness [0,1] 0.9999785821375027 Centerline is valid? [True, True] Translation: X:132.21, Y:-14.54, Z:-1.75 [[ 9.89136235e-01 1.46623295e-01 1.05412446e-02 1.32205894e+02] [-1.46616078e-01 9.89192397e-01 -1.45839789e-03 -1.45390287e+01] [-1.06411542e-02 -1.02961741e-04 9.99943376e-01 -1.75489596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.435769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.24, Y:-14.54, Z:-1.75 [[ 9.89213473e-01 1.46039550e-01 1.13645773e-02 1.32237722e+02] [-1.46031102e-01 9.89278747e-01 -1.57420050e-03 -1.45435003e+01] [-1.14726304e-02 -1.02361402e-04 9.99934182e-01 -1.75404066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.465769231 meters Centerline goodness [0,1] 0.999978795139846 Centerline is valid? [True, True] Translation: X:132.27, Y:-14.55, Z:-1.75 [[ 9.89037854e-01 1.47224013e-01 1.13671730e-02 1.32269362e+02] [-1.47215617e-01 9.89103168e-01 -1.57644392e-03 -1.45450622e+01] [-1.14753973e-02 -1.14262678e-04 9.99934149e-01 -1.75398504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.495769231 meters Centerline goodness [0,1] 0.9999785711224446 Centerline is valid? [True, True] Translation: X:132.30, Y:-14.55, Z:-1.75 [[ 9.88808827e-01 1.48762119e-01 1.12665597e-02 1.32302046e+02] [-1.48753951e-01 9.88873003e-01 -1.56419720e-03 -1.45468189e+01] [-1.13738900e-02 -1.29253272e-04 9.99935307e-01 -1.75400541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.525769231 meters Centerline goodness [0,1] 0.9999355088352896 Centerline is valid? [True, True] Translation: X:132.33, Y:-14.55, Z:-1.75 [[ 9.88518138e-01 1.50710978e-01 1.08669821e-02 1.32333909e+02] [-1.50703478e-01 9.88577857e-01 -1.51049109e-03 -1.45472219e+01] [-1.09705054e-02 -1.44544148e-04 9.99939812e-01 -1.75445369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.555769231 meters Centerline goodness [0,1] 0.9998939846913895 Centerline is valid? [True, True] Translation: X:132.36, Y:-14.54, Z:-1.76 [[ 9.88007786e-01 1.54146929e-01 8.90725328e-03 1.32364320e+02] [-1.54142022e-01 9.88047925e-01 -1.23896785e-03 -1.45401689e+01] [-8.99177622e-03 -1.48872143e-04 9.99959562e-01 -1.75843852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.585769231 meters Centerline goodness [0,1] 0.9999356140275572 Centerline is valid? [True, True] Translation: X:132.39, Y:-14.54, Z:-1.76 [[ 9.87825646e-01 1.55340834e-01 8.34974986e-03 1.32394555e+02] [-1.55336565e-01 9.87860923e-01 -1.16127154e-03 -1.45404614e+01] [-8.42878449e-03 -1.49887657e-04 9.99964466e-01 -1.76049955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.615769231 meters Centerline goodness [0,1] 0.9997455578643824 Centerline is valid? [True, True] Translation: X:132.42, Y:-14.54, Z:-1.76 [[ 9.87850294e-01 1.55151689e-01 8.93025019e-03 1.32424480e+02] [-1.55146797e-01 9.87890646e-01 -1.24212220e-03 -1.45414787e+01] [-9.01482799e-03 -1.58468935e-04 9.99959353e-01 -1.76035543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.645769231 meters Centerline goodness [0,1] 0.9999362773210986 Centerline is valid? [True, True] Translation: X:132.45, Y:-14.55, Z:-1.76 [[ 9.88104135e-01 1.53501074e-01 9.36157942e-03 1.32454467e+02] [-1.53495627e-01 9.88148469e-01 -1.30197643e-03 -1.45486391e+01] [-9.45048516e-03 -1.50473203e-04 9.99955332e-01 -1.75942676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.675769231 meters Centerline goodness [0,1] 0.9999572987168265 Centerline is valid? [True, True] Translation: X:132.48, Y:-14.56, Z:-1.76 [[ 9.88449966e-01 1.51294144e-01 8.76052806e-03 1.32484205e+02] [-1.51289286e-01 9.88488780e-01 -1.21838427e-03 -1.45565463e+01] [-8.84401810e-03 -1.21062150e-04 9.99960884e-01 -1.76122074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.51, Y:-14.57, Z:-1.77 [[ 9.88773203e-01 1.49298265e-01 6.13036719e-03 1.32514236e+02] [-1.49295849e-01 9.88792204e-01 -8.52462244e-04 -1.45658733e+01] [-6.18893042e-03 -7.23465504e-05 9.99980846e-01 -1.76624642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.735769231 meters Centerline goodness [0,1] 0.9999787527886965 Centerline is valid? [True, True] Translation: X:132.54, Y:-14.57, Z:-1.77 [[ 9.88619172e-01 1.50352617e-01 5.12084529e-03 1.32543997e+02] [-1.50350944e-01 9.88632432e-01 -7.12385882e-04 -1.45667847e+01] [-5.16974281e-03 -6.56455823e-05 9.99986635e-01 -1.76874636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.765769231 meters Centerline goodness [0,1] 0.9999138283892371 Centerline is valid? [True, True] Translation: X:132.57, Y:-14.56, Z:-1.77 [[ 9.87781576e-01 1.55762612e-01 5.05638131e-03 1.32574893e+02] [-1.55761052e-01 9.87794513e-01 -7.03363795e-04 -1.45644439e+01] [-5.10422350e-03 -9.28174735e-05 9.99986969e-01 -1.76750138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.795769231 meters Centerline goodness [0,1] 0.9999577791851383 Centerline is valid? [True, True] Translation: X:132.60, Y:-14.56, Z:-1.77 [[ 9.87288510e-01 1.58812442e-01 6.32512882e-03 1.32603896e+02] [-1.58810063e-01 9.87308761e-01 -8.79854733e-04 -1.45617760e+01] [-6.38458697e-03 -1.35823637e-04 9.99979609e-01 -1.76620637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.825769231 meters Centerline goodness [0,1] 0.9997868485558989 Centerline is valid? [True, True] Translation: X:132.63, Y:-14.56, Z:-1.76 [[ 9.86885934e-01 1.61243012e-01 7.53951704e-03 1.32633818e+02] [-1.61239705e-01 9.86914717e-01 -1.04840280e-03 -1.45629448e+01] [-7.60990795e-03 -1.81015529e-04 9.99971028e-01 -1.76407440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.855769231 meters Centerline goodness [0,1] 0.9993612808448126 Centerline is valid? [True, True] Translation: X:132.66, Y:-14.56, Z:-1.76 [[ 9.86354442e-01 1.64428614e-01 8.25498002e-03 1.32663976e+02] [-1.64424763e-01 9.86388960e-01 -1.14767035e-03 -1.45612964e+01] [-8.33133100e-03 -2.25313381e-04 9.99965268e-01 -1.76294264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.885769231 meters Centerline goodness [0,1] 0.9997204601655736 Centerline is valid? [True, True] Translation: X:132.69, Y:-14.56, Z:-1.76 [[ 9.86063452e-01 1.66175441e-01 8.03691603e-03 1.32693364e+02] [-1.66171850e-01 9.86096176e-01 -1.11721741e-03 -1.45628272e+01] [-8.11082626e-03 -2.33861955e-04 9.99967079e-01 -1.76308114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.915769231 meters Centerline goodness [0,1] 0.9992710276366287 Centerline is valid? [True, True] Translation: X:132.73, Y:-14.55, Z:-1.76 [[ 9.85144350e-01 1.71553749e-01 7.74086566e-03 1.32725540e+02] [-1.71550587e-01 9.85174725e-01 -1.07567625e-03 -1.45529317e+01] [-7.81064150e-03 -2.68253665e-04 9.99969460e-01 -1.76378164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.945769231 meters Centerline goodness [0,1] 0.9985756499925593 Centerline is valid? [True, True] Translation: X:132.76, Y:-14.55, Z:-1.77 [[ 9.84684368e-01 1.74190695e-01 7.36865268e-03 1.32755254e+02] [-1.74187902e-01 9.84711900e-01 -1.02406855e-03 -1.45489794e+01] [-7.43438320e-03 -2.75145855e-04 9.99972327e-01 -1.76510865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97576923100002 meters Centerline goodness [0,1] 0.9964294822749299 Centerline is valid? [True, True] Translation: X:132.79, Y:-14.54, Z:-1.76 [[ 9.84015742e-01 1.77915807e-01 7.68021729e-03 1.32785461e+02] [-1.77912889e-01 9.84045662e-01 -1.06703282e-03 -1.45408476e+01] [-7.74752652e-03 -3.16432551e-04 9.99969937e-01 -1.76497518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00576923100002 meters Centerline goodness [0,1] 0.9961715160796325 Centerline is valid? [True, True] Translation: X:132.81, Y:-14.54, Z:-1.76 [[ 9.83863252e-01 1.78701893e-01 8.87323961e-03 1.32814049e+02] [-1.78698031e-01 9.83903194e-01 -1.23262794e-03 -1.45415341e+01] [-8.95068174e-03 -3.72893114e-04 9.99959872e-01 -1.76315449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03576923100002 meters Centerline goodness [0,1] 0.9947235701722786 Centerline is valid? [True, True] Translation: X:132.84, Y:-14.54, Z:-1.76 [[ 9.83837757e-01 1.78772375e-01 1.01836002e-02 1.32842446e+02] [-1.78767299e-01 9.83890367e-01 -1.41397065e-03 -1.45406160e+01] [-1.02723250e-02 -4.29376972e-04 9.99947146e-01 -1.76146949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06576923100002 meters Centerline goodness [0,1] 0.9955830201099998 Centerline is valid? [True, True] Translation: X:132.87, Y:-14.54, Z:-1.76 [[ 9.84168910e-01 1.76893043e-01 1.09730181e-02 1.32872391e+02] [-1.76887040e-01 9.84229981e-01 -1.52287060e-03 -1.45429544e+01] [-1.10693586e-02 -4.42222798e-04 9.99938635e-01 -1.76154389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09576923100002 meters Centerline goodness [0,1] 0.9964689866417085 Centerline is valid? [True, True] Translation: X:132.90, Y:-14.55, Z:-1.76 [[ 9.84510691e-01 1.75037937e-01 1.00209491e-02 1.32901242e+02] [-1.75032835e-01 9.84561614e-01 -1.39073293e-03 -1.45484909e+01] [-1.01096728e-02 -3.84803680e-04 9.99948822e-01 -1.76419556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12576923100002 meters Centerline goodness [0,1] 0.9987925309413946 Centerline is valid? [True, True] Translation: X:132.93, Y:-14.56, Z:-1.77 [[ 9.85239704e-01 1.70939602e-01 9.07619460e-03 1.32930259e+02] [-1.70935250e-01 9.85281460e-01 -1.25890862e-03 -1.45583305e+01] [-9.15780361e-03 -3.11114833e-04 9.99958018e-01 -1.76607692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15576923100002 meters Centerline goodness [0,1] 0.9992316393827503 Centerline is valid? [True, True] Translation: X:132.96, Y:-14.56, Z:-1.77 [[ 9.85639460e-01 1.68598503e-01 9.45517629e-03 1.32959992e+02] [-1.68593674e-01 9.85684764e-01 -1.31122838e-03 -1.45647494e+01] [-9.54089435e-03 -3.01684467e-04 9.99954439e-01 -1.76523493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.185769231 meters Centerline goodness [0,1] 0.9992403300343962 Centerline is valid? [True, True] Translation: X:132.99, Y:-14.57, Z:-1.77 [[ 9.86063441e-01 1.66080593e-01 9.80445679e-03 1.32987958e+02] [-1.66075277e-01 9.86112141e-01 -1.35960658e-03 -1.45683761e+01] [-9.89409814e-03 -2.87619534e-04 9.99951011e-01 -1.76516088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.215769231 meters Centerline goodness [0,1] 0.9995953658744356 Centerline is valid? [True, True] Translation: X:133.02, Y:-14.58, Z:-1.77 [[ 9.86674681e-01 1.62446310e-01 9.17987030e-03 1.33016306e+02] [-1.62441496e-01 9.86717356e-01 -1.27256031e-03 -1.45815705e+01] [-9.26466008e-03 -2.35588832e-04 9.99957054e-01 -1.76515456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.245769231 meters Centerline goodness [0,1] 0.9996811427842612 Centerline is valid? [True, True] Translation: X:133.05, Y:-14.58, Z:-1.77 [[ 9.86676752e-01 1.62443693e-01 9.00183064e-03 1.33045542e+02] [-1.62439066e-01 9.86717788e-01 -1.24766603e-03 -1.45837305e+01] [-9.08494190e-03 -2.31205890e-04 9.99958704e-01 -1.76567880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.275769231 meters Centerline goodness [0,1] 0.9993628138141966 Centerline is valid? [True, True] Translation: X:133.08, Y:-14.58, Z:-1.76 [[ 9.86027639e-01 1.66321946e-01 9.30085116e-03 1.33076091e+02] [-1.66317184e-01 9.86071465e-01 -1.28855376e-03 -1.45767995e+01] [-9.38561869e-03 -2.76341750e-04 9.99955916e-01 -1.76461473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.305769231 meters Centerline goodness [0,1] 0.9990289586120582 Centerline is valid? [True, True] Translation: X:133.11, Y:-14.57, Z:-1.76 [[ 9.85541935e-01 1.69137748e-01 9.97583714e-03 1.33106419e+02] [-1.69132414e-01 9.85592368e-01 -1.38206943e-03 -1.45740176e+01] [-1.00658691e-02 -3.25150038e-04 9.99949285e-01 -1.76420925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.335769231 meters Centerline goodness [0,1] 0.9972537918796739 Centerline is valid? [True, True] Translation: X:133.14, Y:-14.57, Z:-1.77 [[ 9.84664308e-01 1.74218031e-01 9.18033324e-03 1.33137134e+02] [-1.74213736e-01 9.84707041e-01 -1.27164221e-03 -1.45655898e+01] [-9.26148179e-03 -3.47199458e-04 9.99957051e-01 -1.76532646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.365769231 meters Centerline goodness [0,1] 0.994771408531531 Centerline is valid? [True, True] Translation: X:133.17, Y:-14.56, Z:-1.77 [[ 9.84336738e-01 1.76103758e-01 8.28567304e-03 1.33166372e+02] [-1.76100326e-01 9.84371555e-01 -1.14773237e-03 -1.45590197e+01] [-8.35830084e-03 -3.29354587e-04 9.99965015e-01 -1.76773941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.395769231 meters Centerline goodness [0,1] 0.9931172196966478 Centerline is valid? [True, True] Translation: X:133.20, Y:-14.55, Z:-1.77 [[ 9.83572897e-01 1.80313350e-01 8.45296225e-03 1.33198328e+02] [-1.80309938e-01 9.83609148e-01 -1.17037124e-03 -1.45528118e+01] [-8.52544456e-03 -3.73007662e-04 9.99963588e-01 -1.76782536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.425769231 meters Centerline goodness [0,1] 0.991596096806087 Centerline is valid? [True, True] Translation: X:133.23, Y:-14.55, Z:-1.77 [[ 9.83305644e-01 1.81695876e-01 9.82953916e-03 1.33228285e+02] [-1.81691330e-01 9.83354671e-01 -1.36098275e-03 -1.45516222e+01] [-9.91320819e-03 -4.47680027e-04 9.99950763e-01 -1.76592321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.455769231 meters Centerline goodness [0,1] 0.989688310583833 Centerline is valid? [True, True] Translation: X:133.26, Y:-14.55, Z:-1.76 [[ 9.83134242e-01 1.82559335e-01 1.09156324e-02 1.33257306e+02] [-1.82553785e-01 9.83194707e-01 -1.51110010e-03 -1.45502491e+01] [-1.10080574e-02 -5.07075765e-04 9.99939281e-01 -1.76445569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.485769231 meters Centerline goodness [0,1] 0.9892259771292029 Centerline is valid? [True, True] Translation: X:133.29, Y:-14.55, Z:-1.76 [[ 9.83222871e-01 1.82059718e-01 1.12714712e-02 1.33286283e+02] [-1.82053773e-01 9.83287339e-01 -1.55983542e-03 -1.45484695e+01] [-1.13670781e-02 -5.18347999e-04 9.99935258e-01 -1.76366575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.515769231 meters Centerline goodness [0,1] 0.9888526257788327 Centerline is valid? [True, True] Translation: X:133.31, Y:-14.55, Z:-1.76 [[ 9.83293643e-01 1.81715037e-01 1.06422316e-02 1.33314790e+02] [-1.81709722e-01 9.83351112e-01 -1.47231728e-03 -1.45474697e+01] [-1.07325924e-02 -4.86076716e-04 9.99942286e-01 -1.76496208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.545769231 meters Centerline goodness [0,1] 0.9957871878393051 Centerline is valid? [True, True] Translation: X:133.34, Y:-14.55, Z:-1.77 [[ 9.83267917e-01 1.81948964e-01 8.87573676e-03 1.33342766e+02] [-1.81945281e-01 9.83307891e-01 -1.22752177e-03 -1.45546126e+01] [-8.95092830e-03 -4.07915642e-04 9.99959856e-01 -1.76947774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.575769231 meters Centerline goodness [0,1] 0.9940506653019447 Centerline is valid? [True, True] Translation: X:133.37, Y:-14.55, Z:-1.77 [[ 9.83231083e-01 1.82179445e-01 8.20290086e-03 1.33371474e+02] [-1.82176310e-01 9.83265227e-01 -1.13414968e-03 -1.45506991e+01] [-8.27224593e-03 -3.79242989e-04 9.99965712e-01 -1.77169044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.605769231 meters Centerline goodness [0,1] 0.9954938523271034 Centerline is valid? [True, True] Translation: X:133.40, Y:-14.55, Z:-1.77 [[ 9.83279266e-01 1.81929311e-01 7.97562023e-03 1.33399719e+02] [-1.81926343e-01 9.83311543e-01 -1.10221234e-03 -1.45548610e+01] [-8.04304417e-03 -3.67192876e-04 9.99967587e-01 -1.77151999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.635769231 meters Centerline goodness [0,1] 0.994854785899562 Centerline is valid? [True, True] Translation: X:133.43, Y:-14.55, Z:-1.77 [[ 9.83332208e-01 1.81640903e-01 8.02187026e-03 1.33428880e+02] [-1.81637893e-01 9.83364860e-01 -1.10825221e-03 -1.45481058e+01] [-8.08972926e-03 -3.67295522e-04 9.99967210e-01 -1.77143721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.665769231 meters Centerline goodness [0,1] 0.9638439982301258 Centerline is valid? [True, True] Translation: X:133.46, Y:-14.53, Z:-1.77 [[ 9.83380293e-01 1.81364411e-01 8.37558848e-03 1.33459705e+02] [-1.81361124e-01 9.83415886e-01 -1.15667579e-03 -1.45285384e+01] [-8.44646659e-03 -3.81553967e-04 9.99964255e-01 -1.77187476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.695769231 meters Centerline goodness [0,1] 0.9954696982648089 Centerline is valid? [True, True] Translation: X:133.49, Y:-14.54, Z:-1.77 [[ 9.83710737e-01 1.79500345e-01 9.63385970e-03 1.33487055e+02] [-1.79495915e-01 9.83757820e-01 -1.32954850e-03 -1.45430483e+01] [-9.71603923e-03 -4.21347332e-04 9.99952709e-01 -1.77021442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72576923100002 meters Centerline goodness [0,1] 0.9956336528221512 Centerline is valid? [True, True] Translation: X:133.52, Y:-14.54, Z:-1.77 [[ 9.84142256e-01 1.77082487e-01 1.02865343e-02 1.33516035e+02] [-1.77077324e-01 9.84195921e-01 -1.41774094e-03 -1.45434436e+01] [-1.03750222e-02 -4.26253199e-04 9.99946087e-01 -1.77053474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75576923100002 meters Centerline goodness [0,1] 0.9981009281980155 Centerline is valid? [True, True] Translation: X:133.55, Y:-14.55, Z:-1.77 [[ 9.85232362e-01 1.70941689e-01 9.80467144e-03 1.33545333e+02] [-1.70936697e-01 9.85281087e-01 -1.35109705e-03 -1.45510036e+01] [-9.89131615e-03 -3.44833610e-04 9.99951020e-01 -1.77283025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78576923100002 meters Centerline goodness [0,1] 0.9991655969191271 Centerline is valid? [True, True] Translation: X:133.57, Y:-14.56, Z:-1.78 [[ 9.85790683e-01 1.67780587e-01 8.14887386e-03 1.33574900e+02] [-1.67777032e-01 9.85824329e-01 -1.12286140e-03 -1.45563411e+01] [-8.22175245e-03 -2.60287563e-04 9.99966167e-01 -1.77535871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81576923100002 meters Centerline goodness [0,1] 0.9994711680839362 Centerline is valid? [True, True] Translation: X:133.60, Y:-14.56, Z:-1.78 [[ 9.86350424e-01 1.64533042e-01 6.45899413e-03 1.33603710e+02] [-1.64530740e-01 9.86371555e-01 -8.89845420e-04 -1.45609573e+01] [-6.51737705e-03 -1.85003674e-04 9.99978745e-01 -1.77867918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84576923100002 meters Centerline goodness [0,1] 0.9998510479838281 Centerline is valid? [True, True] Translation: X:133.63, Y:-14.57, Z:-1.78 [[ 9.87457209e-01 1.57766055e-01 6.17515389e-03 1.33631847e+02] [-1.57763820e-01 9.87476508e-01 -8.50495860e-04 -1.45699568e+01] [-6.23199878e-03 -1.34387598e-04 9.99980572e-01 -1.77901169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87576923100002 meters Centerline goodness [0,1] 0.999851136677796 Centerline is valid? [True, True] Translation: X:133.66, Y:-14.58, Z:-1.78 [[ 9.87923237e-01 1.54748490e-01 7.78347985e-03 1.33659895e+02] [-1.54744844e-01 9.87953887e-01 -1.07213826e-03 -1.45767224e+01] [-7.85563095e-03 -1.45263078e-04 9.99969134e-01 -1.77637100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90576923100002 meters Centerline goodness [0,1] 0.999978650270074 Centerline is valid? [True, True] Translation: X:133.69, Y:-14.58, Z:-1.77 [[ 9.88615330e-01 1.50097075e-01 1.05165017e-02 1.33689082e+02] [-1.50090163e-01 9.88671253e-01 -1.44789944e-03 -1.45848626e+01] [-1.06146884e-02 -1.47007878e-04 9.99943652e-01 -1.77212398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.72, Y:-14.59, Z:-1.77 [[ 9.88878273e-01 1.48366992e-01 1.03439628e-02 1.33716672e+02] [-1.48360214e-01 9.88932363e-01 -1.42383027e-03 -1.45868070e+01] [-1.04407290e-02 -1.26637713e-04 9.99945486e-01 -1.77350401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.965769231 meters Centerline goodness [0,1] 0.9999154298278997 Centerline is valid? [True, True] Translation: X:133.75, Y:-14.59, Z:-1.78 [[ 9.89048676e-01 1.47298996e-01 9.25865811e-03 1.33745659e+02] [-1.47293524e-01 9.89092005e-01 -1.27392940e-03 -1.45903157e+01] [-9.34531324e-03 -1.03762193e-04 9.99956326e-01 -1.77579097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.995769231 meters Centerline goodness [0,1] 0.9999154298278997 Centerline is valid? [True, True] Translation: X:133.77, Y:-14.59, Z:-1.78 [[ 9.89058631e-01 1.47232130e-01 9.25870843e-03 1.33772911e+02] [-1.47226658e-01 9.89101961e-01 -1.27356360e-03 -1.45939212e+01] [-9.34531614e-03 -1.03499629e-04 9.99956326e-01 -1.77611266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.80, Y:-14.60, Z:-1.78 [[ 9.89270082e-01 1.45857447e-01 8.38515248e-03 1.33800554e+02] [-1.45852914e-01 9.89305614e-01 -1.15286334e-03 -1.45978891e+01] [-8.46363212e-03 -8.25057173e-05 9.99964179e-01 -1.77824020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.055769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.83, Y:-14.60, Z:-1.78 [[ 9.89340901e-01 1.45326411e-01 9.20956626e-03 1.33828827e+02] [-1.45320926e-01 9.89383761e-01 -1.26559255e-03 -1.46009308e+01] [-9.29571933e-03 -8.62402241e-05 9.99956790e-01 -1.77569289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.86, Y:-14.60, Z:-1.77 [[ 9.89282986e-01 1.45456211e-01 1.27146982e-02 1.33857315e+02] [-1.45445777e-01 9.89364683e-01 -1.74645988e-03 -1.45993919e+01] [-1.28335068e-02 -1.21556114e-04 9.99917640e-01 -1.76924792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.89, Y:-14.60, Z:-1.77 [[ 9.89236001e-01 1.45732307e-01 1.31995479e-02 1.33886682e+02] [-1.45721099e-01 9.89324051e-01 -1.81210669e-03 -1.46009620e+01] [-1.33227127e-02 -1.30851454e-04 9.99911240e-01 -1.76960251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.145769231 meters Centerline goodness [0,1] 0.9999786361305759 Centerline is valid? [True, True] Translation: X:133.92, Y:-14.61, Z:-1.77 [[ 9.89386178e-01 1.44836884e-01 1.17161523e-02 1.33915265e+02] [-1.44827997e-01 9.89455540e-01 -1.60795300e-03 -1.46057945e+01] [-1.18255027e-02 -1.05940392e-04 9.99930071e-01 -1.77379356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.94, Y:-14.61, Z:-1.78 [[ 9.89620713e-01 1.43298914e-01 1.07826970e-02 1.33942586e+02] [-1.43291301e-01 9.89679450e-01 -1.47937684e-03 -1.46102387e+01] [-1.08834067e-02 -8.10447118e-05 9.99940771e-01 -1.77562459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.97, Y:-14.61, Z:-1.78 [[ 9.89850745e-01 1.41743326e-01 1.02143316e-02 1.33969908e+02] [-1.41736417e-01 9.89903443e-01 -1.40085703e-03 -1.46138711e+01] [-1.03097641e-02 -6.11033850e-05 9.99946851e-01 -1.77639440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.00, Y:-14.62, Z:-1.78 [[ 9.89965094e-01 1.40974477e-01 9.76271138e-03 1.33998627e+02] [-1.40968136e-01 9.90013229e-01 -1.33804415e-03 -1.46170859e+01] [-9.85384350e-03 -5.16142222e-05 9.99951448e-01 -1.77765276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.03, Y:-14.62, Z:-1.78 [[ 9.90093342e-01 1.40071201e-01 9.75877297e-03 1.34026578e+02] [-1.40064826e-01 9.90141433e-01 -1.33703850e-03 -1.46232049e+01] [-9.84984604e-03 -4.30679208e-05 9.99951488e-01 -1.77847182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.05, Y:-14.63, Z:-1.78 [[ 9.90497464e-01 1.37126118e-01 1.05452469e-02 1.34054604e+02] [-1.37118513e-01 9.90553596e-01 -1.44424232e-03 -1.46323149e+01] [-1.06436756e-02 -1.54302143e-05 9.99943354e-01 -1.77758272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.325769231 meters Centerline goodness [0,1] 0.9999571871989725 Centerline is valid? [True, True] Translation: X:134.08, Y:-14.64, Z:-1.78 [[ 9.90779695e-01 1.35028384e-01 1.10874561e-02 1.34082295e+02] [-1.35019852e-01 9.90841731e-01 -1.51795900e-03 -1.46382839e+01] [-1.11908817e-02 6.93628221e-06 9.99937380e-01 -1.77698864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.355769231 meters Centerline goodness [0,1] 0.9999788350829665 Centerline is valid? [True, True] Translation: X:134.11, Y:-14.65, Z:-1.78 [[ 9.91072960e-01 1.32802460e-01 1.17428837e-02 1.34109234e+02] [-1.32792744e-01 9.91142525e-01 -1.60675703e-03 -1.46455213e+01] [-1.18522527e-02 3.30436988e-05 9.99929759e-01 -1.77644334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.385769231 meters Centerline goodness [0,1] 0.9998927889872847 Centerline is valid? [True, True] Translation: X:134.14, Y:-14.66, Z:-1.78 [[ 9.91666217e-01 1.28248507e-01 1.22651796e-02 1.34136158e+02] [-1.28237572e-01 9.91742059e-01 -1.67721209e-03 -1.46607715e+01] [-1.23789944e-02 9.03777188e-05 9.99923373e-01 -1.77641551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.415769231 meters Centerline goodness [0,1] 0.9999355628584315 Centerline is valid? [True, True] Translation: X:134.16, Y:-14.67, Z:-1.78 [[ 9.91954940e-01 1.26097431e-01 1.11729674e-02 1.34162684e+02] [-1.26088225e-01 9.92017856e-01 -1.52737573e-03 -1.46706372e+01] [-1.12763813e-02 1.06308266e-04 9.99936414e-01 -1.77847110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.445769231 meters Centerline goodness [0,1] 0.9998277495478426 Centerline is valid? [True, True] Translation: X:134.19, Y:-14.68, Z:-1.78 [[ 9.92306519e-01 1.23604844e-01 7.04373641e-03 1.34190512e+02] [-1.23601124e-01 9.92331515e-01 -9.62680263e-04 -1.46821231e+01] [-7.10871357e-03 8.46601639e-05 9.99974729e-01 -1.78103280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47576923100002 meters Centerline goodness [0,1] 0.9999787229515522 Centerline is valid? [True, True] Translation: X:134.22, Y:-14.69, Z:-1.79 [[ 9.92376141e-01 1.23132733e-01 5.28429617e-03 1.34217967e+02] [-1.23130633e-01 9.92390208e-01 -7.22174328e-04 -1.46896321e+01] [-5.33300708e-03 6.60098389e-05 9.99985777e-01 -1.78944528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.25, Y:-14.70, Z:-1.79 [[ 9.92393439e-01 1.23009068e-01 4.90226939e-03 1.34245992e+02] [-1.23007261e-01 9.92405545e-01 -6.69643927e-04 -1.46975073e+01] [-4.94741160e-03 6.15355089e-05 9.99987760e-01 -1.79070415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.27, Y:-14.71, Z:-1.79 [[ 9.92325108e-01 1.23485853e-01 6.49022850e-03 1.34273783e+02] [-1.23482699e-01 9.92346330e-01 -8.86076093e-04 -1.47066027e+01] [-6.54997229e-03 7.78446240e-05 9.99978546e-01 -1.78678831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56576923100002 meters Centerline goodness [0,1] 0.9999573233185387 Centerline is valid? [True, True] Translation: X:134.30, Y:-14.72, Z:-1.79 [[ 9.92373146e-01 1.22991029e-01 8.29134404e-03 1.34300952e+02] [-1.22985868e-01 9.92407777e-01 -1.13145255e-03 -1.47158653e+01] [-8.36755282e-03 1.03104984e-04 9.99964986e-01 -1.78553055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59576923100002 meters Centerline goodness [0,1] 0.9998943654532778 Centerline is valid? [True, True] Translation: X:134.33, Y:-14.73, Z:-1.79 [[ 9.92411222e-01 1.22652646e-01 8.73470499e-03 1.34326910e+02] [-1.22646910e-01 9.92449654e-01 -1.19138725e-03 -1.47286748e+01] [-8.81488175e-03 1.11061501e-04 9.99961142e-01 -1.78657275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62576923100002 meters Centerline goodness [0,1] 0.9999354741574 Centerline is valid? [True, True] Translation: X:134.36, Y:-14.73, Z:-1.78 [[ 9.92411481e-01 1.22611979e-01 9.26039450e-03 1.34355951e+02] [-1.22605535e-01 9.92454678e-01 -1.26246424e-03 -1.47314750e+01] [-9.34531508e-03 1.17508381e-04 9.99956325e-01 -1.78483078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.38, Y:-14.74, Z:-1.78 [[ 9.92363399e-01 1.22966592e-01 9.70059202e-03 1.34383983e+02] [-1.22959543e-01 9.92410804e-01 -1.32199058e-03 -1.47371852e+01] [-9.78953300e-03 1.19114703e-04 9.99952074e-01 -1.78371322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68576923100002 meters Centerline goodness [0,1] 0.9999575443661374 Centerline is valid? [True, True] Translation: X:134.41, Y:-14.74, Z:-1.78 [[ 9.92138103e-01 1.24765419e-01 9.77627646e-03 1.34411561e+02] [-1.24758352e-01 9.92186263e-01 -1.33183177e-03 -1.47428241e+01] [-9.86605375e-03 1.01688911e-04 9.99951324e-01 -1.78287088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.715769231 meters Centerline goodness [0,1] 0.9999784166450834 Centerline is valid? [True, True] Translation: X:134.44, Y:-14.75, Z:-1.79 [[ 9.91822333e-01 1.27303016e-01 9.07759269e-03 1.34440533e+02] [-1.27297033e-01 9.91863870e-01 -1.23626196e-03 -1.47456861e+01] [-9.16111610e-03 7.06016092e-05 9.99958034e-01 -1.78506085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.745769231 meters Centerline goodness [0,1] 0.9999785623941518 Centerline is valid? [True, True] Translation: X:134.47, Y:-14.75, Z:-1.79 [[ 9.91715577e-01 1.28163511e-01 8.62136332e-03 1.34467232e+02] [-1.28158150e-01 9.91753049e-01 -1.17376646e-03 -1.47520958e+01] [-8.70069740e-03 5.91445061e-05 9.99962146e-01 -1.78727754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.50, Y:-14.76, Z:-1.79 [[ 9.91602497e-01 1.29074764e-01 8.01207145e-03 1.34495668e+02] [-1.29070168e-01 9.91634864e-01 -1.09032108e-03 -1.47564553e+01] [-8.08578232e-03 4.70456991e-05 9.99967308e-01 -1.78848340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.52, Y:-14.76, Z:-1.79 [[ 9.91354569e-01 1.30941762e-01 8.38893807e-03 1.34522402e+02] [-1.30936793e-01 9.91390061e-01 -1.14121727e-03 -1.47640951e+01] [-8.46614282e-03 3.29303107e-05 9.99964161e-01 -1.78882181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.55, Y:-14.77, Z:-1.79 [[ 9.91254327e-01 1.31672087e-01 8.79324115e-03 1.34549714e+02] [-1.31666662e-01 9.91293327e-01 -1.19566093e-03 -1.47714407e+01] [-8.87411644e-03 2.74273668e-05 9.99960624e-01 -1.78852401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.58, Y:-14.78, Z:-1.79 [[ 9.91217446e-01 1.31921680e-01 9.20031860e-03 1.34577692e+02] [-1.31915756e-01 9.91260142e-01 -1.25040805e-03 -1.47823869e+01] [-9.28486505e-03 2.57592860e-05 9.99956894e-01 -1.78721049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.60, Y:-14.79, Z:-1.79 [[ 9.91203100e-01 1.32011266e-01 9.45724228e-03 1.34604806e+02] [-1.32005016e-01 9.91248216e-01 -1.28488213e-03 -1.47895467e+01] [-9.54409345e-03 2.51757388e-05 9.99954454e-01 -1.78661311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.925769231 meters Centerline goodness [0,1] 0.9999576800186208 Centerline is valid? [True, True] Translation: X:134.63, Y:-14.80, Z:-1.78 [[ 9.91119148e-01 1.32550114e-01 1.06443596e-02 1.34632703e+02] [-1.32542235e-01 9.91176305e-01 -1.44543389e-03 -1.47953161e+01] [-1.07420294e-02 2.17699970e-05 9.99942303e-01 -1.78481542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.66, Y:-14.80, Z:-1.78 [[ 9.90482695e-01 1.37052409e-01 1.26755115e-02 1.34661445e+02] [-1.37041612e-01 9.90563797e-01 -1.72056370e-03 -1.47986423e+01] [-1.27917102e-02 -3.28839596e-05 9.99918182e-01 -1.78011548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.69, Y:-14.80, Z:-1.78 [[ 9.89610532e-01 1.43308213e-01 1.15650716e-02 1.34690218e+02] [-1.43299658e-01 9.89678102e-01 -1.56932583e-03 -1.47963555e+01] [-1.16705953e-02 -1.04249421e-04 9.99931891e-01 -1.78342767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.015769231 meters Centerline goodness [0,1] 0.9999788570099584 Centerline is valid? [True, True] Translation: X:134.72, Y:-14.80, Z:-1.79 [[ 9.89254272e-01 1.45869366e-01 9.90522722e-03 1.34718461e+02] [-1.45863222e-01 9.89303854e-01 -1.34371673e-03 -1.47950644e+01] [-9.99528657e-03 -1.15530847e-04 9.99950039e-01 -1.78773405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.75, Y:-14.80, Z:-1.79 [[ 9.88964525e-01 1.47897330e-01 8.69183522e-03 1.34747662e+02] [-1.47892682e-01 9.89002713e-01 -1.17864537e-03 -1.47969117e+01] [-8.77056711e-03 -1.19820370e-04 9.99961531e-01 -1.78978452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.78, Y:-14.79, Z:-1.79 [[ 9.88450458e-01 1.51228603e-01 9.77765273e-03 1.34776500e+02] [-1.51222889e-01 9.88498802e-01 -1.32537815e-03 -1.47947216e+01] [-9.86563310e-03 -1.68534255e-04 9.99951319e-01 -1.78692985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.105769231 meters Centerline goodness [0,1] 0.9999574033055035 Centerline is valid? [True, True] Translation: X:134.80, Y:-14.79, Z:-1.79 [[ 9.88232751e-01 1.52572932e-01 1.08411763e-02 1.34804511e+02] [-1.52565996e-01 9.88292193e-01 -1.46881900e-03 -1.47929911e+01] [-1.09383519e-02 -2.02459806e-04 9.99940154e-01 -1.78512312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.135769231 meters Centerline goodness [0,1] 0.9999571596872657 Centerline is valid? [True, True] Translation: X:134.83, Y:-14.79, Z:-1.79 [[ 9.88036139e-01 1.53921376e-01 9.63319885e-03 1.34833591e+02] [-1.53915969e-01 9.88083080e-01 -1.30459766e-03 -1.47937220e+01] [-9.71920625e-03 -1.93713498e-04 9.99952749e-01 -1.78840137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.165769231 meters Centerline goodness [0,1] 0.9999785315586088 Centerline is valid? [True, True] Translation: X:134.86, Y:-14.79, Z:-1.79 [[ 9.88149881e-01 1.53241622e-01 8.76458640e-03 1.34861238e+02] [-1.53237123e-01 9.88188735e-01 -1.18662587e-03 -1.47948996e+01] [-8.84290603e-03 -1.70495794e-04 9.99960886e-01 -1.79155982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.195769231 meters Centerline goodness [0,1] 0.9999574920297556 Centerline is valid? [True, True] Translation: X:134.89, Y:-14.80, Z:-1.79 [[ 9.88346400e-01 1.51955429e-01 8.99675099e-03 1.34889616e+02] [-1.51950640e-01 9.88387333e-01 -1.21746934e-03 -1.47977274e+01] [-9.07727579e-03 -1.63780631e-04 9.99958787e-01 -1.79181247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.92, Y:-14.80, Z:-1.79 [[ 9.88956149e-01 1.47758079e-01 1.15449393e-02 1.34916850e+02] [-1.47749915e-01 9.89023520e-01 -1.56159311e-03 -1.48020819e+01] [-1.16489545e-02 -1.61416693e-04 9.99932136e-01 -1.78668304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.94, Y:-14.81, Z:-1.78 [[ 9.89813838e-01 1.41798125e-01 1.27223399e-02 1.34944874e+02] [-1.41787729e-01 9.89895591e-01 -1.72005628e-03 -1.48133837e+01] [-1.28376889e-02 -1.01336175e-04 9.99917588e-01 -1.78468419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.97, Y:-14.82, Z:-1.79 [[ 9.90150993e-01 1.39476803e-01 1.21339327e-02 1.34972222e+02] [-1.39467177e-01 9.90225336e-01 -1.64006799e-03 -1.48198812e+01] [-1.22440791e-02 -6.83703912e-05 9.99925036e-01 -1.78642120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.00, Y:-14.83, Z:-1.79 [[ 9.90400476e-01 1.37757530e-01 1.13912209e-02 1.35000667e+02] [-1.37748941e-01 9.90465982e-01 -1.53900414e-03 -1.48264246e+01] [-1.14946262e-02 -4.48981845e-05 9.99933934e-01 -1.78835184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.03, Y:-14.83, Z:-1.79 [[ 9.90834172e-01 1.34682953e-01 1.03992763e-02 1.35028868e+02] [-1.34675630e-01 9.90888744e-01 -1.40452738e-03 -1.48327770e+01] [-1.04936917e-02 -8.87535550e-06 9.99944940e-01 -1.78993387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.06, Y:-14.84, Z:-1.79 [[ 9.90990585e-01 1.33576652e-01 9.74364812e-03 1.35056633e+02] [-1.33570173e-01 9.91038485e-01 -1.31554995e-03 -1.48364739e+01] [-9.83205703e-03 2.23685016e-06 9.99951664e-01 -1.79129548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40576923100002 meters Centerline goodness [0,1] 0.999978707094796 Centerline is valid? [True, True] Translation: X:135.09, Y:-14.84, Z:-1.79 [[ 9.91120103e-01 1.32614107e-01 9.71803624e-03 1.35085357e+02] [-1.32607622e-01 9.91167745e-01 -1.31146342e-03 -1.48415245e+01] [-9.80612261e-03 1.11320841e-05 9.99951919e-01 -1.79192977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.11, Y:-14.85, Z:-1.79 [[ 9.91165425e-01 1.32261361e-01 9.90116838e-03 1.35114089e+02] [-1.32254617e-01 9.91214877e-01 -1.33569830e-03 -1.48465397e+01] [-9.99084668e-03 1.44227480e-05 9.99950090e-01 -1.79198942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.14, Y:-14.85, Z:-1.79 [[ 9.91216960e-01 1.31881816e-01 9.80430063e-03 1.35141858e+02] [-1.31875190e-01 9.91265447e-01 -1.32217114e-03 -1.48519670e+01] [-9.89303478e-03 1.76144493e-05 9.99951063e-01 -1.79306330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.495769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.17, Y:-14.86, Z:-1.79 [[ 9.91402877e-01 1.30451173e-01 1.01403917e-02 1.35169532e+02] [-1.30444016e-01 9.91454734e-01 -1.36684142e-03 -1.48587522e+01] [-1.02320455e-02 3.23370909e-05 9.99947651e-01 -1.79335665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.525769231 meters Centerline goodness [0,1] 0.9999577479666208 Centerline is valid? [True, True] Translation: X:135.20, Y:-14.86, Z:-1.79 [[ 9.91451469e-01 1.30059720e-01 1.04140951e-02 1.35198039e+02] [-1.30052157e-01 9.91506161e-01 -1.40308410e-03 -1.48637139e+01] [-1.05081241e-02 3.67142681e-05 9.99944787e-01 -1.79280277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.555769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.23, Y:-14.87, Z:-1.79 [[ 9.91496062e-01 1.29608840e-01 1.17093148e-02 1.35226208e+02] [-1.29599254e-01 9.91565200e-01 -1.57696563e-03 -1.48692474e+01] [-1.18149377e-02 4.60367551e-05 9.99930200e-01 -1.79004238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.585769231 meters Centerline goodness [0,1] 0.9999788538803129 Centerline is valid? [True, True] Translation: X:135.25, Y:-14.87, Z:-1.79 [[ 9.91479520e-01 1.29758544e-01 1.14491014e-02 1.35253943e+02] [-1.29749396e-01 9.91545621e-01 -1.54139405e-03 -1.48723843e+01] [-1.15523154e-02 4.27466427e-05 9.99933269e-01 -1.79057838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.28, Y:-14.87, Z:-1.79 [[ 9.91406838e-01 1.30377339e-01 1.06878730e-02 1.35282949e+02] [-1.30369409e-01 9.91464446e-01 -1.43832018e-03 -1.48739768e+01] [-1.07841705e-02 3.25887750e-05 9.99941849e-01 -1.79252858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.31, Y:-14.87, Z:-1.80 [[ 9.91028222e-01 1.33314294e-01 9.50591753e-03 1.35311126e+02] [-1.33308159e-01 9.91073811e-01 -1.27889195e-03 -1.48727107e+01] [-9.59156049e-03 2.01644945e-07 9.99954000e-01 -1.79632371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.34, Y:-14.87, Z:-1.80 [[ 9.90800741e-01 1.34971059e-01 9.83383858e-03 1.35339914e+02] [-1.34964583e-01 9.90849541e-01 -1.32231542e-03 -1.48745108e+01] [-9.92232876e-03 -1.70688210e-05 9.99950772e-01 -1.79608770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.37, Y:-14.88, Z:-1.79 [[ 9.90633898e-01 1.36120880e-01 1.07511413e-02 1.35369109e+02] [-1.36113213e-01 9.90692235e-01 -1.44509434e-03 -1.48760337e+01] [-1.08477798e-02 -3.18129467e-05 9.99941161e-01 -1.79448263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.40, Y:-14.88, Z:-1.79 [[ 9.90714848e-01 1.35516481e-01 1.09258466e-02 1.35397182e+02] [-1.35508532e-01 9.90775092e-01 -1.46805151e-03 -1.48797699e+01] [-1.10240019e-02 -2.61250073e-05 9.99939234e-01 -1.79481057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.43, Y:-14.88, Z:-1.80 [[ 9.90803149e-01 1.34864125e-01 1.09903354e-02 1.35425092e+02] [-1.34856049e-01 9.90864101e-01 -1.47605179e-03 -1.48845929e+01] [-1.10889952e-02 -1.96364390e-05 9.99938515e-01 -1.79591241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.45, Y:-14.89, Z:-1.79 [[ 9.90996655e-01 1.33334929e-01 1.21419158e-02 1.35453118e+02] [-1.33324966e-01 9.91071035e-01 -1.62995577e-03 -1.48934832e+01] [-1.22508311e-02 -3.53979767e-06 9.99924956e-01 -1.79434728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.825769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.48, Y:-14.90, Z:-1.79 [[ 9.91104312e-01 1.32449664e-01 1.30126353e-02 1.35481214e+02] [-1.32438153e-01 9.91189733e-01 -1.74616878e-03 -1.48997411e+01] [-1.31292699e-02 7.26603019e-06 9.99913807e-01 -1.79306302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.51, Y:-14.91, Z:-1.80 [[ 9.91266547e-01 1.31381415e-01 1.13822607e-02 1.35509044e+02] [-1.31372542e-01 9.91331894e-01 -1.52701831e-03 -1.49086383e+01] [-1.14842199e-02 1.83656349e-05 9.99934054e-01 -1.79602741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.54, Y:-14.92, Z:-1.80 [[ 9.91319258e-01 1.31143796e-01 9.35061833e-03 1.35538138e+02] [-1.31137800e-01 9.91363356e-01 -1.25416591e-03 -1.49162255e+01] [-9.43433645e-03 1.70592986e-05 9.99955496e-01 -1.80000643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.57, Y:-14.92, Z:-1.80 [[ 9.91314610e-01 1.31277987e-01 7.83792574e-03 1.35566548e+02] [-1.31273780e-01 9.91345596e-01 -1.05113462e-03 -1.49237739e+01] [-7.90808400e-03 1.30909640e-05 9.99968731e-01 -1.80259419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.59, Y:-14.93, Z:-1.80 [[ 9.91321032e-01 1.31229486e-01 7.83793906e-03 1.35594637e+02] [-1.31225277e-01 9.91352017e-01 -1.05103533e-03 -1.49274492e+01] [-7.90808352e-03 1.33776997e-05 9.99968731e-01 -1.80292566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.62, Y:-14.94, Z:-1.80 [[ 9.91254632e-01 1.31740929e-01 7.65385926e-03 1.35623021e+02] [-1.31736935e-01 9.91284181e-01 -1.02589147e-03 -1.49351748e+01] [-7.72230150e-03 8.62371818e-06 9.99970183e-01 -1.80208517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.65, Y:-14.94, Z:-1.80 [[ 9.91204564e-01 1.32081490e-01 8.24575947e-03 1.35651425e+02] [-1.32076868e-01 9.91238861e-01 -1.10501914e-03 -1.49398777e+01] [-8.31946981e-03 6.22593682e-06 9.99965393e-01 -1.80232880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.68, Y:-14.94, Z:-1.80 [[ 9.90920794e-01 1.34171437e-01 8.60269536e-03 1.35679531e+02] [-1.34166487e-01 9.90958135e-01 -1.15254780e-03 -1.49444767e+01] [-8.67954994e-03 -1.21098388e-05 9.99962332e-01 -1.80208331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.71, Y:-14.95, Z:-1.80 [[ 9.90826369e-01 1.34877969e-01 8.42851618e-03 1.35708823e+02] [-1.34873247e-01 9.90862217e-01 -1.12875999e-03 -1.49491708e+01] [-8.50374309e-03 -1.83761855e-05 9.99963842e-01 -1.80254544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.74, Y:-14.95, Z:-1.80 [[ 9.90707321e-01 1.35725611e-01 8.80700571e-03 1.35736766e+02] [-1.35720490e-01 9.90746465e-01 -1.17932129e-03 -1.49513676e+01] [-8.88557387e-03 -2.69288953e-05 9.99960522e-01 -1.80365912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.77, Y:-14.96, Z:-1.80 [[ 9.90751378e-01 1.35389265e-01 9.02522126e-03 1.35765810e+02] [-1.35383879e-01 9.90792484e-01 -1.20787747e-03 -1.49557325e+01] [-9.10565503e-03 -2.51631999e-05 9.99958542e-01 -1.80368909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.79, Y:-14.96, Z:-1.80 [[ 9.90852363e-01 1.34660973e-01 8.83276000e-03 1.35794729e+02] [-1.34655787e-01 9.90891731e-01 -1.18192191e-03 -1.49615069e+01] [-8.91146759e-03 -1.82721326e-05 9.99960292e-01 -1.80447817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.82, Y:-14.97, Z:-1.81 [[ 9.91143338e-01 1.32610531e-01 7.02351683e-03 1.35824664e+02] [-1.32607202e-01 9.91168223e-01 -9.39612305e-04 -1.49685885e+01] [-7.08608919e-03 -7.84366267e-08 9.99974893e-01 -1.80603721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.85, Y:-14.97, Z:-1.81 [[ 9.91273105e-01 1.31640938e-01 6.94940846e-03 1.35853768e+02] [-1.31637656e-01 9.91297465e-01 -9.29633836e-04 -1.49728625e+01] [-7.01130885e-03 6.71718324e-06 9.99975420e-01 -1.80720823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.245769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.88, Y:-14.98, Z:-1.80 [[ 9.91402054e-01 1.30489933e-01 9.71317208e-03 1.35883694e+02] [-1.30483463e-01 9.91449634e-01 -1.29961646e-03 -1.49767840e+01] [-9.79970777e-03 2.10341020e-05 9.99951981e-01 -1.80264318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.91, Y:-14.98, Z:-1.80 [[ 9.91337054e-01 1.30797598e-01 1.19512672e-02 1.35913385e+02] [-1.30787829e-01 9.91409092e-01 -1.59872298e-03 -1.49811475e+01] [-1.20577041e-02 2.17930297e-05 9.99927303e-01 -1.79934605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.94, Y:-14.98, Z:-1.80 [[ 9.91236050e-01 1.31457578e-01 1.30383058e-02 1.35943912e+02] [-1.31446010e-01 9.91321797e-01 -1.74398472e-03 -1.49842906e+01] [-1.31544167e-02 1.48672511e-05 9.99913477e-01 -1.79805696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.97, Y:-14.99, Z:-1.80 [[ 9.91109948e-01 1.32600362e-01 1.08726909e-02 1.35973277e+02] [-1.32592387e-01 9.91169584e-01 -1.45432379e-03 -1.49853267e+01] [-1.09695244e-02 -2.41257571e-07 9.99939833e-01 -1.80290705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.00, Y:-14.99, Z:-1.81 [[ 9.91045572e-01 1.33217099e-01 9.04870186e-03 1.36002641e+02] [-1.33211601e-01 9.91086880e-01 -1.21029542e-03 -1.49866096e+01] [-9.12928174e-03 -5.93414177e-06 9.99958327e-01 -1.80606573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.03, Y:-14.99, Z:-1.81 [[ 9.90961229e-01 1.33847276e-01 8.98601579e-03 1.36030093e+02] [-1.33841881e-01 9.91001971e-01 -1.20179103e-03 -1.49879679e+01] [-9.06601581e-03 -1.17769387e-05 9.99958903e-01 -1.80633522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.06, Y:-14.99, Z:-1.81 [[ 9.90795673e-01 1.35101479e-01 8.45725196e-03 1.36058760e+02] [-1.35096750e-01 9.90831767e-01 -1.13056927e-03 -1.49880178e+01] [-8.53245549e-03 -2.23841130e-05 9.99963598e-01 -1.80692736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.09, Y:-14.98, Z:-1.81 [[ 9.90563688e-01 1.36877333e-01 6.94087467e-03 1.36087559e+02] [-1.36874193e-01 9.90588005e-01 -9.27682143e-04 -1.49831233e+01] [-7.00252584e-03 -3.10983743e-05 9.99975482e-01 -1.81089318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.12, Y:-14.98, Z:-1.81 [[ 9.90558074e-01 1.36919373e-01 6.91279099e-03 1.36115144e+02] [-1.36916262e-01 9.90582195e-01 -9.23538890e-04 -1.49835792e+01] [-6.97413803e-03 -3.16545999e-05 9.99975680e-01 -1.81211502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.14, Y:-14.99, Z:-1.81 [[ 9.90988447e-01 1.33767721e-01 6.93510501e-03 1.36143499e+02] [-1.33764516e-01 9.91012713e-01 -9.26003012e-04 -1.49887277e+01] [-6.99664654e-03 -1.00126771e-05 9.99975523e-01 -1.81302127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.17, Y:-15.00, Z:-1.81 [[ 9.91410202e-01 1.30590412e-01 7.20801955e-03 1.36170201e+02] [-1.30586868e-01 9.91436404e-01 -9.62134542e-04 -1.49961415e+01] [-7.27193853e-03 1.25973016e-05 9.99973559e-01 -1.81315432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.20, Y:-15.00, Z:-1.81 [[ 9.91864178e-01 1.27083000e-01 7.44070688e-03 1.36198799e+02] [-1.27079130e-01 9.91892086e-01 -9.92595192e-04 -1.50044120e+01] [-7.50652024e-03 3.89610607e-05 9.99971825e-01 -1.81215564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.605769231 meters Centerline goodness [0,1] 0.9999785949740999 Centerline is valid? [True, True] Translation: X:136.23, Y:-15.01, Z:-1.81 [[ 9.92682692e-01 1.20428302e-01 8.83724461e-03 1.36227843e+02] [-1.20422581e-01 9.92722022e-01 -1.17857030e-03 -1.50139806e+01] [-8.91486056e-03 1.05742532e-04 9.99960256e-01 -1.80895332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.635769231 meters Centerline goodness [0,1] 0.9999785407725322 Centerline is valid? [True, True] Translation: X:136.26, Y:-15.02, Z:-1.81 [[ 9.92971034e-01 1.18014202e-01 9.00970510e-03 1.36256919e+02] [-1.18008156e-01 9.93011899e-01 -1.20161646e-03 -1.50215435e+01] [-9.08855218e-03 1.29951651e-04 9.99958690e-01 -1.80869403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.665769231 meters Centerline goodness [0,1] 0.9999786693969839 Centerline is valid? [True, True] Translation: X:136.29, Y:-15.03, Z:-1.81 [[ 9.93291231e-01 1.15406141e-01 7.34525048e-03 1.36286079e+02] [-1.15402052e-01 9.93318381e-01 -9.79563105e-04 -1.50283042e+01] [-7.40921991e-03 1.25334465e-04 9.99972543e-01 -1.81274183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.695769231 meters Centerline goodness [0,1] 0.9999783699602007 Centerline is valid? [True, True] Translation: X:136.32, Y:-15.03, Z:-1.81 [[ 9.93387640e-01 1.14613759e-01 6.68449653e-03 1.36315903e+02] [-1.14610356e-01 9.93410123e-01 -8.91289014e-04 -1.50316310e+01] [-6.74260051e-03 1.19282963e-04 9.99977261e-01 -1.81416372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72576923100002 meters Centerline goodness [0,1] 0.9999786866727765 Centerline is valid? [True, True] Translation: X:136.35, Y:-15.04, Z:-1.81 [[ 9.93451309e-01 1.14064572e-01 6.61588782e-03 1.36345070e+02] [-1.14061225e-01 9.93473331e-01 -8.82274415e-04 -1.50379441e+01] [-6.67334436e-03 1.21880404e-04 9.99977726e-01 -1.81496692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75576923100002 meters Centerline goodness [0,1] 0.9999569994194921 Centerline is valid? [True, True] Translation: X:136.37, Y:-15.05, Z:-1.81 [[ 9.93575068e-01 1.12929699e-01 7.44766895e-03 1.36374958e+02] [-1.12925426e-01 9.93602970e-01 -9.93047123e-04 -1.50453357e+01] [-7.51217050e-03 1.45635673e-04 9.99971773e-01 -1.81282350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78576923100002 meters Centerline goodness [0,1] 0.9999149370534195 Centerline is valid? [True, True] Translation: X:136.40, Y:-15.05, Z:-1.81 [[ 9.93727542e-01 1.11524644e-01 8.23560033e-03 1.36404203e+02] [-1.11519373e-01 9.93761654e-01 -1.09795110e-03 -1.50541848e+01] [-8.30667240e-03 1.72635266e-04 9.99965484e-01 -1.81139872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81576923100002 meters Centerline goodness [0,1] 0.9998082250159812 Centerline is valid? [True, True] Translation: X:136.43, Y:-15.07, Z:-1.81 [[ 9.94250544e-01 1.06575098e-01 1.03732850e-02 1.36433540e+02] [-1.06566459e-01 9.94304619e-01 -1.38360678e-03 -1.50679447e+01] [-1.04616632e-02 2.70207548e-04 9.99945239e-01 -1.80808839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84576923100002 meters Centerline goodness [0,1] 0.9994162793211545 Centerline is valid? [True, True] Translation: X:136.46, Y:-15.08, Z:-1.81 [[ 9.94570758e-01 1.03472267e-01 1.10678836e-02 1.36462431e+02] [-1.03462239e-01 9.94632287e-01 -1.47636498e-03 -1.50785576e+01] [-1.11612372e-02 3.23241420e-04 9.99937659e-01 -1.80714616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87576923100002 meters Centerline goodness [0,1] 0.9968711682381295 Centerline is valid? [True, True] Translation: X:136.49, Y:-15.10, Z:-1.81 [[ 9.95196251e-01 9.72103599e-02 1.16003690e-02 1.36489066e+02] [-9.71989105e-02 9.95263772e-01 -1.54807122e-03 -1.50981762e+01] [-1.16959156e-02 4.13091440e-04 9.99931515e-01 -1.80694528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90576923100002 meters Centerline goodness [0,1] 0.997756649930563 Centerline is valid? [True, True] Translation: X:136.52, Y:-15.10, Z:-1.81 [[ 9.95438351e-01 9.47788335e-02 1.09298412e-02 1.36519803e+02] [-9.47685258e-02 9.95498267e-01 -1.45834642e-03 -1.51041906e+01] [-1.10188583e-02 4.15889021e-04 9.99939204e-01 -1.80837676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93576923100002 meters Centerline goodness [0,1] 0.9940409049311512 Centerline is valid? [True, True] Translation: X:136.55, Y:-15.12, Z:-1.81 [[ 9.95556594e-01 9.35897044e-02 1.03939955e-02 1.36548559e+02] [-9.35803155e-02 9.95610768e-01 -1.38707905e-03 -1.51211780e+01] [-1.04781901e-02 4.08242315e-04 9.99945019e-01 -1.80953319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.965769231 meters Centerline goodness [0,1] 0.9927266540481913 Centerline is valid? [True, True] Translation: X:136.58, Y:-15.13, Z:-1.81 [[ 9.95589727e-01 9.33272824e-02 9.54539984e-03 1.36578154e+02] [-9.33193512e-02 9.95635413e-01 -1.27391320e-03 -1.51345929e+01] [-9.62262897e-03 3.77524376e-04 9.99953630e-01 -1.81157915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.995769231 meters Centerline goodness [0,1] 0.996978460741572 Centerline is valid? [True, True] Translation: X:136.61, Y:-15.13, Z:-1.81 [[ 9.95501663e-01 9.41836148e-02 1.02900921e-02 1.36611016e+02] [-9.41744349e-02 9.95554764e-01 -1.37411332e-03 -1.51309185e+01] [-1.03737692e-02 3.98868490e-04 9.99946111e-01 -1.81049851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.025769231 meters Centerline goodness [0,1] 0.9974827068305375 Centerline is valid? [True, True] Translation: X:136.64, Y:-15.14, Z:-1.81 [[ 9.95247268e-01 9.67117579e-02 1.13890784e-02 1.36640617e+02] [-9.67006536e-02 9.95312345e-01 -1.52297143e-03 -1.51387436e+01] [-1.14829796e-02 4.14401826e-04 9.99933983e-01 -1.80835655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.055769231 meters Centerline goodness [0,1] 0.9985340670080095 Centerline is valid? [True, True] Translation: X:136.67, Y:-15.14, Z:-1.81 [[ 9.95101740e-01 9.82696927e-02 1.07515300e-02 1.36673255e+02] [-9.82598868e-02 9.95159750e-01 -1.43779661e-03 -1.51412457e+01] [-1.08407817e-02 3.74309787e-04 9.99941167e-01 -1.80961597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.085769231 meters Centerline goodness [0,1] 0.9988098274249766 Centerline is valid? [True, True] Translation: X:136.70, Y:-15.15, Z:-1.81 [[ 9.94983155e-01 9.96150532e-02 9.23918442e-03 1.36704978e+02] [-9.96078681e-02 9.95026002e-01 -1.23574563e-03 -1.51468420e+01] [-9.31632761e-03 3.09250620e-04 9.99956554e-01 -1.81301209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.115769231 meters Centerline goodness [0,1] 0.9993818081047089 Centerline is valid? [True, True] Translation: X:136.74, Y:-15.16, Z:-1.82 [[ 9.94953788e-01 1.00093363e-01 6.94833560e-03 1.36737563e+02] [-1.00089307e-01 9.94978023e-01 -9.29903167e-04 -1.51551430e+01] [-7.00651835e-03 2.29756585e-04 9.99975428e-01 -1.81749416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.145769231 meters Centerline goodness [0,1] 0.998718633208756 Centerline is valid? [True, True] Translation: X:136.77, Y:-15.17, Z:-1.82 [[ 9.95091277e-01 9.88379604e-02 4.94048235e-03 1.36766249e+02] [-9.88358917e-02 9.95103527e-01 -6.61729291e-04 -1.51741973e+01] [-4.98169538e-03 1.70184066e-04 9.99987577e-01 -1.82316382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.175769231 meters Centerline goodness [0,1] 0.9989509965532744 Centerline is valid? [True, True] Translation: X:136.80, Y:-15.18, Z:-1.82 [[ 9.94941391e-01 1.00155283e-01 7.78122274e-03 1.36798201e+02] [-1.00150175e-01 9.94971784e-01 -1.04437823e-03 -1.51804087e+01] [-7.84669707e-03 2.59804311e-04 9.99969180e-01 -1.81775708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.205769231 meters Centerline goodness [0,1] 0.998956203135651 Centerline is valid? [True, True] Translation: X:136.83, Y:-15.19, Z:-1.82 [[ 9.94780983e-01 1.01686469e-01 8.40586564e-03 1.36828903e+02] [-1.01680549e-01 9.94816460e-01 -1.12977833e-03 -1.51866434e+01] [-8.47717667e-03 2.69168962e-04 9.99964032e-01 -1.81651628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.235769231 meters Centerline goodness [0,1] 0.9993143199982858 Centerline is valid? [True, True] Translation: X:136.86, Y:-15.19, Z:-1.82 [[ 9.94620152e-01 1.03267551e-01 8.15881047e-03 1.36860313e+02] [-1.03262015e-01 9.94653583e-01 -1.09807180e-03 -1.51927637e+01] [-8.22858526e-03 2.49669127e-04 9.99966113e-01 -1.81705569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.265769231 meters Centerline goodness [0,1] 0.9995951330733661 Centerline is valid? [True, True] Translation: X:136.89, Y:-15.20, Z:-1.82 [[ 9.94433131e-01 1.05096298e-01 7.58398906e-03 1.36891460e+02] [-1.05091567e-01 9.94462026e-01 -1.02068275e-03 -1.51987322e+01] [-7.64925911e-03 2.17987447e-04 9.99970720e-01 -1.81885822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.295769231 meters Centerline goodness [0,1] 0.9999352233714076 Centerline is valid? [True, True] Translation: X:136.92, Y:-15.20, Z:-1.82 [[ 9.93979245e-01 1.09379032e-01 6.44104307e-03 1.36920934e+02] [-1.09375699e-01 9.94000102e-01 -8.68513571e-04 -1.52009968e+01] [-6.49739464e-03 1.58790879e-04 9.99978879e-01 -1.82123362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.325769231 meters Centerline goodness [0,1] 0.9999570981166073 Centerline is valid? [True, True] Translation: X:136.95, Y:-15.20, Z:-1.82 [[ 9.93430526e-01 1.14287801e-01 5.83854529e-03 1.36951414e+02] [-1.14285148e-01 9.93447676e-01 -7.87077064e-04 -1.52001832e+01] [-5.89024256e-03 1.14647368e-04 9.99982646e-01 -1.82428152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.355769231 meters Centerline goodness [0,1] 0.9999570843078772 Centerline is valid? [True, True] Translation: X:136.98, Y:-15.20, Z:-1.83 [[ 9.93215881e-01 1.16186798e-01 4.77928321e-03 1.36983587e+02] [-1.16185047e-01 9.93227376e-01 -6.43317134e-04 -1.52033318e+01] [-4.82165988e-03 8.36715507e-05 9.99988372e-01 -1.82697433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.385769231 meters Centerline goodness [0,1] 0.9999358494600663 Centerline is valid? [True, True] Translation: X:137.02, Y:-15.21, Z:-1.83 [[ 9.93102173e-01 1.17163922e-01 4.54863571e-03 1.37015925e+02] [-1.17162341e-01 9.93112587e-01 -6.13430838e-04 -1.52081669e+01] [-4.58917933e-03 7.62706885e-05 9.99989467e-01 -1.82763960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.05, Y:-15.22, Z:-1.82 [[ 9.93234265e-01 1.15962019e-01 6.20522722e-03 1.37046960e+02] [-1.15959050e-01 9.93253642e-01 -8.37375031e-04 -1.52153044e+01] [-6.26046823e-03 1.12157324e-04 9.99980397e-01 -1.82396115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.445769231 meters Centerline goodness [0,1] 0.9999355129941316 Centerline is valid? [True, True] Translation: X:137.08, Y:-15.22, Z:-1.82 [[ 9.93314922e-01 1.15167988e-01 7.86128566e-03 1.37079374e+02] [-1.15163185e-01 9.93346018e-01 -1.06242519e-03 -1.52187543e+01] [-7.93133418e-03 1.49992098e-04 9.99968535e-01 -1.82040813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47576923100002 meters Centerline goodness [0,1] 0.9998087060023806 Centerline is valid? [True, True] Translation: X:137.11, Y:-15.23, Z:-1.82 [[ 9.93465729e-01 1.13715755e-01 9.72478738e-03 1.37108129e+02] [-1.13708312e-01 9.93513304e-01 -1.31671461e-03 -1.52347052e+01] [-9.81143685e-03 2.02321686e-04 9.99951846e-01 -1.81956378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50576923100002 meters Centerline goodness [0,1] 0.9997443109179238 Centerline is valid? [True, True] Translation: X:137.14, Y:-15.24, Z:-1.82 [[ 9.93640134e-01 1.12265560e-01 8.70220212e-03 1.37139183e+02] [-1.12259546e-01 9.93678221e-01 -1.17806503e-03 -1.52444773e+01] [-8.77944485e-03 1.93667438e-04 9.99961441e-01 -1.82241733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53576923100002 meters Centerline goodness [0,1] 0.9996822707053591 Centerline is valid? [True, True] Translation: X:137.17, Y:-15.25, Z:-1.83 [[ 9.93808913e-01 1.10848677e-01 7.51095389e-03 1.37168934e+02] [-1.10844147e-01 9.93837280e-01 -1.01802736e-03 -1.52541533e+01] [-7.57751297e-03 1.79179384e-04 9.99971274e-01 -1.82606399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56576923100002 meters Centerline goodness [0,1] 0.999598486929693 Centerline is valid? [True, True] Translation: X:137.20, Y:-15.27, Z:-1.83 [[ 9.94192141e-01 1.07472082e-01 5.63362002e-03 1.37198805e+02] [-1.07469476e-01 9.94208091e-01 -7.64143939e-04 -1.52655100e+01] [-5.68311475e-03 1.54263709e-04 9.99983839e-01 -1.82909380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59576923100002 meters Centerline goodness [0,1] 0.9993438875719607 Centerline is valid? [True, True] Translation: X:137.23, Y:-15.28, Z:-1.83 [[ 9.94327172e-01 1.06201094e-01 5.89931207e-03 1.37228552e+02] [-1.06198218e-01 9.94344658e-01 -7.99614095e-04 -1.52803497e+01] [-5.95086933e-03 1.68581595e-04 9.99982279e-01 -1.82939695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62576923100002 meters Centerline goodness [0,1] 0.9995945974779695 Centerline is valid? [True, True] Translation: X:137.26, Y:-15.29, Z:-1.82 [[ 9.94498535e-01 1.04468401e-01 7.68227893e-03 1.37260095e+02] [-1.04463459e-01 9.94528179e-01 -1.04288466e-03 -1.52885800e+01] [-7.74919136e-03 2.34629838e-04 9.99969947e-01 -1.82414953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65576923100002 meters Centerline goodness [0,1] 0.9993366003980397 Centerline is valid? [True, True] Translation: X:137.29, Y:-15.30, Z:-1.82 [[ 9.94558625e-01 1.03871931e-01 7.98522075e-03 1.37290455e+02] [-1.03866558e-01 9.94590649e-01 -1.08568298e-03 -1.52978610e+01] [-8.05479787e-03 2.50377972e-04 9.99967528e-01 -1.82454412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68576923100002 meters Centerline goodness [0,1] 0.9989366227137388 Centerline is valid? [True, True] Translation: X:137.32, Y:-15.31, Z:-1.83 [[ 9.94627124e-01 1.03220293e-01 7.90290762e-03 1.37322035e+02] [-1.03215007e-01 9.94658488e-01 -1.07491895e-03 -1.53072205e+01] [-7.97164759e-03 2.53444878e-04 9.99968194e-01 -1.82647432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.715769231 meters Centerline goodness [0,1] 0.9987190435525192 Centerline is valid? [True, True] Translation: X:137.35, Y:-15.32, Z:-1.83 [[ 9.94759045e-01 1.01976451e-01 7.43271598e-03 1.37351650e+02] [-1.01971732e-01 9.94786782e-01 -1.01211081e-03 -1.53227160e+01] [-7.49717908e-03 2.48879462e-04 9.99971865e-01 -1.82829567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.745769231 meters Centerline goodness [0,1] 0.9992340914409719 Centerline is valid? [True, True] Translation: X:137.38, Y:-15.33, Z:-1.83 [[ 9.94809948e-01 1.01543732e-01 6.48373379e-03 1.37383037e+02] [-1.01540127e-01 9.94831052e-01 -8.83561485e-04 -1.53291375e+01] [-6.53993984e-03 2.20616602e-04 9.99978590e-01 -1.82928783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.775769231 meters Centerline goodness [0,1] 0.9989133908596995 Centerline is valid? [True, True] Translation: X:137.41, Y:-15.34, Z:-1.83 [[ 9.94662554e-01 1.02975560e-01 6.51445140e-03 1.37413058e+02] [-1.02971944e-01 9.94683864e-01 -8.88903856e-04 -1.53374637e+01] [-6.57135506e-03 2.13353653e-04 9.99978386e-01 -1.82965038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.805769231 meters Centerline goodness [0,1] 0.9989133908596995 Centerline is valid? [True, True] Translation: X:137.45, Y:-15.34, Z:-1.83 [[ 9.94643663e-01 1.03157875e-01 6.51433979e-03 1.37445232e+02] [-1.03154258e-01 9.94664973e-01 -8.89720798e-04 -1.53420648e+01] [-6.57136732e-03 2.12973268e-04 9.99978386e-01 -1.83003099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.835769231 meters Centerline goodness [0,1] 0.998985865500412 Centerline is valid? [True, True] Translation: X:137.48, Y:-15.35, Z:-1.83 [[ 9.94527130e-01 1.04218470e-01 7.36869556e-03 1.37477515e+02] [-1.04213855e-01 9.94554400e-01 -1.00860866e-03 -1.53471370e+01] [-7.43368424e-03 2.35168514e-04 9.99972342e-01 -1.82922097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.865769231 meters Centerline goodness [0,1] 0.9992820945945946 Centerline is valid? [True, True] Translation: X:137.51, Y:-15.35, Z:-1.83 [[ 9.94416238e-01 1.05249760e-01 7.67031362e-03 1.37508641e+02] [-1.05244789e-01 9.94445791e-01 -1.04996144e-03 -1.53547469e+01] [-7.73821929e-03 2.36838166e-04 9.99970031e-01 -1.82932143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.895769231 meters Centerline goodness [0,1] 0.9994315430448238 Centerline is valid? [True, True] Translation: X:137.54, Y:-15.36, Z:-1.83 [[ 9.94269218e-01 1.06640280e-01 7.52151951e-03 1.37539228e+02] [-1.06635531e-01 9.94297642e-01 -1.03083140e-03 -1.53637573e+01] [-7.58855726e-03 2.22862709e-04 9.99971182e-01 -1.82899794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.925769231 meters Centerline goodness [0,1] 0.9992768111626325 Centerline is valid? [True, True] Translation: X:137.57, Y:-15.37, Z:-1.83 [[ 9.94145260e-01 1.07748260e-01 8.09406206e-03 1.37570540e+02] [-1.07742786e-01 9.94178183e-01 -1.11061668e-03 -1.53678802e+01] [-8.16660692e-03 2.32037516e-04 9.99966626e-01 -1.82835686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.955769231 meters Centerline goodness [0,1] 0.99918853701766 Centerline is valid? [True, True] Translation: X:137.60, Y:-15.37, Z:-1.82 [[ 9.93767151e-01 1.10921219e-01 1.11054989e-02 1.37601793e+02] [-1.10911083e-01 9.93829161e-01 -1.52638606e-03 -1.53705813e+01] [-1.12062773e-02 2.85149412e-04 9.99937167e-01 -1.82272958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.985769231 meters Centerline goodness [0,1] 0.999612160910129 Centerline is valid? [True, True] Translation: X:137.63, Y:-15.38, Z:-1.82 [[ 9.93572750e-01 1.12605610e-01 1.15398457e-02 1.37633788e+02] [-1.12594775e-01 9.93639723e-01 -1.58635471e-03 -1.53754033e+01] [-1.16450816e-02 2.76832475e-04 9.99932155e-01 -1.82197962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.015769231 meters Centerline goodness [0,1] 0.9996827545366102 Centerline is valid? [True, True] Translation: X:137.66, Y:-15.38, Z:-1.82 [[ 9.93457170e-01 1.13671278e-01 1.10314022e-02 1.37664783e+02] [-1.13661424e-01 9.93518382e-01 -1.51816410e-03 -1.53819350e+01] [-1.11324725e-02 2.54386128e-04 9.99938000e-01 -1.82410766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.045769231 meters Centerline goodness [0,1] 0.9996825598374707 Centerline is valid? [True, True] Translation: X:137.70, Y:-15.39, Z:-1.83 [[ 9.93494845e-01 1.13396660e-01 1.04493928e-02 1.37696222e+02] [-1.13387787e-01 9.93549766e-01 -1.43964243e-03 -1.53911920e+01] [-1.05452425e-02 2.45443802e-04 9.99944367e-01 -1.82676081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.075769231 meters Centerline goodness [0,1] 0.9994006207856149 Centerline is valid? [True, True] Translation: X:137.73, Y:-15.40, Z:-1.83 [[ 9.93515965e-01 1.13186690e-01 1.07144652e-02 1.37726236e+02] [-1.13177329e-01 9.93573705e-01 -1.47798706e-03 -1.54013290e+01] [-1.08128994e-02 2.55769188e-04 9.99941506e-01 -1.82683895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.105769231 meters Centerline goodness [0,1] 0.9997450767956153 Centerline is valid? [True, True] Translation: X:137.76, Y:-15.41, Z:-1.83 [[ 9.93451886e-01 1.13775915e-01 1.04110862e-02 1.37757019e+02] [-1.13767093e-01 9.93506408e-01 -1.43766475e-03 -1.54099812e+01] [-1.05070525e-02 2.43811750e-04 9.99944770e-01 -1.82743515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.135769231 meters Centerline goodness [0,1] 0.9995730418632454 Centerline is valid? [True, True] Translation: X:137.79, Y:-15.42, Z:-1.83 [[ 9.93358253e-01 1.14629303e-01 9.97515351e-03 1.37786671e+02] [-1.14621231e-01 9.93408311e-01 -1.37904423e-03 -1.54197066e+01] [-1.00674793e-02 2.26520585e-04 9.99949296e-01 -1.82888954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.165769231 meters Centerline goodness [0,1] 0.9998308310425037 Centerline is valid? [True, True] Translation: X:137.82, Y:-15.43, Z:-1.83 [[ 9.93211967e-01 1.15921337e-01 9.60376443e-03 1.37817108e+02] [-1.15913901e-01 9.93258376e-01 -1.32910911e-03 -1.54263294e+01] [-9.69309156e-03 2.06877268e-04 9.99952999e-01 -1.83026156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.195769231 meters Centerline goodness [0,1] 0.9999786984769411 Centerline is valid? [True, True] Translation: X:137.85, Y:-15.43, Z:-1.84 [[ 9.92859992e-01 1.19077784e-01 7.03692190e-03 1.37847601e+02] [-1.19073868e-01 9.92884920e-01 -9.74458334e-04 -1.54344230e+01] [-7.10288997e-03 1.29587187e-04 9.99974766e-01 -1.83571541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22576923100002 meters Centerline goodness [0,1] 0.9999360790914709 Centerline is valid? [True, True] Translation: X:137.88, Y:-15.44, Z:-1.84 [[ 9.92593468e-01 1.21354126e-01 5.60201534e-03 1.37879469e+02] [-1.21351678e-01 9.92609273e-01 -7.76156239e-04 -1.54391948e+01] [-5.65480213e-03 9.05936527e-05 9.99984007e-01 -1.83882844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.91, Y:-15.44, Z:-1.84 [[ 9.91897671e-01 1.26958219e-01 4.54106725e-03 1.37911325e+02] [-1.26956663e-01 9.91908064e-01 -6.30462971e-04 -1.54383143e+01] [-4.58436368e-03 4.88360070e-05 9.99989491e-01 -1.83972668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28576923100002 meters Centerline goodness [0,1] 0.9999787735348432 Centerline is valid? [True, True] Translation: X:137.94, Y:-15.44, Z:-1.84 [[ 9.91566134e-01 1.29489913e-01 5.38192070e-03 1.37942438e+02] [-1.29487768e-01 9.91580738e-01 -7.46588146e-04 -1.54429367e+01] [-5.43328454e-03 4.33986212e-05 9.99985239e-01 -1.84015178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.97, Y:-15.45, Z:-1.84 [[ 9.91334723e-01 1.31230200e-01 5.83974534e-03 1.37973676e+02] [-1.31227699e-01 9.91351922e-01 -8.11054492e-04 -1.54487346e+01] [-5.89567761e-03 3.76901368e-05 9.99982620e-01 -1.83907498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34576923100002 meters Centerline goodness [0,1] 0.9999348661499381 Centerline is valid? [True, True] Translation: X:138.01, Y:-15.46, Z:-1.83 [[ 9.90987038e-01 1.33793960e-01 6.62317618e-03 1.38005165e+02] [-1.33790792e-01 9.91009170e-01 -9.21205605e-04 -1.54574937e+01] [-6.68688007e-03 2.67828294e-05 9.99977642e-01 -1.83344842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37576923100002 meters Centerline goodness [0,1] 0.9999788587979113 Centerline is valid? [True, True] Translation: X:138.04, Y:-15.46, Z:-1.84 [[ 9.90784306e-01 1.35323917e-01 5.82205941e-03 1.38036824e+02] [-1.35321490e-01 9.90801412e-01 -8.10449283e-04 -1.54622399e+01] [-5.87817785e-03 1.51306743e-05 9.99982723e-01 -1.83942793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.07, Y:-15.46, Z:-1.84 [[ 9.90206316e-01 1.39519257e-01 5.08212475e-03 1.38070175e+02] [-1.39517460e-01 9.90219358e-01 -7.08052943e-04 -1.54613108e+01] [-5.13120532e-03 -7.92664062e-06 9.99986835e-01 -1.84052624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.10, Y:-15.46, Z:-1.84 [[ 9.89803106e-01 1.42312535e-01 6.07892794e-03 1.38103539e+02] [-1.42310008e-01 9.89821773e-01 -8.48432971e-04 -1.54618215e+01] [-6.13779787e-03 -2.53106931e-05 9.99981163e-01 -1.83842694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.14, Y:-15.46, Z:-1.84 [[ 9.89384707e-01 1.45154770e-01 6.92777124e-03 1.38135882e+02] [-1.45151546e-01 9.89408960e-01 -9.68586218e-04 -1.54623699e+01] [-6.99499385e-03 -4.72723130e-05 9.99975534e-01 -1.83726440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.495769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.17, Y:-15.46, Z:-1.84 [[ 9.88799404e-01 1.49080569e-01 7.12195993e-03 1.38167654e+02] [-1.49077254e-01 9.88825049e-01 -9.97013003e-04 -1.54605961e+01] [-7.19100764e-03 -7.58763661e-05 9.99974141e-01 -1.83911078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.525769231 meters Centerline goodness [0,1] 0.9999785462970909 Centerline is valid? [True, True] Translation: X:138.20, Y:-15.46, Z:-1.84 [[ 9.88637602e-01 1.50116763e-01 7.78779575e-03 1.38200459e+02] [-1.50112823e-01 9.88668271e-01 -1.09140265e-03 -1.54642216e+01] [-7.86338439e-03 -9.00463078e-05 9.99969079e-01 -1.83773932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.555769231 meters Centerline goodness [0,1] 0.9999785057174791 Centerline is valid? [True, True] Translation: X:138.23, Y:-15.47, Z:-1.84 [[ 9.88686525e-01 1.49778884e-01 8.07719296e-03 1.38231793e+02] [-1.49774620e-01 9.88719514e-01 -1.13371523e-03 -1.54669605e+01] [-8.15588490e-03 -8.88695347e-05 9.99966736e-01 -1.83723917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.585769231 meters Centerline goodness [0,1] 0.9999786333917354 Centerline is valid? [True, True] Translation: X:138.26, Y:-15.47, Z:-1.84 [[ 9.88798074e-01 1.49029342e-01 8.28395362e-03 1.38262609e+02] [-1.49024819e-01 9.88832771e-01 -1.16406714e-03 -1.54693397e+01] [-8.36492497e-03 -8.34873404e-05 9.99965010e-01 -1.83751966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.29, Y:-15.47, Z:-1.84 [[ 9.89013090e-01 1.47508824e-01 9.70848664e-03 1.38293499e+02] [-1.47502521e-01 9.89060736e-01 -1.36602878e-03 -1.54749766e+01] [-9.80378424e-03 -8.10059058e-05 9.99951938e-01 -1.83581930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.32, Y:-15.48, Z:-1.83 [[ 9.89133641e-01 1.46635138e-01 1.06196158e-02 1.38323618e+02] [-1.46627527e-01 9.89190644e-01 -1.49594461e-03 -1.54819493e+01] [-1.07241826e-02 -7.74388578e-05 9.99942491e-01 -1.83454013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.35, Y:-15.49, Z:-1.84 [[ 9.89400458e-01 1.44831885e-01 1.05099104e-02 1.38353919e+02] [-1.44824313e-01 9.89456276e-01 -1.48200858e-03 -1.54902686e+01] [-1.06137389e-02 -5.57905828e-05 9.99943671e-01 -1.83538444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.705769231 meters Centerline goodness [0,1] 0.9999786625698801 Centerline is valid? [True, True] Translation: X:138.39, Y:-15.50, Z:-1.84 [[ 9.89481487e-01 1.44350398e-01 9.45251438e-03 1.38386724e+02] [-1.44344241e-01 9.89526635e-01 -1.33399624e-03 -1.54971198e+01] [-9.54607763e-03 -4.44514329e-05 9.99954434e-01 -1.83790164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.42, Y:-15.50, Z:-1.84 [[ 9.89506323e-01 1.44284409e-01 7.69720541e-03 1.38417820e+02] [-1.44280315e-01 9.89536259e-01 -1.08743399e-03 -1.55016995e+01] [-7.77356361e-03 -3.45324066e-05 9.99969785e-01 -1.84193160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.45, Y:-15.50, Z:-1.85 [[ 9.89191128e-01 1.46543590e-01 5.08800014e-03 1.38448607e+02] [-1.46541827e-01 9.89204213e-01 -7.19593262e-04 -1.55028157e+01] [-5.13852295e-03 -3.37895654e-05 9.99986797e-01 -1.84656636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.48, Y:-15.50, Z:-1.84 [[ 9.88671330e-01 1.50001814e-01 5.33448362e-03 1.38480836e+02] [-1.49999927e-01 9.88685720e-01 -7.54326070e-04 -1.55039958e+01] [-5.38727805e-03 -5.43915937e-05 9.99985487e-01 -1.84374594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.825769231 meters Centerline goodness [0,1] 0.9999151589708783 Centerline is valid? [True, True] Translation: X:138.51, Y:-15.49, Z:-1.84 [[ 9.87359201e-01 1.58349324e-01 6.87750401e-03 1.38513384e+02] [-1.58346374e-01 9.87383145e-01 -9.74806296e-04 -1.54895338e+01] [-6.94509146e-03 -1.26543858e-04 9.99975875e-01 -1.84226900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.855769231 meters Centerline goodness [0,1] 0.9998937481405925 Centerline is valid? [True, True] Translation: X:138.54, Y:-15.48, Z:-1.84 [[ 9.86630622e-01 1.62820943e-01 7.02533298e-03 1.38544540e+02] [-1.62817976e-01 9.86655621e-01 -9.96178693e-04 -1.54821204e+01] [-7.09378303e-03 -1.60990090e-04 9.99974826e-01 -1.84385032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.885769231 meters Centerline goodness [0,1] 0.9999360436608609 Centerline is valid? [True, True] Translation: X:138.58, Y:-15.48, Z:-1.84 [[ 9.85886296e-01 1.67295740e-01 6.35194098e-03 1.38575705e+02] [-1.67293403e-01 9.85906743e-01 -9.01192197e-04 -1.54807311e+01] [-6.41318706e-03 -1.74164784e-04 9.99979420e-01 -1.84469902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.915769231 meters Centerline goodness [0,1] 0.9995321736911496 Centerline is valid? [True, True] Translation: X:138.61, Y:-15.47, Z:-1.85 [[ 9.84439743e-01 1.75664002e-01 4.53334385e-03 1.38608716e+02] [-1.75662901e-01 9.84450167e-01 -6.43124374e-04 -1.54719790e+01] [-4.57582491e-03 -1.63223137e-04 9.99989518e-01 -1.84694961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.945769231 meters Centerline goodness [0,1] 0.9987880334247624 Centerline is valid? [True, True] Translation: X:138.64, Y:-15.47, Z:-1.85 [[ 9.83765435e-01 1.79402179e-01 4.51972147e-03 1.38639460e+02] [-1.79401124e-01 9.83775801e-01 -6.41135518e-04 -1.54663117e+01] [-4.56141371e-03 -1.80116149e-04 9.99989580e-01 -1.84694932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97576923100002 meters Centerline goodness [0,1] 0.9214194373401534 Centerline is valid? [True, False] Translation: X:138.64, Y:-15.46, Z:-1.85 [[ 9.83051725e-01 1.83247203e-01 5.45604439e-03 1.38638407e+02] [-1.83262226e-01 9.83061160e-01 2.39008857e-03 -1.54600578e+01] [-4.92564829e-03 -3.34946753e-03 9.99982259e-01 -1.84539726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00576923100002 meters Centerline goodness [0,1] 0.9944627610110744 Centerline is valid? [False, True] Translation: X:138.64, Y:-15.45, Z:-1.84 [[ 9.83757222e-01 1.79432147e-01 5.08255417e-03 1.38637607e+02] [-1.79417879e-01 9.83767942e-01 -3.14012480e-03 -1.54508859e+01] [-5.56349319e-03 2.17721937e-03 9.99982153e-01 -1.84499850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03576923100002 meters Centerline goodness [0,1] 0.994963282754534 Centerline is valid? [True, True] Translation: X:138.67, Y:-15.45, Z:-1.84 [[ 9.83587533e-01 1.80315847e-01 6.46218349e-03 1.38669284e+02] [-1.80314017e-01 9.83608712e-01 -8.69467139e-04 -1.54462372e+01] [-6.51303868e-03 -3.10025227e-04 9.99978742e-01 -1.84389028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06576923100002 meters Centerline goodness [0,1] 0.9951850028889982 Centerline is valid? [True, True] Translation: X:138.70, Y:-15.45, Z:-1.85 [[ 9.83474387e-01 1.80973744e-01 5.16085373e-03 1.38700462e+02] [-1.80972586e-01 9.83487896e-01 -6.94314615e-04 -1.54474468e+01] [-5.20128989e-03 -2.51132405e-04 9.99986442e-01 -1.84655296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09576923100002 meters Centerline goodness [0,1] 0.9974242981753642 Centerline is valid? [True, True] Translation: X:138.73, Y:-15.45, Z:-1.85 [[ 9.83310826e-01 1.81887032e-01 4.11436173e-03 1.38731641e+02] [-1.81886304e-01 9.83319412e-01 -5.53580797e-04 -1.54514589e+01] [-4.14642093e-03 -2.04004058e-04 9.99991383e-01 -1.84781147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12576923100002 meters Centerline goodness [0,1] 0.9849488003746834 Centerline is valid? [True, True] Translation: X:138.76, Y:-15.44, Z:-1.85 [[ 9.83138471e-01 1.82797384e-01 4.88508537e-03 1.38762795e+02] [-1.82796369e-01 9.83150576e-01 -6.57405250e-04 -1.54371483e+01] [-4.92294646e-03 -2.46655475e-04 9.99987852e-01 -1.84725769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15576923100002 meters Centerline goodness [0,1] 0.9881724532621137 Centerline is valid? [True, True] Translation: X:138.79, Y:-15.44, Z:-1.85 [[ 9.83162995e-01 1.82628676e-01 6.10678262e-03 1.38792311e+02] [-1.82627083e-01 9.83181912e-01 -8.22205704e-04 -1.54353239e+01] [-6.15423656e-03 -3.06901673e-04 9.99981015e-01 -1.84564557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18576923100002 meters Centerline goodness [0,1] 0.99752491091813 Centerline is valid? [True, True] Translation: X:138.82, Y:-15.44, Z:-1.85 [[ 9.83780414e-01 1.79264560e-01 6.34933037e-03 1.38822859e+02] [-1.79262770e-01 9.83800858e-01 -8.54585499e-04 -1.54395385e+01] [-6.39967356e-03 -2.97474072e-04 9.99979478e-01 -1.84633736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.215769231 meters Centerline goodness [0,1] 0.9955207886840978 Centerline is valid? [True, True] Translation: X:138.85, Y:-15.44, Z:-1.85 [[ 9.84316075e-01 1.76363974e-01 4.19686419e-03 1.38851949e+02] [-1.76363166e-01 9.84325005e-01 -5.64970641e-04 -1.54400016e+01] [-4.23071883e-03 -1.84062570e-04 9.99991034e-01 -1.85065953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.245769231 meters Centerline goodness [0,1] 0.9975993201614617 Centerline is valid? [True, True] Translation: X:138.88, Y:-15.44, Z:-1.86 [[ 9.85363653e-01 1.70464746e-01 4.91007713e-04 1.38880900e+02] [-1.70464734e-01 9.85363776e-01 -6.61116434e-05 -1.54448101e+01] [-4.95090918e-04 -1.85554886e-05 9.99999877e-01 -1.85872812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.275769231 meters Centerline goodness [0,1] 0.9994052549969201 Centerline is valid? [True, True] Translation: X:138.91, Y:-15.45, Z:-1.86 [[ 9.85830723e-01 1.67741956e-01 6.48688683e-04 1.38909243e+02] [-1.67741935e-01 9.85830937e-01 -8.74530516e-05 -1.54548827e+01] [-6.54166918e-04 -2.25983898e-05 9.99999786e-01 -1.85760510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.305769231 meters Centerline goodness [0,1] 0.9997045852588045 Centerline is valid? [True, True] Translation: X:138.94, Y:-15.46, Z:-1.86 [[ 9.86268315e-01 1.65139273e-01 1.95744337e-03 1.38938158e+02] [-1.65139075e-01 9.86270255e-01 -2.63477701e-04 -1.54565263e+01] [-1.97407869e-03 -6.33906786e-05 9.99998049e-01 -1.85591925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.335769231 meters Centerline goodness [0,1] 0.9999572421165153 Centerline is valid? [True, True] Translation: X:138.97, Y:-15.47, Z:-1.85 [[ 9.87040516e-01 1.60388082e-01 5.16561713e-03 1.38966784e+02] [-1.60386641e-01 9.87054022e-01 -6.94828377e-04 -1.54727136e+01] [-5.21018536e-03 -1.42672221e-04 9.99986417e-01 -1.84849211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.365769231 meters Centerline goodness [0,1] 0.9999783207232207 Centerline is valid? [True, True] Translation: X:139.00, Y:-15.48, Z:-1.85 [[ 9.87410633e-01 1.58059752e-01 6.11199070e-03 1.38997840e+02] [-1.58057689e-01 9.87429537e-01 -8.22061498e-04 -1.54807070e+01] [-6.16509498e-03 -1.54334863e-04 9.99980984e-01 -1.84732281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.395769231 meters Centerline goodness [0,1] 0.9998936622713739 Centerline is valid? [True, True] Translation: X:139.03, Y:-15.49, Z:-1.85 [[ 9.87985333e-01 1.54482535e-01 4.48637851e-03 1.39028053e+02] [-1.54481386e-01 9.87995515e-01 -6.03546841e-04 -1.54856986e+01] [-4.52575929e-03 -9.67665454e-05 9.99989754e-01 -1.85121164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.425769231 meters Centerline goodness [0,1] 0.999852382960776 Centerline is valid? [True, True] Translation: X:139.06, Y:-15.49, Z:-1.86 [[ 9.88091832e-01 1.53841437e-01 2.71009730e-03 1.39058573e+02] [-1.53841016e-01 9.88095546e-01 -3.64642749e-04 -1.54879398e+01] [-2.73393224e-03 -5.66235997e-05 9.99996261e-01 -1.85576106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.455769231 meters Centerline goodness [0,1] 0.9998935989104528 Centerline is valid? [True, True] Translation: X:139.09, Y:-15.49, Z:-1.86 [[ 9.88056948e-01 1.54080183e-01 1.66256712e-03 1.39088840e+02] [-1.54080024e-01 9.88058347e-01 -2.23753128e-04 -1.54920230e+01] [-1.67718925e-03 -3.50875491e-05 9.99998593e-01 -1.85797842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.485769231 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:139.12, Y:-15.50, Z:-1.86 [[ 9.87872136e-01 1.55261347e-01 1.59899389e-03 1.39119873e+02] [-1.55261202e-01 9.87873430e-01 -2.15047372e-04 -1.54958146e+01] [-1.61299212e-03 -3.58224064e-05 9.99998698e-01 -1.85627217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.15, Y:-15.49, Z:-1.86 [[ 9.87762967e-01 1.55955293e-01 1.50580055e-03 1.39149881e+02] [-1.55955165e-01 9.87764114e-01 -2.02767102e-04 -1.54926499e+01] [-1.51899835e-03 -3.45515388e-05 9.99998846e-01 -1.85646779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.545769231 meters Centerline goodness [0,1] 0.9999787604604732 Centerline is valid? [True, True] Translation: X:139.18, Y:-15.48, Z:-1.86 [[ 9.87138003e-01 1.59870450e-01 5.52521613e-05 1.39181542e+02] [-1.59870450e-01 9.87138004e-01 -7.52664577e-06 -1.54845866e+01] [-5.57447965e-05 -1.40334983e-06 9.99999998e-01 -1.85841890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.575769231 meters Centerline goodness [0,1] 0.99982974014089 Centerline is valid? [True, True] Translation: X:139.21, Y:-15.48, Z:-1.86 [[ 9.86836075e-01 1.61723510e-01 2.57939034e-04 1.39210929e+02] [-1.61723507e-01 9.86836109e-01 -3.49833890e-05 -1.54846646e+01] [-2.60201190e-04 -7.19193483e-06 9.99999966e-01 -1.85766262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.605769231 meters Centerline goodness [0,1] 0.9997856561066575 Centerline is valid? [True, True] Translation: X:139.24, Y:-15.48, Z:-1.85 [[ 9.86697711e-01 1.62517172e-01 3.97438652e-03 1.39239860e+02] [-1.62516335e-01 9.86705708e-01 -5.34972450e-04 -1.54814443e+01] [-4.00849208e-03 -1.18046637e-04 9.99991959e-01 -1.85183690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.635769231 meters Centerline goodness [0,1] 0.9997048779459505 Centerline is valid? [True, True] Translation: X:139.27, Y:-15.48, Z:-1.85 [[ 9.86818950e-01 1.61735116e-01 5.48740840e-03 1.39268414e+02] [-1.61733510e-01 9.86834194e-01 -7.38134084e-04 -1.54776116e+01] [-5.53454445e-03 -1.59093121e-04 9.99984672e-01 -1.85032961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.665769231 meters Centerline goodness [0,1] 0.999786561939725 Centerline is valid? [True, True] Translation: X:139.30, Y:-15.48, Z:-1.85 [[ 9.87202914e-01 1.59351513e-01 6.12382599e-03 1.39297961e+02] [-1.59349470e-01 9.87221894e-01 -8.23271773e-04 -1.54815485e+01] [-6.17676470e-03 -1.63092132e-04 9.99980910e-01 -1.85037979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.695769231 meters Centerline goodness [0,1] 0.999935834367113 Centerline is valid? [True, True] Translation: X:139.33, Y:-15.49, Z:-1.85 [[ 9.87440091e-01 1.57904763e-01 5.30595038e-03 1.39326952e+02] [-1.57903209e-01 9.87454337e-01 -7.13220922e-04 -1.54856680e+01] [-5.35200469e-03 -1.33563658e-04 9.99985669e-01 -1.85114726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72576923100002 meters Centerline goodness [0,1] 0.9999359877096402 Centerline is valid? [True, True] Translation: X:139.36, Y:-15.49, Z:-1.85 [[ 9.87621753e-01 1.56800256e-01 4.11740183e-03 1.39355809e+02] [-1.56799311e-01 9.87630331e-01 -5.53385441e-04 -1.54867376e+01] [-4.15324191e-03 -9.90702702e-05 9.99991370e-01 -1.85280992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75576923100002 meters Centerline goodness [0,1] 0.9999359877096402 Centerline is valid? [True, True] Translation: X:139.38, Y:-15.49, Z:-1.85 [[ 9.87628952e-01 1.56754903e-01 4.11739896e-03 1.39383907e+02] [-1.56753957e-01 9.87637530e-01 -5.53406858e-04 -1.54904222e+01] [-4.15324697e-03 -9.88579448e-05 9.99991370e-01 -1.85303414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78576923100002 meters Centerline goodness [0,1] 0.9999786009287197 Centerline is valid? [True, True] Translation: X:139.41, Y:-15.49, Z:-1.86 [[ 9.87837983e-01 1.55470181e-01 2.26749249e-03 1.39412233e+02] [-1.55469891e-01 9.87840584e-01 -3.04898066e-04 -1.54878230e+01] [-2.28732366e-03 -5.13369176e-05 9.99997383e-01 -1.85596449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81576923100002 meters Centerline goodness [0,1] 0.9999787563996346 Centerline is valid? [True, True] Translation: X:139.44, Y:-15.49, Z:-1.86 [[ 9.87951831e-01 1.54742468e-01 2.43879731e-03 1.39440374e+02] [-1.54742131e-01 9.87954840e-01 -3.27738902e-04 -1.54891768e+01] [-2.46013674e-03 -5.35944444e-05 9.99996972e-01 -1.85610051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84576923100002 meters Centerline goodness [0,1] 0.9999572959815519 Centerline is valid? [True, True] Translation: X:139.47, Y:-15.49, Z:-1.85 [[ 9.87994506e-01 1.54413683e-01 4.82391220e-03 1.39468240e+02] [-1.54412361e-01 9.88006277e-01 -6.47542694e-04 -1.54885686e+01] [-4.86604499e-03 -1.05103050e-04 9.99988155e-01 -1.85216277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87576923100002 meters Centerline goodness [0,1] 0.9999361511939727 Centerline is valid? [True, True] Translation: X:139.50, Y:-15.49, Z:-1.85 [[ 9.87922939e-01 1.54819424e-01 6.26207355e-03 1.39497366e+02] [-1.54817207e-01 9.87942775e-01 -8.40090702e-04 -1.54892215e+01] [-6.31663268e-03 -1.39531864e-04 9.99980040e-01 -1.84958865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90576923100002 meters Centerline goodness [0,1] 0.999935258319306 Centerline is valid? [True, True] Translation: X:139.53, Y:-15.49, Z:-1.85 [[ 9.87727645e-01 1.56078167e-01 5.80557256e-03 1.39525609e+02] [-1.56076285e-01 9.87744697e-01 -7.78659950e-04 -1.54917618e+01] [-5.85595533e-03 -1.37008238e-04 9.99982844e-01 -1.85038708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93576923100002 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:139.55, Y:-15.49, Z:-1.85 [[ 9.87655845e-01 1.56582994e-01 4.20679194e-03 1.39553986e+02] [-1.56582011e-01 9.87664799e-01 -5.64078456e-04 -1.54893610e+01] [-4.24322541e-03 -1.01592557e-04 9.99990992e-01 -1.85394717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.965769231 meters Centerline goodness [0,1] 0.9998070780905018 Centerline is valid? [True, True] Translation: X:139.58, Y:-15.49, Z:-1.86 [[ 9.87590983e-01 1.57019028e-01 3.01255083e-03 1.39582898e+02] [-1.57018526e-01 9.87595575e-01 -4.03786472e-04 -1.54908522e+01] [-3.03858403e-03 -7.42504133e-05 9.99995381e-01 -1.85700563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.995769231 meters Centerline goodness [0,1] 0.9998508607465485 Centerline is valid? [True, True] Translation: X:139.61, Y:-15.49, Z:-1.86 [[ 9.87283352e-01 1.58940623e-01 3.07577199e-03 1.39611169e+02] [-1.58940109e-01 9.87288140e-01 -4.12218687e-04 -1.54867839e+01] [-3.10219150e-03 -8.18868878e-05 9.99995185e-01 -1.85631420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.025769231 meters Centerline goodness [0,1] 0.9997640953054966 Centerline is valid? [True, True] Translation: X:139.64, Y:-15.49, Z:-1.86 [[ 9.87142523e-01 1.59805872e-01 3.42368040e-03 1.39640607e+02] [-1.59805243e-01 9.87148456e-01 -4.58459380e-04 -1.54865837e+01] [-3.45294532e-03 -9.45573280e-05 9.99994034e-01 -1.85500447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.055769231 meters Centerline goodness [0,1] 0.9999569225467391 Centerline is valid? [True, True] Translation: X:139.67, Y:-15.49, Z:-1.86 [[ 9.87055053e-01 1.60371103e-01 1.85226201e-03 1.39668354e+02] [-1.60370919e-01 9.87056790e-01 -2.48132479e-04 -1.54938014e+01] [-1.86808108e-03 -5.21285452e-05 9.99998254e-01 -1.85699653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.085769231 meters Centerline goodness [0,1] 0.999957261304385 Centerline is valid? [True, True] Translation: X:139.70, Y:-15.50, Z:-1.86 [[ 9.87178060e-01 1.59619751e-01 1.00588415e-03 1.39695613e+02] [-1.59619697e-01 9.87178573e-01 -1.34952883e-04 -1.54973855e+01] [-1.01452843e-03 -2.73363984e-05 9.99999485e-01 -1.85993019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.115769231 meters Centerline goodness [0,1] 0.9997664345167318 Centerline is valid? [True, True] Translation: X:139.72, Y:-15.50, Z:-1.86 [[ 9.87366177e-01 1.58453421e-01 7.38669440e-04 1.39723606e+02] [-1.58453391e-01 9.87366453e-01 -9.91789478e-05 -1.54958761e+01] [-7.45052668e-04 -1.91187390e-05 9.99999722e-01 -1.86259646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.145769231 meters Centerline goodness [0,1] 0.9998930801471217 Centerline is valid? [True, True] Translation: X:139.75, Y:-15.50, Z:-1.86 [[ 9.87441134e-01 1.57958932e-01 2.99714218e-03 1.39751940e+02] [-1.57958442e-01 9.87445679e-01 -4.00767457e-04 -1.55027494e+01] [-3.02281990e-03 -7.76896388e-05 9.99995428e-01 -1.85660332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.175769231 meters Centerline goodness [0,1] 0.9999369191303251 Centerline is valid? [True, True] Translation: X:139.78, Y:-15.51, Z:-1.85 [[ 9.87629078e-01 1.56733123e-01 4.85092725e-03 1.39780262e+02] [-1.56731829e-01 9.87640984e-01 -6.48192396e-04 -1.55050591e+01] [-4.89256778e-03 -1.20121040e-04 9.99988024e-01 -1.85274002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.205769231 meters Centerline goodness [0,1] 0.9999577292133407 Centerline is valid? [True, True] Translation: X:139.81, Y:-15.51, Z:-1.85 [[ 9.87893278e-01 1.55082131e-01 4.05020313e-03 1.39807813e+02] [-1.55081215e-01 9.87901576e-01 -5.41111976e-04 -1.55083816e+01] [-4.08511886e-03 -9.35495406e-05 9.99991651e-01 -1.85432235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.235769231 meters Centerline goodness [0,1] 0.9998726520216492 Centerline is valid? [True, True] Translation: X:139.84, Y:-15.51, Z:-1.86 [[ 9.88171616e-01 1.53333299e-01 2.39952850e-03 1.39836090e+02] [-1.53332972e-01 9.88174528e-01 -3.20564944e-04 -1.55141840e+01] [-2.42030623e-03 -5.11536587e-05 9.99997070e-01 -1.85808777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.265769231 meters Centerline goodness [0,1] 0.9999577889871467 Centerline is valid? [True, True] Translation: X:139.86, Y:-15.52, Z:-1.86 [[ 9.88632606e-01 1.50350423e-01 5.65558755e-04 1.39863916e+02] [-1.50350404e-01 9.88632768e-01 -7.58090357e-05 -1.55197984e+01] [-5.70527838e-04 -1.00847028e-05 9.99999837e-01 -1.86278801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.295769231 meters Centerline goodness [0,1] 0.9999785986388734 Centerline is valid? [True, True] Translation: X:139.89, Y:-15.53, Z:-1.86 [[ 9.88871200e-01 1.48768820e-01 1.25998355e-03 1.39892271e+02] [-1.48768727e-01 9.88872003e-01 -1.68381858e-04 -1.55264560e+01] [-1.27101242e-03 -2.09381778e-05 9.99999192e-01 -1.86096302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.325769231 meters Centerline goodness [0,1] 0.9999787500796872 Centerline is valid? [True, True] Translation: X:139.92, Y:-15.53, Z:-1.85 [[ 9.89161119e-01 1.46788068e-01 3.68011238e-03 1.39920614e+02] [-1.46787257e-01 9.89167964e-01 -4.90939892e-04 -1.55333731e+01] [-3.71231339e-03 -5.45749510e-05 9.99993108e-01 -1.85450796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.355769231 meters Centerline goodness [0,1] 0.9999788117637088 Centerline is valid? [True, True] Translation: X:139.95, Y:-15.54, Z:-1.85 [[ 9.89277917e-01 1.45985500e-01 4.17580457e-03 1.39948677e+02] [-1.45984450e-01 9.89286728e-01 -5.56815247e-04 -1.55369686e+01] [-4.21235499e-03 -5.87575046e-05 9.99991126e-01 -1.85411117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.98, Y:-15.54, Z:-1.86 [[ 9.89420592e-01 1.45024480e-01 3.84605215e-03 1.39976602e+02] [-1.45023582e-01 9.89428066e-01 -5.12746634e-04 -1.55410980e+01] [-3.87975276e-03 -5.04461829e-05 9.99992472e-01 -1.85567162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.01, Y:-15.55, Z:-1.86 [[ 9.89515856e-01 1.44385509e-01 3.34588190e-03 1.40005352e+02] [-1.44384827e-01 9.89521512e-01 -4.45860189e-04 -1.55459765e+01] [-3.37519787e-03 -4.19088533e-05 9.99994303e-01 -1.85665486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.03, Y:-15.55, Z:-1.86 [[ 9.89470828e-01 1.44684502e-01 3.72510215e-03 1.40034597e+02] [-1.44683659e-01 9.89477838e-01 -4.96174246e-04 -1.55480202e+01] [-3.75769475e-03 -4.80114680e-05 9.99992939e-01 -1.85586900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.06, Y:-15.55, Z:-1.85 [[ 9.89418729e-01 1.45008509e-01 4.80729592e-03 1.40062871e+02] [-1.45007111e-01 9.89430406e-01 -6.40016805e-04 -1.55483781e+01] [-4.84929264e-03 -6.38474764e-05 9.99988240e-01 -1.85429263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.09, Y:-15.55, Z:-1.85 [[ 9.89476149e-01 1.44615783e-01 4.81934894e-03 1.40091354e+02] [-1.44614374e-01 9.89487883e-01 -6.41296895e-04 -1.55511969e+01] [-4.86142903e-03 -6.23991496e-05 9.99988181e-01 -1.85478780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53576923100002 meters Centerline goodness [0,1] 0.9999785158767671 Centerline is valid? [True, True] Translation: X:140.12, Y:-15.55, Z:-1.85 [[ 9.89415898e-01 1.45016707e-01 5.13177387e-03 1.40119663e+02] [-1.45015117e-01 9.89429204e-01 -6.82637833e-04 -1.55508832e+01] [-5.17652083e-03 -6.87720632e-05 9.99986599e-01 -1.85399434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.15, Y:-15.55, Z:-1.86 [[ 9.89181893e-01 1.46631752e-01 4.27933245e-03 1.40149059e+02] [-1.46630662e-01 9.89191147e-01 -5.69029377e-04 -1.55505275e+01] [-4.31651555e-03 -6.46077939e-05 9.99990682e-01 -1.85541787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59576923100002 meters Centerline goodness [0,1] 0.9999786498142533 Centerline is valid? [True, True] Translation: X:140.18, Y:-15.54, Z:-1.86 [[ 9.88803373e-01 1.49206890e-01 2.27886488e-03 1.40178877e+02] [-1.49206588e-01 9.88805998e-01 -3.03085475e-04 -1.55445385e+01] [-2.29857770e-03 -4.03297138e-05 9.99997357e-01 -1.85924462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62576923100002 meters Centerline goodness [0,1] 0.9999152003391987 Centerline is valid? [True, True] Translation: X:140.21, Y:-15.54, Z:-1.86 [[ 9.88622924e-01 1.50395944e-01 2.40311589e-03 1.40208376e+02] [-1.50395611e-01 9.88625843e-01 -3.19481618e-04 -1.55436498e+01] [-2.42383121e-03 -4.55712315e-05 9.99997061e-01 -1.85918193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65576923100002 meters Centerline goodness [0,1] 0.9999575893803808 Centerline is valid? [True, True] Translation: X:140.24, Y:-15.54, Z:-1.86 [[ 9.88536538e-01 1.50948871e-01 3.15468299e-03 1.40236909e+02] [-1.50948302e-01 9.88541569e-01 -4.19192957e-04 -1.55428215e+01] [-3.18181198e-03 -6.18064863e-05 9.99994936e-01 -1.85806779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.27, Y:-15.54, Z:-1.86 [[ 9.88417190e-01 1.51693271e-01 4.53988754e-03 1.40265846e+02] [-1.51692101e-01 9.88427611e-01 -6.02771507e-04 -1.55436084e+01] [-4.57878658e-03 -9.28753621e-05 9.99989513e-01 -1.85618814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.715769231 meters Centerline goodness [0,1] 0.9999788516442847 Centerline is valid? [True, True] Translation: X:140.29, Y:-15.54, Z:-1.86 [[ 9.88383905e-01 1.51912528e-01 4.45431165e-03 1.40294350e+02] [-1.51911406e-01 9.88393937e-01 -5.91242001e-04 -1.55407335e+01] [-4.49243170e-03 -9.22866685e-05 9.99989905e-01 -1.85731883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.745769231 meters Centerline goodness [0,1] 0.9999575443661374 Centerline is valid? [True, True] Translation: X:140.32, Y:-15.54, Z:-1.86 [[ 9.88455008e-01 1.51473797e-01 3.51941587e-03 1.40323429e+02] [-1.51473094e-01 9.88461271e-01 -4.66987227e-04 -1.55416806e+01] [-3.54954261e-03 -7.15009465e-05 9.99993698e-01 -1.85832863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.35, Y:-15.55, Z:-1.86 [[ 9.88659340e-01 1.50137645e-01 3.37589205e-03 1.40352382e+02] [-1.50136990e-01 9.88665102e-01 -4.47801007e-04 -1.55456476e+01] [-3.40485845e-03 -6.41236240e-05 9.99994201e-01 -1.85819400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.38, Y:-15.55, Z:-1.86 [[ 9.89295997e-01 1.45864111e-01 4.13412246e-03 1.40380144e+02] [-1.45863094e-01 9.89304633e-01 -5.48088846e-04 -1.55513050e+01] [-4.16985299e-03 -6.07937911e-05 9.99991304e-01 -1.85708203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.41, Y:-15.55, Z:-1.86 [[ 9.89642551e-01 1.43479275e-01 4.61718615e-03 1.40407543e+02] [-1.43477982e-01 9.89653320e-01 -6.11899373e-04 -1.55543527e+01] [-4.65720848e-03 -5.69028937e-05 9.99989154e-01 -1.85732291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.44, Y:-15.56, Z:-1.86 [[ 9.89991781e-01 1.41042852e-01 4.81525570e-03 1.40435086e+02] [-1.41041417e-01 9.90003491e-01 -6.37846974e-04 -1.55612901e+01] [-4.85708371e-03 -4.76872271e-05 9.99988203e-01 -1.85725374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.46, Y:-15.57, Z:-1.86 [[ 9.90584461e-01 1.36835760e-01 4.28964485e-03 1.40462229e+02] [-1.36834583e-01 9.90593748e-01 -5.67954888e-04 -1.55746504e+01] [-4.32701191e-03 -2.43644790e-05 9.99990638e-01 -1.85786784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.49, Y:-15.59, Z:-1.86 [[ 9.90951666e-01 1.34186014e-01 2.98478306e-03 1.40489472e+02] [-1.34185433e-01 9.90956161e-01 -3.95171234e-04 -1.55855405e+01] [-3.01081561e-03 -8.91881424e-06 9.99995467e-01 -1.85981520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.52, Y:-15.59, Z:-1.86 [[ 9.90942340e-01 1.34268580e-01 2.28644156e-03 1.40516535e+02] [-1.34268239e-01 9.90944977e-01 -3.02823885e-04 -1.55892814e+01] [-2.30639751e-03 -6.91547139e-06 9.99997340e-01 -1.86087822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.54, Y:-15.59, Z:-1.86 [[ 9.90808102e-01 1.35265657e-01 1.58329238e-03 1.40544892e+02] [-1.35265494e-01 9.90809367e-01 -2.09605590e-04 -1.55920073e+01] [-1.59709336e-03 -6.48590983e-06 9.99998725e-01 -1.86185942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.57, Y:-15.60, Z:-1.86 [[ 9.90592275e-01 1.36792681e-01 3.83489817e-03 1.40572610e+02] [-1.36791743e-01 9.90599698e-01 -5.07020550e-04 -1.55959845e+01] [-3.86820567e-03 -2.23317644e-05 9.99992518e-01 -1.85910153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.60, Y:-15.60, Z:-1.86 [[ 9.90634625e-01 1.36419794e-01 5.71653219e-03 1.40600907e+02] [-1.36417708e-01 9.90651119e-01 -7.55203963e-04 -1.56025859e+01] [-5.76611378e-03 -3.17050218e-05 9.99983375e-01 -1.85586956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.63, Y:-15.61, Z:-1.85 [[ 9.90833459e-01 1.34937499e-01 6.39746168e-03 1.40628965e+02] [-1.34934856e-01 9.90854112e-01 -8.44813912e-04 -1.56141330e+01] [-6.45294829e-03 -2.61706825e-05 9.99979179e-01 -1.85480893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.66, Y:-15.62, Z:-1.86 [[ 9.90965741e-01 1.34019439e-01 5.06863694e-03 1.40655981e+02] [-1.34017768e-01 9.90978703e-01 -6.69278698e-04 -1.56217967e+01] [-5.11260761e-03 -1.60551508e-05 9.99986930e-01 -1.85822289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.68, Y:-15.63, Z:-1.86 [[ 9.91154125e-01 1.32665889e-01 3.64162173e-03 1.40684017e+02] [-1.32665019e-01 9.91160815e-01 -4.80714278e-04 -1.56311439e+01] [-3.67320715e-03 -6.65387418e-06 9.99993254e-01 -1.86104541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.71, Y:-15.64, Z:-1.86 [[ 9.91398884e-01 1.30828567e-01 3.48408285e-03 1.40711180e+02] [-1.30827759e-01 9.91405006e-01 -4.59765276e-04 -1.56442866e+01] [-3.51428762e-03 -3.96991512e-09 9.99993825e-01 -1.86153656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.74, Y:-15.65, Z:-1.86 [[ 9.91417776e-01 1.30654729e-01 4.48722061e-03 1.40738604e+02] [-1.30653389e-01 9.91427931e-01 -5.91870995e-04 -1.56502048e+01] [-4.52608659e-03 5.20845983e-07 9.99989757e-01 -1.86035178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.77, Y:-15.66, Z:-1.86 [[ 9.91340921e-01 1.31231080e-01 4.64560089e-03 1.40767298e+02] [-1.31229651e-01 9.91351806e-01 -6.12393196e-04 -1.56557396e+01] [-4.68578985e-03 -2.55014985e-06 9.99989022e-01 -1.85997891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.80, Y:-15.66, Z:-1.86 [[ 9.91204413e-01 1.32296760e-01 3.37342137e-03 1.40795606e+02] [-1.32296013e-01 9.91210153e-01 -4.44635906e-04 -1.56596801e+01] [-3.40259341e-03 -5.56512460e-06 9.99994211e-01 -1.86223174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.82, Y:-15.66, Z:-1.87 [[ 9.90823676e-01 1.35151435e-01 1.59144403e-03 1.40824120e+02] [-1.35151272e-01 9.90824954e-01 -2.09762686e-04 -1.56618571e+01] [-1.60519219e-03 -7.24784937e-06 9.99998712e-01 -1.86634161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.85, Y:-15.66, Z:-1.87 [[ 9.90638672e-01 1.36501892e-01 1.50174917e-03 1.40852382e+02] [-1.36501749e-01 9.90639810e-01 -1.98099386e-04 -1.56642446e+01] [-1.51473345e-03 -8.74647483e-06 9.99998853e-01 -1.86675762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.88, Y:-15.67, Z:-1.87 [[ 9.90523681e-01 1.37329520e-01 1.85484885e-03 1.40879797e+02] [-1.37329303e-01 9.90525417e-01 -2.44459591e-04 -1.56667785e+01] [-1.87084645e-03 -1.25820864e-05 9.99998250e-01 -1.86707685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.91, Y:-15.67, Z:-1.86 [[ 9.90661074e-01 1.36300356e-01 3.58450105e-03 1.40907652e+02] [-1.36299541e-01 9.90667559e-01 -4.71731240e-04 -1.56737868e+01] [-3.61534604e-03 -2.12400698e-05 9.99993464e-01 -1.86435527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.94, Y:-15.68, Z:-1.86 [[ 9.90805322e-01 1.35218368e-01 4.56147646e-03 1.40936534e+02] [-1.35217039e-01 9.90815822e-01 -5.99917328e-04 -1.56804385e+01] [-4.60070289e-03 -2.23880614e-05 9.99989416e-01 -1.86245533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.96, Y:-15.69, Z:-1.86 [[ 9.91224904e-01 1.32086881e-01 5.12307646e-03 1.40964194e+02] [-1.32085163e-01 9.91238143e-01 -6.73630594e-04 -1.56920858e+01] [-5.16716656e-03 -8.96297011e-06 9.99986650e-01 -1.86169646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.99, Y:-15.70, Z:-1.86 [[ 9.91509617e-01 1.29947111e-01 4.73583621e-03 1.40993267e+02] [-1.29945620e-01 9.91520927e-01 -6.22559757e-04 -1.57013923e+01] [-4.77658055e-03 1.87281514e-06 9.99988592e-01 -1.86293837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.495769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.02, Y:-15.72, Z:-1.87 [[ 9.92184003e-01 1.24727316e-01 3.74186650e-03 1.41022273e+02] [-1.24726348e-01 9.92191058e-01 -4.91801611e-04 -1.57190554e+01] [-3.77398757e-03 2.12483481e-05 9.99992878e-01 -1.86548802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.05, Y:-15.73, Z:-1.87 [[ 9.92466583e-01 1.22471063e-01 3.30472507e-03 1.41053533e+02] [-1.22470298e-01 9.92472084e-01 -4.33749645e-04 -1.57300610e+01] [-3.33296915e-03 2.57513651e-05 9.99994445e-01 -1.86595559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.555769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.08, Y:-15.75, Z:-1.86 [[ 9.92774244e-01 1.19933415e-01 3.90856556e-03 1.41084314e+02] [-1.19932322e-01 9.92781937e-01 -5.13871456e-04 -1.57459787e+01] [-3.94198364e-03 4.13950047e-05 9.99992229e-01 -1.86434581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.11, Y:-15.76, Z:-1.86 [[ 9.92793307e-01 1.19767978e-01 4.13290086e-03 1.41114853e+02] [-1.19766751e-01 9.92801908e-01 -5.44155433e-04 -1.57553669e+01] [-4.16832426e-03 4.52497657e-05 9.99991311e-01 -1.86412438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.15, Y:-15.76, Z:-1.86 [[ 9.92770701e-01 1.19955218e-01 4.13281842e-03 1.41147051e+02] [-1.19953989e-01 9.92779303e-01 -5.44780507e-04 -1.57598148e+01] [-4.16832586e-03 4.50940689e-05 9.99991311e-01 -1.86438167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.645769231 meters Centerline goodness [0,1] 0.9998937616862145 Centerline is valid? [True, True] Translation: X:141.18, Y:-15.77, Z:-1.87 [[ 9.92768897e-01 1.19972532e-01 4.06317584e-03 1.41177773e+02] [-1.19971342e-01 9.92777210e-01 -5.36403392e-04 -1.57687484e+01] [-4.09818205e-03 4.50599460e-05 9.99991601e-01 -1.86570273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.675769231 meters Centerline goodness [0,1] 0.9999576495500264 Centerline is valid? [True, True] Translation: X:141.21, Y:-15.78, Z:-1.87 [[ 9.92703746e-01 1.20533428e-01 3.31135984e-03 1.41207879e+02] [-1.20532638e-01 9.92709268e-01 -4.37764165e-04 -1.57812809e+01] [-3.33998282e-03 3.54431893e-05 9.99994422e-01 -1.86886056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.705769231 meters Centerline goodness [0,1] 0.9999788068242026 Centerline is valid? [True, True] Translation: X:141.24, Y:-15.78, Z:-1.87 [[ 9.92493593e-01 1.22256943e-01 3.11575794e-03 1.41240124e+02] [-1.22256252e-01 9.92498483e-01 -4.11982448e-04 -1.57840229e+01] [-3.14275274e-03 2.79690530e-05 9.99995061e-01 -1.86779917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.27, Y:-15.78, Z:-1.87 [[ 9.91768398e-01 1.28009922e-01 2.98394387e-03 1.41272375e+02] [-1.28009313e-01 9.91772887e-01 -3.94991656e-04 -1.57846699e+01] [-3.00995748e-03 9.76763823e-06 9.99995470e-01 -1.86712485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.30, Y:-15.79, Z:-1.87 [[ 9.91323406e-01 1.31413010e-01 2.92001055e-03 1.41304191e+02] [-1.31412440e-01 9.91327706e-01 -3.86991083e-04 -1.57862084e+01] [-2.94554302e-03 -9.23926181e-08 9.99995662e-01 -1.86769513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.34, Y:-15.78, Z:-1.87 [[ 9.90596836e-01 1.36722285e-01 4.99259195e-03 1.41335808e+02] [-1.36720677e-01 9.90609417e-01 -6.63479490e-04 -1.57848403e+01] [-5.03642103e-03 -2.53498680e-05 9.99987317e-01 -1.86599998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.825769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.37, Y:-15.79, Z:-1.86 [[ 9.90371648e-01 1.38304716e-01 5.98364735e-03 1.41367638e+02] [-1.38302429e-01 9.90389723e-01 -7.96336021e-04 -1.57899426e+01] [-6.03627987e-03 -3.88843452e-05 9.99981781e-01 -1.86388782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.40, Y:-15.80, Z:-1.86 [[ 9.90255555e-01 1.39129243e-01 6.08184745e-03 1.41399830e+02] [-1.39126890e-01 9.90274231e-01 -8.10382875e-04 -1.57953208e+01] [-6.13544476e-03 -4.36623778e-05 9.99981177e-01 -1.86359960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.43, Y:-15.80, Z:-1.86 [[ 9.89934920e-01 1.41401867e-01 5.86233735e-03 1.41431100e+02] [-1.41399713e-01 9.89952276e-01 -7.82255502e-04 -1.57982376e+01] [-5.91404659e-03 -5.45507829e-05 9.99982510e-01 -1.86388243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.46, Y:-15.80, Z:-1.86 [[ 9.89649616e-01 1.43376219e-01 6.07435232e-03 1.41462077e+02] [-1.43373939e-01 9.89668255e-01 -8.11512120e-04 -1.57994668e+01] [-6.12794520e-03 -6.77911598e-05 9.99981222e-01 -1.86368375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.49, Y:-15.80, Z:-1.86 [[ 9.89142916e-01 1.46800345e-01 6.77873663e-03 1.41493781e+02] [-1.46797576e-01 9.89166138e-01 -9.06906560e-04 -1.57985103e+01] [-6.83843093e-03 -9.80419073e-05 9.99976613e-01 -1.86244354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97576923100002 meters Centerline goodness [0,1] 0.9999574567654379 Centerline is valid? [True, True] Translation: X:141.52, Y:-15.80, Z:-1.86 [[ 9.88952552e-01 1.48114394e-01 5.91415191e-03 1.41524118e+02] [-1.48112309e-01 9.88970231e-01 -7.91376818e-04 -1.57990715e+01] [-5.96613448e-03 -9.33245709e-05 9.99982198e-01 -1.86394929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.56, Y:-15.80, Z:-1.87 [[ 9.88820609e-01 1.49036275e-01 4.68964262e-03 1.41555489e+02] [-1.49034974e-01 9.88831726e-01 -6.27523068e-04 -1.58005773e+01] [-4.73079111e-03 -7.84130258e-05 9.99988807e-01 -1.86646242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.59, Y:-15.80, Z:-1.87 [[ 9.88746256e-01 1.49567639e-01 3.21905418e-03 1.41585946e+02] [-1.49567028e-01 9.88751495e-01 -4.30871114e-04 -1.58001077e+01] [-3.24728901e-03 -5.54421668e-05 9.99994726e-01 -1.86934310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06576923100002 meters Centerline goodness [0,1] 0.9999785329412018 Centerline is valid? [True, True] Translation: X:141.62, Y:-15.80, Z:-1.87 [[ 9.89115505e-01 1.47058936e-01 4.91809241e-03 1.41616047e+02] [-1.47057480e-01 9.89127729e-01 -6.58287757e-04 -1.58038672e+01] [-4.96142868e-03 -7.21196512e-05 9.99987689e-01 -1.86658181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.65, Y:-15.81, Z:-1.86 [[ 9.89354382e-01 1.45389399e-01 6.31111253e-03 1.41646092e+02] [-1.45386968e-01 9.89374507e-01 -8.44725552e-04 -1.58066166e+01] [-6.36686799e-03 -8.18205887e-05 9.99979728e-01 -1.86472380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12576923100002 meters Centerline goodness [0,1] 0.9999789376132103 Centerline is valid? [True, True] Translation: X:141.68, Y:-15.81, Z:-1.86 [[ 9.89586906e-01 1.43761512e-01 7.09817834e-03 1.41676658e+02] [-1.43758394e-01 9.89612359e-01 -9.50177369e-04 -1.58110007e+01] [-7.16104395e-03 -8.01396352e-05 9.99974356e-01 -1.86328330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.71, Y:-15.81, Z:-1.87 [[ 9.89876138e-01 1.41805559e-01 6.03443141e-03 1.41706737e+02] [-1.41803269e-01 9.89894530e-01 -8.07761253e-04 -1.58140474e+01] [-6.08799568e-03 -5.61185112e-05 9.99981466e-01 -1.86538958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.74, Y:-15.82, Z:-1.87 [[ 9.89829947e-01 1.42161648e-01 5.17124641e-03 1.41737138e+02] [-1.42159971e-01 9.89843454e-01 -6.92293262e-04 -1.58160228e+01] [-5.21714196e-03 -4.98916396e-05 9.99986389e-01 -1.86674654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.215769231 meters Centerline goodness [0,1] 0.9999576342992713 Centerline is valid? [True, True] Translation: X:141.77, Y:-15.81, Z:-1.87 [[ 9.89747114e-01 1.42739621e-01 5.10393170e-03 1.41768117e+02] [-1.42737995e-01 9.89760273e-01 -6.83314301e-04 -1.58099285e+01] [-5.14920485e-03 -5.22166182e-05 9.99986741e-01 -1.86763252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.245769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.80, Y:-15.81, Z:-1.87 [[ 9.89811649e-01 1.42273273e-01 5.58713346e-03 1.41798205e+02] [-1.42271318e-01 9.89827416e-01 -7.47955338e-04 -1.58106074e+01] [-5.63671192e-03 -5.45539331e-05 9.99984112e-01 -1.86713736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.83, Y:-15.81, Z:-1.87 [[ 9.89954064e-01 1.41280829e-01 5.53874061e-03 1.41827472e+02] [-1.41278892e-01 9.89969558e-01 -7.41349327e-04 -1.58121762e+01] [-5.58792304e-03 -4.86053565e-05 9.99984386e-01 -1.86773296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.86, Y:-15.82, Z:-1.87 [[ 9.90439704e-01 1.37882886e-01 4.18362696e-03 1.41856224e+02] [-1.37881751e-01 9.90448539e-01 -5.59959612e-04 -1.58150322e+01] [-4.22087606e-03 -2.22395796e-05 9.99991092e-01 -1.87056247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.89, Y:-15.82, Z:-1.87 [[ 9.91069864e-01 1.33272800e-01 4.34569020e-03 1.41885051e+02] [-1.33271531e-01 9.91079392e-01 -5.81408589e-04 -1.58206093e+01] [-4.38440995e-03 -2.94025597e-06 9.99990388e-01 -1.87108681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.91, Y:-15.83, Z:-1.87 [[ 9.91544706e-01 1.29633635e-01 5.84953702e-03 1.41914363e+02] [-1.29631275e-01 9.91561960e-01 -7.82486775e-04 -1.58290084e+01] [-5.90161499e-03 1.75876792e-05 9.99982585e-01 -1.86779553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.395769231 meters Centerline goodness [0,1] 0.999978813559322 Centerline is valid? [True, True] Translation: X:141.94, Y:-15.84, Z:-1.87 [[ 9.92104399e-01 1.25218514e-01 7.01321334e-03 1.41943490e+02] [-1.25215011e-01 9.92129186e-01 -9.38110485e-04 -1.58405643e+01] [-7.07548244e-03 5.25439516e-05 9.99974967e-01 -1.86552435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.425769231 meters Centerline goodness [0,1] 0.9999576594123126 Centerline is valid? [True, True] Translation: X:141.97, Y:-15.86, Z:-1.87 [[ 9.93142012e-01 1.16809955e-01 4.93747014e-03 1.41972487e+02] [-1.16808113e-01 9.93154282e-01 -6.60686538e-04 -1.58584781e+01] [-4.98084438e-03 7.94189863e-05 9.99987592e-01 -1.87030457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.455769231 meters Centerline goodness [0,1] 0.9999151283683428 Centerline is valid? [True, True] Translation: X:142.00, Y:-15.87, Z:-1.87 [[ 9.93476187e-01 1.13996032e-01 3.15750399e-03 1.42003436e+02] [-1.13995266e-01 9.93481203e-01 -4.22189324e-04 -1.58670605e+01] [-3.18504877e-03 5.94945323e-05 9.99994926e-01 -1.87387374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.485769231 meters Centerline goodness [0,1] 0.9999359986346376 Centerline is valid? [True, True] Translation: X:142.04, Y:-15.87, Z:-1.87 [[ 9.93513653e-01 1.13647820e-01 3.84640613e-03 1.42035938e+02] [-1.13646680e-01 9.93521096e-01 -5.14396981e-04 -1.58688509e+01] [-3.87994573e-03 7.39291379e-05 9.99992470e-01 -1.87185211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.515769231 meters Centerline goodness [0,1] 0.9998726006454901 Centerline is valid? [True, True] Translation: X:142.07, Y:-15.88, Z:-1.87 [[ 9.93363680e-01 1.14906595e-01 5.00743606e-03 1.42066374e+02] [-1.14904673e-01 9.93376296e-01 -6.70940934e-04 -1.58767381e+01] [-5.05136383e-03 9.11105523e-05 9.99987238e-01 -1.87006970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.545769231 meters Centerline goodness [0,1] 0.9999574585752877 Centerline is valid? [True, True] Translation: X:142.10, Y:-15.88, Z:-1.87 [[ 9.93201407e-01 1.16270179e-01 5.67545180e-03 1.42098665e+02] [-1.16267725e-01 9.93217618e-01 -7.61464029e-04 -1.58766670e+01] [-5.72549428e-03 9.64152752e-05 9.99983605e-01 -1.86873939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.13, Y:-15.88, Z:-1.87 [[ 9.92735231e-01 1.20240710e-01 4.35118605e-03 1.42129530e+02] [-1.20239304e-01 9.92744765e-01 -5.84217275e-04 -1.58785804e+01] [-4.38986388e-03 5.67894870e-05 9.99990363e-01 -1.87198454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.605769231 meters Centerline goodness [0,1] 0.999957538958006 Centerline is valid? [True, True] Translation: X:142.16, Y:-15.88, Z:-1.87 [[ 9.92482974e-01 1.22332419e-01 3.51063074e-03 1.42161317e+02] [-1.22331514e-01 9.92489183e-01 -4.72304006e-04 -1.58758026e+01] [-3.54204113e-03 3.92929102e-05 9.99993726e-01 -1.87321445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.19, Y:-15.88, Z:-1.87 [[ 9.92277334e-01 1.23983979e-01 3.69660484e-03 1.42192273e+02] [-1.23982986e-01 9.92284219e-01 -4.97423582e-04 -1.58768863e+01] [-3.72975520e-03 3.52660382e-05 9.99993044e-01 -1.87267845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.665769231 meters Centerline goodness [0,1] 0.9999787039206082 Centerline is valid? [True, True] Translation: X:142.22, Y:-15.88, Z:-1.87 [[ 9.92287768e-01 1.23815047e-01 5.90085738e-03 1.42223122e+02] [-1.23812513e-01 9.92305311e-01 -7.94286007e-04 -1.58824482e+01] [-5.95379668e-03 5.75603103e-05 9.99982274e-01 -1.86927486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.695769231 meters Centerline goodness [0,1] 0.9999576495500264 Centerline is valid? [True, True] Translation: X:142.25, Y:-15.89, Z:-1.87 [[ 9.92528044e-01 1.21741426e-01 8.19192527e-03 1.42252739e+02] [-1.21736469e-01 9.92561845e-01 -1.10299016e-03 -1.58939999e+01] [-8.26527205e-03 9.74926157e-05 9.99965837e-01 -1.86629984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72576923100002 meters Centerline goodness [0,1] 0.9999367915384939 Centerline is valid? [True, True] Translation: X:142.28, Y:-15.90, Z:-1.87 [[ 9.92753793e-01 1.19963578e-01 6.97468655e-03 1.42282723e+02] [-1.19959934e-01 9.92778289e-01 -9.40002631e-04 -1.59030600e+01] [-7.03708346e-03 9.65082363e-05 9.99975235e-01 -1.86876234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75576923100002 meters Centerline goodness [0,1] 0.999978696207925 Centerline is valid? [True, True] Translation: X:142.31, Y:-15.91, Z:-1.88 [[ 9.93020180e-01 1.17898621e-01 3.29205684e-03 1.42313668e+02] [-1.17897798e-01 9.93025635e-01 -4.43831980e-04 -1.59106401e+01] [-3.32142402e-03 5.26078601e-05 9.99994483e-01 -1.87530450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.35, Y:-15.92, Z:-1.87 [[ 9.92971775e-01 1.18308097e-01 3.20120500e-03 1.42345298e+02] [-1.18307320e-01 9.92976934e-01 -4.31474951e-04 -1.59158300e+01] [-3.22976971e-03 4.97164636e-05 9.99994783e-01 -1.87466819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.38, Y:-15.92, Z:-1.87 [[ 9.92816039e-01 1.19547918e-01 4.96070745e-03 1.42377749e+02] [-1.19546061e-01 9.92828429e-01 -6.70157388e-04 -1.59190605e+01] [-5.00524731e-03 7.23099668e-05 9.99987471e-01 -1.87193583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.41, Y:-15.92, Z:-1.87 [[ 9.92227923e-01 1.24215542e-01 7.36534396e-03 1.42407980e+02] [-1.24211563e-01 9.92255256e-01 -9.96980666e-04 -1.59205464e+01] [-7.43214175e-03 7.43711723e-05 9.99972378e-01 -1.86790266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.44, Y:-15.92, Z:-1.87 [[ 9.91920765e-01 1.26631592e-01 7.59184502e-03 1.42440491e+02] [-1.26627435e-01 9.91949816e-01 -1.02772280e-03 -1.59236662e+01] [-7.66087144e-03 5.80837314e-05 9.99970653e-01 -1.86815171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.47, Y:-15.93, Z:-1.87 [[ 9.91599574e-01 1.29181401e-01 6.51545549e-03 1.42471191e+02] [-1.29178393e-01 9.91620978e-01 -8.82207695e-04 -1.59302729e+01] [-6.57482717e-03 3.31407053e-05 9.99978385e-01 -1.87033605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.50, Y:-15.94, Z:-1.87 [[ 9.91525133e-01 1.29773044e-01 6.07187766e-03 1.42502624e+02] [-1.29770437e-01 9.91543724e-01 -8.22982934e-04 -1.59365779e+01] [-6.12733319e-03 2.80580431e-05 9.99981227e-01 -1.87112273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.53, Y:-15.94, Z:-1.87 [[ 9.91375680e-01 1.30932193e-01 5.56978619e-03 1.42534593e+02] [-1.30930013e-01 9.91391326e-01 -7.55749309e-04 -1.59425080e+01] [-5.62078963e-03 1.99793058e-05 9.99984203e-01 -1.87253702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.995769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.57, Y:-15.95, Z:-1.87 [[ 9.91193988e-01 1.32323079e-01 5.00814811e-03 1.42566430e+02] [-1.32321331e-01 9.91206640e-01 -6.80239913e-04 -1.59457798e+01] [-5.05412110e-03 1.15648897e-05 9.99987228e-01 -1.87409430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.60, Y:-15.94, Z:-1.87 [[ 9.90615252e-01 1.36601831e-01 4.62187822e-03 1.42597383e+02] [-1.36600384e-01 9.90626034e-01 -6.28980511e-04 -1.59434706e+01] [-4.66447278e-03 -8.27265066e-06 9.99989121e-01 -1.87450256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.055769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.63, Y:-15.94, Z:-1.87 [[ 9.90349760e-01 1.38514983e-01 4.57739560e-03 1.42627146e+02] [-1.38513583e-01 9.90360338e-01 -6.22965500e-04 -1.59441917e+01] [-4.61956110e-03 -1.70777326e-05 9.99989330e-01 -1.87453479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.66, Y:-15.94, Z:-1.88 [[ 9.90005073e-01 1.40965407e-01 4.32545344e-03 1.42657750e+02] [-1.40964181e-01 9.90014522e-01 -5.88589685e-04 -1.59435766e+01] [-4.36523250e-03 -2.70272279e-05 9.99990472e-01 -1.87632598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.69, Y:-15.95, Z:-1.88 [[ 9.90083906e-01 1.40411610e-01 4.29399391e-03 1.42686540e+02] [-1.40410396e-01 9.90093217e-01 -5.84350162e-04 -1.59482025e+01] [-4.33350380e-03 -2.43656965e-05 9.99990610e-01 -1.87737657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.72, Y:-15.96, Z:-1.88 [[ 9.90423284e-01 1.37982559e-01 4.74675711e-03 1.42717236e+02] [-1.37981048e-01 9.90434659e-01 -6.45791705e-04 -1.59582866e+01] [-4.79046075e-03 -1.53553802e-05 9.99988526e-01 -1.87731437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.75, Y:-15.97, Z:-1.88 [[ 9.90609376e-01 1.36650123e-01 4.45064556e-03 1.42748290e+02] [-1.36648782e-01 9.90619374e-01 -6.05598104e-04 -1.59659073e+01] [-4.49165078e-03 -8.26413452e-06 9.99989912e-01 -1.87698334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.78, Y:-15.97, Z:-1.88 [[ 9.90778107e-01 1.35418396e-01 4.53888599e-03 1.42778945e+02] [-1.35416988e-01 9.90788503e-01 -6.17713028e-04 -1.59729374e+01] [-4.58072577e-03 -2.62572348e-06 9.99989508e-01 -1.87680695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.81, Y:-15.98, Z:-1.88 [[ 9.90899375e-01 1.34549468e-01 3.85612550e-03 1.42809537e+02] [-1.34548445e-01 9.90906878e-01 -5.24587457e-04 -1.59786999e+01] [-3.89164424e-03 9.77692029e-07 9.99992428e-01 -1.87866489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.84, Y:-15.98, Z:-1.88 [[ 9.90813111e-01 1.35202727e-01 3.09856732e-03 1.42839861e+02] [-1.35202068e-01 9.90817956e-01 -4.22048154e-04 -1.59818043e+01] [-3.12717820e-03 -7.61864089e-07 9.99995110e-01 -1.88026340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.87, Y:-15.98, Z:-1.88 [[ 9.90340039e-01 1.38628673e-01 2.94933239e-03 1.42870614e+02] [-1.38628091e-01 9.90344430e-01 -4.01807459e-04 -1.59802170e+01] [-2.97655694e-03 -1.09343055e-05 9.99995570e-01 -1.87985165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.90, Y:-15.98, Z:-1.88 [[ 9.89999177e-01 1.41021896e-01 3.80186807e-03 1.42901250e+02] [-1.41020947e-01 9.90006477e-01 -5.17954148e-04 -1.59809717e+01] [-3.83691689e-03 -2.33688538e-05 9.99992639e-01 -1.87797091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.93, Y:-15.98, Z:-1.87 [[ 9.89357454e-01 1.45407443e-01 5.33891072e-03 1.42931331e+02] [-1.45405635e-01 9.89371857e-01 -7.27386115e-04 -1.59784139e+01] [-5.38793537e-03 -5.66628289e-05 9.99985483e-01 -1.87455360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.385769231 meters Centerline goodness [0,1] 0.9999786989306864 Centerline is valid? [True, True] Translation: X:142.96, Y:-15.98, Z:-1.87 [[ 9.89251939e-01 1.46061503e-01 6.82917835e-03 1.42961302e+02] [-1.46058561e-01 9.89275508e-01 -9.30302394e-04 -1.59848400e+01] [-6.89182025e-03 -7.71565152e-05 9.99976248e-01 -1.87198072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.99, Y:-15.99, Z:-1.87 [[ 9.89316410e-01 1.45556690e-01 8.14197217e-03 1.42991317e+02] [-1.45552491e-01 9.89349909e-01 -1.10914097e-03 -1.59900803e+01] [-8.21670231e-03 -8.77929637e-05 9.99966238e-01 -1.87029048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.02, Y:-16.00, Z:-1.87 [[ 9.89732124e-01 1.42718244e-01 7.86289695e-03 1.43021503e+02] [-1.42714237e-01 9.89763355e-01 -1.07122040e-03 -1.59992193e+01] [-7.93528996e-03 -6.19260955e-05 9.99968513e-01 -1.87191250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.05, Y:-16.01, Z:-1.87 [[ 9.90015333e-01 1.40782917e-01 7.05770295e-03 1.43052565e+02] [-1.40779633e-01 9.90040488e-01 -9.62468422e-04 -1.60088342e+01] [-7.12291079e-03 -4.07223369e-05 9.99974631e-01 -1.87429728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.08, Y:-16.02, Z:-1.88 [[ 9.90681127e-01 1.36140289e-01 4.08988111e-03 1.43082440e+02] [-1.36139145e-01 9.90689569e-01 -5.58159046e-04 -1.60223407e+01] [-4.12779049e-03 -3.83528347e-06 9.99991481e-01 -1.87923480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.11, Y:-16.03, Z:-1.88 [[ 9.90944010e-01 1.34258063e-01 2.17745054e-03 1.43112972e+02] [-1.34257736e-01 9.90946402e-01 -2.96670952e-04 -1.60310641e+01] [-2.19756725e-03 1.64472310e-06 9.99997585e-01 -1.88299082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.14, Y:-16.04, Z:-1.88 [[ 9.90922377e-01 1.34417642e-01 2.17740832e-03 1.43144326e+02] [-1.34417314e-01 9.90924769e-01 -2.96980118e-04 -1.60355136e+01] [-2.19756720e-03 1.60286676e-06 9.99997585e-01 -1.88324150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.18, Y:-16.05, Z:-1.88 [[ 9.91262539e-01 1.31898417e-01 1.17749564e-03 1.43175265e+02] [-1.31898320e-01 9.91263238e-01 -1.60139539e-04 -1.60465274e+01] [-1.18833030e-03 3.43062958e-06 9.99999294e-01 -1.88412175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.21, Y:-16.06, Z:-1.89 [[ 9.91327414e-01 1.31401992e-01 1.86381922e-03 1.43205892e+02] [-1.31401745e-01 9.91329167e-01 -2.54894244e-04 -1.60565189e+01] [-1.88115196e-03 7.77455431e-06 9.99998231e-01 -1.88602922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.24, Y:-16.07, Z:-1.88 [[ 9.91553835e-01 1.29679423e-01 2.05890922e-03 1.43237157e+02] [-1.29679117e-01 9.91555973e-01 -2.81654669e-04 -1.60671978e+01] [-2.07804855e-03 1.22782372e-05 9.99997841e-01 -1.88333945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.27, Y:-16.07, Z:-1.88 [[ 9.91655442e-01 1.28908528e-01 1.44101141e-03 1.43268248e+02] [-1.28908378e-01 9.91656489e-01 -1.96979793e-04 -1.60749207e+01] [-1.45438069e-03 9.57764019e-06 9.99998942e-01 -1.88446220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.30, Y:-16.08, Z:-1.88 [[ 9.91718178e-01 1.28422292e-01 1.66437731e-03 1.43299692e+02] [-1.28422090e-01 9.91719575e-01 -2.28304249e-04 -1.60822365e+01] [-1.67991491e-03 1.26706612e-05 9.99998589e-01 -1.88411457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.745769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.33, Y:-16.09, Z:-1.88 [[ 9.91758004e-01 1.28045050e-01 4.53059521e-03 1.43330703e+02] [-1.28043538e-01 9.91768352e-01 -6.23495663e-04 -1.60911402e+01] [-4.57313648e-03 3.82433735e-05 9.99989542e-01 -1.87888822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.36, Y:-16.10, Z:-1.88 [[ 9.91707214e-01 1.28404130e-01 5.40195195e-03 1.43363317e+02] [-1.28401979e-01 9.91721925e-01 -7.44516251e-04 -1.60969185e+01] [-5.45283315e-03 4.47208151e-05 9.99985132e-01 -1.87720946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.40, Y:-16.10, Z:-1.88 [[ 9.91666275e-01 1.28747850e-01 4.68936627e-03 1.43395096e+02] [-1.28746229e-01 9.91677362e-01 -6.47064921e-04 -1.61040027e+01] [-4.73364659e-03 3.79342360e-05 9.99988796e-01 -1.87953739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.43, Y:-16.11, Z:-1.88 [[ 9.91708839e-01 1.28435226e-01 4.23917985e-03 1.43426483e+02] [-1.28433896e-01 9.91717899e-01 -5.85809252e-04 -1.61104859e+01] [-4.27930908e-03 3.64978313e-05 9.99990843e-01 -1.88052389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.46, Y:-16.12, Z:-1.88 [[ 9.91739676e-01 1.28100302e-01 6.53671145e-03 1.43457240e+02] [-1.28097122e-01 9.91761216e-01 -9.04534238e-04 -1.61187035e+01] [-6.59872801e-03 5.97285651e-05 9.99978226e-01 -1.87555990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.49, Y:-16.12, Z:-1.87 [[ 9.91692662e-01 1.28380097e-01 8.01337460e-03 1.43489855e+02] [-1.28375314e-01 9.91725035e-01 -1.11059523e-03 -1.61235781e+01] [-8.08964253e-03 7.26496595e-05 9.99967276e-01 -1.87267981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.52, Y:-16.14, Z:-1.87 [[ 9.91802364e-01 1.27511900e-01 8.29368871e-03 1.43519241e+02] [-1.27506732e-01 9.91837037e-01 -1.15112719e-03 -1.61354538e+01] [-8.37277005e-03 8.41895258e-05 9.99964944e-01 -1.87336593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.55, Y:-16.14, Z:-1.88 [[ 9.91985551e-01 1.26189184e-01 6.39977968e-03 1.43549926e+02] [-1.26186073e-01 9.92006192e-01 -8.89102708e-04 -1.61446675e+01] [-6.46081621e-03 7.44139728e-05 9.99979126e-01 -1.87716089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.985769231 meters Centerline goodness [0,1] 0.9999788659466999 Centerline is valid? [True, True] Translation: X:143.58, Y:-16.16, Z:-1.88 [[ 9.92178266e-01 1.24754981e-01 4.29923704e-03 1.43580251e+02] [-1.24753564e-01 9.92187579e-01 -5.97214186e-04 -1.61554024e+01] [-4.34015503e-03 5.61977919e-05 9.99990580e-01 -1.88161937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.61, Y:-16.17, Z:-1.88 [[ 9.92368031e-01 1.23253687e-01 3.77087493e-03 1.43610481e+02] [-1.23252584e-01 9.92375194e-01 -5.24503285e-04 -1.61676525e+01] [-3.80676970e-03 5.57302140e-05 9.99992753e-01 -1.88137024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.64, Y:-16.17, Z:-1.88 [[ 9.92325337e-01 1.23575914e-01 4.40673496e-03 1.43642741e+02] [-1.23574409e-01 9.92335120e-01 -6.13096844e-04 -1.61733096e+01] [-4.44872187e-03 6.38318633e-05 9.99990102e-01 -1.87971827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.67, Y:-16.18, Z:-1.88 [[ 9.92146429e-01 1.24999658e-01 4.53306222e-03 1.43673193e+02] [-1.24998077e-01 9.92156783e-01 -6.31722920e-04 -1.61800707e+01] [-4.57647358e-03 6.01375805e-05 9.99989526e-01 -1.88032757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.71, Y:-16.18, Z:-1.88 [[ 9.92007672e-01 1.26125695e-01 3.61768964e-03 1.43705035e+02] [-1.26124694e-01 9.92014268e-01 -5.04432905e-04 -1.61844690e+01] [-3.65242169e-03 4.41213135e-05 9.99993329e-01 -1.88250188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.74, Y:-16.19, Z:-1.88 [[ 9.91858240e-01 1.27320640e-01 2.58564307e-03 1.43737110e+02] [-1.27320132e-01 9.91861610e-01 -3.60557989e-04 -1.61874632e+01] [-2.61050657e-03 2.84179952e-05 9.99996592e-01 -1.88473204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.77, Y:-16.19, Z:-1.89 [[ 9.91273360e-01 1.31804727e-01 2.15403057e-03 1.43768921e+02] [-1.31804384e-01 9.91275700e-01 -3.00943115e-04 -1.61873653e+01] [-2.17490388e-03 1.44062202e-05 9.99997635e-01 -1.88589175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.80, Y:-16.19, Z:-1.88 [[ 9.90828608e-01 1.35093435e-01 2.90395010e-03 1.43801638e+02] [-1.35092825e-01 9.90832864e-01 -4.05941630e-04 -1.61872883e+01] [-2.93216924e-03 9.91575666e-06 9.99995701e-01 -1.88362493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.83, Y:-16.18, Z:-1.88 [[ 9.89964559e-01 1.41223986e-01 5.09484592e-03 1.43833980e+02] [-1.41222181e-01 9.89977669e-01 -7.14091194e-04 -1.61814872e+01] [-5.14463049e-03 -1.25802813e-05 9.99986766e-01 -1.87824382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.87, Y:-16.18, Z:-1.88 [[ 9.89643450e-01 1.43419203e-01 6.06413445e-03 1.43866734e+02] [-1.43416680e-01 9.89662029e-01 -8.51179793e-04 -1.61820175e+01] [-6.12351913e-03 -2.73335210e-05 9.99981251e-01 -1.87715311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.90, Y:-16.18, Z:-1.88 [[ 9.89333839e-01 1.45519325e-01 6.53300855e-03 1.43899373e+02] [-1.45516437e-01 9.89355408e-01 -9.17760408e-04 -1.61841721e+01] [-6.59701922e-03 -4.26887022e-05 9.99978239e-01 -1.87703212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31576923100002 meters Centerline goodness [0,1] 0.9999788887012329 Centerline is valid? [True, True] Translation: X:143.93, Y:-16.18, Z:-1.88 [[ 9.88779392e-01 1.49223462e-01 6.90447599e-03 1.43930592e+02] [-1.49220318e-01 9.88803496e-01 -9.71186327e-04 -1.61845184e+01] [-6.97209378e-03 -6.99990756e-05 9.99975692e-01 -1.87794073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.96, Y:-16.19, Z:-1.88 [[ 9.88535703e-01 1.50863731e-01 6.10723396e-03 1.43962124e+02] [-1.50861297e-01 9.88554566e-01 -8.59857356e-04 -1.61870393e+01] [-6.16705530e-03 -7.13455413e-05 9.99980981e-01 -1.87999019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37576923100002 meters Centerline goodness [0,1] 0.999978787493106 Centerline is valid? [True, True] Translation: X:143.99, Y:-16.19, Z:-1.88 [[ 9.88470273e-01 1.51316643e-01 5.45826610e-03 1.43994688e+02] [-1.51314702e-01 9.88485341e-01 -7.69107350e-04 -1.61908202e+01] [-5.51179477e-03 -6.56761576e-05 9.99984808e-01 -1.88183686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.03, Y:-16.20, Z:-1.88 [[ 9.88481751e-01 1.51283026e-01 4.15609485e-03 1.44026869e+02] [-1.51281899e-01 9.88490487e-01 -5.86038198e-04 -1.61956611e+01] [-4.19691785e-03 -4.94538574e-05 9.99991192e-01 -1.88470224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.06, Y:-16.20, Z:-1.89 [[ 9.88708871e-01 1.49836823e-01 1.92210402e-03 1.44057285e+02] [-1.49836579e-01 9.88710739e-01 -2.70817539e-04 -1.62021888e+01] [-1.94098332e-03 -2.02417879e-05 9.99998116e-01 -1.88950012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.09, Y:-16.21, Z:-1.89 [[ 9.88775764e-01 1.49388006e-01 2.39008179e-03 1.44089144e+02] [-1.49387627e-01 9.88778652e-01 -3.37304196e-04 -1.62091131e+01] [-2.41365105e-03 -2.35304317e-05 9.99997087e-01 -1.88851561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.495769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.12, Y:-16.21, Z:-1.88 [[ 9.88520601e-01 1.51015088e-01 4.63307815e-03 1.44120680e+02] [-1.51013673e-01 9.88531457e-01 -6.55782935e-04 -1.62126604e+01] [-4.67897661e-03 -5.14032080e-05 9.99989052e-01 -1.88369291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.15, Y:-16.21, Z:-1.88 [[ 9.88252776e-01 1.52733388e-01 5.38176847e-03 1.44152615e+02] [-1.52731498e-01 9.88267427e-01 -7.62947710e-04 -1.62148053e+01] [-5.43515407e-03 -6.79803691e-05 9.99985227e-01 -1.88195619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.555769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.18, Y:-16.22, Z:-1.88 [[ 9.87987901e-01 1.54419113e-01 5.88595255e-03 1.44184079e+02] [-1.54416875e-01 9.88005430e-01 -8.35630800e-04 -1.62155369e+01] [-5.94439045e-03 -8.32972782e-05 9.99982328e-01 -1.88158233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.22, Y:-16.21, Z:-1.88 [[ 9.87675886e-01 1.56394374e-01 6.09456840e-03 1.44216305e+02] [-1.56392008e-01 9.87694685e-01 -8.65832936e-04 -1.62135692e+01] [-6.15498422e-03 -9.79794796e-05 9.99981053e-01 -1.88190513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.25, Y:-16.22, Z:-1.88 [[ 9.87689148e-01 1.56289839e-01 6.60559635e-03 1.44249243e+02] [-1.56287054e-01 9.87711231e-01 -9.38932510e-04 -1.62180851e+01] [-6.67116731e-03 -1.04995744e-04 9.99977742e-01 -1.88165327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.645769231 meters Centerline goodness [0,1] 0.9999788234297573 Centerline is valid? [True, True] Translation: X:144.28, Y:-16.22, Z:-1.88 [[ 9.87908130e-01 1.54886278e-01 6.91133817e-03 1.44279530e+02] [-1.54883185e-01 9.87932301e-01 -9.83758338e-04 -1.62246687e+01] [-6.98030489e-03 -9.85872082e-05 9.99975633e-01 -1.88160508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.31, Y:-16.23, Z:-1.88 [[ 9.88206689e-01 1.53017866e-01 5.75085256e-03 1.44309732e+02] [-1.53015688e-01 9.88223420e-01 -8.19352547e-04 -1.62323022e+01] [-5.80850276e-03 -7.02809930e-05 9.99983128e-01 -1.88489859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.34, Y:-16.24, Z:-1.89 [[ 9.88617693e-01 1.50409979e-01 3.44889379e-03 1.44340700e+02] [-1.50409181e-01 9.88623709e-01 -4.91113289e-04 -1.62422653e+01] [-3.48352651e-03 -3.32220022e-05 9.99993932e-01 -1.88995907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.37, Y:-16.26, Z:-1.90 [[ 9.89567893e-01 1.44066390e-01 5.11095740e-04 1.44370118e+02] [-1.44066372e-01 9.89568025e-01 -7.18012938e-05 -1.62605993e+01] [-5.16108155e-04 -2.57945410e-06 9.99999867e-01 -1.89609481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.40, Y:-16.27, Z:-1.89 [[ 9.89918478e-01 1.41628450e-01 1.67021124e-03 1.44401326e+02] [-1.41628251e-01 9.89919887e-01 -2.37717660e-04 -1.62722279e+01] [-1.68704291e-03 -1.22799301e-06 9.99998577e-01 -1.89369320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.795769231 meters Centerline goodness [0,1] 0.9999572622176636 Centerline is valid? [True, True] Translation: X:144.43, Y:-16.29, Z:-1.89 [[ 9.90436243e-01 1.37871054e-01 5.25558627e-03 1.44430677e+02] [-1.37869007e-01 9.90450187e-01 -7.51544720e-04 -1.62873010e+01] [-5.30901267e-03 1.97746696e-05 9.99985907e-01 -1.88606691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.825769231 meters Centerline goodness [0,1] 0.99991503101368 Centerline is valid? [True, True] Translation: X:144.46, Y:-16.30, Z:-1.89 [[ 9.90576692e-01 1.36834581e-01 5.84073034e-03 1.44461483e+02] [-1.36832028e-01 9.90593911e-01 -8.36273200e-04 -1.62961976e+01] [-5.90022301e-03 2.91937610e-05 9.99982593e-01 -1.88518621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.855769231 meters Centerline goodness [0,1] 0.9999785444558874 Centerline is valid? [True, True] Translation: X:144.49, Y:-16.31, Z:-1.89 [[ 9.90534096e-01 1.37220004e-01 3.58809307e-03 1.44493835e+02] [-1.37219045e-01 9.90540595e-01 -5.13525988e-04 -1.63054121e+01] [-3.62461789e-03 1.63102970e-05 9.99993431e-01 -1.88988597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.885769231 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:144.53, Y:-16.31, Z:-1.89 [[ 9.90387338e-01 1.38301675e-01 2.35951075e-03 1.44526129e+02] [-1.38301263e-01 9.90390149e-01 -3.37632909e-04 -1.63103634e+01] [-2.38353140e-03 8.06403986e-06 9.99997159e-01 -1.89253392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.915769231 meters Centerline goodness [0,1] 0.9999788279132791 Centerline is valid? [True, True] Translation: X:144.56, Y:-16.31, Z:-1.89 [[ 9.90175213e-01 1.39814721e-01 2.21148868e-03 1.44558713e+02] [-1.39814363e-01 9.90177683e-01 -3.16763078e-04 -1.63145163e+01] [-2.23405488e-03 4.45306809e-06 9.99997504e-01 -1.89320270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.945769231 meters Centerline goodness [0,1] 0.9999786087105331 Centerline is valid? [True, True] Translation: X:144.59, Y:-16.32, Z:-1.89 [[ 9.89869237e-01 1.41939606e-01 3.47012527e-03 1.44589754e+02] [-1.41938730e-01 9.89875320e-01 -4.98596172e-04 -1.63170712e+01] [-3.50576190e-03 9.99838250e-07 9.99993855e-01 -1.89057399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.62, Y:-16.32, Z:-1.89 [[ 9.89729002e-01 1.42896317e-01 4.14079158e-03 1.44621417e+02] [-1.42895075e-01 9.89737664e-01 -5.95691802e-04 -1.63210499e+01] [-4.18341955e-03 -2.12527251e-06 9.99991249e-01 -1.88960521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.65, Y:-16.32, Z:-1.89 [[ 9.89492468e-01 1.44532779e-01 3.86419098e-03 1.44653953e+02] [-1.44531709e-01 9.89500013e-01 -5.56318445e-04 -1.63246195e+01] [-3.90402328e-03 -8.02521452e-06 9.99992379e-01 -1.88925105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.69, Y:-16.33, Z:-1.89 [[ 9.89311157e-01 1.45785705e-01 3.15640010e-03 1.44686177e+02] [-1.45784996e-01 9.89316192e-01 -4.54819949e-04 -1.63271398e+01] [-3.18898397e-03 -1.01973244e-05 9.99994915e-01 -1.89282026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.72, Y:-16.33, Z:-1.89 [[ 9.89219570e-01 1.46421706e-01 2.30806510e-03 1.44718630e+02] [-1.46421329e-01 9.89222262e-01 -3.32592732e-04 -1.63322952e+01] [-2.33188818e-03 -8.94271959e-06 9.99997281e-01 -1.89334073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.75, Y:-16.34, Z:-1.89 [[ 9.89197360e-01 1.46555532e-01 3.17147289e-03 1.44749924e+02] [-1.46554816e-01 9.89202444e-01 -4.58215729e-04 -1.63377315e+01] [-3.20438278e-03 -1.15288365e-05 9.99994866e-01 -1.89367863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.78, Y:-16.34, Z:-1.89 [[ 9.89252626e-01 1.46136465e-01 4.83475192e-03 1.44781088e+02] [-1.46134788e-01 9.89264441e-01 -7.00154822e-04 -1.63446512e+01] [-4.88516630e-03 -1.38954509e-05 9.99988067e-01 -1.88985943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.81, Y:-16.36, Z:-1.88 [[ 9.89471347e-01 1.44525350e-01 7.67312158e-03 1.44812156e+02] [-1.44521064e-01 9.89501098e-01 -1.11308714e-03 -1.63551706e+01] [-7.75343153e-03 -7.55986331e-06 9.99969942e-01 -1.88321789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18576923100002 meters Centerline goodness [0,1] 0.9999785917663934 Centerline is valid? [True, True] Translation: X:144.85, Y:-16.36, Z:-1.88 [[ 9.89513719e-01 1.44236072e-01 7.65211724e-03 1.44845010e+02] [-1.44231791e-01 9.89543306e-01 -1.11132629e-03 -1.63618154e+01] [-7.73239473e-03 -4.00595927e-06 9.99970105e-01 -1.88346117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.215769231 meters Centerline goodness [0,1] 0.9999788462758868 Centerline is valid? [True, True] Translation: X:144.88, Y:-16.37, Z:-1.89 [[ 9.89451357e-01 1.44710685e-01 6.69555063e-03 1.44876426e+02] [-1.44707411e-01 9.89474011e-01 -9.73525418e-04 -1.63662990e+01] [-6.76595286e-03 -5.63974833e-06 9.99977111e-01 -1.88513357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.245769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.91, Y:-16.37, Z:-1.89 [[ 9.89080154e-01 1.47298452e-01 4.85944108e-03 1.44909487e+02] [-1.47296757e-01 9.89092092e-01 -7.06985526e-04 -1.63679998e+01] [-4.91057261e-03 -1.65145556e-05 9.99987943e-01 -1.88948280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.94, Y:-16.37, Z:-1.89 [[ 9.88868624e-01 1.48728485e-01 4.32237917e-03 1.44942749e+02] [-1.48727154e-01 9.88878070e-01 -6.29543470e-04 -1.63709350e+01] [-4.36793702e-03 -2.03193670e-05 9.99990460e-01 -1.88994576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.97, Y:-16.37, Z:-1.89 [[ 9.88492551e-01 1.51227820e-01 3.55298439e-03 1.44973824e+02] [-1.51226935e-01 9.88498936e-01 -5.18183584e-04 -1.63701801e+01] [-3.59048506e-03 -2.50863257e-05 9.99993554e-01 -1.89081674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.01, Y:-16.37, Z:-1.89 [[ 9.88279208e-01 1.52618291e-01 3.44458151e-03 1.45005696e+02] [-1.52617466e-01 9.88285210e-01 -5.02666573e-04 -1.63731024e+01] [-3.48094508e-03 -2.89283794e-05 9.99993941e-01 -1.89056827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.04, Y:-16.37, Z:-1.89 [[ 9.87949361e-01 1.54729637e-01 3.84706247e-03 1.45036642e+02] [-1.54728620e-01 9.87956850e-01 -5.62357471e-04 -1.63735184e+01] [-3.88774509e-03 -3.96699652e-05 9.99992442e-01 -1.89019550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.07, Y:-16.37, Z:-1.89 [[ 9.87023761e-01 1.60485391e-01 5.34181259e-03 1.45068882e+02] [-1.60483507e-01 9.87038212e-01 -7.82243109e-04 -1.63667371e+01] [-5.39811173e-03 -8.51802833e-05 9.99985426e-01 -1.88789279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.10, Y:-16.37, Z:-1.89 [[ 9.86994423e-01 1.60665718e-01 5.34185282e-03 1.45101007e+02] [-1.60663838e-01 9.87008875e-01 -7.81968684e-04 -1.63716402e+01] [-5.39809171e-03 -8.64438477e-05 9.99985426e-01 -1.88814994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.13, Y:-16.36, Z:-1.89 [[ 9.85886125e-01 1.67312423e-01 5.92463204e-03 1.45133328e+02] [-1.67310221e-01 9.85903918e-01 -8.68875943e-04 -1.63635930e+01] [-5.98649168e-03 -1.34638758e-04 9.99982072e-01 -1.88661590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.485769231 meters Centerline goodness [0,1] 0.9999785158767671 Centerline is valid? [True, True] Translation: X:145.17, Y:-16.36, Z:-1.89 [[ 9.85354355e-01 1.70403852e-01 6.27074576e-03 1.45165029e+02] [-1.70401448e-01 9.85374295e-01 -9.19604165e-04 -1.63582927e+01] [-6.33573577e-03 -1.62408186e-04 9.99979916e-01 -1.88636664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.515769231 meters Centerline goodness [0,1] 0.9999153026870222 Centerline is valid? [True, True] Translation: X:145.20, Y:-16.35, Z:-1.89 [[ 9.84847974e-01 1.73296956e-01 6.52940935e-03 1.45196197e+02] [-1.73294408e-01 9.84869600e-01 -9.58235269e-04 -1.63515073e+01] [-6.59667603e-03 -1.87794066e-04 9.99978224e-01 -1.88595670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.545769231 meters Centerline goodness [0,1] 0.9998522427440634 Centerline is valid? [True, True] Translation: X:145.23, Y:-16.34, Z:-1.89 [[ 9.84040658e-01 1.77844162e-01 5.95286437e-03 1.45228017e+02] [-1.77842128e-01 9.84058644e-01 -8.73610490e-04 -1.63449150e+01] [-6.01333416e-03 -1.99001823e-04 9.99981900e-01 -1.88756485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.575769231 meters Centerline goodness [0,1] 0.9998304438133186 Centerline is valid? [True, True] Translation: X:145.26, Y:-16.35, Z:-1.89 [[ 9.83873170e-01 1.78797460e-01 5.00531478e-03 1.45258979e+02] [-1.78796034e-01 9.83885887e-01 -7.34598385e-04 -1.63455948e+01] [-5.05600290e-03 -1.72178789e-04 9.99987204e-01 -1.88888532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.605769231 meters Centerline goodness [0,1] 0.9997042857444607 Centerline is valid? [True, True] Translation: X:145.29, Y:-16.34, Z:-1.89 [[ 9.83789976e-01 1.79307323e-01 2.48320821e-03 1.45288745e+02] [-1.79306973e-01 9.83793107e-01 -3.64600071e-04 -1.63378953e+01] [-2.50833858e-03 -8.65666533e-05 9.99996850e-01 -1.89347292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.635769231 meters Centerline goodness [0,1] 0.9995764596260138 Centerline is valid? [True, True] Translation: X:145.32, Y:-16.34, Z:-1.89 [[ 9.83862751e-01 1.78912149e-01 2.12856573e-03 1.45318477e+02] [-1.78911892e-01 9.83865050e-01 -3.12469549e-04 -1.63406875e+01] [-2.15012602e-03 -7.33985707e-05 9.99997686e-01 -1.89454655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.665769231 meters Centerline goodness [0,1] 0.9998943386657086 Centerline is valid? [True, True] Translation: X:145.35, Y:-16.34, Z:-1.89 [[ 9.84253367e-01 1.76706595e-01 4.48215326e-03 1.45347676e+02] [-1.76705430e-01 9.84263561e-01 -6.57698809e-04 -1.63376776e+01] [-4.52783984e-03 -1.44678552e-04 9.99989739e-01 -1.89197774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.695769231 meters Centerline goodness [0,1] 0.9998718195218869 Centerline is valid? [True, True] Translation: X:145.38, Y:-16.35, Z:-1.89 [[ 9.84497212e-01 1.75321310e-01 5.26096273e-03 1.45376655e+02] [-1.75319687e-01 9.84511255e-01 -7.71716250e-04 -1.63462001e+01] [-5.31477533e-03 -1.62597845e-04 9.99985863e-01 -1.89008994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72576923100002 meters Centerline goodness [0,1] 0.9999358700299273 Centerline is valid? [True, True] Translation: X:145.41, Y:-16.35, Z:-1.89 [[ 9.84772774e-01 1.73786800e-01 4.55325966e-03 1.45406274e+02] [-1.73785569e-01 9.84783291e-01 -6.67742879e-04 -1.63529009e+01] [-4.60001893e-03 -1.33715812e-04 9.99989411e-01 -1.89105665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.44, Y:-16.36, Z:-1.90 [[ 9.85553568e-01 1.69358618e-01 1.35054008e-03 1.45435189e+02] [-1.69358505e-01 9.85554492e-01 -1.98137737e-04 -1.63595975e+01] [-1.36458718e-03 -3.34500954e-05 9.99999068e-01 -1.89652082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.46, Y:-16.37, Z:-1.90 [[ 9.85868579e-01 1.67515455e-01 1.31053918e-03 1.45462929e+02] [-1.67515347e-01 9.85869450e-01 -1.92412968e-04 -1.63655032e+01] [-1.32425269e-03 -2.98415267e-05 9.99999123e-01 -1.89696232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81576923100002 meters Centerline goodness [0,1] 0.9999577943317788 Centerline is valid? [True, True] Translation: X:145.49, Y:-16.37, Z:-1.89 [[ 9.86389261e-01 1.64369494e-01 4.34697071e-03 1.45492365e+02] [-1.64368281e-01 9.86398835e-01 -6.37279801e-04 -1.63730497e+01] [-4.39259620e-03 -8.58981505e-05 9.99990349e-01 -1.89113654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.52, Y:-16.38, Z:-1.89 [[ 9.86654485e-01 1.62709765e-01 6.20161581e-03 1.45522164e+02] [-1.62707264e-01 9.86673968e-01 -9.09176702e-04 -1.63802514e+01] [-6.26690481e-03 -1.12004668e-04 9.99980356e-01 -1.88774192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.55, Y:-16.39, Z:-1.89 [[ 9.86883840e-01 1.61268487e-01 7.26370110e-03 1.45553492e+02] [-1.61265016e-01 9.86910564e-01 -1.06486142e-03 -1.63862027e+01] [-7.34035194e-03 -1.20486345e-04 9.99973052e-01 -1.88634619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.58, Y:-16.39, Z:-1.89 [[ 9.87092800e-01 1.60047560e-01 5.70804364e-03 1.45583740e+02] [-1.60045397e-01 9.87109300e-01 -8.36693312e-04 -1.63919786e+01] [-5.76837369e-03 -8.76521655e-05 9.99983359e-01 -1.88980139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.62, Y:-16.40, Z:-1.89 [[ 9.87158931e-01 1.59697657e-01 3.72881409e-03 1.45615130e+02] [-1.59696731e-01 9.87165972e-01 -5.46676572e-04 -1.64008493e+01] [-3.76826135e-03 -5.58227597e-05 9.99992899e-01 -1.89336818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.965769231 meters Centerline goodness [0,1] 0.9999578139171887 Centerline is valid? [True, True] Translation: X:145.65, Y:-16.40, Z:-1.89 [[ 9.87225782e-01 1.59297690e-01 3.08249271e-03 1.45645070e+02] [-1.59297053e-01 9.87230593e-01 -4.52718793e-04 -1.64045655e+01] [-3.11524816e-03 -4.40963394e-05 9.99995147e-01 -1.89448996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.995769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.68, Y:-16.41, Z:-1.90 [[ 9.87259288e-01 1.59100555e-01 2.47215224e-03 1.45676092e+02] [-1.59100144e-01 9.87262383e-01 -3.63346154e-04 -1.64092149e+01] [-2.49847149e-03 -3.46029122e-05 9.99996878e-01 -1.89574194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.71, Y:-16.41, Z:-1.90 [[ 9.87224103e-01 1.59327744e-01 1.79986262e-03 1.45706014e+02] [-1.59327527e-01 9.87225744e-01 -2.64671245e-04 -1.64125973e+01] [-1.81904018e-03 -2.54778263e-05 9.99998345e-01 -1.89802452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.055769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.74, Y:-16.42, Z:-1.90 [[ 9.87210871e-01 1.59401980e-01 2.38857138e-03 1.45735832e+02] [-1.59401597e-01 9.87213760e-01 -3.51241342e-04 -1.64170085e+01] [-2.41401910e-03 -3.39928209e-05 9.99997086e-01 -1.89738301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.085769231 meters Centerline goodness [0,1] 0.9999786830380935 Centerline is valid? [True, True] Translation: X:145.77, Y:-16.42, Z:-1.89 [[ 9.87326848e-01 1.58652624e-01 3.87807107e-03 1.45767008e+02] [-1.58651608e-01 9.87334463e-01 -5.70178729e-04 -1.64234249e+01] [-3.91941357e-03 -5.23094440e-05 9.99992318e-01 -1.89474652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.80, Y:-16.43, Z:-1.90 [[ 9.87443971e-01 1.57914076e-01 4.18908483e-03 1.45797060e+02] [-1.57912883e-01 9.87452855e-01 -6.16065329e-04 -1.64293338e+01] [-4.23380916e-03 -5.31804668e-05 9.99991036e-01 -1.89502001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.83, Y:-16.44, Z:-1.90 [[ 9.87605826e-01 1.56913738e-01 3.57933414e-03 1.45827252e+02] [-1.56912860e-01 9.87612311e-01 -5.26371339e-04 -1.64361901e+01] [-3.61758935e-03 -4.17961560e-05 9.99993456e-01 -1.89622166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.86, Y:-16.44, Z:-1.90 [[ 9.87731254e-01 1.56121305e-01 3.62037152e-03 1.45858128e+02] [-1.56120404e-01 9.87737889e-01 -5.31946030e-04 -1.64433748e+01] [-3.65902622e-03 -3.97941433e-05 9.99993305e-01 -1.89646261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.89, Y:-16.45, Z:-1.89 [[ 9.87612176e-01 1.56850932e-01 4.46931675e-03 1.45888040e+02] [-1.56849560e-01 9.87622287e-01 -6.58133256e-04 -1.64461497e+01] [-4.51722564e-03 -5.10299470e-05 9.99989796e-01 -1.89489685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.92, Y:-16.45, Z:-1.89 [[ 9.87194315e-01 1.59409008e-01 6.01266563e-03 1.45919267e+02] [-1.59406571e-01 9.87212622e-01 -8.85481697e-04 -1.64477041e+01] [-6.07693316e-03 -8.43159128e-05 9.99981532e-01 -1.89237181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.95, Y:-16.45, Z:-1.89 [[ 9.86970959e-01 1.60782091e-01 6.11924422e-03 1.45949098e+02] [-1.60779592e-01 9.86989924e-01 -9.01345673e-04 -1.64507661e+01] [-6.18455263e-03 -9.42475860e-05 9.99980871e-01 -1.89264815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.98, Y:-16.46, Z:-1.89 [[ 9.86818199e-01 1.61720635e-01 6.02314347e-03 1.45980224e+02] [-1.61718231e-01 9.86836575e-01 -8.87238232e-04 -1.64554543e+01] [-6.08734301e-03 -9.85092755e-05 9.99981467e-01 -1.89301495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.01, Y:-16.46, Z:-1.89 [[ 9.86710803e-01 1.62390483e-01 5.57863736e-03 1.46010062e+02] [-1.62388431e-01 9.86726569e-01 -8.21904285e-04 -1.64599121e+01] [-5.63805914e-03 -9.49243313e-05 9.99984102e-01 -1.89417805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.04, Y:-16.46, Z:-1.89 [[ 9.86473778e-01 1.63812990e-01 5.89832765e-03 1.46039170e+02] [-1.63810721e-01 9.86491405e-01 -8.69088891e-04 -1.64622141e+01] [-5.96101758e-03 -1.08875904e-04 9.99982227e-01 -1.89397281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.07, Y:-16.46, Z:-1.89 [[ 9.86190526e-01 1.65506695e-01 5.98158011e-03 1.46069944e+02] [-1.65504392e-01 9.86208659e-01 -8.81405659e-04 -1.64639128e+01] [-6.04496463e-03 -1.20743870e-04 9.99981722e-01 -1.89386138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.10, Y:-16.46, Z:-1.89 [[ 9.85805619e-01 1.67784726e-01 5.96385295e-03 1.46101059e+02] [-1.67782478e-01 9.85823649e-01 -8.78793504e-04 -1.64641030e+01] [-6.02675541e-03 -1.34310452e-04 9.99981830e-01 -1.89354693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.445769231 meters Centerline goodness [0,1] 0.999936282734745 Centerline is valid? [True, True] Translation: X:146.13, Y:-16.45, Z:-1.90 [[ 9.84764882e-01 1.73836598e-01 4.35473918e-03 1.46132349e+02] [-1.73835458e-01 9.84774503e-01 -6.41739329e-04 -1.64541958e+01] [-4.39999390e-03 -1.25045726e-04 9.99990312e-01 -1.89620151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47576923100002 meters Centerline goodness [0,1] 0.9996997319034853 Centerline is valid? [True, True] Translation: X:146.16, Y:-16.45, Z:-1.90 [[ 9.84251883e-01 1.76724426e-01 4.08755577e-03 1.46162774e+02] [-1.76723447e-01 9.84260362e-01 -6.02335565e-04 -1.64508008e+01] [-4.12966653e-03 -1.29517033e-04 9.99991465e-01 -1.89639074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50576923100002 meters Centerline goodness [0,1] 0.9999353726841879 Centerline is valid? [True, True] Translation: X:146.19, Y:-16.45, Z:-1.89 [[ 9.83225258e-01 1.82285258e-01 6.33846449e-03 1.46193127e+02] [-1.82283021e-01 9.83245660e-01 -9.33755574e-04 -1.64520932e+01] [-6.40247758e-03 -2.37302390e-04 9.99979476e-01 -1.89239045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53576923100002 meters Centerline goodness [0,1] 0.9994860373479527 Centerline is valid? [True, True] Translation: X:146.22, Y:-16.45, Z:-1.89 [[ 9.82693836e-01 1.85119487e-01 6.60305372e-03 1.46223358e+02] [-1.85117123e-01 9.82715984e-01 -9.72745302e-04 -1.64463373e+01] [-6.66900054e-03 -2.66427494e-04 9.99977726e-01 -1.89235156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56576923100002 meters Centerline goodness [0,1] 0.9946336165591261 Centerline is valid? [True, True] Translation: X:146.26, Y:-16.43, Z:-1.90 [[ 9.82094504e-01 1.88304014e-01 5.65549272e-03 1.46255208e+02] [-1.88302333e-01 9.82110756e-01 -8.33013647e-04 -1.64330906e+01] [-5.71118004e-03 -2.46844348e-04 9.99983661e-01 -1.89503091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59576923100002 meters Centerline goodness [0,1] 0.9389556524513453 Centerline is valid? [True, False] Translation: X:146.24, Y:-16.42, Z:-1.89 [[ 9.81243384e-01 1.92772720e-01 -3.16127617e-04 1.46237412e+02] [-1.92770711e-01 9.81222562e-01 -6.46041404e-03 -1.64180118e+01] [-9.35200035e-04 6.40017868e-03 9.99979081e-01 -1.89219901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62576923100002 meters Centerline goodness [0,1] 0.9276829868767528 Centerline is valid? [False, False] Translation: X:146.19, Y:-16.40, Z:-1.89 [[ 9.81130352e-01 1.93347435e-01 -3.06857221e-05 1.46193436e+02] [-1.93340841e-01 9.81095557e-01 -8.41591250e-03 -1.63998707e+01] [-1.59708947e-03 8.26304000e-03 9.99964585e-01 -1.89030625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65576923100002 meters Centerline goodness [0,1] 0.9143525907011384 Centerline is valid? [False, False] Translation: X:146.19, Y:-16.39, Z:-1.89 [[ 9.81222313e-01 1.92880187e-01 -8.33836583e-05 1.46193763e+02] [-1.92872011e-01 9.81176551e-01 -9.64172771e-03 -1.63938255e+01] [-1.77788415e-03 9.47676074e-03 9.99953514e-01 -1.88995576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68576923100002 meters Centerline goodness [0,1] 0.9169300608811862 Centerline is valid? [False, False] Translation: X:146.20, Y:-16.39, Z:-1.89 [[ 9.81326230e-01 1.92350476e-01 -3.52621653e-04 1.46195070e+02] [-1.92342803e-01 9.81267074e-01 -1.09167959e-02 -1.63875972e+01] [-1.75383487e-03 1.07807624e-02 9.99940348e-01 -1.89010223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.715769231 meters Centerline goodness [0,1] 0.9909815346386187 Centerline is valid? [False, True] Translation: X:146.13, Y:-16.37, Z:-1.89 [[ 9.81848035e-01 1.89669158e-01 -2.18066118e-04 1.46134780e+02] [-1.89667695e-01 9.81834455e-01 -5.22184829e-03 -1.63673421e+01] [-7.76318740e-04 5.16842158e-03 9.99986342e-01 -1.89119072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.745769231 meters Centerline goodness [0,1] 0.9920220729777132 Centerline is valid? [True, True] Translation: X:146.16, Y:-16.37, Z:-1.89 [[ 9.82041765e-01 1.88660432e-01 1.10136537e-03 1.46164087e+02] [-1.88660381e-01 9.82042381e-01 -1.51506270e-04 -1.63689445e+01] [-1.11017070e-03 -5.89985243e-05 9.99999382e-01 -1.89028414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.775769231 meters Centerline goodness [0,1] 0.994216714331109 Centerline is valid? [True, True] Translation: X:146.19, Y:-16.36, Z:-1.89 [[ 9.82727524e-01 1.85047196e-01 2.03683080e-03 1.46194287e+02] [-1.85047014e-01 9.82729630e-01 -2.79110266e-04 -1.63644069e+01] [-2.05330255e-03 -1.02620116e-04 9.99997887e-01 -1.88743799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.805769231 meters Centerline goodness [0,1] 0.9965892271059914 Centerline is valid? [True, True] Translation: X:146.22, Y:-16.37, Z:-1.89 [[ 9.83244755e-01 1.82277568e-01 2.15418716e-03 1.46223688e+02] [-1.82277358e-01 9.83247109e-01 -2.95171887e-04 -1.63679756e+01] [-2.17190151e-03 -1.02433333e-04 9.99997636e-01 -1.88721415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.835769231 meters Centerline goodness [0,1] 0.9985156912637828 Centerline is valid? [True, True] Translation: X:146.25, Y:-16.37, Z:-1.89 [[ 9.84170648e-01 1.77222351e-01 6.10757334e-04 1.46253904e+02] [-1.77222333e-01 9.84170838e-01 -8.37284391e-05 -1.63673493e+01] [-6.15928108e-04 -2.58367677e-05 9.99999810e-01 -1.89063741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.865769231 meters Centerline goodness [0,1] 0.9991263025550323 Centerline is valid? [True, True] Translation: X:146.28, Y:-16.37, Z:-1.89 [[ 9.84640241e-01 1.74595515e-01 4.42141960e-05 1.46282495e+02] [-1.74595515e-01 9.84640242e-01 -6.14383759e-06 -1.63680961e+01] [-4.46077631e-05 -1.67013061e-06 9.99999999e-01 -1.89223756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.895769231 meters Centerline goodness [0,1] 0.9995284737552779 Centerline is valid? [True, True] Translation: X:146.31, Y:-16.37, Z:-1.89 [[ 9.85080410e-01 1.72093872e-01 5.33924752e-04 1.46312223e+02] [-1.72093858e-01 9.85080554e-01 -7.31921131e-05 -1.63706653e+01] [-5.38554805e-04 -1.97850534e-05 9.99999855e-01 -1.89175116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.925769231 meters Centerline goodness [0,1] 0.9997878794306684 Centerline is valid? [True, True] Translation: X:146.34, Y:-16.38, Z:-1.89 [[ 9.86286521e-01 1.65012969e-01 3.10149149e-03 1.46340650e+02] [-1.65012449e-01 9.86291393e-01 -4.24658326e-04 -1.63752028e+01] [-3.12904850e-03 -9.29499231e-05 9.99995100e-01 -1.88646421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.955769231 meters Centerline goodness [0,1] 0.9998944301338626 Centerline is valid? [True, True] Translation: X:146.37, Y:-16.38, Z:-1.88 [[ 9.87027891e-01 1.60501453e-01 3.90209540e-03 1.46369750e+02] [-1.60500595e-01 9.87035599e-01 -5.34130194e-04 -1.63847908e+01] [-3.93723574e-03 -9.90872364e-05 9.99992244e-01 -1.88445029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.40, Y:-16.40, Z:-1.89 [[ 9.88517626e-01 1.51087168e-01 2.36031355e-03 1.46399194e+02] [-1.51086827e-01 9.88520443e-01 -3.23062204e-04 -1.63971898e+01] [-2.38202875e-03 -3.72596005e-05 9.99997162e-01 -1.88824226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.43, Y:-16.41, Z:-1.89 [[ 9.89112275e-01 1.47160918e-01 7.55617010e-04 1.46426901e+02] [-1.47160882e-01 9.89112564e-01 -1.03571910e-04 -1.64056778e+01] [-7.62632015e-04 -8.75301845e-06 9.99999709e-01 -1.89196608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.46, Y:-16.41, Z:-1.90 [[ 9.89634149e-01 1.43609843e-01 -6.81693158e-04 1.46455074e+02] [-1.43609813e-01 9.89634384e-01 9.30495826e-05 -1.64129615e+01] [ 6.87989824e-04 5.81278226e-06 9.99999763e-01 -1.89531686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.48, Y:-16.43, Z:-1.90 [[ 9.90673841e-01 1.36252785e-01 -7.21125104e-04 1.46482038e+02] [-1.36252749e-01 9.90674103e-01 9.84086624e-05 -1.64251294e+01] [ 7.27808420e-04 7.64390432e-07 9.99999735e-01 -1.89515733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.105769231 meters Centerline goodness [0,1] 0.9998944390491069 Centerline is valid? [True, True] Translation: X:146.51, Y:-16.44, Z:-1.89 [[ 9.91579093e-01 1.29500555e-01 7.12386640e-04 1.46508754e+02] [-1.29500519e-01 9.91579349e-01 -9.76089939e-05 -1.64367013e+01] [-7.19028300e-04 4.53259829e-06 9.99999741e-01 -1.89160342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.135769231 meters Centerline goodness [0,1] 0.9999148410721509 Centerline is valid? [True, True] Translation: X:146.54, Y:-16.44, Z:-1.89 [[ 9.91964105e-01 1.26517558e-01 7.21933159e-04 1.46535712e+02] [-1.26517519e-01 9.91964368e-01 -9.88676928e-05 -1.64447269e+01] [-7.28640469e-04 6.73601009e-06 9.99999735e-01 -1.89163562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.165769231 meters Centerline goodness [0,1] 0.999639746551103 Centerline is valid? [True, True] Translation: X:146.56, Y:-16.45, Z:-1.89 [[ 9.92254825e-01 1.24218428e-01 3.79148059e-04 1.46562562e+02] [-1.24218417e-01 9.92254898e-01 -5.19870532e-05 -1.64528405e+01] [-3.82669268e-04 4.48723271e-06 9.99999927e-01 -1.89295775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.195769231 meters Centerline goodness [0,1] 0.9993865809290126 Centerline is valid? [True, True] Translation: X:146.59, Y:-16.46, Z:-1.89 [[ 9.92667540e-01 1.20876306e-01 -2.71905299e-04 1.46591546e+02] [-1.20876300e-01 9.92667577e-01 3.70302841e-05 -1.64624505e+01] [ 2.74387659e-04 -3.89185443e-06 9.99999962e-01 -1.89472207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22576923100002 meters Centerline goodness [0,1] 0.999592230926065 Centerline is valid? [True, True] Translation: X:146.62, Y:-16.47, Z:-1.89 [[ 9.92823353e-01 1.19590057e-01 9.20899081e-05 1.46620493e+02] [-1.19590056e-01 9.92823357e-01 -1.27561155e-05 -1.64656681e+01] [-9.29545163e-05 1.65153212e-06 9.99999996e-01 -1.89388318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25576923100002 meters Centerline goodness [0,1] 0.9992956243329776 Centerline is valid? [True, True] Translation: X:146.65, Y:-16.48, Z:-1.89 [[ 9.93071501e-01 1.17505013e-01 1.25115417e-03 1.46647661e+02] [-1.17504891e-01 9.93072289e-01 -1.70751832e-04 -1.64751155e+01] [-1.26255074e-03 2.25520436e-05 9.99999203e-01 -1.89185102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28576923100002 meters Centerline goodness [0,1] 0.9994431952029125 Centerline is valid? [True, True] Translation: X:146.68, Y:-16.48, Z:-1.89 [[ 9.93137406e-01 1.16941086e-01 1.69591460e-03 1.46676309e+02] [-1.16940861e-01 9.93138853e-01 -2.31525773e-04 -1.64801038e+01] [-1.71135356e-03 3.16151928e-05 9.99998535e-01 -1.89026266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31576923100002 meters Centerline goodness [0,1] 0.9993155226626168 Centerline is valid? [True, True] Translation: X:146.70, Y:-16.48, Z:-1.89 [[ 9.93113916e-01 1.17140859e-01 1.66427913e-03 1.46704529e+02] [-1.17140643e-01 9.93115310e-01 -2.27131071e-04 -1.64846050e+01] [-1.67942741e-03 3.06122999e-05 9.99998589e-01 -1.88983673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34576923100002 meters Centerline goodness [0,1] 0.9995957446808511 Centerline is valid? [True, True] Translation: X:146.73, Y:-16.49, Z:-1.89 [[ 9.92803636e-01 1.19749362e-01 1.01512340e-03 1.46733310e+02] [-1.19749283e-01 9.92804155e-01 -1.38493059e-04 -1.64888220e+01] [-1.02440319e-03 1.59361135e-05 9.99999475e-01 -1.89093026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37576923100002 meters Centerline goodness [0,1] 0.9995957446808511 Centerline is valid? [True, True] Translation: X:146.76, Y:-16.49, Z:-1.89 [[ 9.92809052e-01 1.19704450e-01 1.01511810e-03 1.46761396e+02] [-1.19704371e-01 9.92809571e-01 -1.38531949e-04 -1.64925581e+01] [-1.02440186e-03 1.60216997e-05 9.99999475e-01 -1.89104110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40576923100002 meters Centerline goodness [0,1] 0.9995518852826324 Centerline is valid? [True, True] Translation: X:146.79, Y:-16.49, Z:-1.89 [[ 9.92593261e-01 1.21474722e-01 1.58455140e-03 1.46790220e+02] [-1.21474532e-01 9.92594525e-01 -2.16068283e-04 -1.64938356e+01] [-1.59906388e-03 2.19852811e-05 9.99998721e-01 -1.89011206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43576923100002 meters Centerline goodness [0,1] 0.9995127531565121 Centerline is valid? [True, True] Translation: X:146.82, Y:-16.49, Z:-1.89 [[ 9.92106800e-01 1.25377591e-01 2.13490819e-03 1.46819384e+02] [-1.25377255e-01 9.92109096e-01 -2.90954703e-04 -1.64905208e+01] [-2.15454104e-03 2.09892103e-05 9.99997679e-01 -1.88918997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.465769231 meters Centerline goodness [0,1] 0.9994663251147401 Centerline is valid? [True, True] Translation: X:146.85, Y:-16.49, Z:-1.89 [[ 9.91886613e-01 1.27109952e-01 2.00154188e-03 1.46848572e+02] [-1.27109661e-01 9.91888633e-01 -2.72700612e-04 -1.64903996e+01] [-2.01996960e-03 1.60727768e-05 9.99997960e-01 -1.88972798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.495769231 meters Centerline goodness [0,1] 0.9998714818146768 Centerline is valid? [True, True] Translation: X:146.88, Y:-16.49, Z:-1.89 [[ 9.91429621e-01 1.30640366e-01 6.33721804e-04 1.46878259e+02] [-1.30640337e-01 9.91429823e-01 -8.64390374e-05 -1.64891994e+01] [-6.39583123e-04 2.90859199e-06 9.99999795e-01 -1.89237986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.525769231 meters Centerline goodness [0,1] 0.9998727195587611 Centerline is valid? [True, True] Translation: X:146.91, Y:-16.49, Z:-1.89 [[ 9.91228842e-01 1.32156661e-01 1.78882995e-05 1.46906313e+02] [-1.32156661e-01 9.91228842e-01 -2.66536326e-06 -1.64909994e+01] [-1.80836439e-05 2.77927004e-07 1.00000000e+00 -1.89427769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.555769231 meters Centerline goodness [0,1] 0.9998946148171567 Centerline is valid? [True, True] Translation: X:146.94, Y:-16.49, Z:-1.89 [[ 9.90897755e-01 1.34616196e-01 3.44159496e-04 1.46935637e+02] [-1.34616188e-01 9.90897815e-01 -4.69857040e-05 -1.64891879e+01] [-3.47351929e-04 2.28589369e-07 9.99999940e-01 -1.89362273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.585769231 meters Centerline goodness [0,1] 0.9998510162817921 Centerline is valid? [True, True] Translation: X:146.96, Y:-16.49, Z:-1.89 [[ 9.90853522e-01 1.34939460e-01 8.00268296e-04 1.46964736e+02] [-1.34939416e-01 9.90853845e-01 -1.08980174e-04 -1.64907299e+01] [-8.07654644e-04 -4.34797230e-09 9.99999674e-01 -1.89301970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.615769231 meters Centerline goodness [0,1] 0.9999575632837531 Centerline is valid? [True, True] Translation: X:146.99, Y:-16.49, Z:-1.89 [[ 9.90848487e-01 1.34975374e-01 9.61200288e-04 1.46993795e+02] [-1.34975310e-01 9.90848953e-01 -1.30814450e-04 -1.64931048e+01] [-9.70061029e-04 -1.21007184e-07 9.99999529e-01 -1.89306000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.645769231 meters Centerline goodness [0,1] 0.999914164932083 Centerline is valid? [True, True] Translation: X:147.02, Y:-16.50, Z:-1.90 [[ 9.91097949e-01 1.33132501e-01 -7.70406819e-04 1.47021066e+02] [-1.33132460e-01 9.91098248e-01 1.04431602e-04 -1.64986637e+01] [ 7.77452089e-04 -9.35791414e-07 9.99999698e-01 -1.89699223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.675769231 meters Centerline goodness [0,1] 0.9996804431188752 Centerline is valid? [True, True] Translation: X:147.05, Y:-16.51, Z:-1.90 [[ 9.91405543e-01 1.30818653e-01 -1.23697002e-03 1.47049518e+02] [-1.30818546e-01 9.91406314e-01 1.67802489e-04 -1.65066652e+01] [ 1.24829159e-03 -4.54169819e-06 9.99999221e-01 -1.89837834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.705769231 meters Centerline goodness [0,1] 0.999426398419409 Centerline is valid? [True, True] Translation: X:147.07, Y:-16.52, Z:-1.89 [[ 9.92147342e-01 1.25069423e-01 1.13670158e-03 1.47074911e+02] [-1.25069328e-01 9.92147993e-01 -1.54554247e-04 -1.65232032e+01] [-1.14710620e-03 1.11740817e-05 9.99999342e-01 -1.89361500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.735769231 meters Centerline goodness [0,1] 0.9990647053821954 Centerline is valid? [True, True] Translation: X:147.10, Y:-16.53, Z:-1.89 [[ 9.92517757e-01 1.22073391e-01 2.56674801e-03 1.47102553e+02] [-1.22072899e-01 9.92521076e-01 -3.48449957e-04 -1.65335719e+01] [-2.59008797e-03 3.25123998e-05 9.99996645e-01 -1.89090725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.765769231 meters Centerline goodness [0,1] 0.9989551347662914 Centerline is valid? [True, True] Translation: X:147.13, Y:-16.55, Z:-1.89 [[ 9.93147189e-01 1.16856343e-01 1.80456555e-03 1.47131077e+02] [-1.16856091e-01 9.93148828e-01 -2.44854964e-04 -1.65509551e+01] [-1.82081502e-03 3.23025429e-05 9.99998342e-01 -1.89253457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.795769231 meters Centerline goodness [0,1] 0.9987832472356231 Centerline is valid? [True, True] Translation: X:147.16, Y:-16.56, Z:-1.90 [[ 9.93288228e-01 1.15662183e-01 8.68757469e-04 1.47158638e+02] [-1.15662124e-01 9.93288608e-01 -1.17980565e-04 -1.65594242e+01] [-8.76572787e-04 1.67063717e-05 9.99999616e-01 -1.89504513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.825769231 meters Centerline goodness [0,1] 0.9989960482751254 Centerline is valid? [True, True] Translation: X:147.19, Y:-16.57, Z:-1.90 [[ 9.93346448e-01 1.15164376e-01 -4.21192970e-06 1.47187270e+02] [-1.15164376e-01 9.93346448e-01 4.78826156e-07 -1.65674953e+01] [ 4.23904912e-06 9.42399412e-09 1.00000000e+00 -1.89570419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.855769231 meters Centerline goodness [0,1] 0.9989122552574329 Centerline is valid? [True, True] Translation: X:147.22, Y:-16.58, Z:-1.90 [[ 9.93249476e-01 1.15997364e-01 3.01276293e-04 1.47215332e+02] [-1.15997357e-01 9.93249521e-01 -4.09886498e-05 -1.65757319e+01] [-3.03997109e-04 5.76470121e-06 9.99999954e-01 -1.89535469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.885769231 meters Centerline goodness [0,1] 0.998967808528482 Centerline is valid? [True, True] Translation: X:147.24, Y:-16.58, Z:-1.89 [[ 9.93098981e-01 1.17278079e-01 5.15655715e-04 1.47244756e+02] [-1.17278059e-01 9.93099115e-01 -6.99994912e-05 -1.65792065e+01] [-5.20306640e-04 9.04132217e-06 9.99999865e-01 -1.89441226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.915769231 meters Centerline goodness [0,1] 0.9990397541770694 Centerline is valid? [True, True] Translation: X:147.27, Y:-16.59, Z:-1.90 [[ 9.92801211e-01 1.19772219e-01 6.09480448e-04 1.47272757e+02] [-1.19772191e-01 9.92801398e-01 -8.26656502e-05 -1.65892254e+01] [-6.14994089e-04 9.07174914e-06 9.99999811e-01 -1.89548191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.945769231 meters Centerline goodness [0,1] 0.9993613624268228 Centerline is valid? [True, True] Translation: X:147.30, Y:-16.59, Z:-1.90 [[ 9.92674328e-01 1.20819591e-01 5.52458020e-04 1.47302708e+02] [-1.20819568e-01 9.92674482e-01 -7.48897605e-05 -1.65932873e+01] [-5.57459129e-04 7.59340347e-06 9.99999845e-01 -1.89558600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97576923100002 meters Centerline goodness [0,1] 0.9993408883124615 Centerline is valid? [True, True] Translation: X:147.33, Y:-16.60, Z:-1.90 [[ 9.92469226e-01 1.22493135e-01 5.17326573e-04 1.47331967e+02] [-1.22493115e-01 9.92469361e-01 -7.01274336e-05 -1.66015422e+01] [-5.22020902e-04 6.23037611e-06 9.99999864e-01 -1.89633419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00576923100002 meters Centerline goodness [0,1] 0.9994176265044649 Centerline is valid? [True, True] Translation: X:147.36, Y:-16.61, Z:-1.90 [[ 9.92309260e-01 1.23782548e-01 4.62110446e-04 1.47360998e+02] [-1.23782532e-01 9.92309368e-01 -6.25863152e-05 -1.66071486e+01] [-4.66303618e-04 4.90377903e-06 9.99999891e-01 -1.89594816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03576923100002 meters Centerline goodness [0,1] 0.9994883492868868 Centerline is valid? [True, True] Translation: X:147.39, Y:-16.61, Z:-1.89 [[ 9.91776940e-01 1.27974875e-01 9.65831394e-04 1.47391385e+02] [-1.27974808e-01 9.91777410e-01 -1.30976763e-04 -1.66075043e+01] [-9.74651493e-04 6.29764593e-06 9.99999525e-01 -1.89388599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06576923100002 meters Centerline goodness [0,1] 0.9997048966084189 Centerline is valid? [True, True] Translation: X:147.42, Y:-16.61, Z:-1.89 [[ 9.91434150e-01 1.30597764e-01 1.59673622e-03 1.47420069e+02] [-1.30597585e-01 9.91435436e-01 -2.16538776e-04 -1.66086549e+01] [-1.61134035e-03 6.15404329e-06 9.99998702e-01 -1.89307541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.45, Y:-16.60, Z:-1.89 [[ 9.90694221e-01 1.36098726e-01 1.44822295e-03 1.47449828e+02] [-1.36098584e-01 9.90695279e-01 -1.96388670e-04 -1.66019577e+01] [-1.46147589e-03 -2.53997221e-06 9.99998932e-01 -1.89267323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.48, Y:-16.60, Z:-1.89 [[ 9.90330136e-01 1.38726157e-01 1.12926543e-03 1.47477694e+02] [-1.38726072e-01 9.90330780e-01 -1.53155175e-04 -1.66007792e+01] [-1.13959294e-03 -4.98437251e-06 9.99999351e-01 -1.89469642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15576923100002 meters Centerline goodness [0,1] 0.999978808171569 Centerline is valid? [True, True] Translation: X:147.51, Y:-16.60, Z:-1.90 [[ 9.90039833e-01 1.40787186e-01 3.12910253e-04 1.47506926e+02] [-1.40787179e-01 9.90039882e-01 -4.25436631e-05 -1.65997946e+01] [-3.15783233e-04 -1.93383087e-06 9.99999950e-01 -1.89742335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.54, Y:-16.60, Z:-1.90 [[ 9.90069354e-01 1.40578471e-01 6.06616935e-04 1.47535485e+02] [-1.40578447e-01 9.90069540e-01 -8.22730980e-05 -1.66013611e+01] [-6.12158776e-04 -3.82119393e-06 9.99999813e-01 -1.89736429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:-16.60, Z:-1.90 [[ 9.90478364e-01 1.37665870e-01 8.47635305e-04 1.47563143e+02] [-1.37665822e-01 9.90478727e-01 -1.14883410e-04 -1.66044064e+01] [-8.55380263e-04 -2.90087882e-06 9.99999634e-01 -1.89688888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.245769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.59, Y:-16.61, Z:-1.90 [[ 9.90743931e-01 1.35744072e-01 9.90798505e-05 1.47591259e+02] [-1.35744071e-01 9.90743936e-01 -1.35805688e-05 -1.66093622e+01] [-1.00006243e-04 5.36381286e-09 9.99999995e-01 -1.89753054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.62, Y:-16.61, Z:-1.90 [[ 9.91162330e-01 1.32637744e-01 -2.11280844e-03 1.47619600e+02] [-1.32637437e-01 9.91164582e-01 2.85399416e-04 -1.66137982e+01] [ 2.13199563e-03 -2.63965405e-06 9.99997727e-01 -1.90117886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.305769231 meters Centerline goodness [0,1] 0.9999572201664135 Centerline is valid? [True, True] Translation: X:147.65, Y:-16.62, Z:-1.90 [[ 9.91364305e-01 1.31113273e-01 -2.47484531e-03 1.47648547e+02] [-1.31112847e-01 9.91367394e-01 3.34217131e-04 -1.66172940e+01] [ 2.49730124e-03 -6.84691958e-06 9.99996882e-01 -1.90111468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.335769231 meters Centerline goodness [0,1] 0.9999577274264457 Centerline is valid? [True, True] Translation: X:147.68, Y:-16.62, Z:-1.90 [[ 9.91443961e-01 1.30523233e-01 -1.59935901e-03 1.47677246e+02] [-1.30523055e-01 9.91445251e-01 2.15848031e-04 -1.66190313e+01] [ 1.61385007e-03 -5.24800256e-06 9.99998698e-01 -1.89982905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.365769231 meters Centerline goodness [0,1] 0.9997877533694153 Centerline is valid? [True, True] Translation: X:147.71, Y:-16.62, Z:-1.89 [[ 9.91320221e-01 1.31464578e-01 1.13357604e-03 1.47706209e+02] [-1.31464489e-01 9.91320869e-01 -1.53275415e-04 -1.66155981e+01] [-1.14388788e-03 2.92002274e-06 9.99999346e-01 -1.89443688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.395769231 meters Centerline goodness [0,1] 0.9998077662437524 Centerline is valid? [True, True] Translation: X:147.73, Y:-16.62, Z:-1.89 [[ 9.91176678e-01 1.32526737e-01 2.33615077e-03 1.47734900e+02] [-1.32526361e-01 9.91179431e-01 -3.15485838e-04 -1.66155786e+01] [-2.35735490e-03 3.10064411e-06 9.99997221e-01 -1.89289054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.425769231 meters Centerline goodness [0,1] 0.9998718660573186 Centerline is valid? [True, True] Translation: X:147.76, Y:-16.62, Z:-1.89 [[ 9.91174064e-01 1.32553569e-01 1.87800778e-03 1.47763299e+02] [-1.32553327e-01 9.91175843e-01 -2.53586739e-04 -1.66152648e+01] [-1.89504977e-03 2.41242027e-06 9.99998204e-01 -1.89339271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.455769231 meters Centerline goodness [0,1] 0.999914412872304 Centerline is valid? [True, True] Translation: X:147.79, Y:-16.62, Z:-1.90 [[ 9.91321728e-01 1.31456275e-01 6.91792352e-04 1.47792174e+02] [-1.31456242e-01 9.91321970e-01 -9.34769450e-05 -1.66195641e+01] [-6.98077088e-04 1.72530419e-06 9.99999756e-01 -1.89564357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.485769231 meters Centerline goodness [0,1] 0.9996389048195586 Centerline is valid? [True, True] Translation: X:147.82, Y:-16.63, Z:-1.90 [[ 9.91692063e-01 1.28634503e-01 1.28481615e-04 1.47819458e+02] [-1.28634501e-01 9.91692072e-01 -1.75421901e-05 -1.66270751e+01] [-1.29670730e-04 8.69282202e-07 9.99999992e-01 -1.89723179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.515769231 meters Centerline goodness [0,1] 0.9997028736364022 Centerline is valid? [True, True] Translation: X:147.85, Y:-16.63, Z:-1.90 [[ 9.91927627e-01 1.26804867e-01 3.29481556e-04 1.47847957e+02] [-1.26804859e-01 9.91927682e-01 -4.45783832e-05 -1.66337687e+01] [-3.32474632e-04 2.43866740e-06 9.99999945e-01 -1.89677499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.545769231 meters Centerline goodness [0,1] 0.9994409924533981 Centerline is valid? [True, True] Translation: X:147.88, Y:-16.64, Z:-1.90 [[ 9.92174884e-01 1.24854226e-01 6.49181900e-04 1.47875613e+02] [-1.24854195e-01 9.92175097e-01 -8.76891952e-05 -1.66404621e+01] [-6.55050481e-04 5.94993355e-06 9.99999785e-01 -1.89636493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.575769231 meters Centerline goodness [0,1] 0.9993831362205394 Centerline is valid? [True, True] Translation: X:147.90, Y:-16.65, Z:-1.90 [[ 9.92590839e-01 1.21504344e-01 3.46663709e-04 1.47902822e+02] [-1.21504336e-01 9.92590900e-01 -4.67186856e-05 -1.66496334e+01] [-3.49771766e-04 4.25139571e-06 9.99999939e-01 -1.89719406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.605769231 meters Centerline goodness [0,1] 0.9991925030281137 Centerline is valid? [True, True] Translation: X:147.93, Y:-16.66, Z:-1.90 [[ 9.92854686e-01 1.19326794e-01 8.29473761e-04 1.47930936e+02] [-1.19326742e-01 9.92855033e-01 -1.11826097e-04 -1.66579008e+01] [-8.36891048e-04 1.20486629e-05 9.99999650e-01 -1.89620274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.635769231 meters Centerline goodness [0,1] 0.9987841037564794 Centerline is valid? [True, True] Translation: X:147.96, Y:-16.67, Z:-1.89 [[ 9.93394016e-01 1.14715831e-01 2.93380900e-03 1.47959809e+02] [-1.14715164e-01 9.93398347e-01 -3.95060680e-04 -1.66705485e+01] [-2.95976072e-03 5.58985348e-05 9.99995618e-01 -1.89195045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.665769231 meters Centerline goodness [0,1] 0.9986241930363001 Centerline is valid? [True, True] Translation: X:147.99, Y:-16.68, Z:-1.89 [[ 9.93599736e-01 1.12918572e-01 2.99330870e-03 1.47988964e+02] [-1.12917870e-01 9.93604243e-01 -4.03072787e-04 -1.66804510e+01] [-3.01967863e-03 6.24949724e-05 9.99995439e-01 -1.89197510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.695769231 meters Centerline goodness [0,1] 0.998649276096408 Centerline is valid? [True, True] Translation: X:148.02, Y:-16.70, Z:-1.90 [[ 9.93827955e-01 1.10932098e-01 -2.56023646e-04 1.48018425e+02] [-1.10932092e-01 9.93827988e-01 3.48296367e-05 -1.66975409e+01] [ 2.58307189e-04 -6.21342796e-06 9.99999967e-01 -1.89861876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72576923100002 meters Centerline goodness [0,1] 0.9989150321235587 Centerline is valid? [True, True] Translation: X:148.05, Y:-16.70, Z:-1.90 [[ 9.93787615e-01 1.11283673e-01 -1.45620178e-03 1.48048479e+02] [-1.11283505e-01 9.93788681e-01 1.96213867e-04 -1.67005765e+01] [ 1.46899225e-03 -3.29436732e-05 9.99998920e-01 -1.90048130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75576923100002 meters Centerline goodness [0,1] 0.9993530020703933 Centerline is valid? [True, True] Translation: X:148.08, Y:-16.70, Z:-1.90 [[ 9.93396234e-01 1.14730298e-01 -9.38282322e-04 1.48079469e+02] [-1.14730229e-01 9.93396677e-01 1.26427536e-04 -1.67009111e+01] [ 9.46591610e-04 -1.79432916e-05 9.99999552e-01 -1.89807531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78576923100002 meters Centerline goodness [0,1] 0.999360954308233 Centerline is valid? [True, True] Translation: X:148.11, Y:-16.70, Z:-1.90 [[ 9.93127056e-01 1.17038916e-01 -7.36526842e-04 1.48108877e+02] [-1.17038875e-01 9.93127329e-01 9.93502797e-05 -1.67043897e+01] [ 7.43092785e-04 -1.24651780e-05 9.99999724e-01 -1.89812448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81576923100002 meters Centerline goodness [0,1] 0.9996380745566413 Centerline is valid? [True, True] Translation: X:148.14, Y:-16.70, Z:-1.90 [[ 9.92546511e-01 1.21856194e-01 -1.57854802e-03 1.48138213e+02] [-1.21856010e-01 9.92547766e-01 2.12541815e-04 -1.67032329e+01] [ 1.59268385e-03 -1.86020728e-05 9.99998732e-01 -1.90113162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84576923100002 meters Centerline goodness [0,1] 0.9997858167876802 Centerline is valid? [True, True] Translation: X:148.17, Y:-16.70, Z:-1.90 [[ 9.92304028e-01 1.23807727e-01 -2.08868835e-03 1.48166999e+02] [-1.23807409e-01 9.92306226e-01 2.81125460e-04 -1.67038816e+01] [ 2.10742395e-03 -2.03668337e-05 9.99997779e-01 -1.90169682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87576923100002 meters Centerline goodness [0,1] 0.9998709510904633 Centerline is valid? [True, True] Translation: X:148.20, Y:-16.71, Z:-1.90 [[ 9.92041175e-01 1.25909563e-01 -1.04310630e-03 1.48196268e+02] [-1.25909485e-01 9.92041724e-01 1.40367849e-04 -1.67063647e+01] [ 1.05247863e-03 -7.91370907e-06 9.99999446e-01 -1.89983606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90576923100002 meters Centerline goodness [0,1] 0.999766419637738 Centerline is valid? [True, True] Translation: X:148.22, Y:-16.71, Z:-1.90 [[ 9.92018335e-01 1.26093340e-01 -3.03282381e-04 1.48224574e+02] [-1.26093333e-01 9.92018382e-01 4.07332612e-05 -1.67098038e+01] [ 3.05997890e-04 -2.16625560e-06 9.99999953e-01 -1.89792715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93576923100002 meters Centerline goodness [0,1] 0.999745455316802 Centerline is valid? [True, True] Translation: X:148.25, Y:-16.71, Z:-1.90 [[ 9.91978705e-01 1.26400745e-01 1.04944050e-03 1.48253193e+02] [-1.26400666e-01 9.91979260e-01 -1.41390107e-04 -1.67129670e+01] [-1.05889503e-03 7.60599716e-06 9.99999439e-01 -1.89527870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96576923100002 meters Centerline goodness [0,1] 0.999786966617669 Centerline is valid? [True, True] Translation: X:148.28, Y:-16.72, Z:-1.89 [[ 9.91910644e-01 1.26925031e-01 1.81944743e-03 1.48282244e+02] [-1.26924795e-01 9.91912313e-01 -2.44991197e-04 -1.67162204e+01] [-1.83582782e-03 1.20763839e-05 9.99998315e-01 -1.89425202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.995769231 meters Centerline goodness [0,1] 0.9998105223267858 Centerline is valid? [True, True] Translation: X:148.31, Y:-16.72, Z:-1.89 [[ 9.91660624e-01 1.28822899e-01 3.72389785e-03 1.48310635e+02] [-1.28821926e-01 9.91667616e-01 -5.01056948e-04 -1.67222160e+01] [-3.75741651e-03 1.71587524e-05 9.99992941e-01 -1.89080299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.025769231 meters Centerline goodness [0,1] 0.9997025895948846 Centerline is valid? [True, True] Translation: X:148.34, Y:-16.73, Z:-1.89 [[ 9.91594751e-01 1.29317696e-01 4.09681637e-03 1.48339811e+02] [-1.29316523e-01 9.91603214e-01 -5.51077624e-04 -1.67252599e+01] [-4.13368036e-03 1.66596332e-05 9.99991456e-01 -1.89063770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.055769231 meters Centerline goodness [0,1] 0.9997044792502217 Centerline is valid? [True, True] Translation: X:148.37, Y:-16.73, Z:-1.89 [[ 9.91539886e-01 1.29753102e-01 3.57594503e-03 1.48368945e+02] [-1.29752211e-01 9.91546334e-01 -4.80928858e-04 -1.67315808e+01] [-3.60811719e-03 1.28733715e-05 9.99993491e-01 -1.89259944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.085769231 meters Centerline goodness [0,1] 0.9998945992664109 Centerline is valid? [True, True] Translation: X:148.40, Y:-16.74, Z:-1.90 [[ 9.91480163e-01 1.30250864e-01 1.34094835e-03 1.48398310e+02] [-1.30250739e-01 9.91481070e-01 -1.80420317e-04 -1.67374075e+01] [-1.35302481e-03 4.22365199e-06 9.99999085e-01 -1.89623887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.43, Y:-16.74, Z:-1.90 [[ 9.91278415e-01 1.31784186e-01 -1.80464256e-04 1.48427008e+02] [-1.31784183e-01 9.91278431e-01 2.41264370e-05 -1.67416986e+01] [ 1.82069807e-04 -1.33681627e-07 9.99999983e-01 -1.89909405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.145769231 meters Centerline goodness [0,1] 0.9999789074035014 Centerline is valid? [True, True] Translation: X:148.46, Y:-16.74, Z:-1.90 [[ 9.91043933e-01 1.33536076e-01 -1.97506473e-04 1.48455218e+02] [-1.33536073e-01 9.91043953e-01 2.63021182e-05 -1.67426829e+01] [ 1.99249877e-04 3.07684123e-07 9.99999980e-01 -1.90011005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.175769231 meters Centerline goodness [0,1] 0.9999568593615186 Centerline is valid? [True, True] Translation: X:148.48, Y:-16.74, Z:-1.90 [[ 9.90735297e-01 1.35806960e-01 2.02247448e-04 1.48484397e+02] [-1.35806957e-01 9.90735318e-01 -2.73625247e-05 -1.67431368e+01] [-2.04089711e-04 -3.57591423e-07 9.99999979e-01 -1.89655723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.51, Y:-16.74, Z:-1.90 [[ 9.89969258e-01 1.41279757e-01 9.47565697e-04 1.48513781e+02] [-1.41279700e-01 9.89969712e-01 -1.27470380e-04 -1.67365864e+01] [-9.56070324e-04 -7.68003935e-06 9.99999543e-01 -1.89626424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.54, Y:-16.74, Z:-1.90 [[ 9.89621911e-01 1.43695648e-01 1.85155285e-04 1.48542161e+02] [-1.43695646e-01 9.89621928e-01 -2.50817309e-05 -1.67353065e+01] [-1.86837865e-04 -1.78457775e-06 9.99999983e-01 -1.89838926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.57, Y:-16.74, Z:-1.90 [[ 9.89628569e-01 1.43649785e-01 1.85162912e-04 1.48570254e+02] [-1.43649783e-01 9.89628587e-01 -2.50249265e-05 -1.67389840e+01] [-1.86837337e-04 -1.83322991e-06 9.99999983e-01 -1.89850009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.60, Y:-16.74, Z:-1.90 [[ 9.89502495e-01 1.44514218e-01 6.72778701e-04 1.48599053e+02] [-1.44514190e-01 9.89502724e-01 -9.04147478e-05 -1.67421547e+01] [-6.78782574e-04 -7.76045048e-06 9.99999770e-01 -1.89917950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.63, Y:-16.76, Z:-1.90 [[ 9.90321915e-01 1.38767304e-01 2.47780678e-03 1.48626092e+02] [-1.38766907e-01 9.90325015e-01 -3.32378904e-04 -1.67566477e+01] [-2.49995736e-03 -1.46754699e-05 9.99996875e-01 -1.89597416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.65, Y:-16.77, Z:-1.90 [[ 9.90759882e-01 1.35611824e-01 2.07112795e-03 1.48654376e+02] [-1.35611539e-01 9.90762047e-01 -2.77713694e-04 -1.67663491e+01] [-2.08965623e-03 -5.72126279e-06 9.99997817e-01 -1.89666176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.385769231 meters Centerline goodness [0,1] 0.9999789078483896 Centerline is valid? [True, True] Translation: X:148.68, Y:-16.78, Z:-1.90 [[ 9.91130377e-01 1.32886598e-01 1.31462726e-03 1.48681735e+02] [-1.32886482e-01 9.91131249e-01 -1.76281449e-04 -1.67752334e+01] [-1.32639360e-03 2.17076127e-08 9.99999120e-01 -1.89815016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.415769231 meters Centerline goodness [0,1] 0.9999156242748961 Centerline is valid? [True, True] Translation: X:148.71, Y:-16.79, Z:-1.90 [[ 9.91465968e-01 1.30365609e-01 -2.04827971e-04 1.48710593e+02] [-1.30365606e-01 9.91465989e-01 2.74507246e-05 -1.67860371e+01] [ 2.06658597e-04 -5.13936761e-07 9.99999979e-01 -1.90068356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.445769231 meters Centerline goodness [0,1] 0.9999787360721273 Centerline is valid? [True, True] Translation: X:148.74, Y:-16.79, Z:-1.90 [[ 9.91480149e-01 1.30255535e-01 -7.81208872e-04 1.48739231e+02] [-1.30255493e-01 9.91480457e-01 1.04586150e-04 -1.67917438e+01] [ 7.88176254e-04 -1.93834521e-06 9.99999689e-01 -1.90176629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47576923100002 meters Centerline goodness [0,1] 0.9999365146545339 Centerline is valid? [True, True] Translation: X:148.77, Y:-16.79, Z:-1.90 [[ 9.91321031e-01 1.31462342e-01 5.15647044e-04 1.48768058e+02] [-1.31462324e-01 9.91321165e-01 -6.92533577e-05 -1.67948431e+01] [-5.20276037e-04 8.64151154e-07 9.99999865e-01 -1.89910531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.80, Y:-16.80, Z:-1.90 [[ 9.91131287e-01 1.32879758e-01 1.31964675e-03 1.48796314e+02] [-1.32879640e-01 9.91132166e-01 -1.76825887e-04 -1.67964444e+01] [-1.33144092e-03 -9.65168253e-08 9.99999114e-01 -1.89770404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.83, Y:-16.79, Z:-1.90 [[ 9.90500942e-01 1.37496749e-01 1.59022083e-03 1.48825261e+02] [-1.37496584e-01 9.90502218e-01 -2.13105822e-04 -1.67938379e+01] [-1.60441862e-03 -7.56841366e-06 9.99998713e-01 -1.89612894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.85, Y:-16.79, Z:-1.90 [[ 9.90206572e-01 1.39608263e-01 6.91800281e-04 1.48853689e+02] [-1.39608232e-01 9.90206813e-01 -9.27211959e-05 -1.67949245e+01] [-6.97969997e-04 -4.76787657e-06 9.99999756e-01 -1.89859425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.88, Y:-16.79, Z:-1.90 [[ 9.89732292e-01 1.42930424e-01 -9.40237855e-04 1.48882725e+02] [-1.42930370e-01 9.89732739e-01 1.25655159e-04 -1.67927205e+01] [ 9.48544133e-04 1.00235757e-05 9.99999550e-01 -1.90205637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.91, Y:-16.79, Z:-1.90 [[ 9.89386261e-01 1.45308576e-01 -4.93434436e-04 1.48912519e+02] [-1.45308562e-01 9.89386384e-01 6.58079008e-05 -1.67888351e+01] [ 4.97759765e-04 6.59081515e-06 9.99999876e-01 -1.90085426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.94, Y:-16.79, Z:-1.90 [[ 9.89234573e-01 1.46338363e-01 -2.05617024e-04 1.48940734e+02] [-1.46338360e-01 9.89234595e-01 2.72578452e-05 -1.67873649e+01] [ 2.07392342e-04 3.12525525e-06 9.99999978e-01 -1.90061253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.97, Y:-16.79, Z:-1.90 [[ 9.89166641e-01 1.46796942e-01 -1.15833167e-04 1.48969942e+02] [-1.46796942e-01 9.89166648e-01 1.52975024e-05 -1.67890180e+01] [ 1.16823932e-04 1.87217555e-06 9.99999993e-01 -1.90058226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.00, Y:-16.79, Z:-1.90 [[ 9.89312678e-01 1.45806236e-01 9.82814913e-04 1.48998939e+02] [-1.45806177e-01 9.89313166e-01 -1.31476872e-04 -1.67916183e+01] [-9.91481882e-04 -1.32287488e-05 9.99999508e-01 -1.89960661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.745769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.03, Y:-16.80, Z:-1.90 [[ 9.89553909e-01 1.44150193e-01 1.94519773e-03 1.49027437e+02] [-1.44149960e-01 9.89555820e-01 -2.59948180e-04 -1.67961454e+01] [-1.96235332e-03 -2.31674384e-05 9.99998074e-01 -1.89821131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.05, Y:-16.81, Z:-1.90 [[ 9.90245855e-01 1.39316461e-01 2.01752417e-03 1.49054668e+02] [-1.39316201e-01 9.90247910e-01 -2.69510498e-04 -1.68063847e+01] [-2.03539634e-03 -1.41921485e-05 9.99997928e-01 -1.89812837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.08, Y:-16.82, Z:-1.90 [[ 9.90586098e-01 1.36887077e-01 1.05351990e-03 1.49083094e+02] [-1.36887005e-01 9.90586659e-01 -1.40705886e-04 -1.68164315e+01] [-1.06286357e-03 -4.83188905e-06 9.99999435e-01 -1.89967311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.11, Y:-16.83, Z:-1.90 [[ 9.91127768e-01 1.32911403e-01 5.53042665e-04 1.49111351e+02] [-1.32911383e-01 9.91127923e-01 -7.38948238e-05 -1.68300900e+01] [-5.57957493e-04 -2.66453570e-07 9.99999844e-01 -1.90039652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.865769231 meters Centerline goodness [0,1] 0.9999574748570093 Centerline is valid? [True, True] Translation: X:149.14, Y:-16.84, Z:-1.90 [[ 9.91234140e-01 1.32113308e-01 9.76540624e-04 1.49139584e+02] [-1.32113243e-01 9.91234621e-01 -1.30389063e-04 -1.68355655e+01] [-9.85207006e-04 2.32141557e-07 9.99999515e-01 -1.89935801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.895769231 meters Centerline goodness [0,1] 0.9999787120808941 Centerline is valid? [True, True] Translation: X:149.17, Y:-16.84, Z:-1.90 [[ 9.90903845e-01 1.34567294e-01 1.10198265e-03 1.49169003e+02] [-1.34567213e-01 9.90904457e-01 -1.47159723e-04 -1.68365053e+01] [-1.11176240e-03 -2.46959840e-06 9.99999382e-01 -1.89994403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.20, Y:-16.84, Z:-1.90 [[ 9.90567738e-01 1.37019568e-01 1.09330094e-03 1.49198767e+02] [-1.37019490e-01 9.90568341e-01 -1.45883637e-04 -1.68372316e+01] [-1.10297821e-03 -5.29591378e-06 9.99999392e-01 -1.89988987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.23, Y:-16.84, Z:-1.90 [[ 9.90192913e-01 1.39699064e-01 1.47211142e-03 1.49227107e+02] [-1.39698926e-01 9.90194007e-01 -1.96465488e-04 -1.68369993e+01] [-1.48512195e-03 -1.11136500e-05 9.99998897e-01 -1.89959177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.26, Y:-16.83, Z:-1.90 [[ 9.89584543e-01 1.43951498e-01 6.31610405e-04 1.49256904e+02] [-1.43951473e-01 9.89584744e-01 -8.43371371e-05 -1.68334585e+01] [-6.37172478e-04 -7.46252096e-06 9.99999797e-01 -1.90059978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.29, Y:-16.84, Z:-1.90 [[ 9.89558020e-01 1.44133062e-01 7.65401159e-04 1.49285372e+02] [-1.44133026e-01 9.89558316e-01 -1.02127590e-04 -1.68366402e+01] [-7.72129044e-04 -9.25840987e-06 9.99999702e-01 -1.90056048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.31, Y:-16.84, Z:-1.90 [[ 9.89734145e-01 1.42917496e-01 9.54831712e-04 1.49313427e+02] [-1.42917440e-01 9.89734605e-01 -1.27309844e-04 -1.68406297e+01] [-9.63224792e-04 -1.04592042e-05 9.99999536e-01 -1.90054182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.34, Y:-16.85, Z:-1.90 [[ 9.89985987e-01 1.41161355e-01 1.10307090e-03 1.49341447e+02] [-1.41161279e-01 9.89986602e-01 -1.46988457e-04 -1.68471245e+01] [-1.11277450e-03 -1.01943865e-05 9.99999381e-01 -1.90080315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.37, Y:-16.85, Z:-1.90 [[ 9.90321939e-01 1.38776145e-01 1.90745400e-03 1.49369508e+02] [-1.38775913e-01 9.90323776e-01 -2.53956526e-04 -1.68529550e+01] [-1.92424016e-03 -1.32099515e-05 9.99998149e-01 -1.89995771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.40, Y:-16.85, Z:-1.90 [[ 9.90215441e-01 1.39532300e-01 2.02905078e-03 1.49398808e+02] [-1.39532040e-01 9.90217520e-01 -2.70041156e-04 -1.68533799e+01] [-2.04688110e-03 -1.57186723e-05 9.99997905e-01 -1.89916496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.43, Y:-16.85, Z:-1.90 [[ 9.90038427e-01 1.40788285e-01 1.60381950e-03 1.49426928e+02] [-1.40788124e-01 9.90039726e-01 -2.13437115e-04 -1.68531123e+01] [-1.61789446e-03 -1.44877934e-05 9.99998691e-01 -1.89965038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.46, Y:-16.85, Z:-1.90 [[ 9.89774840e-01 1.42637507e-01 5.55028145e-04 1.49455923e+02] [-1.42637488e-01 9.89774995e-01 -7.39464620e-05 -1.68529496e+01] [-5.59900519e-04 -5.97747289e-06 9.99999843e-01 -1.90114553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.49, Y:-16.84, Z:-1.90 [[ 9.89149634e-01 1.46909062e-01 -8.53625710e-04 1.49485648e+02] [-1.46909019e-01 9.89150002e-01 1.13202726e-04 -1.68437953e+01] [ 8.60994380e-04 1.34308802e-05 9.99999629e-01 -1.90393531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.51, Y:-16.84, Z:-1.90 [[ 9.88883418e-01 1.48692590e-01 -3.13584021e-04 1.49513793e+02] [-1.48692584e-01 9.88883468e-01 4.13785044e-05 -1.68400479e+01] [ 3.16250731e-04 5.70910160e-06 9.99999950e-01 -1.90413172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28576923100002 meters Centerline goodness [0,1] 0.9999578397065644 Centerline is valid? [True, True] Translation: X:149.54, Y:-16.84, Z:-1.90 [[ 9.88563842e-01 1.50794855e-01 1.56291532e-03 1.49542957e+02] [-1.50794715e-01 9.88565077e-01 -2.07684781e-04 -1.68359863e+01] [-1.57636130e-03 -3.03697051e-05 9.99998757e-01 -1.90119177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.57, Y:-16.84, Z:-1.90 [[ 9.88545060e-01 1.50912988e-01 1.98327827e-03 1.49572307e+02] [-1.50912764e-01 9.88547049e-01 -2.63262144e-04 -1.68376635e+01] [-2.00029356e-03 -3.90555129e-05 9.99997999e-01 -1.90047570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34576923100002 meters Centerline goodness [0,1] 0.9999787793905441 Centerline is valid? [True, True] Translation: X:149.60, Y:-16.83, Z:-1.90 [[ 9.88384281e-01 1.51960737e-01 2.10902394e-03 1.49600979e+02] [-1.51960486e-01 9.88386530e-01 -2.79881841e-04 -1.68298811e+01] [-2.12706190e-03 -4.38574904e-05 9.99997737e-01 -1.90049298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.63, Y:-16.82, Z:-1.90 [[ 9.88167914e-01 1.53375798e-01 1.97590586e-04 1.49631095e+02] [-1.53375796e-01 9.88167933e-01 -2.63732014e-05 -1.68219543e+01] [-1.99297691e-04 -4.24446193e-06 9.99999980e-01 -1.90476812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.66, Y:-16.82, Z:-1.91 [[ 9.88152154e-01 1.53471812e-01 -1.31249691e-03 1.49660050e+02] [-1.53471716e-01 9.88153026e-01 1.73629018e-04 -1.68165957e+01] [ 1.32359495e-03 2.98592646e-05 9.99999124e-01 -1.90878882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43576923100002 meters Centerline goodness [0,1] 0.9999572366311018 Centerline is valid? [True, True] Translation: X:149.69, Y:-16.82, Z:-1.91 [[ 9.88197157e-01 1.53176311e-01 -1.84283194e-03 1.49689037e+02] [-1.53176122e-01 9.88198875e-01 2.43849241e-04 -1.68153414e+01] [ 1.85843638e-03 4.13067240e-05 9.99998272e-01 -1.91079018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.72, Y:-16.82, Z:-1.91 [[ 9.88739286e-01 1.49646285e-01 -7.83332320e-04 1.49718970e+02] [-1.49646250e-01 9.88739596e-01 1.03729372e-04 -1.68178796e+01] [ 7.90034397e-04 1.46614390e-05 9.99999688e-01 -1.90860343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.495769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.75, Y:-16.82, Z:-1.91 [[ 9.89259579e-01 1.46169246e-01 -1.91484347e-04 1.49747579e+02] [-1.46169244e-01 9.89259598e-01 2.51582013e-05 -1.68237198e+01] [ 1.93105083e-04 3.10113059e-06 9.99999981e-01 -1.90769874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.525769231 meters Centerline goodness [0,1] 0.9999786957540638 Centerline is valid? [True, True] Translation: X:149.77, Y:-16.84, Z:-1.91 [[ 9.90751602e-01 1.35685960e-01 7.64056280e-04 1.49774479e+02] [-1.35685923e-01 9.90751896e-01 -1.01252538e-04 -1.68377620e+01] [-7.70728756e-04 -3.35556659e-06 9.99999703e-01 -1.90613850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.555769231 meters Centerline goodness [0,1] 0.9998081841432225 Centerline is valid? [True, True] Translation: X:149.80, Y:-16.86, Z:-1.90 [[ 9.92353611e-01 1.23406187e-01 2.28567451e-03 1.49800892e+02] [-1.23405818e-01 9.92356243e-01 -3.02552416e-04 -1.68569441e+01] [-2.30554021e-03 1.81734500e-05 9.99997342e-01 -1.90412919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.585769231 meters Centerline goodness [0,1] 0.9996998992518917 Centerline is valid? [True, True] Translation: X:149.83, Y:-16.87, Z:-1.90 [[ 9.92932819e-01 1.18653786e-01 2.38675789e-03 1.49828481e+02] [-1.18653370e-01 9.92935687e-01 -3.15810058e-04 -1.68675665e+01] [-2.40736915e-03 3.03813034e-05 9.99997102e-01 -1.90395772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.615769231 meters Centerline goodness [0,1] 0.9997037789344505 Centerline is valid? [True, True] Translation: X:149.86, Y:-16.88, Z:-1.90 [[ 9.93300399e-01 1.15546893e-01 1.79778515e-03 1.49855762e+02] [-1.15546651e-01 9.93302026e-01 -2.37813208e-04 -1.68776724e+01] [-1.81322221e-03 2.84918997e-05 9.99998356e-01 -1.90490080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.645769231 meters Centerline goodness [0,1] 0.9996172981247609 Centerline is valid? [True, True] Translation: X:149.88, Y:-16.89, Z:-1.90 [[ 9.93617362e-01 1.12799471e-01 9.03819274e-04 1.49883237e+02] [-1.12799409e-01 9.93617773e-01 -1.19592918e-04 -1.68904994e+01] [-9.11540912e-04 1.68793199e-05 9.99999584e-01 -1.90489520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.675769231 meters Centerline goodness [0,1] 0.9996569615368123 Centerline is valid? [True, True] Translation: X:149.91, Y:-16.90, Z:-1.90 [[ 9.93720772e-01 1.11882325e-01 1.17158935e-03 1.49912772e+02] [-1.11882220e-01 9.93721462e-01 -1.54913697e-04 -1.68951695e+01] [-1.18156559e-03 2.28609408e-05 9.99999302e-01 -1.90369900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.705769231 meters Centerline goodness [0,1] 0.9994203894124466 Centerline is valid? [True, True] Translation: X:149.94, Y:-16.91, Z:-1.90 [[ 9.93900389e-01 1.10256817e-01 2.33482587e-03 1.49941251e+02] [-1.10256396e-01 9.93903130e-01 -3.08574768e-04 -1.69058903e+01] [-2.35461321e-03 4.92630953e-05 9.99997227e-01 -1.90208724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.735769231 meters Centerline goodness [0,1] 0.9993348210454038 Centerline is valid? [True, True] Translation: X:149.97, Y:-16.92, Z:-1.90 [[ 9.94010110e-01 1.09234546e-01 3.42271397e-03 1.49968919e+02] [-1.09233636e-01 9.94016000e-01 -4.52228446e-04 -1.69158353e+01] [-3.45163142e-03 7.56441548e-05 9.99994040e-01 -1.90019844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.765769231 meters Centerline goodness [0,1] 0.9992930742700457 Centerline is valid? [True, True] Translation: X:150.00, Y:-16.92, Z:-1.90 [[ 9.94054617e-01 1.08816825e-01 3.78378693e-03 1.49996681e+02] [-1.08815710e-01 9.94061815e-01 -4.99814352e-04 -1.69222339e+01] [-3.81570631e-03 8.51073010e-05 9.99992717e-01 -1.90010305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.795769231 meters Centerline goodness [0,1] 0.9993589195657748 Centerline is valid? [True, True] Translation: X:150.03, Y:-16.93, Z:-1.90 [[ 9.94169181e-01 1.07802377e-01 2.50753516e-03 1.50025235e+02] [-1.07801884e-01 9.94172341e-01 -3.31153978e-04 -1.69310907e+01] [-2.52862129e-03 5.89060636e-05 9.99996801e-01 -1.90330932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.825769231 meters Centerline goodness [0,1] 0.9992487658295771 Centerline is valid? [True, True] Translation: X:150.05, Y:-16.94, Z:-1.91 [[ 9.94280450e-01 1.06793040e-01 1.27835802e-03 1.50054773e+02] [-1.06792911e-01 9.94281271e-01 -1.68834962e-04 -1.69379133e+01] [-1.28907783e-03 3.13497284e-05 9.99999169e-01 -1.90588968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.855769231 meters Centerline goodness [0,1] 0.9993096157580204 Centerline is valid? [True, True] Translation: X:150.08, Y:-16.95, Z:-1.91 [[ 9.94423232e-01 1.05462443e-01 3.29654232e-04 1.50084463e+02] [-1.05462434e-01 9.94423287e-01 -4.35380066e-05 -1.69453307e+01] [-3.32407469e-04 8.52906767e-06 9.99999945e-01 -1.90780998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.885769231 meters Centerline goodness [0,1] 0.9989194228446723 Centerline is valid? [True, True] Translation: X:150.11, Y:-16.96, Z:-1.91 [[ 9.94715440e-01 1.02670266e-01 -9.64045417e-05 1.50113820e+02] [-1.02670265e-01 9.94715445e-01 1.27323152e-05 -1.69566869e+01] [ 9.72023168e-05 -2.76715066e-06 9.99999995e-01 -1.90885654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.915769231 meters Centerline goodness [0,1] 0.9986842105263158 Centerline is valid? [True, True] Translation: X:150.14, Y:-16.97, Z:-1.91 [[ 9.94849348e-01 1.01358069e-01 1.14699274e-03 1.50142897e+02] [-1.01357962e-01 9.94850009e-01 -1.51363299e-04 -1.69663450e+01] [-1.15642763e-03 3.43268322e-05 9.99999331e-01 -1.90693460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.945769231 meters Centerline goodness [0,1] 0.9984096965529098 Centerline is valid? [True, True] Translation: X:150.17, Y:-16.98, Z:-1.90 [[ 9.95102725e-01 9.87869242e-02 3.42191453e-03 1.50173400e+02] [-9.87859533e-02 9.95108603e-01 -4.52020918e-04 -1.69768116e+01] [-3.44983034e-03 1.11770159e-04 9.99994043e-01 -1.90234577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97576923100002 meters Centerline goodness [0,1] 0.9974835256232539 Centerline is valid? [True, True] Translation: X:150.20, Y:-16.99, Z:-1.90 [[ 9.95255919e-01 9.72002948e-02 4.21415757e-03 1.50202991e+02] [-9.71988047e-02 9.95264830e-01 -5.57458538e-04 -1.69887485e+01] [-4.24838795e-03 1.45202831e-04 9.99990965e-01 -1.90068098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00576923100002 meters Centerline goodness [0,1] 0.9966960352422908 Centerline is valid? [True, True] Translation: X:150.23, Y:-17.00, Z:-1.90 [[ 9.95305756e-01 9.67036048e-02 3.85538571e-03 1.50234495e+02] [-9.67023518e-02 9.95313214e-01 -5.10539162e-04 -1.69959269e+01] [-3.88668732e-03 1.35317701e-04 9.99992438e-01 -1.90153615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03576923100002 meters Centerline goodness [0,1] 0.9967253551075955 Centerline is valid? [True, True] Translation: X:150.26, Y:-17.01, Z:-1.90 [[ 9.95348249e-01 9.63131788e-02 2.37376501e-03 1.50264170e+02] [-9.63127023e-02 9.95351076e-01 -3.14503393e-04 -1.70081415e+01] [-2.39302037e-03 8.44166793e-05 9.99997133e-01 -1.90424708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06576923100002 meters Centerline goodness [0,1] 0.9968740099271306 Centerline is valid? [True, True] Translation: X:150.29, Y:-17.02, Z:-1.91 [[ 9.95282007e-01 9.70059324e-02 1.89088100e-03 1.50294707e+02] [-9.70056310e-02 9.95283801e-01 -2.50693717e-04 -1.70179722e+01] [-1.90628201e-03 6.60848414e-05 9.99998181e-01 -1.90566275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09576923100002 meters Centerline goodness [0,1] 0.9972420575533416 Centerline is valid? [True, True] Translation: X:150.33, Y:-17.02, Z:-1.91 [[ 9.95193755e-01 9.79057445e-02 1.96336662e-03 1.50327053e+02] [-9.79054203e-02 9.95195690e-01 -2.60795809e-04 -1.70224629e+01] [-1.97946741e-03 6.73181265e-05 9.99998039e-01 -1.90512440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12576923100002 meters Centerline goodness [0,1] 0.998175339172248 Centerline is valid? [True, True] Translation: X:150.36, Y:-17.03, Z:-1.90 [[ 9.94880717e-01 1.01030959e-01 2.25939604e-03 1.50358315e+02] [-1.01030537e-01 9.94883280e-01 -3.00336323e-04 -1.70256108e+01] [-2.27817861e-03 7.05308210e-05 9.99997402e-01 -1.90383701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15576923100002 meters Centerline goodness [0,1] 0.9986938293972655 Centerline is valid? [True, True] Translation: X:150.39, Y:-17.03, Z:-1.90 [[ 9.94627971e-01 1.03487247e-01 2.36407007e-03 1.50388613e+02] [-1.03486792e-01 9.94630778e-01 -3.14306779e-04 -1.70329445e+01] [-2.38390360e-03 6.79682858e-05 9.99997156e-01 -1.90474953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18576923100002 meters Centerline goodness [0,1] 0.9986938293972655 Centerline is valid? [True, True] Translation: X:150.42, Y:-17.04, Z:-1.90 [[ 9.94609620e-01 1.03663472e-01 2.36409414e-03 1.50420819e+02] [-1.03663018e-01 9.94612427e-01 -3.14125982e-04 -1.70374304e+01] [-2.38392080e-03 6.73635912e-05 9.99997156e-01 -1.90487674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21576923100002 meters Centerline goodness [0,1] 0.99891190714941 Centerline is valid? [True, True] Translation: X:150.45, Y:-17.04, Z:-1.91 [[ 9.94500107e-01 1.04709085e-01 2.35465938e-03 1.50452411e+02] [-1.04708636e-01 9.94502893e-01 -3.13324686e-04 -1.70422541e+01] [-2.37452351e-03 6.50482604e-05 9.99997179e-01 -1.90578649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.245769231 meters Centerline goodness [0,1] 0.9993803286395009 Centerline is valid? [True, True] Translation: X:150.48, Y:-17.05, Z:-1.91 [[ 9.94227520e-01 1.07271123e-01 2.13162368e-03 1.50482589e+02] [-1.07270760e-01 9.94229804e-01 -2.84168927e-04 -1.70486692e+01] [-2.14980691e-03 5.38676750e-05 9.99997688e-01 -1.90629092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.275769231 meters Centerline goodness [0,1] 0.9993838701453217 Centerline is valid? [True, True] Translation: X:150.51, Y:-17.05, Z:-1.91 [[ 9.93990883e-01 1.09442860e-01 2.09376746e-03 1.50513394e+02] [-1.09442515e-01 9.93993088e-01 -2.78947315e-04 -1.70522713e+01] [-2.11171918e-03 4.81239109e-05 9.99997769e-01 -1.90651217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.305769231 meters Centerline goodness [0,1] 0.999827879257299 Centerline is valid? [True, True] Translation: X:150.55, Y:-17.05, Z:-1.91 [[ 9.93339892e-01 1.15212606e-01 1.38391312e-03 1.50545532e+02] [-1.15212460e-01 9.93340855e-01 -1.84721896e-04 -1.70465268e+01] [-1.39597974e-03 2.40475924e-05 9.99999025e-01 -1.90623452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.335769231 meters Centerline goodness [0,1] 0.999936367878505 Centerline is valid? [True, True] Translation: X:150.58, Y:-17.05, Z:-1.91 [[ 9.92998445e-01 1.18121864e-01 1.14594049e-03 1.50576442e+02] [-1.18121767e-01 9.92999106e-01 -1.52930876e-04 -1.70477545e+01] [-1.15598236e-03 1.64996072e-05 9.99999332e-01 -1.90707729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.365769231 meters Centerline goodness [0,1] 0.9998935898527284 Centerline is valid? [True, True] Translation: X:150.61, Y:-17.05, Z:-1.91 [[ 9.92372761e-01 1.23262895e-01 1.60086286e-03 1.50606021e+02] [-1.23262711e-01 9.92374052e-01 -2.13799070e-04 -1.70466312e+01] [-1.61500825e-03 1.48416783e-05 9.99998696e-01 -1.90786788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.395769231 meters Centerline goodness [0,1] 0.9999789393875574 Centerline is valid? [True, True] Translation: X:150.64, Y:-17.05, Z:-1.91 [[ 9.92092408e-01 1.25489160e-01 2.26395012e-03 1.50635131e+02] [-1.25488797e-01 9.92094991e-01 -3.02266983e-04 -1.70496854e+01] [-2.28398481e-03 1.57764017e-05 9.99997392e-01 -1.90681928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.425769231 meters Centerline goodness [0,1] 0.9999360354789877 Centerline is valid? [True, True] Translation: X:150.66, Y:-17.05, Z:-1.91 [[ 9.91835982e-01 1.27484605e-01 3.01011238e-03 1.50664994e+02] [-1.27483972e-01 9.91840549e-01 -4.01967886e-04 -1.70533895e+01] [-3.03679623e-03 1.49451310e-05 9.99995389e-01 -1.90526867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.455769231 meters Centerline goodness [0,1] 0.9999153313718434 Centerline is valid? [True, True] Translation: X:150.69, Y:-17.06, Z:-1.91 [[ 9.91798596e-01 1.27780238e-01 2.78476859e-03 1.50694038e+02] [-1.27779697e-01 9.91802506e-01 -3.71888572e-04 -1.70583385e+01] [-2.80946048e-03 1.30016763e-05 9.99996053e-01 -1.90592631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.485769231 meters Centerline goodness [0,1] 0.9999568891188136 Centerline is valid? [True, True] Translation: X:150.72, Y:-17.06, Z:-1.91 [[ 9.91772748e-01 1.27982080e-01 2.72109146e-03 1.50723047e+02] [-1.27981565e-01 9.91776480e-01 -3.63353025e-04 -1.70629370e+01] [-2.74521718e-03 1.21140845e-05 9.99996232e-01 -1.90767768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.515769231 meters Centerline goodness [0,1] 0.9999360040957379 Centerline is valid? [True, True] Translation: X:150.75, Y:-17.07, Z:-1.91 [[ 9.91758761e-01 1.28096635e-01 2.41099451e-03 1.50753442e+02] [-1.28096231e-01 9.91761691e-01 -3.21906851e-04 -1.70685916e+01] [-2.43236717e-03 1.04146302e-05 9.99997042e-01 -1.90858909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.545769231 meters Centerline goodness [0,1] 0.9999361267245784 Centerline is valid? [True, True] Translation: X:150.78, Y:-17.08, Z:-1.91 [[ 9.91865646e-01 1.27272908e-01 2.03668501e-03 1.50782921e+02] [-1.27272618e-01 9.91867737e-01 -2.71930465e-04 -1.70801029e+01] [-2.05473153e-03 1.05042537e-05 9.99997889e-01 -1.90975316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.575769231 meters Centerline goodness [0,1] 0.999978728382719 Centerline is valid? [True, True] Translation: X:150.81, Y:-17.09, Z:-1.91 [[ 9.91940386e-01 1.26695760e-01 1.56666139e-03 1.50813933e+02] [-1.26695588e-01 9.91941623e-01 -2.09123764e-04 -1.70878770e+01] [-1.58053174e-03 8.94922146e-06 9.99998751e-01 -1.91059548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.85, Y:-17.09, Z:-1.91 [[ 9.91795247e-01 1.27836564e-01 5.53306781e-06 1.50845320e+02] [-1.27836564e-01 9.91795247e-01 -6.48803405e-07 -1.70929949e+01] [-5.57061116e-06 -6.38482435e-08 1.00000000e+00 -1.91190900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.88, Y:-17.10, Z:-1.91 [[ 9.91509373e-01 1.30035160e-01 -1.41726065e-04 1.50875371e+02] [-1.30035159e-01 9.91509383e-01 1.89291475e-05 -1.70950378e+01] [ 1.42984178e-04 -3.39055742e-07 9.99999990e-01 -1.91224574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.90, Y:-17.09, Z:-1.91 [[ 9.90790850e-01 1.35398629e-01 -8.38567009e-04 1.50904733e+02] [-1.35398583e-01 9.90791205e-01 1.11832088e-04 -1.70909327e+01] [ 8.45986728e-04 2.73857571e-06 9.99999642e-01 -1.91473722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.93, Y:-17.09, Z:-1.92 [[ 9.90465033e-01 1.37761683e-01 -8.58445498e-04 1.50934677e+02] [-1.37761636e-01 9.90465405e-01 1.14523338e-04 -1.70906632e+01] [ 8.66037496e-04 4.82949444e-06 9.99999625e-01 -1.91581577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72576923100002 meters Centerline goodness [0,1] 0.9999788014330231 Centerline is valid? [True, True] Translation: X:150.96, Y:-17.09, Z:-1.92 [[ 9.90125267e-01 1.40177583e-01 -1.48333458e-03 1.50963249e+02] [-1.40177444e-01 9.90126378e-01 1.97746795e-04 -1.70897484e+01] [ 1.49640836e-03 1.21359523e-05 9.99998880e-01 -1.91803262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.99, Y:-17.09, Z:-1.91 [[ 9.90046124e-01 1.40742303e-01 -5.25274962e-04 1.50992698e+02] [-1.40742285e-01 9.90046264e-01 6.99966550e-05 -1.70945597e+01] [ 5.29898004e-04 4.62848170e-06 9.99999860e-01 -1.91404159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.02, Y:-17.10, Z:-1.91 [[ 9.90013082e-01 1.40975353e-01 2.15404177e-04 1.51022005e+02] [-1.40975350e-01 9.90013106e-01 -2.88289332e-05 -1.70982678e+01] [-2.17317127e-04 -1.82565821e-06 9.99999976e-01 -1.91172214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81576923100002 meters Centerline goodness [0,1] 0.9999788529859583 Centerline is valid? [True, True] Translation: X:151.05, Y:-17.10, Z:-1.91 [[ 9.89898952e-01 1.41763090e-01 1.81409038e-03 1.51051150e+02] [-1.41762884e-01 9.89900614e-01 -2.42080956e-04 -1.70954928e+01] [-1.83008732e-03 -1.75349994e-05 9.99998325e-01 -1.90978783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.08, Y:-17.10, Z:-1.91 [[ 9.89874726e-01 1.41915611e-01 2.82600795e-03 1.51080075e+02] [-1.41915113e-01 9.89878760e-01 -3.76924907e-04 -1.71018832e+01] [-2.85089677e-03 -2.79447972e-05 9.99995936e-01 -1.90742915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87576923100002 meters Centerline goodness [0,1] 0.9999576226295158 Centerline is valid? [True, True] Translation: X:151.11, Y:-17.10, Z:-1.90 [[ 9.89903517e-01 1.41664477e-01 4.71199998e-03 1.51109067e+02] [-1.41663091e-01 9.89914731e-01 -6.28290555e-04 -1.71025247e+01] [-4.75348464e-03 -4.55694498e-05 9.99988701e-01 -1.90382570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90576923100002 meters Centerline goodness [0,1] 0.9999577506443027 Centerline is valid? [True, True] Translation: X:151.14, Y:-17.10, Z:-1.90 [[ 9.89852271e-01 1.42005034e-01 5.20119285e-03 1.51138082e+02] [-1.42003351e-01 9.89865934e-01 -6.93322749e-04 -1.71023345e+01] [-5.24693894e-03 -5.22997188e-05 9.99986233e-01 -1.90242807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93576923100002 meters Centerline goodness [0,1] 0.9999576647898056 Centerline is valid? [True, True] Translation: X:151.17, Y:-17.11, Z:-1.90 [[ 9.89750250e-01 1.42723146e-01 4.95450527e-03 1.51167847e+02] [-1.42721629e-01 9.89762649e-01 -6.60289117e-04 -1.71060775e+01] [-4.99802280e-03 -5.35937420e-05 9.99987508e-01 -1.90252320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96576923100002 meters Centerline goodness [0,1] 0.9999572603910675 Centerline is valid? [True, True] Translation: X:151.20, Y:-17.11, Z:-1.90 [[ 9.89733877e-01 1.42853854e-01 4.43049609e-03 1.51196964e+02] [-1.42852642e-01 9.89743792e-01 -5.90361869e-04 -1.71092331e+01] [-4.46939147e-03 -4.86069314e-05 9.99990011e-01 -1.90435783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.995769231 meters Centerline goodness [0,1] 0.9999786616592694 Centerline is valid? [True, True] Translation: X:151.23, Y:-17.11, Z:-1.91 [[ 9.89817354e-01 1.42306004e-01 3.25689581e-03 1.51225109e+02] [-1.42305346e-01 9.89822711e-01 -4.33935533e-04 -1.71115990e+01] [-3.28550107e-03 -3.39567650e-05 9.99994602e-01 -1.90773034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.025769231 meters Centerline goodness [0,1] 0.9999360027305502 Centerline is valid? [True, True] Translation: X:151.25, Y:-17.12, Z:-1.91 [[ 9.89931575e-01 1.41521093e-01 2.69392888e-03 1.51254631e+02] [-1.41520640e-01 9.89935240e-01 -3.58844062e-04 -1.71159782e+01] [-2.71759913e-03 -2.60154718e-05 9.99996307e-01 -1.90936036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.055769231 meters Centerline goodness [0,1] 0.9999577479666208 Centerline is valid? [True, True] Translation: X:151.28, Y:-17.12, Z:-1.91 [[ 9.90219469e-01 1.39497450e-01 2.42151240e-03 1.51282892e+02] [-1.39497079e-01 9.90222430e-01 -3.22526833e-04 -1.71224438e+01] [-2.44282756e-03 -1.84215571e-05 9.99997016e-01 -1.91011405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.31, Y:-17.13, Z:-1.91 [[ 9.90326273e-01 1.38741966e-01 2.13050959e-03 1.51312154e+02] [-1.38741677e-01 9.90328565e-01 -2.83691123e-04 -1.71278510e+01] [-2.14926437e-03 -1.46437011e-05 9.99997690e-01 -1.91017338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.34, Y:-17.13, Z:-1.92 [[ 9.90379160e-01 1.38379597e-01 -4.53480225e-04 1.51340199e+02] [-1.38379584e-01 9.90379264e-01 6.02130739e-05 -1.71305846e+01] [ 4.57449672e-04 3.11863147e-06 9.99999895e-01 -1.91681000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.145769231 meters Centerline goodness [0,1] 0.9999785679075848 Centerline is valid? [True, True] Translation: X:151.37, Y:-17.14, Z:-1.92 [[ 9.90365695e-01 1.38468174e-01 -1.53464639e-03 1.51369267e+02] [-1.38468024e-01 9.90366884e-01 2.04099477e-04 -1.71353021e+01] [ 1.54812425e-03 1.03663332e-05 9.99998802e-01 -1.91916321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.175769231 meters Centerline goodness [0,1] 0.9999787721830687 Centerline is valid? [True, True] Translation: X:151.40, Y:-17.14, Z:-1.92 [[ 9.90337442e-01 1.38665491e-01 -1.90574751e-03 1.51397853e+02] [-1.38665260e-01 9.90339276e-01 2.53362451e-04 -1.71383332e+01] [ 1.92246924e-03 1.33466534e-05 9.99998152e-01 -1.91999735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.205769231 meters Centerline goodness [0,1] 0.9999788009836343 Centerline is valid? [True, True] Translation: X:151.43, Y:-17.14, Z:-1.92 [[ 9.90417065e-01 1.38108667e-01 -1.81188443e-04 1.51427592e+02] [-1.38108665e-01 9.90417082e-01 2.40530217e-05 -1.71438822e+01] [ 1.82774060e-04 1.20117082e-06 9.99999983e-01 -1.91562353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.46, Y:-17.15, Z:-1.91 [[ 9.90642706e-01 1.36480877e-01 9.99437472e-06 1.51457187e+02] [-1.36480877e-01 9.90642706e-01 -1.48509951e-06 -1.71503403e+01] [-1.01035421e-05 1.07161972e-07 1.00000000e+00 -1.91465484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.49, Y:-17.15, Z:-1.92 [[ 9.90712576e-01 1.35967194e-01 -1.23012311e-03 1.51486942e+02] [-1.35967096e-01 9.90713340e-01 1.63503007e-04 -1.71539511e+01] [ 1.24093042e-03 5.27178148e-06 9.99999230e-01 -1.91869912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.52, Y:-17.16, Z:-1.92 [[ 9.90881697e-01 1.34696153e-01 -3.22626299e-03 1.51516292e+02] [-1.34695471e-01 9.90886949e-01 4.28772115e-04 -1.71613068e+01] [ 3.25461585e-03 9.70057393e-06 9.99994704e-01 -1.92191830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.54, Y:-17.17, Z:-1.92 [[ 9.91003175e-01 1.33816764e-01 -2.40418020e-03 1.51544627e+02] [-1.33816383e-01 9.91006092e-01 3.19357144e-04 -1.71659807e+01] [ 2.42529256e-03 5.23475619e-06 9.99997059e-01 -1.92108710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.57, Y:-17.17, Z:-1.91 [[ 9.91202199e-01 1.32352864e-01 9.58834898e-04 1.51573949e+02] [-1.32352803e-01 9.91202663e-01 -1.27492982e-04 -1.71717783e+01] [-9.67273766e-04 -5.33162195e-07 9.99999532e-01 -1.91378487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.60, Y:-17.18, Z:-1.91 [[ 9.91220950e-01 1.32208649e-01 1.37928582e-03 1.51603270e+02] [-1.32208522e-01 9.91221909e-01 -1.83294711e-04 -1.71773990e+01] [-1.39141147e-03 -6.67782350e-07 9.99999032e-01 -1.91258251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.63, Y:-17.18, Z:-1.91 [[ 9.91295810e-01 1.31648277e-01 1.16149009e-03 1.51633287e+02] [-1.31648187e-01 9.91296490e-01 -1.54312495e-04 -1.71835217e+01] [-1.17169602e-03 6.12656583e-08 9.99999314e-01 -1.91392350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.66, Y:-17.20, Z:-1.92 [[ 9.91781668e-01 1.27936774e-01 1.14225901e-03 1.51663032e+02] [-1.27936684e-01 9.91782326e-01 -1.51690664e-04 -1.71964706e+01] [-1.15227911e-03 4.30719014e-06 9.99999336e-01 -1.91536573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.69, Y:-17.21, Z:-1.92 [[ 9.92023235e-01 1.26046504e-01 1.47647423e-03 1.51692787e+02] [-1.26046351e-01 9.92024334e-01 -1.95971349e-04 -1.72071279e+01] [-1.48939987e-03 8.30394186e-06 9.99998891e-01 -1.91545528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50576923100002 meters Centerline goodness [0,1] 0.9999570114349583 Centerline is valid? [True, True] Translation: X:151.72, Y:-17.23, Z:-1.91 [[ 9.92539425e-01 1.21909370e-01 1.89625853e-03 1.51722463e+02] [-1.21909111e-01 9.92541236e-01 -2.51822669e-04 -1.72262679e+01] [-1.91281432e-03 1.87727347e-05 9.99998170e-01 -1.91367798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53576923100002 meters Centerline goodness [0,1] 0.9999573751625072 Centerline is valid? [True, True] Translation: X:151.75, Y:-17.24, Z:-1.91 [[ 9.92660824e-01 1.20908330e-01 2.38000860e-03 1.51752182e+02] [-1.20907918e-01 9.92663677e-01 -3.16650211e-04 -1.72361783e+01] [-2.40083373e-03 2.65643738e-05 9.99997118e-01 -1.91279387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56576923100002 meters Centerline goodness [0,1] 0.9999788158034106 Centerline is valid? [True, True] Translation: X:151.78, Y:-17.24, Z:-1.91 [[ 9.92671176e-01 1.20809080e-01 3.01716070e-03 1.51782851e+02] [-1.20808416e-01 9.92675760e-01 -4.02083719e-04 -1.72446288e+01] [-3.04363766e-03 3.46385135e-05 9.99995368e-01 -1.91133692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59576923100002 meters Centerline goodness [0,1] 0.9999574468085106 Centerline is valid? [True, True] Translation: X:151.81, Y:-17.25, Z:-1.91 [[ 9.92394632e-01 1.23064117e-01 2.84926471e-03 1.51814818e+02] [-1.23063533e-01 9.92398722e-01 -3.79972693e-04 -1.72500713e+01] [-2.87436766e-03 2.64422799e-05 9.99995869e-01 -1.91210997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.85, Y:-17.25, Z:-1.92 [[ 9.91893993e-01 1.27067766e-01 2.97780090e-04 1.51845519e+02] [-1.27067760e-01 9.91894038e-01 -3.94399525e-05 -1.72539436e+01] [-3.00377842e-04 1.28200302e-06 9.99999955e-01 -1.91715523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.88, Y:-17.26, Z:-1.92 [[ 9.91542400e-01 1.29782248e-01 -4.86020795e-04 1.51877350e+02] [-1.29782231e-01 9.91542520e-01 6.56874479e-05 -1.72563067e+01] [ 4.90435348e-04 -2.05502651e-06 9.99999880e-01 -1.91848988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.91, Y:-17.26, Z:-1.92 [[ 9.90905349e-01 1.34560321e-01 -3.30213952e-04 1.51908286e+02] [-1.34560314e-01 9.90905404e-01 4.48350360e-05 -1.72573146e+01] [ 3.33243807e-04 6.41616445e-09 9.99999944e-01 -1.91813376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.94, Y:-17.26, Z:-1.92 [[ 9.90710757e-01 1.35984986e-01 5.28406189e-04 1.51940612e+02] [-1.35984968e-01 9.90710898e-01 -7.02596770e-05 -1.72616455e+01] [-5.33052031e-04 -2.24828091e-06 9.99999858e-01 -1.91634720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.745769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.97, Y:-17.26, Z:-1.92 [[ 9.90386778e-01 1.38317976e-01 1.47223685e-03 1.51971803e+02] [-1.38317835e-01 9.90387872e-01 -1.97150504e-04 -1.72634102e+01] [-1.48535498e-03 -8.38136146e-06 9.99998897e-01 -1.91524626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.00, Y:-17.27, Z:-1.92 [[ 9.90202165e-01 1.39639932e-01 6.02033129e-04 1.52003497e+02] [-1.39639909e-01 9.90202348e-01 -8.07819538e-05 -1.72650854e+01] [-6.07415005e-04 -4.07738566e-06 9.99999816e-01 -1.91740672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.805769231 meters Centerline goodness [0,1] 0.9999571367338191 Centerline is valid? [True, True] Translation: X:152.03, Y:-17.26, Z:-1.92 [[ 9.89738009e-01 1.42891459e-01 -8.38949696e-04 1.52034193e+02] [-1.42891414e-01 9.89738365e-01 1.12749158e-04 -1.72630706e+01] [ 8.46451592e-04 8.28658200e-06 9.99999642e-01 -1.92029765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.07, Y:-17.26, Z:-1.92 [[ 9.88962312e-01 1.48166309e-01 -5.38572472e-04 1.52065252e+02] [-1.48166292e-01 9.88962459e-01 7.22520549e-05 -1.72560006e+01] [ 5.43333276e-04 8.34372695e-06 9.99999852e-01 -1.91833990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.865769231 meters Centerline goodness [0,1] 0.9999573515300139 Centerline is valid? [True, True] Translation: X:152.10, Y:-17.25, Z:-1.92 [[ 9.88377569e-01 1.52018242e-01 -4.84508242e-04 1.52095984e+02] [-1.52018228e-01 9.88377688e-01 6.49779467e-05 -1.72516332e+01] [ 4.88754969e-04 9.43133950e-06 9.99999881e-01 -1.91801380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.895769231 meters Centerline goodness [0,1] 0.9997877758913413 Centerline is valid? [True, True] Translation: X:152.13, Y:-17.23, Z:-1.92 [[ 9.86920996e-01 1.61196807e-01 -1.59273589e-03 1.52128072e+02] [-1.61196672e-01 9.86922280e-01 2.13837211e-04 -1.72344344e+01] [ 1.60637641e-03 4.57032907e-05 9.99998709e-01 -1.92009653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.925769231 meters Centerline goodness [0,1] 0.9992529667890379 Centerline is valid? [True, True] Translation: X:152.16, Y:-17.23, Z:-1.92 [[ 9.86214309e-01 1.65463929e-01 -1.73941444e-03 1.52158432e+02] [-1.65463774e-01 9.86215841e-01 2.33517928e-04 -1.72265621e+01] [ 1.75407687e-03 5.75113560e-05 9.99998460e-01 -1.92108963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.955769231 meters Centerline goodness [0,1] 0.9995070513095289 Centerline is valid? [True, True] Translation: X:152.19, Y:-17.22, Z:-1.92 [[ 9.85422884e-01 1.70122698e-01 -9.15831287e-05 1.52188939e+02] [-1.70122697e-01 9.85422888e-01 1.22287327e-05 -1.72247672e+01] [ 9.23284962e-05 3.52989587e-06 9.99999996e-01 -1.91721489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.985769231 meters Centerline goodness [0,1] 0.9995006946856547 Centerline is valid? [True, True] Translation: X:152.22, Y:-17.22, Z:-1.92 [[ 9.85301609e-01 1.70821513e-01 8.66382597e-04 1.52217870e+02] [-1.70821476e-01 9.85301989e-01 -1.16501909e-04 -1.72199949e+01] [-8.73549528e-04 -3.32072361e-05 9.99999618e-01 -1.91621569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.015769231 meters Centerline goodness [0,1] 0.9980393410481001 Centerline is valid? [True, True] Translation: X:152.25, Y:-17.21, Z:-1.91 [[ 9.85245806e-01 1.71118789e-01 3.01043594e-03 1.52247589e+02] [-1.71118352e-01 9.85250398e-01 -4.04050551e-04 -1.72053789e+01] [-3.03517385e-03 -1.17051726e-04 9.99995387e-01 -1.91217544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.045769231 meters Centerline goodness [0,1] 0.9976394343226249 Centerline is valid? [True, True] Translation: X:152.28, Y:-17.20, Z:-1.91 [[ 9.85219654e-01 1.71250356e-01 3.94318112e-03 1.52275894e+02] [-1.71249609e-01 9.85227533e-01 -5.28859725e-04 -1.72023900e+01] [-3.97549802e-03 -1.54225230e-04 9.99992086e-01 -1.90943969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.075769231 meters Centerline goodness [0,1] 0.9976394343226249 Centerline is valid? [True, True] Translation: X:152.30, Y:-17.21, Z:-1.91 [[ 9.85230585e-01 1.71187455e-01 3.94322164e-03 1.52303184e+02] [-1.71186708e-01 9.85238464e-01 -5.28557395e-04 -1.72059072e+01] [-3.97549603e-03 -1.54276220e-04 9.99992086e-01 -1.90954733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.105769231 meters Centerline goodness [0,1] 0.9969661856104498 Centerline is valid? [True, True] Translation: X:152.33, Y:-17.20, Z:-1.91 [[ 9.85236106e-01 1.71135466e-01 4.74004196e-03 1.52331595e+02] [-1.71134388e-01 9.85247491e-01 -6.34969259e-04 -1.71965163e+01] [-4.77878021e-03 -1.85589543e-04 9.99988564e-01 -1.90794686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.135769231 meters Centerline goodness [0,1] 0.9978069250558812 Centerline is valid? [True, True] Translation: X:152.36, Y:-17.19, Z:-1.91 [[ 9.85492752e-01 1.69678214e-01 3.65227318e-03 1.52362014e+02] [-1.69677566e-01 9.85499510e-01 -4.88949402e-04 -1.71897969e+01] [-3.68227749e-03 -1.37852732e-04 9.99993211e-01 -1.91159442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.165769231 meters Centerline goodness [0,1] 0.9981609392040716 Centerline is valid? [True, True] Translation: X:152.39, Y:-17.19, Z:-1.91 [[ 9.85676101e-01 1.68622025e-01 3.03927337e-03 1.52391455e+02] [-1.68621571e-01 9.85680780e-01 -4.06677946e-04 -1.71896464e+01] [-3.06432821e-03 -1.11634320e-04 9.99995299e-01 -1.91266231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.195769231 meters Centerline goodness [0,1] 0.9987405003842541 Centerline is valid? [True, True] Translation: X:152.42, Y:-17.19, Z:-1.91 [[ 9.86265403e-01 1.65130996e-01 3.50836553e-03 1.52420641e+02] [-1.65130370e-01 9.86271636e-01 -4.69257605e-04 -1.71867629e+01] [-3.53769039e-03 -1.16525157e-04 9.99993736e-01 -1.91106801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22576923100002 meters Centerline goodness [0,1] 0.9993594534002349 Centerline is valid? [True, True] Translation: X:152.45, Y:-17.19, Z:-1.91 [[ 9.86755624e-01 1.62172820e-01 3.64902026e-03 1.52450309e+02] [-1.62172123e-01 9.86762365e-01 -4.88020722e-04 -1.71913971e+01] [-3.67985956e-03 -1.10212173e-04 9.99993223e-01 -1.91035178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25576923100002 meters Centerline goodness [0,1] 0.9997240266632701 Centerline is valid? [True, True] Translation: X:152.48, Y:-17.20, Z:-1.91 [[ 9.88115674e-01 1.53684778e-01 2.89903481e-03 1.52477815e+02] [-1.53684301e-01 9.88119925e-01 -3.87711254e-04 -1.72025357e+01] [-2.92417938e-03 -6.24325723e-05 9.99995723e-01 -1.91264953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.51, Y:-17.22, Z:-1.91 [[ 9.89517264e-01 1.44404992e-01 1.66830368e-03 1.52505147e+02] [-1.44404821e-01 9.89518670e-01 -2.23093430e-04 -1.72227341e+01] [-1.68303344e-03 -2.01562941e-05 9.99998583e-01 -1.91497304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.53, Y:-17.23, Z:-1.92 [[ 9.90095258e-01 1.40393384e-01 1.03862954e-03 1.52533060e+02] [-1.40393316e-01 9.90095802e-01 -1.38984615e-04 -1.72310465e+01] [-1.04785527e-03 -8.20863596e-06 9.99999451e-01 -1.91609519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.56, Y:-17.24, Z:-1.92 [[ 9.90827014e-01 1.35135576e-01 4.52014427e-04 1.52559235e+02] [-1.35135562e-01 9.90827117e-01 -6.06136284e-05 -1.72428268e+01] [-4.56059209e-04 -1.02560324e-06 9.99999896e-01 -1.91844229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.59, Y:-17.25, Z:-1.92 [[ 9.90938142e-01 1.34318031e-01 5.14689792e-04 1.52587051e+02] [-1.34318013e-01 9.90938276e-01 -6.89501617e-05 -1.72479803e+01] [-5.19287065e-04 -8.06765250e-07 9.99999865e-01 -1.91938425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.62, Y:-17.25, Z:-1.92 [[ 9.90823166e-01 1.35164085e-01 3.50674592e-04 1.52615930e+02] [-1.35164077e-01 9.90823229e-01 -4.69867994e-05 -1.72523786e+01] [-3.53807459e-04 -8.42998069e-07 9.99999937e-01 -1.91783979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.64, Y:-17.26, Z:-1.92 [[ 9.90726736e-01 1.35869541e-01 -5.60364591e-05 1.52644295e+02] [-1.35869541e-01 9.90726737e-01 7.28288719e-06 -1.72565571e+01] [ 5.65063408e-05 3.98296911e-07 9.99999998e-01 -1.91788131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.67, Y:-17.26, Z:-1.92 [[ 9.90577199e-01 1.36955105e-01 3.35658361e-04 1.52672021e+02] [-1.36955098e-01 9.90577256e-01 -4.50030310e-05 -1.72610228e+01] [-3.38658932e-04 -1.39114727e-06 9.99999943e-01 -1.91942826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.495769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.70, Y:-17.27, Z:-1.92 [[ 9.90541557e-01 1.37202462e-01 1.70527946e-03 1.52700474e+02] [-1.37202273e-01 9.90543025e-01 -2.27502208e-04 -1.72665127e+01] [-1.72036654e-03 -8.61782744e-06 9.99998520e-01 -1.91646136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.73, Y:-17.26, Z:-1.91 [[ 9.90114287e-01 1.40206602e-01 3.97585069e-03 1.52729709e+02] [-1.40205604e-01 9.90122269e-01 -5.30031737e-04 -1.72632249e+01] [-4.01089225e-03 -3.26445490e-05 9.99991956e-01 -1.91084670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.555769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.76, Y:-17.25, Z:-1.91 [[ 9.89548163e-01 1.44175839e-01 2.78572636e-03 1.52759286e+02] [-1.44175365e-01 9.89552084e-01 -3.71315499e-04 -1.72549495e+01] [-2.81015605e-03 -3.41985452e-05 9.99996051e-01 -1.91425341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.585769231 meters Centerline goodness [0,1] 0.999957483897026 Centerline is valid? [True, True] Translation: X:152.79, Y:-17.25, Z:-1.92 [[ 9.89409569e-01 1.45136760e-01 2.00617221e-03 1.52787986e+02] [-1.45136517e-01 9.89411603e-01 -2.67338181e-04 -1.72549410e+01] [-2.02373066e-03 -2.66618923e-05 9.99997952e-01 -1.91659090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.82, Y:-17.26, Z:-1.92 [[ 9.89540631e-01 1.44250912e-01 1.00689416e-03 1.52816341e+02] [-1.44250850e-01 9.89541143e-01 -1.34232830e-04 -1.72624487e+01] [-1.01572641e-03 -1.24164989e-05 9.99999484e-01 -1.91820236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.84, Y:-17.27, Z:-1.92 [[ 9.89833048e-01 1.42230727e-01 9.77966455e-04 1.52843701e+02] [-1.42230668e-01 9.89833532e-01 -1.30369004e-04 -1.72660383e+01] [-9.86566469e-04 -1.00532731e-05 9.99999513e-01 -1.91869086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.87, Y:-17.27, Z:-1.92 [[ 9.90699073e-01 1.36045231e-01 2.65385243e-03 1.52871906e+02] [-1.36044773e-01 9.90702627e-01 -3.53199518e-04 -1.72740761e+01] [-2.67722969e-03 -1.11283163e-05 9.99996416e-01 -1.91506239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.90, Y:-17.28, Z:-1.91 [[ 9.91187349e-01 1.32429035e-01 3.19226240e-03 1.52899330e+02] [-1.32428354e-01 9.91192489e-01 -4.24673130e-04 -1.72806020e+01] [-3.22038557e-03 -1.81542107e-06 9.99994815e-01 -1.91404547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.735769231 meters Centerline goodness [0,1] 0.9999784399120348 Centerline is valid? [True, True] Translation: X:152.93, Y:-17.30, Z:-1.92 [[ 9.92227324e-01 1.24417179e-01 2.30299586e-03 1.52926549e+02] [-1.24416803e-01 9.92229996e-01 -3.06279322e-04 -1.72954879e+01] [-2.32320799e-03 1.73673292e-05 9.99997301e-01 -1.91505982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.765769231 meters Centerline goodness [0,1] 0.9999362055033386 Centerline is valid? [True, True] Translation: X:152.95, Y:-17.31, Z:-1.92 [[ 9.92648090e-01 1.21026634e-01 1.52423926e-03 1.52953797e+02] [-1.21026466e-01 9.92649260e-01 -2.02660974e-04 -1.73099666e+01] [-1.53756235e-03 1.66977378e-05 9.99998818e-01 -1.91750940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.795769231 meters Centerline goodness [0,1] 0.9997679961192079 Centerline is valid? [True, True] Translation: X:152.98, Y:-17.32, Z:-1.92 [[ 9.93267090e-01 1.15833976e-01 1.72583961e-03 1.52982834e+02] [-1.15833752e-01 9.93268589e-01 -2.29382449e-04 -1.73180169e+01] [-1.74079255e-03 2.79275606e-05 9.99998484e-01 -1.91678051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.825769231 meters Centerline goodness [0,1] 0.9997626752966559 Centerline is valid? [True, True] Translation: X:153.01, Y:-17.33, Z:-1.92 [[ 9.93542823e-01 1.13441808e-01 1.90157177e-03 1.53012164e+02] [-1.13441532e-01 9.93544642e-01 -2.52665187e-04 -1.73256433e+01] [-1.91795923e-03 3.53164688e-05 9.99998160e-01 -1.91640207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.855769231 meters Centerline goodness [0,1] 0.9997870346707556 Centerline is valid? [True, True] Translation: X:153.04, Y:-17.34, Z:-1.92 [[ 9.93599629e-01 1.12957938e-01 5.30641652e-04 1.53039837e+02] [-1.12957917e-01 9.93599771e-01 -7.06179746e-05 -1.73351585e+01] [-5.35222284e-04 1.02258179e-05 9.99999857e-01 -1.91874786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.885769231 meters Centerline goodness [0,1] 0.9998926762256375 Centerline is valid? [True, True] Translation: X:153.07, Y:-17.34, Z:-1.92 [[ 9.93617631e-01 1.12776408e-01 -2.34206352e-03 1.53069019e+02] [-1.12775988e-01 9.93620390e-01 3.10896637e-04 -1.73439706e+01] [ 2.36218388e-03 -4.47838522e-05 9.99997209e-01 -1.92317514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.915769231 meters Centerline goodness [0,1] 0.9999576010684531 Centerline is valid? [True, True] Translation: X:153.10, Y:-17.35, Z:-1.92 [[ 9.93575041e-01 1.13162844e-01 -1.67610474e-03 1.53096633e+02] [-1.13162630e-01 9.93576454e-01 2.22359894e-04 -1.73506949e+01] [ 1.69050108e-03 -3.12588200e-05 9.99998571e-01 -1.92251780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.945769231 meters Centerline goodness [0,1] 0.9998506061123442 Centerline is valid? [True, True] Translation: X:153.13, Y:-17.36, Z:-1.92 [[ 9.93299761e-01 1.15554585e-01 1.64986273e-03 1.53126319e+02] [-1.15554381e-01 9.93301131e-01 -2.19043762e-04 -1.73562696e+01] [-1.66412202e-03 2.69272512e-05 9.99998615e-01 -1.91729127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97576923100002 meters Centerline goodness [0,1] 0.9999569772194377 Centerline is valid? [True, True] Translation: X:153.16, Y:-17.36, Z:-1.92 [[ 9.93141458e-01 1.16911665e-01 1.30623520e-03 1.53156071e+02] [-1.16911538e-01 9.93142317e-01 -1.73448111e-04 -1.73597202e+01] [-1.31755557e-03 1.95445437e-05 9.99999132e-01 -1.91770738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.18, Y:-17.36, Z:-1.92 [[ 9.92784287e-01 1.19894782e-01 -2.14471703e-03 1.53184790e+02] [-1.19894448e-01 9.92786604e-01 2.84411738e-04 -1.73630804e+01] [ 2.16334582e-03 -2.52198410e-05 9.99997660e-01 -1.92421280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03576923100002 meters Centerline goodness [0,1] 0.9999785995548708 Centerline is valid? [True, True] Translation: X:153.21, Y:-17.37, Z:-1.92 [[ 9.92584333e-01 1.21531541e-01 -2.53516940e-03 1.53213254e+02] [-1.21531079e-01 9.92587570e-01 3.36045735e-04 -1.73651792e+01] [ 2.55721779e-03 -2.54518585e-05 9.99996730e-01 -1.92465368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.24, Y:-17.37, Z:-1.92 [[ 9.92168121e-01 1.24909357e-01 2.69686922e-04 1.53240877e+02] [-1.24909352e-01 9.92168157e-01 -3.59854112e-05 -1.73667625e+01] [-2.72069691e-04 2.01715916e-06 9.99999963e-01 -1.91953667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:-17.37, Z:-1.92 [[ 9.92010799e-01 1.26147220e-01 1.20550977e-03 1.53269897e+02] [-1.26147118e-01 9.92011532e-01 -1.59940542e-04 -1.73695770e+01] [-1.21605565e-03 6.59116136e-06 9.99999261e-01 -1.91722708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12576923100002 meters Centerline goodness [0,1] 0.99997877128179 Centerline is valid? [True, True] Translation: X:153.30, Y:-17.37, Z:-1.92 [[ 9.91983141e-01 1.26361866e-01 1.45826306e-03 1.53298695e+02] [-1.26361718e-01 9.91984213e-01 -1.93364589e-04 -1.73742567e+01] [-1.47100784e-03 7.54578676e-06 9.99998918e-01 -1.91857921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15576923100002 meters Centerline goodness [0,1] 0.9999572850369485 Centerline is valid? [True, True] Translation: X:153.33, Y:-17.38, Z:-1.92 [[ 9.92150333e-01 1.25034021e-01 2.05181576e-03 1.53327371e+02] [-1.25033726e-01 9.92152455e-01 -2.71855456e-04 -1.73800401e+01] [-2.06970522e-03 1.31753122e-05 9.99997858e-01 -1.91798659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18576923100002 meters Centerline goodness [0,1] 0.999957414189592 Centerline is valid? [True, True] Translation: X:153.36, Y:-17.39, Z:-1.92 [[ 9.92574704e-01 1.21598015e-01 3.06269182e-03 1.53356741e+02] [-1.21597343e-01 9.92579428e-01 -4.05632799e-04 -1.73929785e+01] [-3.08928903e-03 3.02056694e-05 9.99995228e-01 -1.91603709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.39, Y:-17.40, Z:-1.92 [[ 9.92780595e-01 1.19939480e-01 1.10091733e-03 1.53386068e+02] [-1.19939392e-01 9.92781205e-01 -1.45668999e-04 -1.74046440e+01] [-1.11044150e-03 1.25740005e-05 9.99999383e-01 -1.91791942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.245769231 meters Centerline goodness [0,1] 0.9999362813814197 Centerline is valid? [True, True] Translation: X:153.42, Y:-17.41, Z:-1.92 [[ 9.92689230e-01 1.20698338e-01 6.19235361e-05 1.53416787e+02] [-1.20698338e-01 9.92689232e-01 -8.20447583e-06 -1.74074447e+01] [-6.24610941e-05 6.70426909e-07 9.99999998e-01 -1.91987799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.275769231 meters Centerline goodness [0,1] 0.9999366901616511 Centerline is valid? [True, True] Translation: X:153.45, Y:-17.41, Z:-1.92 [[ 9.92267240e-01 1.24119296e-01 3.52278132e-04 1.53445634e+02] [-1.24119288e-01 9.92267303e-01 -4.67995014e-05 -1.74068220e+01] [-3.55362793e-04 2.71310135e-06 9.99999937e-01 -1.92135724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.305769231 meters Centerline goodness [0,1] 0.9999576836002793 Centerline is valid? [True, True] Translation: X:153.48, Y:-17.41, Z:-1.92 [[ 9.92056011e-01 1.25793196e-01 9.71152724e-04 1.53475775e+02] [-1.25793130e-01 9.92056486e-01 -1.28706911e-04 -1.74082646e+01] [-9.79628813e-04 5.52012406e-06 9.99999520e-01 -1.91969960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.50, Y:-17.41, Z:-1.92 [[ 9.91713900e-01 1.28465814e-01 -2.73979650e-04 1.53504619e+02] [-1.28465809e-01 9.91713938e-01 3.61353787e-05 -1.74078254e+01] [ 2.76351599e-04 -6.38939858e-07 9.99999962e-01 -1.92203529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:-17.41, Z:-1.92 [[ 9.91654705e-01 1.28915440e-01 -1.32511252e-03 1.53533590e+02] [-1.28915321e-01 9.91655590e-01 1.75196172e-04 -1.74103835e+01] [ 1.33664073e-03 -2.90680290e-06 9.99999107e-01 -1.92496940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.56, Y:-17.42, Z:-1.93 [[ 9.91723690e-01 1.28373247e-01 -2.10522859e-03 1.53561742e+02] [-1.28372946e-01 9.91725924e-01 2.78342306e-04 -1.74154731e+01] [ 2.12354147e-03 -5.78426346e-06 9.99997745e-01 -1.92659762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.425769231 meters Centerline goodness [0,1] 0.9999783937946979 Centerline is valid? [True, True] Translation: X:153.59, Y:-17.43, Z:-1.93 [[ 9.92092872e-01 1.25496519e-01 -1.53506031e-03 1.53590645e+02] [-1.25496355e-01 9.92094060e-01 2.03093183e-04 -1.74294175e+01] [ 1.54841170e-03 -8.84282509e-06 9.99998801e-01 -1.92532887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.455769231 meters Centerline goodness [0,1] 0.999978815354631 Centerline is valid? [True, True] Translation: X:153.62, Y:-17.45, Z:-1.92 [[ 9.92630191e-01 1.21182265e-01 -4.02797064e-04 1.53618760e+02] [-1.21182254e-01 9.92630273e-01 5.33438907e-05 -1.74486088e+01] [ 4.06292893e-04 -4.13890038e-06 9.99999917e-01 -1.92291185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.485769231 meters Centerline goodness [0,1] 0.9999574268806676 Centerline is valid? [True, True] Translation: X:153.65, Y:-17.46, Z:-1.92 [[ 9.92838095e-01 1.19467641e-01 6.59409198e-06 1.53649140e+02] [-1.19467641e-01 9.92838095e-01 -7.79143360e-07 -1.74588264e+01] [-6.63994814e-06 -1.42174066e-08 1.00000000e+00 -1.92233023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.515769231 meters Centerline goodness [0,1] 0.9997035405725903 Centerline is valid? [True, True] Translation: X:153.68, Y:-17.47, Z:-1.92 [[ 9.92931864e-01 1.18683014e-01 8.10067285e-04 1.53678942e+02] [-1.18682967e-01 9.92932194e-01 -1.06726751e-04 -1.74741798e+01] [-8.17008539e-04 9.83120287e-06 9.99999666e-01 -1.92151683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.545769231 meters Centerline goodness [0,1] 0.9998939374655297 Centerline is valid? [True, True] Translation: X:153.71, Y:-17.48, Z:-1.92 [[ 9.92814860e-01 1.19655733e-01 1.07640501e-03 1.53710981e+02] [-1.19655649e-01 9.92815444e-01 -1.42145936e-04 -1.74803834e+01] [-1.08568009e-03 1.23266578e-05 9.99999411e-01 -1.92083725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.575769231 meters Centerline goodness [0,1] 0.999936460870486 Centerline is valid? [True, True] Translation: X:153.74, Y:-17.49, Z:-1.92 [[ 9.92281625e-01 1.24004671e-01 -1.32447684e-04 1.53742831e+02] [-1.24004670e-01 9.92281634e-01 1.82431495e-05 -1.74876277e+01] [ 1.33687640e-04 -1.67821063e-06 9.99999991e-01 -1.92268891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:-17.49, Z:-1.93 [[ 9.91529151e-01 1.29854248e-01 -2.79589585e-03 1.53773859e+02] [-1.29853716e-01 9.91533093e-01 3.71544343e-04 -1.74900087e+01] [ 2.82046987e-03 -5.33958079e-06 9.99996022e-01 -1.92618204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:-17.49, Z:-1.93 [[ 9.91109136e-01 1.33004608e-01 -3.52926835e-03 1.53804584e+02] [-1.33003782e-01 9.91115419e-01 4.68882611e-04 -1.74916138e+01] [ 3.56027583e-03 4.69219734e-06 9.99993662e-01 -1.92675471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.83, Y:-17.49, Z:-1.93 [[ 9.90702214e-01 1.36010774e-01 -3.19263324e-03 1.53834299e+02] [-1.36010113e-01 9.90707358e-01 4.24073309e-04 -1.74925166e+01] [ 3.22064378e-03 1.41000421e-05 9.99994814e-01 -1.92646321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:-17.49, Z:-1.92 [[ 9.89980660e-01 1.41202956e-01 1.30869867e-04 1.53864520e+02] [-1.41202955e-01 9.89980669e-01 -1.74298782e-05 -1.74905823e+01] [-1.32019789e-04 -1.22396975e-06 9.99999991e-01 -1.92111973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:-17.49, Z:-1.92 [[ 9.89530316e-01 1.44291889e-01 3.09919782e-03 1.53895480e+02] [-1.44291307e-01 9.89535168e-01 -4.11670961e-04 -1.74925557e+01] [-3.12616602e-03 -3.98264095e-05 9.99995113e-01 -1.91578885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75576923100002 meters Centerline goodness [0,1] 0.9999786406937503 Centerline is valid? [True, True] Translation: X:153.93, Y:-17.49, Z:-1.91 [[ 9.89325217e-01 1.45665679e-01 4.13816754e-03 1.53925305e+02] [-1.45664654e-01 9.89333870e-01 -5.49675803e-04 -1.74944146e+01] [-4.17409821e-03 -5.89766102e-05 9.99991287e-01 -1.91452915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78576923100002 meters Centerline goodness [0,1] 0.9999573242291689 Centerline is valid? [True, True] Translation: X:153.96, Y:-17.49, Z:-1.92 [[ 9.88739408e-01 1.49617341e-01 3.00576229e-03 1.53955096e+02] [-1.49616818e-01 9.88743975e-01 -3.99254301e-04 -1.74913286e+01] [-3.03166472e-03 -5.49541292e-05 9.99995403e-01 -1.91675639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81576923100002 meters Centerline goodness [0,1] 0.9999362177102158 Centerline is valid? [True, True] Translation: X:153.99, Y:-17.49, Z:-1.92 [[ 9.88438065e-01 1.51618738e-01 1.39631495e-03 1.53985137e+02] [-1.51618627e-01 9.88439051e-01 -1.85468090e-04 -1.74902387e+01] [-1.40829267e-03 -2.83836359e-05 9.99999008e-01 -1.91968820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84576923100002 meters Centerline goodness [0,1] 0.9998947855729978 Centerline is valid? [True, True] Translation: X:154.02, Y:-17.48, Z:-1.93 [[ 9.87972025e-01 1.54625429e-01 -1.50144359e-03 1.54015228e+02] [-1.54625305e-01 9.87973165e-01 1.99152591e-04 -1.74828721e+01] [ 1.51418003e-03 3.54039843e-05 9.99998853e-01 -1.92505626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87576923100002 meters Centerline goodness [0,1] 0.9997659873207676 Centerline is valid? [True, True] Translation: X:154.04, Y:-17.48, Z:-1.93 [[ 9.87815035e-01 1.55625138e-01 -1.50773047e-03 1.54043766e+02] [-1.55625015e-01 9.87816185e-01 1.99816476e-04 -1.74810261e+01] [ 1.52045703e-03 3.72588582e-05 9.99998843e-01 -1.92508806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90576923100002 meters Centerline goodness [0,1] 0.9999355185384202 Centerline is valid? [True, True] Translation: X:154.07, Y:-17.48, Z:-1.92 [[ 9.87689162e-01 1.56429277e-01 -2.79853822e-05 1.54072933e+02] [-1.56429277e-01 9.87689162e-01 3.53630595e-06 -1.74774045e+01] [ 2.81940405e-05 8.84962045e-07 1.00000000e+00 -1.92205941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93576923100002 meters Centerline goodness [0,1] 0.9999358618035661 Centerline is valid? [True, True] Translation: X:154.10, Y:-17.48, Z:-1.92 [[ 9.87753405e-01 1.56022290e-01 5.05635381e-04 1.54101445e+02] [-1.56022276e-01 9.87753534e-01 -6.72182289e-05 -1.74804038e+01] [-5.09930676e-04 -1.24953485e-05 9.99999870e-01 -1.92121752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96576923100002 meters Centerline goodness [0,1] 0.9999362881474717 Centerline is valid? [True, True] Translation: X:154.13, Y:-17.48, Z:-1.92 [[ 9.88028835e-01 1.54268290e-01 5.61564445e-04 1.54130402e+02] [-1.54268272e-01 9.88028995e-01 -7.46063218e-05 -1.74775958e+01] [-5.66351344e-04 -1.29183795e-05 9.99999840e-01 -1.92166004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.995769231 meters Centerline goodness [0,1] 0.9999362881474717 Centerline is valid? [True, True] Translation: X:154.16, Y:-17.48, Z:-1.92 [[ 9.88035625e-01 1.54224796e-01 5.61568484e-04 1.54158507e+02] [-1.54224779e-01 9.88035785e-01 -7.45758718e-05 -1.74812268e+01] [-5.66351207e-04 -1.29241570e-05 9.99999840e-01 -1.92177090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.19, Y:-17.49, Z:-1.92 [[ 9.88302155e-01 1.52508400e-01 -1.93881463e-04 1.54186560e+02] [-1.52508398e-01 9.88302174e-01 2.54976661e-05 -1.74867819e+01] [ 1.95502080e-04 4.36915306e-06 9.99999981e-01 -1.92253820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.055769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.22, Y:-17.49, Z:-1.92 [[ 9.88877665e-01 1.48729096e-01 -7.87239040e-04 1.54215202e+02] [-1.48729060e-01 9.88877978e-01 1.04097307e-04 -1.74906647e+01] [ 7.93965649e-04 1.41458201e-05 9.99999685e-01 -1.92374043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.24, Y:-17.49, Z:-1.92 [[ 9.89063608e-01 1.47487857e-01 -7.14823748e-04 1.54243785e+02] [-1.47487827e-01 9.89063866e-01 9.44284514e-05 -1.74907186e+01] [ 7.20933390e-04 1.20320565e-05 9.99999740e-01 -1.92417765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.27, Y:-17.49, Z:-1.92 [[ 9.89391665e-01 1.45272338e-01 -2.86231312e-04 1.54272557e+02] [-1.45272333e-01 9.89391706e-01 3.76951126e-05 -1.74885960e+01] [ 2.88670944e-04 4.28626037e-06 9.99999958e-01 -1.92289845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.145769231 meters Centerline goodness [0,1] 0.999978950470457 Centerline is valid? [True, True] Translation: X:154.30, Y:-17.49, Z:-1.92 [[ 9.89828948e-01 1.42262610e-01 -5.91248702e-05 1.54301217e+02] [-1.42262609e-01 9.89828950e-01 7.64444787e-06 -1.74933310e+01] [ 5.96110273e-05 8.44562527e-07 9.99999998e-01 -1.92217263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.33, Y:-17.50, Z:-1.92 [[ 9.90037001e-01 1.40806967e-01 -3.66638916e-04 1.54329492e+02] [-1.40806959e-01 9.90037069e-01 4.83031882e-05 -1.74981717e+01] [ 3.69787543e-04 3.80336713e-06 9.99999932e-01 -1.92336230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.205769231 meters Centerline goodness [0,1] 0.9999786561939725 Centerline is valid? [True, True] Translation: X:154.36, Y:-17.51, Z:-1.93 [[ 9.90573346e-01 1.36977139e-01 -1.30770887e-03 1.54357479e+02] [-1.36977031e-01 9.90574209e-01 1.72665254e-04 -1.75055761e+01] [ 1.31903387e-03 8.08847861e-06 9.99999130e-01 -1.92544821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.39, Y:-17.51, Z:-1.93 [[ 9.90927251e-01 1.34395039e-01 -1.07591589e-03 1.54385180e+02] [-1.34394964e-01 9.90927835e-01 1.41919263e-04 -1.75111170e+01] [ 1.08522825e-03 3.96601257e-06 9.99999411e-01 -1.92579383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.41, Y:-17.52, Z:-1.92 [[ 9.91802297e-01 1.27781792e-01 1.31969052e-04 1.54412916e+02] [-1.27781791e-01 9.91802306e-01 -1.75230158e-05 -1.75245430e+01] [-1.33126333e-04 5.16125470e-07 9.99999991e-01 -1.92314096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.295769231 meters Centerline goodness [0,1] 0.9998730883939336 Centerline is valid? [True, True] Translation: X:154.44, Y:-17.53, Z:-1.92 [[ 9.92175523e-01 1.24849186e-01 6.41684172e-04 1.54441337e+02] [-1.24849157e-01 9.92175731e-01 -8.48379455e-05 -1.75334341e+01] [-6.47255411e-04 4.06040485e-06 9.99999791e-01 -1.92222581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.325769231 meters Centerline goodness [0,1] 0.9998727492524019 Centerline is valid? [True, True] Translation: X:154.47, Y:-17.54, Z:-1.92 [[ 9.92691741e-01 1.20672709e-01 1.09730483e-03 1.54470967e+02] [-1.20672623e-01 9.92692348e-01 -1.44922008e-04 -1.75443115e+01] [-1.10677424e-03 1.14482285e-05 9.99999387e-01 -1.92084321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.355769231 meters Centerline goodness [0,1] 0.9998097693982372 Centerline is valid? [True, True] Translation: X:154.50, Y:-17.56, Z:-1.92 [[ 9.93056869e-01 1.17623175e-01 1.68629825e-03 1.54500089e+02] [-1.17622966e-01 9.93058301e-01 -2.22526764e-04 -1.75582928e+01] [-1.70076678e-03 2.26343289e-05 9.99998553e-01 -1.92021043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.385769231 meters Centerline goodness [0,1] 0.9998302891448694 Centerline is valid? [True, True] Translation: X:154.53, Y:-17.57, Z:-1.92 [[ 9.93237934e-01 1.16083520e-01 1.73838685e-03 1.54530514e+02] [-1.16083295e-01 9.93239455e-01 -2.29685966e-04 -1.75669680e+01] [-1.75329716e-03 2.63351407e-05 9.99998463e-01 -1.92025694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.415769231 meters Centerline goodness [0,1] 0.9997439563018755 Centerline is valid? [True, True] Translation: X:154.56, Y:-17.57, Z:-1.92 [[ 9.93362985e-01 1.15011416e-01 1.53440322e-03 1.54561587e+02] [-1.15011240e-01 9.93364170e-01 -2.02441399e-04 -1.75737626e+01] [-1.54750425e-03 2.46241752e-05 9.99998802e-01 -1.92072906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.445769231 meters Centerline goodness [0,1] 0.9998712971106202 Centerline is valid? [True, True] Translation: X:154.59, Y:-17.59, Z:-1.92 [[ 9.93598361e-01 1.12970130e-01 2.15178246e-04 1.54592134e+02] [-1.12970127e-01 9.93598384e-01 -2.78492693e-05 -1.75861005e+01] [-2.16946894e-04 3.36227448e-06 9.99999976e-01 -1.92361617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47576923100002 meters Centerline goodness [0,1] 0.999914407378084 Centerline is valid? [True, True] Translation: X:154.62, Y:-17.60, Z:-1.92 [[ 9.93702729e-01 1.12048451e-01 -1.77284212e-04 1.54622534e+02] [-1.12048449e-01 9.93702745e-01 2.41316966e-05 -1.75959005e+01] [ 1.78871728e-04 -4.11531174e-06 9.99999984e-01 -1.92431922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50576923100002 meters Centerline goodness [0,1] 0.9998502801899303 Centerline is valid? [True, True] Translation: X:154.65, Y:-17.61, Z:-1.92 [[ 9.93815392e-01 1.11040974e-01 9.32204382e-04 1.54652912e+02] [-1.11040907e-01 9.93815829e-01 -1.23179714e-04 -1.76083236e+01] [-9.40117466e-04 1.89050754e-05 9.99999558e-01 -1.92197733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53576923100002 meters Centerline goodness [0,1] 0.9996149320782971 Centerline is valid? [True, True] Translation: X:154.68, Y:-17.62, Z:-1.92 [[ 9.93774686e-01 1.11394990e-01 1.74085595e-03 1.54684627e+02] [-1.11394756e-01 9.93776210e-01 -2.30838501e-04 -1.76169506e+01] [-1.75573548e-03 3.54792355e-05 9.99998458e-01 -1.92058964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56576923100002 meters Centerline goodness [0,1] 0.999872201750836 Centerline is valid? [True, True] Translation: X:154.72, Y:-17.62, Z:-1.92 [[ 9.93675252e-01 1.12280238e-01 1.62553598e-03 1.54716482e+02] [-1.12280035e-01 9.93676581e-01 -2.15844184e-04 -1.76199737e+01] [-1.63949207e-03 3.19637873e-05 9.99998656e-01 -1.92067028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59576923100002 meters Centerline goodness [0,1] 0.9999574603849836 Centerline is valid? [True, True] Translation: X:154.75, Y:-17.63, Z:-1.92 [[ 9.93394180e-01 1.14748841e-01 8.41078339e-04 1.54747409e+02] [-1.14748788e-01 9.93394536e-01 -1.11504996e-04 -1.76277055e+01] [-8.48317695e-04 1.42556941e-05 9.99999640e-01 -1.92287930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.78, Y:-17.63, Z:-1.93 [[ 9.93244778e-01 1.16036558e-01 -5.72726044e-04 1.54779501e+02] [-1.16036533e-01 9.93244943e-01 7.71361931e-05 -1.76332280e+01] [ 5.77807865e-04 -1.01579768e-05 9.99999833e-01 -1.92589672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65576923100002 meters Centerline goodness [0,1] 0.9999364837398373 Centerline is valid? [True, True] Translation: X:154.81, Y:-17.64, Z:-1.93 [[ 9.92959316e-01 1.18430673e-01 -2.44376409e-03 1.54810145e+02] [-1.18430226e-01 9.92962323e-01 3.27325787e-04 -1.76380460e+01] [ 2.46533108e-03 -3.56056577e-05 9.99996960e-01 -1.93025985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68576923100002 meters Centerline goodness [0,1] 0.999893635125936 Centerline is valid? [True, True] Translation: X:154.84, Y:-17.64, Z:-1.93 [[ 9.92770382e-01 1.20008775e-01 -2.20529004e-03 1.54840774e+02] [-1.20008414e-01 9.92772831e-01 2.95778769e-04 -1.76420250e+01] [ 2.22484808e-03 -2.89870416e-05 9.99997525e-01 -1.92934870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71576923100002 meters Centerline goodness [0,1] 0.9999789726012995 Centerline is valid? [True, True] Translation: X:154.87, Y:-17.64, Z:-1.92 [[ 9.92376472e-01 1.23242629e-01 -4.37950509e-04 1.54872049e+02] [-1.23242615e-01 9.92376569e-01 5.87224913e-05 -1.76433463e+01] [ 4.41848938e-04 -4.30065272e-06 9.99999902e-01 -1.92453206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.745769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.90, Y:-17.65, Z:-1.92 [[ 9.92102926e-01 1.25426409e-01 2.16064178e-05 1.54902947e+02] [-1.25426409e-01 9.92102926e-01 -2.30066351e-06 -1.76451263e+01] [-2.17243543e-05 -4.27520401e-07 1.00000000e+00 -1.92386404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.775769231 meters Centerline goodness [0,1] 0.9999788927116533 Centerline is valid? [True, True] Translation: X:154.94, Y:-17.65, Z:-1.92 [[ 9.91783524e-01 1.27927113e-01 3.07473607e-04 1.54935218e+02] [-1.27927106e-01 9.91783572e-01 -4.06185106e-05 -1.76459047e+01] [-3.10143481e-04 9.50560811e-07 9.99999952e-01 -1.92381823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.97, Y:-17.64, Z:-1.92 [[ 9.91125493e-01 1.32914183e-01 2.01912417e-03 1.54967593e+02] [-1.32913906e-01 9.91127550e-01 -2.70907538e-04 -1.76419638e+01] [-2.03721704e-03 1.33687254e-07 9.99997925e-01 -1.92126151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.00, Y:-17.64, Z:-1.92 [[ 9.90631243e-01 1.36514258e-01 3.68755993e-03 1.54998606e+02] [-1.36513362e-01 9.90638106e-01 -4.94933688e-04 -1.76402583e+01] [-3.72060289e-03 -1.31044288e-05 9.99993078e-01 -1.91832136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.03, Y:-17.64, Z:-1.92 [[ 9.90366232e-01 1.38416662e-01 3.94385215e-03 1.55029249e+02] [-1.38415651e-01 9.90374085e-01 -5.29382805e-04 -1.76404976e+01] [-3.97916436e-03 -2.16080088e-05 9.99992083e-01 -1.91667624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.06, Y:-17.64, Z:-1.92 [[ 9.90031783e-01 1.40790733e-01 3.87795873e-03 1.55059025e+02] [-1.40789774e-01 9.90039377e-01 -5.20537931e-04 -1.76383701e+01] [-3.91261877e-03 -3.06278389e-05 9.99992345e-01 -1.91680251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.09, Y:-17.63, Z:-1.92 [[ 9.89393227e-01 1.45232706e-01 2.91600405e-03 1.55089794e+02] [-1.45232183e-01 9.89397524e-01 -3.91403007e-04 -1.76327144e+01] [-2.94193171e-03 -3.62461506e-05 9.99995672e-01 -1.91889262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.12, Y:-17.63, Z:-1.92 [[ 9.88916543e-01 1.48466226e-01 1.36069476e-03 1.55119496e+02] [-1.48466116e-01 9.88917478e-01 -1.82686359e-04 -1.76280087e+01] [-1.37273759e-03 -2.13555041e-05 9.99999058e-01 -1.92275251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.15, Y:-17.63, Z:-1.92 [[ 9.88693180e-01 1.49951033e-01 6.95625146e-04 1.55148129e+02] [-1.49951005e-01 9.88693424e-01 -9.35121268e-05 -1.76279272e+01] [-7.01782248e-04 -1.18548875e-05 9.99999754e-01 -1.92383400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.015769231 meters Centerline goodness [0,1] 0.9999577925503852 Centerline is valid? [True, True] Translation: X:155.18, Y:-17.62, Z:-1.92 [[ 9.88234691e-01 1.52943780e-01 6.29323438e-04 1.55178331e+02] [-1.52943757e-01 9.88234891e-01 -8.44692168e-05 -1.76236062e+01] [-6.34838421e-04 -1.27756808e-05 9.99999798e-01 -1.92417491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.045769231 meters Centerline goodness [0,1] 0.99997886237291 Centerline is valid? [True, True] Translation: X:155.21, Y:-17.62, Z:-1.92 [[ 9.88034996e-01 1.54229330e-01 3.99803811e-04 1.55207041e+02] [-1.54229321e-01 9.88035077e-01 -5.38084888e-05 -1.76216100e+01] [-4.03319036e-04 -8.49680025e-06 9.99999919e-01 -1.92496213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.075769231 meters Centerline goodness [0,1] 0.9999152739827583 Centerline is valid? [True, True] Translation: X:155.24, Y:-17.62, Z:-1.92 [[ 9.87639686e-01 1.56739945e-01 6.63360902e-04 1.55237770e+02] [-1.56739921e-01 9.87639909e-01 -8.89755750e-05 -1.76175660e+01] [-6.69107728e-04 -1.60993263e-05 9.99999776e-01 -1.92463860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.105769231 meters Centerline goodness [0,1] 0.9999364541410718 Centerline is valid? [True, True] Translation: X:155.27, Y:-17.62, Z:-1.92 [[ 9.87446799e-01 1.57948664e-01 1.01919662e-03 1.55266628e+02] [-1.57948606e-01 9.87447325e-01 -1.36697854e-04 -1.76166412e+01] [-1.02799422e-03 -2.59988277e-05 9.99999471e-01 -1.92374212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.30, Y:-17.62, Z:-1.92 [[ 9.87159744e-01 1.59735350e-01 5.08237505e-04 1.55296048e+02] [-1.59735336e-01 9.87159874e-01 -6.82404876e-05 -1.76167761e+01] [-5.12612089e-04 -1.38192263e-05 9.99999869e-01 -1.92472961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.165769231 meters Centerline goodness [0,1] 0.9998729217409722 Centerline is valid? [True, True] Translation: X:155.32, Y:-17.62, Z:-1.93 [[ 9.87168557e-01 1.59681602e-01 -1.62290301e-04 1.55324420e+02] [-1.59681600e-01 9.87168570e-01 2.14868967e-05 -1.76177546e+01] [ 1.63638946e-04 4.70358615e-06 9.99999987e-01 -1.92622390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.195769231 meters Centerline goodness [0,1] 0.9997886951928157 Centerline is valid? [True, True] Translation: X:155.35, Y:-17.62, Z:-1.93 [[ 9.87568887e-01 1.57186756e-01 1.32443310e-04 1.55352696e+02] [-1.57186755e-01 9.87568896e-01 -1.79480308e-05 -1.76180487e+01] [-1.33618087e-04 -3.09341735e-06 9.99999991e-01 -1.92720281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22576923100002 meters Centerline goodness [0,1] 0.9999572841246449 Centerline is valid? [True, True] Translation: X:155.38, Y:-17.63, Z:-1.93 [[ 9.87870596e-01 1.55277531e-01 7.57083201e-04 1.55380763e+02] [-1.55277499e-01 9.87870886e-01 -1.01429158e-04 -1.76253466e+01] [-7.63650122e-04 -1.73591029e-05 9.99999708e-01 -1.92601344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25576923100002 meters Centerline goodness [0,1] 0.9999144970287718 Centerline is valid? [True, True] Translation: X:155.41, Y:-17.63, Z:-1.93 [[ 9.88322651e-01 1.52375546e-01 1.76432067e-04 1.55409847e+02] [-1.52375544e-01 9.88322667e-01 -2.39007631e-05 -1.76300242e+01] [-1.78013703e-04 -3.26226659e-06 9.99999984e-01 -1.92707093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28576923100002 meters Centerline goodness [0,1] 0.9999151661682679 Centerline is valid? [True, True] Translation: X:155.44, Y:-17.63, Z:-1.93 [[ 9.88516351e-01 1.51113777e-01 -2.25848129e-04 1.55438057e+02] [-1.51113774e-01 9.88516376e-01 2.99908033e-05 -1.76324888e+01] [ 2.27786597e-04 4.48236377e-06 9.99999974e-01 -1.92804858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.47, Y:-17.64, Z:-1.93 [[ 9.88879038e-01 1.48721717e-01 -3.14611589e-04 1.55466172e+02] [-1.48721711e-01 9.88879088e-01 4.18337854e-05 -1.76388525e+01] [ 3.17334414e-04 5.42102045e-06 9.99999950e-01 -1.92732795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.49, Y:-17.64, Z:-1.93 [[ 9.89065840e-01 1.47459195e-01 -2.13285661e-03 1.55494441e+02] [-1.47458924e-01 9.89068140e-01 2.84562585e-04 -1.76421744e+01] [ 2.15150189e-03 3.30576097e-05 9.99997685e-01 -1.92987288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.52, Y:-17.64, Z:-1.93 [[ 9.89119278e-01 1.47093330e-01 -2.57027430e-03 1.55522593e+02] [-1.47092936e-01 9.89122617e-01 3.42758911e-04 -1.76440277e+01] [ 2.59273399e-03 3.90397453e-05 9.99996638e-01 -1.93176613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.55, Y:-17.65, Z:-1.93 [[ 9.89266115e-01 1.46124727e-01 -3.43199386e-04 1.55551833e+02] [-1.46124720e-01 9.89266175e-01 4.54661852e-05 -1.76468286e+01] [ 3.46159278e-04 5.17175772e-06 9.99999940e-01 -1.92632038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43576923100002 meters Centerline goodness [0,1] 0.9999577631356648 Centerline is valid? [True, True] Translation: X:155.58, Y:-17.65, Z:-1.92 [[ 9.89384689e-01 1.45312050e-01 1.53169323e-03 1.55580182e+02] [-1.45311907e-01 9.89385874e-01 -2.04416387e-04 -1.76481948e+01] [-1.54513981e-03 -2.03268223e-05 9.99998806e-01 -1.92240082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46576923100002 meters Centerline goodness [0,1] 0.9999787591070328 Centerline is valid? [True, True] Translation: X:155.61, Y:-17.65, Z:-1.92 [[ 9.89474622e-01 1.44689556e-01 2.21480549e-03 1.55609156e+02] [-1.44689257e-01 9.89477100e-01 -2.95332491e-04 -1.76526014e+01] [-2.23423084e-03 -2.82345555e-05 9.99997504e-01 -1.92171788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.495769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.64, Y:-17.66, Z:-1.92 [[ 9.89660567e-01 1.43422206e-01 1.42615925e-03 1.55637480e+02] [-1.43422081e-01 9.89661594e-01 -1.90169191e-04 -1.76575016e+01] [-1.43868952e-03 -1.63397780e-05 9.99998965e-01 -1.92472129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.67, Y:-17.66, Z:-1.93 [[ 9.89719626e-01 1.43017152e-01 1.07501932e-03 1.55665057e+02] [-1.43017080e-01 9.89720210e-01 -1.43373951e-04 -1.76608808e+01] [-1.08447328e-03 -1.18461121e-05 9.99999412e-01 -1.92509665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.555769231 meters Centerline goodness [0,1] 0.9999144531417083 Centerline is valid? [True, True] Translation: X:155.69, Y:-17.66, Z:-1.92 [[ 9.89779668e-01 1.42596778e-01 1.53881464e-03 1.55692516e+02] [-1.42596632e-01 9.89780864e-01 -2.05035862e-04 -1.76644113e+01] [-1.55232674e-03 -1.64894570e-05 9.99998795e-01 -1.92296586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.585769231 meters Centerline goodness [0,1] 0.9999355240817555 Centerline is valid? [True, True] Translation: X:155.72, Y:-17.67, Z:-1.92 [[ 9.89838599e-01 1.42188781e-01 1.37793981e-03 1.55720439e+02] [-1.42188663e-01 9.89839558e-01 -1.83517620e-04 -1.76695601e+01] [-1.39003348e-03 -1.42745959e-05 9.99999034e-01 -1.92400260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.615769231 meters Centerline goodness [0,1] 0.9998725275659138 Centerline is valid? [True, True] Translation: X:155.75, Y:-17.67, Z:-1.93 [[ 9.89940423e-01 1.41477617e-01 1.42887243e-03 1.55748066e+02] [-1.41477490e-01 9.89941455e-01 -1.90254304e-04 -1.76733742e+01] [-1.44141677e-03 -1.38128583e-05 9.99998961e-01 -1.92523858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.645769231 meters Centerline goodness [0,1] 0.9998924268502581 Centerline is valid? [True, True] Translation: X:155.78, Y:-17.68, Z:-1.92 [[ 9.90103548e-01 1.40328076e-01 1.73044837e-03 1.55775927e+02] [-1.40327888e-01 9.90105060e-01 -2.30229589e-04 -1.76804405e+01] [-1.74563336e-03 -1.48790319e-05 9.99998476e-01 -1.92493941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.675769231 meters Centerline goodness [0,1] 0.9999787523372429 Centerline is valid? [True, True] Translation: X:155.80, Y:-17.69, Z:-1.93 [[ 9.90421127e-01 1.38072399e-01 1.41536529e-03 1.55802598e+02] [-1.38072271e-01 9.90422139e-01 -1.88303830e-04 -1.76892203e+01] [-1.42780868e-03 -8.92260855e-06 9.99998981e-01 -1.92529814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.83, Y:-17.70, Z:-1.93 [[ 9.90650994e-01 1.36414033e-01 1.34875180e-03 1.55830629e+02] [-1.36413915e-01 9.90651912e-01 -1.79341337e-04 -1.76974295e+01] [-1.36060822e-03 -6.32383888e-06 9.99999074e-01 -1.92529497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.86, Y:-17.71, Z:-1.93 [[ 9.91179058e-01 1.32517925e-01 1.75358840e-03 1.55858439e+02] [-1.32517720e-01 9.91180609e-01 -2.32980871e-04 -1.77093642e+01] [-1.76899696e-03 -1.45577700e-06 9.99998435e-01 -1.92569855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.765769231 meters Centerline goodness [0,1] 0.9999573860609805 Centerline is valid? [True, True] Translation: X:155.89, Y:-17.72, Z:-1.93 [[ 9.91697857e-01 1.28584524e-01 1.17504898e-03 1.55887217e+02] [-1.28584429e-01 9.91698553e-01 -1.56116370e-04 -1.77207999e+01] [-1.18536852e-03 3.72726734e-06 9.99999297e-01 -1.92656379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.795769231 meters Centerline goodness [0,1] 0.9999368381160916 Centerline is valid? [True, True] Translation: X:155.92, Y:-17.73, Z:-1.93 [[ 9.91929529e-01 1.26787834e-01 8.09129906e-04 1.55915205e+02] [-1.26787788e-01 9.91929859e-01 -1.07509148e-04 -1.77279672e+01] [-8.16230966e-04 4.05370715e-06 9.99999667e-01 -1.92815923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.825769231 meters Centerline goodness [0,1] 0.999957400583612 Centerline is valid? [True, True] Translation: X:155.94, Y:-17.74, Z:-1.93 [[ 9.92288655e-01 1.23945030e-01 -9.24894103e-04 1.55942583e+02] [-1.23944970e-01 9.92289086e-01 1.22627851e-04 -1.77390857e+01] [ 9.32961437e-04 -7.04625367e-06 9.99999565e-01 -1.93212262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.97, Y:-17.75, Z:-1.93 [[ 9.92455271e-01 1.22604753e-01 -7.80813137e-04 1.55972635e+02] [-1.22604709e-01 9.92455578e-01 1.03635555e-04 -1.77469777e+01] [ 7.87628565e-04 -7.12228489e-06 9.99999690e-01 -1.93173170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.00, Y:-17.75, Z:-1.93 [[ 9.92458073e-01 1.22582066e-01 -7.80827271e-04 1.56001555e+02] [-1.22582022e-01 9.92458381e-01 1.03529055e-04 -1.77507690e+01] [ 7.87629374e-04 -7.03286060e-06 9.99999690e-01 -1.93184581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.915769231 meters Centerline goodness [0,1] 0.999978728835191 Centerline is valid? [True, True] Translation: X:156.03, Y:-17.76, Z:-1.93 [[ 9.92818166e-01 1.19632338e-01 4.39835714e-04 1.56030552e+02] [-1.19632324e-01 9.92818263e-01 -5.83681639e-05 -1.77621075e+01] [-4.43659650e-04 5.33040496e-06 9.99999902e-01 -1.92845304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.945769231 meters Centerline goodness [0,1] 0.9999151733644365 Centerline is valid? [True, True] Translation: X:156.06, Y:-17.77, Z:-1.93 [[ 9.93010433e-01 1.18020726e-01 1.17844288e-03 1.56059416e+02] [-1.18020623e-01 9.93011132e-01 -1.56352418e-04 -1.77722070e+01] [-1.18865972e-03 1.61790196e-05 9.99999293e-01 -1.92742668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97576923100002 meters Centerline goodness [0,1] 0.9998092128972081 Centerline is valid? [True, True] Translation: X:156.09, Y:-17.78, Z:-1.92 [[ 9.93232731e-01 1.16115805e-01 2.42095857e-03 1.56090019e+02] [-1.16115367e-01 9.93235681e-01 -3.21065816e-04 -1.77838985e+01] [-2.44186325e-03 3.77825832e-05 9.99997018e-01 -1.92470450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00576923100002 meters Centerline goodness [0,1] 0.9999142035948694 Centerline is valid? [True, True] Translation: X:156.12, Y:-17.79, Z:-1.92 [[ 9.93252863e-01 1.15936913e-01 2.71705694e-03 1.56121257e+02] [-1.15936360e-01 9.93256578e-01 -3.60840798e-04 -1.77894772e+01] [-2.74056945e-03 4.34004643e-05 9.99996244e-01 -1.92431262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03576923100002 meters Centerline goodness [0,1] 0.999957783641161 Centerline is valid? [True, True] Translation: X:156.15, Y:-17.80, Z:-1.93 [[ 9.93223672e-01 1.16200374e-01 2.05174027e-03 1.56152534e+02] [-1.16200059e-01 9.93225791e-01 -2.72646708e-04 -1.77984393e+01] [-2.06952300e-03 3.23868244e-05 9.99997858e-01 -1.92597667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06576923100002 meters Centerline goodness [0,1] 0.9998719344304284 Centerline is valid? [True, True] Translation: X:156.18, Y:-17.81, Z:-1.93 [[ 9.93172422e-01 1.16646933e-01 1.42596080e-03 1.56184193e+02] [-1.16646781e-01 9.93173445e-01 -1.89541593e-04 -1.78062003e+01] [-1.43833584e-03 2.19137453e-05 9.99998965e-01 -1.92673637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09576923100002 meters Centerline goodness [0,1] 0.999936396209214 Centerline is valid? [True, True] Translation: X:156.22, Y:-17.81, Z:-1.93 [[ 9.93090671e-01 1.17341774e-01 1.35175482e-03 1.56215949e+02] [-1.17341638e-01 9.93091591e-01 -1.79924193e-04 -1.78130933e+01] [-1.36352897e-03 2.00639127e-05 9.99999070e-01 -1.92733707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12576923100002 meters Centerline goodness [0,1] 0.9999357601713063 Centerline is valid? [True, True] Translation: X:156.25, Y:-17.82, Z:-1.93 [[ 9.92849359e-01 1.19361535e-01 1.72490366e-03 1.56247842e+02] [-1.19361315e-01 9.92850857e-01 -2.30022056e-04 -1.78203994e+01] [-1.74002786e-03 2.24904822e-05 9.99998486e-01 -1.92578964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15576923100002 meters Centerline goodness [0,1] 0.9999568826129137 Centerline is valid? [True, True] Translation: X:156.28, Y:-17.82, Z:-1.92 [[ 9.92356334e-01 1.23356866e-01 3.46256094e-03 1.56279599e+02] [-1.23356001e-01 9.92362375e-01 -4.62987249e-04 -1.78232467e+01] [-3.49322785e-03 3.23206570e-05 9.99993898e-01 -1.92365514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18576923100002 meters Centerline goodness [0,1] 0.9999364083432254 Centerline is valid? [True, True] Translation: X:156.31, Y:-17.83, Z:-1.92 [[ 9.91972723e-01 1.26402914e-01 3.52432162e-03 1.56310917e+02] [-1.26402036e-01 9.91978983e-01 -4.71880473e-04 -1.78267673e+01] [-3.55570004e-03 2.26111310e-05 9.99993678e-01 -1.92396603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.34, Y:-17.83, Z:-1.93 [[ 9.91140667e-01 1.32805725e-01 1.67831867e-03 1.56343016e+02] [-1.32805534e-01 9.91142088e-01 -2.24959948e-04 -1.78260764e+01] [-1.69332824e-03 7.69444846e-08 9.99998566e-01 -1.92791494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.245769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.37, Y:-17.83, Z:-1.93 [[ 9.90790259e-01 1.35405543e-01 -4.76405023e-05 1.56373843e+02] [-1.35405543e-01 9.90790260e-01 6.48188146e-06 -1.78284130e+01] [ 4.80794284e-05 2.86030901e-08 9.99999999e-01 -1.93047138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.40, Y:-17.83, Z:-1.93 [[ 9.90489924e-01 1.37577645e-01 -1.44994560e-03 1.56404800e+02] [-1.37577508e-01 9.90490985e-01 1.94597124e-04 -1.78316501e+01] [ 1.46293026e-03 6.73341154e-06 9.99998930e-01 -1.93264885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.43, Y:-17.83, Z:-1.94 [[ 9.89958459e-01 1.41341342e-01 -2.20797449e-03 1.56434487e+02] [-1.41341033e-01 9.89960921e-01 2.96107833e-04 -1.78334849e+01] [ 2.22766074e-03 1.89429422e-05 9.99997519e-01 -1.93617942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.335769231 meters Centerline goodness [0,1] 0.9998929863236522 Centerline is valid? [True, True] Translation: X:156.46, Y:-17.84, Z:-1.93 [[ 9.89658677e-01 1.43436109e-01 -1.33596122e-03 1.56463875e+02] [-1.43435997e-01 9.89659579e-01 1.79192941e-04 -1.78405403e+01] [ 1.34784955e-03 1.42850808e-05 9.99999092e-01 -1.93432569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.365769231 meters Centerline goodness [0,1] 0.9998701495444413 Centerline is valid? [True, True] Translation: X:156.49, Y:-17.85, Z:-1.93 [[ 9.89511191e-01 1.44448352e-01 -1.50869723e-03 1.56493912e+02] [-1.44448211e-01 9.89512341e-01 2.02362083e-04 -1.78458697e+01] [ 1.52210540e-03 1.76890707e-05 9.99998841e-01 -1.93413517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.395769231 meters Centerline goodness [0,1] 0.999893901455672 Centerline is valid? [True, True] Translation: X:156.52, Y:-17.85, Z:-1.94 [[ 9.89077529e-01 1.47379994e-01 -2.18626266e-03 1.56524063e+02] [-1.47379706e-01 9.89079944e-01 2.93168829e-04 -1.78452566e+01] [ 2.20559577e-03 3.22440472e-05 9.99997567e-01 -1.93633861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.425769231 meters Centerline goodness [0,1] 0.9998520553735601 Centerline is valid? [True, True] Translation: X:156.55, Y:-17.85, Z:-1.94 [[ 9.88783796e-01 1.49346844e-01 -1.45767590e-03 1.56553236e+02] [-1.49346718e-01 9.88784870e-01 1.95317207e-04 -1.78467108e+01] [ 1.47049788e-03 2.45726219e-05 9.99998919e-01 -1.93534087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.455769231 meters Centerline goodness [0,1] 0.9998494914962696 Centerline is valid? [True, True] Translation: X:156.58, Y:-17.85, Z:-1.93 [[ 9.88003843e-01 1.54429152e-01 2.09444621e-04 1.56583530e+02] [-1.54429150e-01 9.88003865e-01 -2.81272825e-05 -1.78460751e+01] [-2.11275768e-04 -4.55449152e-06 9.99999978e-01 -1.93146146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.485769231 meters Centerline goodness [0,1] 0.9995352472695777 Centerline is valid? [True, True] Translation: X:156.61, Y:-17.84, Z:-1.93 [[ 9.87542899e-01 1.57349543e-01 -3.78763029e-04 1.56613213e+02] [-1.57349535e-01 9.87542972e-01 5.06283561e-05 -1.78398463e+01] [ 3.82011116e-04 9.60051289e-06 9.99999927e-01 -1.93330479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.515769231 meters Centerline goodness [0,1] 0.9995329186216854 Centerline is valid? [True, True] Translation: X:156.64, Y:-17.83, Z:-1.94 [[ 9.86884049e-01 1.61414047e-01 -2.31938361e-03 1.56644365e+02] [-1.61413762e-01 9.86886772e-01 3.10810327e-04 -1.78342486e+01] [ 2.33913816e-03 6.76466793e-05 9.99997262e-01 -1.93781140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.545769231 meters Centerline goodness [0,1] 0.9994723066531577 Centerline is valid? [True, True] Translation: X:156.67, Y:-17.84, Z:-1.94 [[ 9.86820188e-01 1.61800198e-01 -2.57152997e-03 1.56672822e+02] [-1.61799850e-01 9.86823535e-01 3.44345453e-04 -1.78394303e+01] [ 2.59336146e-03 7.62661185e-05 9.99996634e-01 -1.93738736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.575769231 meters Centerline goodness [0,1] 0.9996353730991142 Centerline is valid? [True, True] Translation: X:156.70, Y:-17.85, Z:-1.93 [[ 9.87142858e-01 1.59840327e-01 -2.20482949e-04 1.56702227e+02] [-1.59840324e-01 9.87142882e-01 2.94900382e-05 -1.78459965e+01] [ 2.22361871e-04 6.13118545e-06 9.99999975e-01 -1.93263062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.605769231 meters Centerline goodness [0,1] 0.9996387743827292 Centerline is valid? [True, True] Translation: X:156.73, Y:-17.85, Z:-1.93 [[ 9.87356764e-01 1.58509254e-01 1.19873225e-03 1.56730289e+02] [-1.58509175e-01 9.87357491e-01 -1.60750518e-04 -1.78482643e+01] [-1.20905772e-03 -3.12919502e-05 9.99999269e-01 -1.93050244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.635769231 meters Centerline goodness [0,1] 0.9995734789191956 Centerline is valid? [True, True] Translation: X:156.76, Y:-17.85, Z:-1.93 [[ 9.87645045e-01 1.56676045e-01 3.14354562e-03 1.56760118e+02] [-1.56675499e-01 9.87650045e-01 -4.20953847e-04 -1.78509401e+01] [-3.17067636e-03 -7.67635966e-05 9.99994970e-01 -1.92679014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.665769231 meters Centerline goodness [0,1] 0.9995127634784451 Centerline is valid? [True, True] Translation: X:156.79, Y:-17.85, Z:-1.93 [[ 9.87650504e-01 1.56639863e-01 3.23043275e-03 1.56789411e+02] [-1.56639285e-01 9.87655784e-01 -4.32516284e-04 -1.78489357e+01] [-3.25830488e-03 -7.88377516e-05 9.99994689e-01 -1.92624070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.695769231 meters Centerline goodness [0,1] 0.9994445156603854 Centerline is valid? [True, True] Translation: X:156.82, Y:-17.85, Z:-1.93 [[ 9.87753312e-01 1.55999460e-01 2.75003293e-03 1.56818373e+02] [-1.55999039e-01 9.87757138e-01 -3.68130958e-04 -1.78478045e+01] [-2.77379289e-03 -6.53799222e-05 9.99996151e-01 -1.92753385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72576923100002 meters Centerline goodness [0,1] 0.999549133692595 Centerline is valid? [True, True] Translation: X:156.85, Y:-17.85, Z:-1.93 [[ 9.87923985e-01 1.54904640e-01 3.27920118e-03 1.56847420e+02] [-1.54904036e-01 9.87929424e-01 -4.38779215e-04 -1.78503079e+01] [-3.30758827e-03 -7.44809870e-05 9.99994527e-01 -1.92791234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75576923100002 meters Centerline goodness [0,1] 0.9995108360450031 Centerline is valid? [True, True] Translation: X:156.88, Y:-17.85, Z:-1.93 [[ 9.88342856e-01 1.52184833e-01 4.26321831e-03 1.56876202e+02] [-1.52183789e-01 9.88352047e-01 -5.70189145e-04 -1.78519931e+01] [-4.30033469e-03 -8.52503492e-05 9.99990750e-01 -1.92632743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78576923100002 meters Centerline goodness [0,1] 0.9997023429859251 Centerline is valid? [True, True] Translation: X:156.90, Y:-17.85, Z:-1.93 [[ 9.88560246e-01 1.50775153e-01 3.93621402e-03 1.56904420e+02] [-1.50774253e-01 9.88568080e-01 -5.26279138e-04 -1.78519424e+01] [-3.97056535e-03 -7.32210927e-05 9.99992115e-01 -1.92667031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81576923100002 meters Centerline goodness [0,1] 0.9996803886474047 Centerline is valid? [True, True] Translation: X:156.93, Y:-17.85, Z:-1.93 [[ 9.88727443e-01 1.49689415e-01 3.33504990e-03 1.56932880e+02] [-1.49688763e-01 9.88733066e-01 -4.45732663e-04 -1.78548593e+01] [-3.36419558e-03 -5.85113776e-05 9.99994339e-01 -1.92771380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84576923100002 meters Centerline goodness [0,1] 0.9998298017190026 Centerline is valid? [True, True] Translation: X:156.96, Y:-17.86, Z:-1.93 [[ 9.89113230e-01 1.47138622e-01 2.29021962e-03 1.56961334e+02] [-1.47138308e-01 9.89115880e-01 -3.06041072e-04 -1.78571946e+01] [-2.31032305e-03 -3.42697654e-05 9.99997331e-01 -1.93001209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87576923100002 meters Centerline goodness [0,1] 0.9999785472175741 Centerline is valid? [True, True] Translation: X:156.99, Y:-17.87, Z:-1.93 [[ 9.89960075e-01 1.41332790e-01 2.02306293e-03 1.56990047e+02] [-1.41332533e-01 9.89962142e-01 -2.70203322e-04 -1.78674422e+01] [-2.04094430e-03 -1.84341063e-05 9.99997917e-01 -1.93086563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90576923100002 meters Centerline goodness [0,1] 0.9999576907617779 Centerline is valid? [True, True] Translation: X:157.02, Y:-17.87, Z:-1.93 [[ 9.90386086e-01 1.38315107e-01 2.08118570e-03 1.57018631e+02] [-1.38314828e-01 9.90388273e-01 -2.77961510e-04 -1.78733111e+01] [-2.09962819e-03 -1.25696298e-05 9.99997796e-01 -1.93131507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93576923100002 meters Centerline goodness [0,1] 0.9999788045782111 Centerline is valid? [True, True] Translation: X:157.05, Y:-17.88, Z:-1.93 [[ 9.90836223e-01 1.35065644e-01 9.22613147e-04 1.57047606e+02] [-1.35065588e-01 9.90836652e-01 -1.23252460e-04 -1.78797466e+01] [-9.30806095e-04 -2.49028536e-06 9.99999567e-01 -1.93324702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.08, Y:-17.88, Z:-1.94 [[ 9.90889454e-01 1.34675559e-01 -7.64517381e-04 1.57076913e+02] [-1.34675521e-01 9.90889749e-01 1.01944704e-04 -1.78840947e+01] [ 7.71281895e-04 1.94584425e-06 9.99999703e-01 -1.93582305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.995769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.11, Y:-17.89, Z:-1.94 [[ 9.90869660e-01 1.34802240e-01 -2.38161966e-03 1.57106149e+02] [-1.34801866e-01 9.90872523e-01 3.17716643e-04 -1.78881788e+01] [ 2.40271040e-03 6.23099230e-06 9.99997113e-01 -1.93847661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.13, Y:-17.89, Z:-1.94 [[ 9.90859091e-01 1.34892434e-01 -1.51410170e-03 1.57133573e+02] [-1.34892284e-01 9.90860248e-01 2.01724715e-04 -1.78910208e+01] [ 1.52747432e-03 4.35986712e-06 9.99998833e-01 -1.93712807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.055769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.16, Y:-17.89, Z:-1.93 [[ 9.90764395e-01 1.35594651e-01 -7.01596120e-05 1.57162858e+02] [-1.35594650e-01 9.90764397e-01 9.17156095e-06 -1.78930288e+01] [ 7.07552603e-05 4.26412019e-07 9.99999997e-01 -1.93463969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.085769231 meters Centerline goodness [0,1] 0.9999786712168071 Centerline is valid? [True, True] Translation: X:157.19, Y:-17.89, Z:-1.93 [[ 9.90347262e-01 1.38602134e-01 1.32265886e-03 1.57190982e+02] [-1.38602021e-01 9.90348145e-01 -1.76523796e-04 -1.78914875e+01] [-1.33435932e-03 -8.50333331e-06 9.99999110e-01 -1.93306943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.115769231 meters Centerline goodness [0,1] 0.999873297434273 Centerline is valid? [True, True] Translation: X:157.22, Y:-17.89, Z:-1.93 [[ 9.89847586e-01 1.42115993e-01 2.19100661e-03 1.57219237e+02] [-1.42115695e-01 9.89850011e-01 -2.92094281e-04 -1.78871780e+01] [-2.21027918e-03 -2.22476075e-05 9.99997557e-01 -1.93031925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.145769231 meters Centerline goodness [0,1] 0.9998712943498219 Centerline is valid? [True, True] Translation: X:157.25, Y:-17.89, Z:-1.93 [[ 9.89647288e-01 1.43471032e-01 3.78253140e-03 1.57248306e+02] [-1.43470154e-01 9.89654516e-01 -5.03887513e-04 -1.78867111e+01] [-3.81569254e-03 -4.40094516e-05 9.99992719e-01 -1.92741525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.175769231 meters Centerline goodness [0,1] 0.9998526346813751 Centerline is valid? [True, True] Translation: X:157.28, Y:-17.88, Z:-1.93 [[ 9.89428697e-01 1.44977424e-01 3.52148510e-03 1.57277099e+02] [-1.44976673e-01 9.89434962e-01 -4.68965006e-04 -1.78843391e+01] [-3.55226982e-03 -4.65257592e-05 9.99993690e-01 -1.92828161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.205769231 meters Centerline goodness [0,1] 0.9998921344436295 Centerline is valid? [True, True] Translation: X:157.31, Y:-17.89, Z:-1.93 [[ 9.89555591e-01 1.44134378e-01 2.23898843e-03 1.57305259e+02] [-1.44134072e-01 9.89558124e-01 -2.98109026e-04 -1.78917556e+01] [-2.25857695e-03 -2.77190671e-05 9.99997449e-01 -1.93162685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.235769231 meters Centerline goodness [0,1] 0.9999360450243029 Centerline is valid? [True, True] Translation: X:157.33, Y:-17.90, Z:-1.93 [[ 9.89861677e-01 1.42032264e-01 8.33949466e-04 1.57332190e+02] [-1.42032221e-01 9.89862029e-01 -1.11150790e-04 -1.78970827e+01] [-8.41281909e-04 -8.42378696e-06 9.99999646e-01 -1.93463986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.36, Y:-17.91, Z:-1.94 [[ 9.90718849e-01 1.35926882e-01 -2.10846412e-04 1.57358716e+02] [-1.35926880e-01 9.90718872e-01 2.78056445e-05 -1.79098437e+01] [ 2.12669054e-04 1.11211875e-06 9.99999977e-01 -1.93681222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.295769231 meters Centerline goodness [0,1] 0.9999788346350033 Centerline is valid? [True, True] Translation: X:157.39, Y:-17.92, Z:-1.93 [[ 9.91313025e-01 1.31499976e-01 2.49843197e-03 1.57386407e+02] [-1.31499556e-01 9.91316174e-01 -3.32206671e-04 -1.79202717e+01] [-2.52042119e-03 7.78105523e-07 9.99996824e-01 -1.93110323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.42, Y:-17.93, Z:-1.93 [[ 9.91432974e-01 1.30566414e-01 3.61523728e-03 1.57415123e+02] [-1.30565530e-01 9.91439565e-01 -4.80453401e-04 -1.79258535e+01] [-3.64702036e-03 4.31197101e-06 9.99993350e-01 -1.92809859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.44, Y:-17.93, Z:-1.93 [[ 9.91676713e-01 1.28689999e-01 4.02254647e-03 1.57442939e+02] [-1.28688890e-01 9.91684871e-01 -5.34480152e-04 -1.79313366e+01] [-4.05788073e-03 1.23744804e-05 9.99991767e-01 -1.92782162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.47, Y:-17.94, Z:-1.93 [[ 9.91892978e-01 1.27011222e-01 4.05837232e-03 1.57472021e+02] [-1.27010080e-01 9.91901280e-01 -5.39102955e-04 -1.79368305e+01] [-4.09397683e-03 1.92782428e-05 9.99991619e-01 -1.92811327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.415769231 meters Centerline goodness [0,1] 0.9998935536064039 Centerline is valid? [True, True] Translation: X:157.50, Y:-17.95, Z:-1.93 [[ 9.92443780e-01 1.22594087e-01 5.10235196e-03 1.57500430e+02] [-1.22592223e-01 9.92456895e-01 -6.77671573e-04 -1.79493137e+01] [-5.14694291e-03 4.70422697e-05 9.99986753e-01 -1.92615611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.445769231 meters Centerline goodness [0,1] 0.9999365549328539 Centerline is valid? [True, True] Translation: X:157.53, Y:-17.96, Z:-1.93 [[ 9.92746115e-01 1.20127371e-01 4.95635833e-03 1.57529684e+02] [-1.20125581e-01 9.92758486e-01 -6.58293496e-04 -1.79602758e+01] [-4.99954586e-03 5.81328867e-05 9.99987501e-01 -1.92656204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47576923100002 meters Centerline goodness [0,1] 0.9999354533327596 Centerline is valid? [True, True] Translation: X:157.56, Y:-17.97, Z:-1.93 [[ 9.93315643e-01 1.15380465e-01 3.37357488e-03 1.57560316e+02] [-1.15379608e-01 9.93321371e-01 -4.48076952e-04 -1.79737857e+01] [-3.40274335e-03 5.58400990e-05 9.99994209e-01 -1.92976530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50576923100002 meters Centerline goodness [0,1] 0.9998514242051195 Centerline is valid? [True, True] Translation: X:157.59, Y:-17.99, Z:-1.93 [[ 9.93443068e-01 1.14308905e-01 2.08464281e-03 1.57590287e+02] [-1.14308576e-01 9.93445254e-01 -2.76720078e-04 -1.79850577e+01] [-2.10261007e-03 3.66130933e-05 9.99997789e-01 -1.93278837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53576923100002 meters Centerline goodness [0,1] 0.9998710426204139 Centerline is valid? [True, True] Translation: X:157.62, Y:-17.99, Z:-1.94 [[ 9.93349547e-01 1.15136574e-01 -4.97269168e-04 1.57620455e+02] [-1.15136555e-01 9.93349671e-01 6.67760884e-05 -1.79922226e+01] [ 5.01650534e-04 -9.07813840e-06 9.99999874e-01 -1.93749413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56576923100002 meters Centerline goodness [0,1] 0.9999148573861217 Centerline is valid? [True, True] Translation: X:157.65, Y:-17.99, Z:-1.94 [[ 9.93222707e-01 1.16225617e-01 -5.09358287e-04 1.57651832e+02] [-1.16225597e-01 9.93222838e-01 6.79334840e-05 -1.79939267e+01] [ 5.13801895e-04 -8.27260777e-06 9.99999868e-01 -1.93703819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59576923100002 meters Centerline goodness [0,1] 0.9999572731739623 Centerline is valid? [True, True] Translation: X:157.68, Y:-18.00, Z:-1.93 [[ 9.92912599e-01 1.18846633e-01 2.20824984e-04 1.57682242e+02] [-1.18846630e-01 9.92912623e-01 -2.93287804e-05 -1.79982980e+01] [-2.22745541e-04 2.87661050e-06 9.99999975e-01 -1.93490958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62576923100002 meters Centerline goodness [0,1] 0.9999785029450965 Centerline is valid? [True, True] Translation: X:157.71, Y:-18.00, Z:-1.94 [[ 9.92695535e-01 1.20646136e-01 2.92278212e-04 1.57713013e+02] [-1.20646130e-01 9.92695578e-01 -3.88543159e-05 -1.80016731e+01] [-2.94830912e-04 3.30827074e-06 9.99999957e-01 -1.93530836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65576923100002 meters Centerline goodness [0,1] 0.9999786511816571 Centerline is valid? [True, True] Translation: X:157.74, Y:-18.01, Z:-1.94 [[ 9.92304142e-01 1.23824420e-01 4.73019793e-05 1.57743329e+02] [-1.23824420e-01 9.92304143e-01 -6.25879089e-06 -1.80067388e+01] [-4.77129412e-05 3.53483964e-07 9.99999999e-01 -1.93729167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68576923100002 meters Centerline goodness [0,1] 0.999978675765007 Centerline is valid? [True, True] Translation: X:157.77, Y:-18.01, Z:-1.94 [[ 9.92144930e-01 1.25093626e-01 1.49939428e-04 1.57773036e+02] [-1.25093625e-01 9.92144941e-01 -1.99797349e-05 -1.80119300e+01] [-1.51260983e-04 1.06632606e-06 9.99999989e-01 -1.93752402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.80, Y:-18.02, Z:-1.94 [[ 9.91871889e-01 1.27239376e-01 5.45149582e-04 1.57802597e+02] [-1.27239355e-01 9.91872039e-01 -7.26044541e-05 -1.80187516e+01] [-5.49956772e-04 2.64983566e-06 9.99999849e-01 -1.93639873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.745769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.83, Y:-18.02, Z:-1.94 [[ 9.91648700e-01 1.28967645e-01 4.49262493e-04 1.57833079e+02] [-1.28967631e-01 9.91648802e-01 -5.98702454e-05 -1.80226716e+01] [-4.53231938e-04 1.42993167e-06 9.99999897e-01 -1.93651841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.86, Y:-18.03, Z:-1.94 [[ 9.91645843e-01 1.28989612e-01 4.49272615e-04 1.57863636e+02] [-1.28989598e-01 9.91645945e-01 -5.97942965e-05 -1.80267918e+01] [-4.53232210e-04 1.34327163e-06 9.99999897e-01 -1.93663903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.89, Y:-18.03, Z:-1.94 [[ 9.91356741e-01 1.31192576e-01 5.66077436e-04 1.57894525e+02] [-1.31192555e-01 9.91356902e-01 -7.54501640e-05 -1.80293982e+01] [-5.71083275e-04 5.32883775e-07 9.99999837e-01 -1.93622857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.835769231 meters Centerline goodness [0,1] 0.9999787147995999 Centerline is valid? [True, True] Translation: X:157.92, Y:-18.03, Z:-1.93 [[ 9.90508174e-01 1.37444599e-01 1.59372893e-03 1.57924519e+02] [-1.37444435e-01 9.90509456e-01 -2.12472837e-04 -1.80264608e+01] [-1.60780682e-03 -8.59309034e-06 9.99998707e-01 -1.93495641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.865769231 meters Centerline goodness [0,1] 0.999936365179026 Centerline is valid? [True, True] Translation: X:157.95, Y:-18.02, Z:-1.94 [[ 9.89734832e-01 1.42905916e-01 1.69145773e-03 1.57953968e+02] [-1.42905739e-01 9.89736277e-01 -2.25482685e-04 -1.80238734e+01] [-1.70631988e-03 -1.85509492e-05 9.99998544e-01 -1.93559247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.895769231 meters Centerline goodness [0,1] 0.9997879469019042 Centerline is valid? [True, True] Translation: X:157.98, Y:-18.02, Z:-1.93 [[ 9.89358023e-01 1.45491772e-01 1.68714256e-03 1.57982266e+02] [-1.45491601e-01 9.89359461e-01 -2.24787868e-04 -1.80249438e+01] [-1.70189524e-03 -2.30693916e-05 9.99998552e-01 -1.93488499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.925769231 meters Centerline goodness [0,1] 0.9998715615969175 Centerline is valid? [True, True] Translation: X:158.01, Y:-18.03, Z:-1.93 [[ 9.89025323e-01 1.47730554e-01 2.14331267e-03 1.58011994e+02] [-1.47730282e-01 9.89027645e-01 -2.85582102e-04 -1.80261590e+01] [-2.16198468e-03 -3.41842544e-05 9.99997662e-01 -1.93354765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.955769231 meters Centerline goodness [0,1] 0.9996830092983939 Centerline is valid? [True, True] Translation: X:158.04, Y:-18.02, Z:-1.93 [[ 9.88429603e-01 1.51632876e-01 3.79339046e-03 1.58040881e+02] [-1.51632053e-01 9.88436880e-01 -5.05296374e-04 -1.80229955e+01] [-3.82614657e-03 -7.57496893e-05 9.99992677e-01 -1.92972076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.985769231 meters Centerline goodness [0,1] 0.9996388511216859 Centerline is valid? [True, True] Translation: X:158.07, Y:-18.02, Z:-1.93 [[ 9.88215390e-01 1.53000622e-01 4.59929166e-03 1.58069665e+02] [-1.52999427e-01 9.88226088e-01 -6.12516560e-04 -1.80238248e+01] [-4.63885541e-03 -9.83906987e-05 9.99989236e-01 -1.92922786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.015769231 meters Centerline goodness [0,1] 0.9997213051494234 Centerline is valid? [True, True] Translation: X:158.10, Y:-18.03, Z:-1.93 [[ 9.88012430e-01 1.54290010e-01 5.10214630e-03 1.58098185e+02] [-1.54288559e-01 9.88025596e-01 -6.79271124e-04 -1.80314140e+01] [-5.14585589e-03 -1.16074485e-04 9.99986753e-01 -1.92946086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.045769231 meters Centerline goodness [0,1] 0.9996580685145214 Centerline is valid? [True, True] Translation: X:158.13, Y:-18.04, Z:-1.93 [[ 9.88000202e-01 1.54389221e-01 4.42368984e-03 1.58127643e+02] [-1.54388132e-01 9.88010100e-01 -5.88852760e-04 -1.80357437e+01] [-4.46156276e-03 -1.01178563e-04 9.99990042e-01 -1.93043434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.075769231 meters Centerline goodness [0,1] 0.9997229975922098 Centerline is valid? [True, True] Translation: X:158.16, Y:-18.03, Z:-1.93 [[ 9.87972788e-01 1.54598862e-01 2.99358627e-03 1.58156966e+02] [-1.54598364e-01 9.87977321e-01 -3.98454985e-04 -1.80316882e+01] [-3.01919603e-03 -6.91408577e-05 9.99995440e-01 -1.93126955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.105769231 meters Centerline goodness [0,1] 0.9997881849568956 Centerline is valid? [True, True] Translation: X:158.18, Y:-18.03, Z:-1.93 [[ 9.87982214e-01 1.54541469e-01 2.84250589e-03 1.58184765e+02] [-1.54541020e-01 9.87986301e-01 -3.78273708e-04 -1.80313038e+01] [-2.86681586e-03 -6.55560639e-05 9.99995889e-01 -1.93106721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.135769231 meters Centerline goodness [0,1] 0.9997646706458722 Centerline is valid? [True, True] Translation: X:158.21, Y:-18.03, Z:-1.93 [[ 9.88001452e-01 1.54414798e-01 3.03319581e-03 1.58213565e+02] [-1.54414287e-01 9.88006106e-01 -4.03447213e-04 -1.80336611e+01] [-3.05911420e-03 -6.97623346e-05 9.99995318e-01 -1.93089156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.165769231 meters Centerline goodness [0,1] 0.99966133982432 Centerline is valid? [True, True] Translation: X:158.24, Y:-18.03, Z:-1.93 [[ 9.88368938e-01 1.52050468e-01 2.73806736e-03 1.58243005e+02] [-1.52050042e-01 9.88372729e-01 -3.64065633e-04 -1.80291037e+01] [-2.76158746e-03 -5.64920954e-05 9.99996185e-01 -1.93297659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.195769231 meters Centerline goodness [0,1] 0.9998709760660602 Centerline is valid? [True, True] Translation: X:158.27, Y:-18.04, Z:-1.94 [[ 9.88956794e-01 1.48199518e-01 1.16706676e-03 1.58271795e+02] [-1.48199438e-01 9.88957483e-01 -1.55152307e-04 -1.80418642e+01] [-1.17717290e-03 -1.95197093e-05 9.99999307e-01 -1.93606915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22576923100002 meters Centerline goodness [0,1] 0.9998306268922151 Centerline is valid? [True, True] Translation: X:158.30, Y:-18.04, Z:-1.94 [[ 9.89215587e-01 1.46465869e-01 5.20502833e-04 1.58299897e+02] [-1.46465853e-01 9.89215724e-01 -6.93783317e-05 -1.80391638e+01] [-5.25051145e-04 -7.60576428e-06 9.99999862e-01 -1.93822656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25576923100002 meters Centerline goodness [0,1] 0.9998724625358699 Centerline is valid? [True, True] Translation: X:158.33, Y:-18.05, Z:-1.94 [[ 9.89481930e-01 1.44654836e-01 6.99012022e-04 1.58328092e+02] [-1.44654807e-01 9.89482177e-01 -9.30086936e-05 -1.80488963e+01] [-7.05114095e-04 -9.08502743e-06 9.99999751e-01 -1.93655898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28576923100002 meters Centerline goodness [0,1] 0.9999359863437534 Centerline is valid? [True, True] Translation: X:158.36, Y:-18.05, Z:-1.93 [[ 9.89935972e-01 1.41504662e-01 1.78930797e-03 1.58357600e+02] [-1.41504463e-01 9.89937589e-01 -2.37660436e-04 -1.80543150e+01] [-1.80493328e-03 -1.79264504e-05 9.99998371e-01 -1.93483735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31576923100002 meters Centerline goodness [0,1] 0.9999787901925851 Centerline is valid? [True, True] Translation: X:158.39, Y:-18.06, Z:-1.94 [[ 9.90237748e-01 1.39378825e-01 1.65722333e-03 1.58386355e+02] [-1.39378652e-01 9.90239134e-01 -2.20083020e-04 -1.80590971e+01] [-1.67172231e-03 -1.30470405e-05 9.99998603e-01 -1.93624062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34576923100002 meters Centerline goodness [0,1] 0.9999787861431086 Centerline is valid? [True, True] Translation: X:158.42, Y:-18.07, Z:-1.94 [[ 9.90490583e-01 1.37571920e-01 1.54013319e-03 1.58415481e+02] [-1.37571768e-01 9.90491780e-01 -2.04502439e-04 -1.80665129e+01] [-1.55362306e-03 -9.32110594e-06 9.99998793e-01 -1.93668741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37576923100002 meters Centerline goodness [0,1] 0.9999576898667231 Centerline is valid? [True, True] Translation: X:158.44, Y:-18.07, Z:-1.94 [[ 9.90820289e-01 1.35164895e-01 2.36782640e-03 1.58444866e+02] [-1.35164530e-01 9.90823118e-01 -3.14280620e-04 -1.80722952e+01] [-2.38857684e-03 -8.65052731e-06 9.99997147e-01 -1.93532490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40576923100002 meters Centerline goodness [0,1] 0.999978627911947 Centerline is valid? [True, True] Translation: X:158.47, Y:-18.08, Z:-1.93 [[ 9.90887716e-01 1.34660734e-01 2.83226430e-03 1.58473868e+02] [-1.34660209e-01 9.90891763e-01 -3.75894102e-04 -1.80761254e+01] [-2.85708554e-03 -8.92445507e-06 9.99995918e-01 -1.93460544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43576923100002 meters Centerline goodness [0,1] 0.9999569596281311 Centerline is valid? [True, True] Translation: X:158.50, Y:-18.08, Z:-1.94 [[ 9.90879420e-01 1.34743902e-01 1.43358333e-03 1.58503283e+02] [-1.34743768e-01 9.90880457e-01 -1.90275988e-04 -1.80799532e+01] [-1.44614823e-03 -4.62585856e-06 9.99998954e-01 -1.93675579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46576923100002 meters Centerline goodness [0,1] 0.9999788601386775 Centerline is valid? [True, True] Translation: X:158.53, Y:-18.08, Z:-1.94 [[ 9.90874999e-01 1.34783961e-01 1.44158537e-04 1.58532048e+02] [-1.34783960e-01 9.90875009e-01 -1.92567347e-05 -1.80830029e+01] [-1.45438591e-04 -3.49241523e-07 9.99999989e-01 -1.93941801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.495769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.56, Y:-18.08, Z:-1.94 [[ 9.90810389e-01 1.35254330e-01 1.01974923e-03 1.58560683e+02] [-1.35254262e-01 9.90810913e-01 -1.35376887e-04 -1.80846034e+01] [-1.02868897e-03 -3.79260237e-06 9.99999471e-01 -1.93804711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.525769231 meters Centerline goodness [0,1] 0.9999787175176112 Centerline is valid? [True, True] Translation: X:158.59, Y:-18.09, Z:-1.94 [[ 9.90713137e-01 1.35944982e-01 2.53813600e-03 1.58589603e+02] [-1.35944566e-01 9.90716388e-01 -3.36575047e-04 -1.80867870e+01] [-2.56032862e-03 -1.15964755e-05 9.99996722e-01 -1.93515081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.555769231 meters Centerline goodness [0,1] 0.999978948697977 Centerline is valid? [True, True] Translation: X:158.62, Y:-18.08, Z:-1.93 [[ 9.90342064e-01 1.38600801e-01 3.52327777e-03 1.58619494e+02] [-1.38600017e-01 9.90348331e-01 -4.66969063e-04 -1.80848984e+01] [-3.55399455e-03 -2.58672516e-05 9.99993684e-01 -1.93331189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.65, Y:-18.09, Z:-1.94 [[ 9.90238061e-01 1.39364032e-01 2.49975278e-03 1.58648762e+02] [-1.39363640e-01 9.90241216e-01 -3.31296669e-04 -1.80851291e+01] [-2.52152907e-03 -2.03120748e-05 9.99996821e-01 -1.93604398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.68, Y:-18.09, Z:-1.94 [[ 9.90194767e-01 1.39691131e-01 8.42966485e-04 1.58677658e+02] [-1.39691087e-01 9.90195126e-01 -1.11814617e-04 -1.80855179e+01] [-8.50320815e-04 -7.03665530e-06 9.99999638e-01 -1.93927880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.645769231 meters Centerline goodness [0,1] 0.9999577006048813 Centerline is valid? [True, True] Translation: X:158.71, Y:-18.09, Z:-1.94 [[ 9.90148401e-01 1.40020102e-01 -7.16967652e-04 1.58705504e+02] [-1.40020070e-01 9.90148661e-01 9.46851513e-05 -1.80852921e+01] [ 7.23162385e-04 6.63750977e-06 9.99999738e-01 -1.94165000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.73, Y:-18.09, Z:-1.94 [[ 9.90344137e-01 1.38630741e-01 8.98834302e-05 1.58733926e+02] [-1.38630741e-01 9.90344141e-01 -1.20706879e-05 -1.80897864e+01] [-9.06888969e-05 -5.06471546e-07 9.99999996e-01 -1.94014191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.705769231 meters Centerline goodness [0,1] 0.9999363233077919 Centerline is valid? [True, True] Translation: X:158.76, Y:-18.09, Z:-1.94 [[ 9.90509789e-01 1.37442099e-01 1.65316406e-04 1.58762562e+02] [-1.37442097e-01 9.90509803e-01 -2.20478879e-05 -1.80944921e+01] [-1.66777828e-04 -8.82784679e-07 9.99999986e-01 -1.94039755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.735769231 meters Centerline goodness [0,1] 0.9999788063750424 Centerline is valid? [True, True] Translation: X:158.79, Y:-18.10, Z:-1.94 [[ 9.90700688e-01 1.36056154e-01 9.32665576e-04 1.58789897e+02] [-1.36056098e-01 9.90701127e-01 -1.23545090e-04 -1.80982252e+01] [-9.40801907e-04 -4.49863339e-06 9.99999557e-01 -1.94076139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.82, Y:-18.11, Z:-1.94 [[ 9.91074589e-01 1.33297692e-01 1.69824881e-03 1.58817684e+02] [-1.33297503e-01 9.91076044e-01 -2.24651128e-04 -1.81075619e+01] [-1.71303919e-03 -3.72630204e-06 9.99998533e-01 -1.93884219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.795769231 meters Centerline goodness [0,1] 0.9999786128280258 Centerline is valid? [True, True] Translation: X:158.85, Y:-18.11, Z:-1.94 [[ 9.91292291e-01 1.31677281e-01 8.29243888e-04 1.58845673e+02] [-1.31677235e-01 9.91292638e-01 -1.09681102e-04 -1.81139312e+01] [-8.36465870e-04 -4.66511896e-07 9.99999650e-01 -1.94060194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.825769231 meters Centerline goodness [0,1] 0.999978789292835 Centerline is valid? [True, True] Translation: X:158.87, Y:-18.12, Z:-1.94 [[ 9.91283177e-01 1.31747790e-01 4.27464525e-04 1.58873940e+02] [-1.31747778e-01 9.91283269e-01 -5.66481514e-05 -1.81164839e+01] [-4.31201701e-04 -1.63141839e-07 9.99999907e-01 -1.94078369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.855769231 meters Centerline goodness [0,1] 0.9999787166116846 Centerline is valid? [True, True] Translation: X:158.90, Y:-18.12, Z:-1.94 [[ 9.91126327e-01 1.32918402e-01 1.14092538e-03 1.58902044e+02] [-1.32918316e-01 9.91126984e-01 -1.50881850e-04 -1.81165111e+01] [-1.15085690e-03 -2.10690605e-06 9.99999338e-01 -1.93890232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.885769231 meters Centerline goodness [0,1] 0.9999787306448868 Centerline is valid? [True, True] Translation: X:158.93, Y:-18.11, Z:-1.93 [[ 9.90630053e-01 1.36516016e-01 3.93382157e-03 1.58931258e+02] [-1.36515029e-01 9.90637864e-01 -5.19469277e-04 -1.81108939e+01] [-3.96790847e-03 -2.24238892e-05 9.99992128e-01 -1.93321417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.915769231 meters Centerline goodness [0,1] 0.9999350550949277 Centerline is valid? [True, True] Translation: X:158.96, Y:-18.11, Z:-1.93 [[ 9.90496197e-01 1.37466169e-01 4.50965200e-03 1.58960535e+02] [-1.37464883e-01 9.90506462e-01 -5.95234696e-04 -1.81129386e+01] [-4.54866408e-03 -3.03410838e-05 9.99989654e-01 -1.93204524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.945769231 meters Centerline goodness [0,1] 0.9999574522401395 Centerline is valid? [True, True] Translation: X:158.99, Y:-18.11, Z:-1.93 [[ 9.90404004e-01 1.38147823e-01 3.88428466e-03 1.58989048e+02] [-1.38146876e-01 9.90411621e-01 -5.12531200e-04 -1.81091516e+01] [-3.91784574e-03 -2.89888372e-05 9.99992325e-01 -1.93436033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97576923100002 meters Centerline goodness [0,1] 0.9999575100913533 Centerline is valid? [True, True] Translation: X:159.02, Y:-18.11, Z:-1.94 [[ 9.90503342e-01 1.37455115e-01 3.03641230e-03 1.59017524e+02] [-1.37454533e-01 9.90507996e-01 -4.00509878e-04 -1.81120359e+01] [-3.06264280e-03 -2.06622638e-05 9.99995310e-01 -1.93642800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00576923100002 meters Centerline goodness [0,1] 0.9999788655000422 Centerline is valid? [True, True] Translation: X:159.04, Y:-18.12, Z:-1.94 [[ 9.90666986e-01 1.36286643e-01 2.20784723e-03 1.59044664e+02] [-1.36286333e-01 9.90669446e-01 -2.91188318e-04 -1.81153573e+01] [-2.22693187e-03 -1.24287494e-05 9.99997520e-01 -1.93788732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.07, Y:-18.12, Z:-1.94 [[ 9.91044374e-01 1.33531215e-01 6.81153898e-04 1.59072980e+02] [-1.33531185e-01 9.91044608e-01 -8.99253124e-05 -1.81199266e+01] [-6.87061734e-04 -1.83531215e-06 9.99999764e-01 -1.93868394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.10, Y:-18.12, Z:-1.94 [[ 9.91105241e-01 1.33080430e-01 1.30735425e-05 1.59101329e+02] [-1.33080430e-01 9.91105241e-01 -1.90907422e-06 -1.81218737e+01] [-1.32113169e-05 1.52260804e-07 1.00000000e+00 -1.93968917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.13, Y:-18.12, Z:-1.94 [[ 9.91131103e-01 1.32887567e-01 1.75835714e-04 1.59129201e+02] [-1.32887565e-01 9.91131119e-01 -2.33789843e-05 -1.81220946e+01] [-1.77383024e-04 -1.94741429e-07 9.99999984e-01 -1.94013186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12576923100002 meters Centerline goodness [0,1] 0.9999788063750424 Centerline is valid? [True, True] Translation: X:159.16, Y:-18.12, Z:-1.94 [[ 9.91157650e-01 1.32687726e-01 6.92330781e-04 1.59156933e+02] [-1.32687695e-01 9.91157892e-01 -9.13246838e-05 -1.81230713e+01] [-6.98326782e-04 -1.34661616e-06 9.99999756e-01 -1.94054250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.18, Y:-18.13, Z:-1.94 [[ 9.91470993e-01 1.30316224e-01 1.71813616e-03 1.59184887e+02] [-1.30316027e-01 9.91472482e-01 -2.26158662e-04 -1.81280258e+01] [-1.73295686e-03 3.29074541e-07 9.99998498e-01 -1.93854466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18576923100002 meters Centerline goodness [0,1] 0.999892055267703 Centerline is valid? [True, True] Translation: X:159.21, Y:-18.13, Z:-1.94 [[ 9.91766851e-01 1.28037536e-01 2.21422463e-03 1.59212833e+02] [-1.28037205e-01 9.91769323e-01 -2.91326131e-04 -1.81343770e+01] [-2.23330074e-03 5.42446692e-06 9.99997506e-01 -1.93658039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21576923100002 meters Centerline goodness [0,1] 0.9998948806895827 Centerline is valid? [True, True] Translation: X:159.24, Y:-18.15, Z:-1.94 [[ 9.92385524e-01 1.23146185e-01 2.44722901e-03 1.59239655e+02] [-1.23145765e-01 9.92388541e-01 -3.21829301e-04 -1.81480688e+01] [-2.46823408e-03 1.80128498e-05 9.99996954e-01 -1.93751203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.245769231 meters Centerline goodness [0,1] 0.9999146375296101 Centerline is valid? [True, True] Translation: X:159.27, Y:-18.15, Z:-1.94 [[ 9.92633285e-01 1.21143020e-01 1.87907479e-03 1.59267715e+02] [-1.21142769e-01 9.92635063e-01 -2.47091560e-04 -1.81545356e+01] [-1.89516895e-03 1.76349831e-05 9.99998204e-01 -1.93865325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.275769231 meters Centerline goodness [0,1] 0.9998930366884159 Centerline is valid? [True, True] Translation: X:159.30, Y:-18.16, Z:-1.94 [[ 9.92812645e-01 1.19670911e-01 1.38732575e-03 1.59297195e+02] [-1.19670773e-01 9.92813614e-01 -1.82365853e-04 -1.81558219e+01] [-1.39917978e-03 1.50327798e-05 9.99999021e-01 -1.93878341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.305769231 meters Centerline goodness [0,1] 0.9998307737868596 Centerline is valid? [True, True] Translation: X:159.33, Y:-18.16, Z:-1.94 [[ 9.92929393e-01 1.18693157e-01 1.77632162e-03 1.59325341e+02] [-1.18692929e-01 9.92930982e-01 -2.33456538e-04 -1.81631331e+01] [-1.79147446e-03 2.09690429e-05 9.99998395e-01 -1.93855104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.335769231 meters Centerline goodness [0,1] 0.9999151535720346 Centerline is valid? [True, True] Translation: X:159.35, Y:-18.17, Z:-1.94 [[ 9.92890753e-01 1.19002683e-01 2.51258133e-03 1.59354482e+02] [-1.19002229e-01 9.92893932e-01 -3.30086481e-04 -1.81653012e+01] [-2.53400793e-03 2.87370359e-05 9.99996789e-01 -1.93671140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.365769231 meters Centerline goodness [0,1] 0.9999787505312367 Centerline is valid? [True, True] Translation: X:159.39, Y:-18.16, Z:-1.93 [[ 9.92786892e-01 1.19820211e-01 4.15976762e-03 1.59385348e+02] [-1.19818975e-01 9.92795606e-01 -5.46205996e-04 -1.81606743e+01] [-4.19524554e-03 4.38470616e-05 9.99991199e-01 -1.93381369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.395769231 meters Centerline goodness [0,1] 0.9999139581406354 Centerline is valid? [True, True] Translation: X:159.42, Y:-18.16, Z:-1.93 [[ 9.92801638e-01 1.19704120e-01 3.97895601e-03 1.59415270e+02] [-1.19702987e-01 9.92809610e-01 -5.22377149e-04 -1.81605689e+01] [-4.01287646e-03 4.23239683e-05 9.99991947e-01 -1.93025973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.425769231 meters Centerline goodness [0,1] 0.9999353169469599 Centerline is valid? [True, True] Translation: X:159.45, Y:-18.16, Z:-1.94 [[ 9.93072219e-01 1.17496514e-01 1.46196098e-03 1.59445053e+02] [-1.17496359e-01 9.93073295e-01 -1.91885860e-04 -1.81634979e+01] [-1.47438032e-03 1.87814252e-05 9.99998913e-01 -1.93887382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.455769231 meters Centerline goodness [0,1] 0.9999363867684479 Centerline is valid? [True, True] Translation: X:159.47, Y:-18.17, Z:-1.94 [[ 9.93229842e-01 1.16165506e-01 2.37242028e-04 1.59472848e+02] [-1.16165501e-01 9.93229870e-01 -3.12770310e-05 -1.81716516e+01] [-2.39269180e-04 3.50594152e-06 9.99999971e-01 -1.94217015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.485769231 meters Centerline goodness [0,1] 0.9998526408858388 Centerline is valid? [True, True] Translation: X:159.50, Y:-18.18, Z:-1.94 [[ 9.93431644e-01 1.14425682e-01 5.76344483e-04 1.59500165e+02] [-1.14425658e-01 9.93431811e-01 -7.57439645e-05 -1.81828994e+01] [-5.81225998e-04 9.29785460e-06 9.99999831e-01 -1.94316103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.515769231 meters Centerline goodness [0,1] 0.9998097291812013 Centerline is valid? [True, True] Translation: X:159.53, Y:-18.18, Z:-1.94 [[ 9.93482791e-01 1.13967123e-01 1.85419839e-03 1.59530155e+02] [-1.13966867e-01 9.93484521e-01 -2.43353683e-04 -1.81793365e+01] [-1.86985172e-03 3.04505150e-05 9.99998251e-01 -1.93985847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.545769231 meters Centerline goodness [0,1] 0.9998091157818829 Centerline is valid? [True, True] Translation: X:159.56, Y:-18.18, Z:-1.94 [[ 9.93512680e-01 1.13656100e-01 3.85288671e-03 1.59557546e+02] [-1.13654995e-01 9.93520149e-01 -5.05306233e-04 -1.81809244e+01] [-3.88535172e-03 6.41283298e-05 9.99992450e-01 -1.93610755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.575769231 meters Centerline goodness [0,1] 0.9997435568662649 Centerline is valid? [True, True] Translation: X:159.59, Y:-18.18, Z:-1.94 [[ 9.93496045e-01 1.13798810e-01 3.92938275e-03 1.59585873e+02] [-1.13797662e-01 9.93503813e-01 -5.15112420e-04 -1.81828959e+01] [-3.96247593e-03 6.46075802e-05 9.99992147e-01 -1.93598832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.605769231 meters Centerline goodness [0,1] 0.999810510358767 Centerline is valid? [True, True] Translation: X:159.61, Y:-18.18, Z:-1.94 [[ 9.93457520e-01 1.14168688e-01 2.76877192e-03 1.59613191e+02] [-1.14168120e-01 9.93461378e-01 -3.62904009e-04 -1.81848537e+01] [-2.79210024e-03 4.44242322e-05 9.99996101e-01 -1.93831049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.635769231 meters Centerline goodness [0,1] 0.9997866621154584 Centerline is valid? [True, True] Translation: X:159.64, Y:-18.19, Z:-1.95 [[ 9.93445161e-01 1.14308693e-01 -4.84948124e-04 1.59640723e+02] [-1.14308676e-01 9.93445279e-01 6.32812272e-05 -1.81869918e+01] [ 4.89003019e-04 -7.43265104e-06 9.99999880e-01 -1.94566166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.665769231 meters Centerline goodness [0,1] 0.9999359289238194 Centerline is valid? [True, True] Translation: X:159.67, Y:-18.19, Z:-1.94 [[ 9.93422017e-01 1.14508923e-01 -6.34571631e-04 1.59669560e+02] [-1.14508893e-01 9.93422220e-01 8.28739517e-05 -1.81856950e+01] [ 6.39887366e-04 -9.66471294e-06 9.99999795e-01 -1.94492927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.695769231 meters Centerline goodness [0,1] 0.9999359289238194 Centerline is valid? [True, True] Translation: X:159.70, Y:-18.19, Z:-1.95 [[ 9.93427367e-01 1.14462502e-01 -6.34575521e-04 1.59697665e+02] [-1.14462472e-01 9.93427569e-01 8.28441997e-05 -1.81892821e+01] [ 6.39887371e-04 -9.66461234e-06 9.99999795e-01 -1.94504011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72576923100002 meters Centerline goodness [0,1] 0.999913930369669 Centerline is valid? [True, True] Translation: X:159.73, Y:-18.19, Z:-1.94 [[ 9.93360029e-01 1.15047173e-01 -2.01596699e-05 1.59727124e+02] [-1.15047173e-01 9.93360029e-01 2.44930487e-06 -1.81891859e+01] [ 2.03075959e-05 -1.13728530e-07 1.00000000e+00 -1.94368931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75576923100002 meters Centerline goodness [0,1] 0.9999356609762374 Centerline is valid? [True, True] Translation: X:159.75, Y:-18.19, Z:-1.94 [[ 9.93284734e-01 1.15693269e-01 7.10131659e-04 1.59754501e+02] [-1.15693232e-01 9.93284988e-01 -9.30697163e-05 -1.81927111e+01] [-7.16130657e-04 1.02873013e-05 9.99999744e-01 -1.94329874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78576923100002 meters Centerline goodness [0,1] 0.9998319998319999 Centerline is valid? [True, True] Translation: X:159.78, Y:-18.19, Z:-1.94 [[ 9.93329478e-01 1.15307228e-01 8.89482141e-04 1.59783641e+02] [-1.15307170e-01 9.93329876e-01 -1.16415278e-04 -1.81903641e+01] [-8.96972708e-04 1.30750588e-05 9.99999598e-01 -1.94328302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81576923100002 meters Centerline goodness [0,1] 0.9998505040150351 Centerline is valid? [True, True] Translation: X:159.81, Y:-18.19, Z:-1.94 [[ 9.93587076e-01 1.13068913e-01 3.77484983e-04 1.59812740e+02] [-1.13068903e-01 9.93587148e-01 -4.94979197e-05 -1.81883563e+01] [-3.80660904e-04 6.49868045e-06 9.99999928e-01 -1.94439648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84576923100002 meters Centerline goodness [0,1] 0.9997872747771703 Centerline is valid? [True, True] Translation: X:159.84, Y:-18.20, Z:-1.95 [[ 9.93788037e-01 1.11288138e-01 5.37239175e-04 1.59839800e+02] [-1.11288116e-01 9.93788182e-01 -7.03815573e-05 -1.81962522e+01] [-5.41734575e-04 1.01560138e-05 9.99999853e-01 -1.94526969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87576923100002 meters Centerline goodness [0,1] 0.9997447405926273 Centerline is valid? [True, True] Translation: X:159.87, Y:-18.20, Z:-1.94 [[ 9.94000413e-01 1.09370469e-01 1.13117805e-03 1.59868636e+02] [-1.09370372e-01 9.94001056e-01 -1.47841094e-04 -1.81954618e+01] [-1.14056163e-03 2.32367444e-05 9.99999349e-01 -1.94351348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90576923100002 meters Centerline goodness [0,1] 0.999337720047855 Centerline is valid? [True, True] Translation: X:159.90, Y:-18.20, Z:-1.94 [[ 9.94425806e-01 1.05414291e-01 2.26809073e-03 1.59898100e+02] [-1.05413889e-01 9.94428391e-01 -2.96126661e-04 -1.81969458e+01] [-2.28666979e-03 5.53877281e-05 9.99997384e-01 -1.94106011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93576923100002 meters Centerline goodness [0,1] 0.9991803795473173 Centerline is valid? [True, True] Translation: X:159.93, Y:-18.20, Z:-1.94 [[ 9.94592230e-01 1.03823900e-01 2.62552159e-03 1.59926289e+02] [-1.03823357e-01 9.94595693e-01 -3.42679956e-04 -1.82019556e+01] [-2.64691084e-03 6.82363568e-05 9.99996495e-01 -1.94107892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96576923100002 meters Centerline goodness [0,1] 0.9991982953226861 Centerline is valid? [True, True] Translation: X:159.96, Y:-18.20, Z:-1.94 [[ 9.94880441e-01 1.01027677e-01 2.51321437e-03 1.59955897e+02] [-1.01027171e-01 9.94883613e-01 -3.27924566e-04 -1.82042779e+01] [-2.53348525e-03 7.23427983e-05 9.99996788e-01 -1.94111607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.995769231 meters Centerline goodness [0,1] 0.9981875946182222 Centerline is valid? [True, True] Translation: X:159.98, Y:-18.22, Z:-1.94 [[ 9.94978392e-01 1.00061550e-01 2.38451218e-03 1.59983436e+02] [-1.00061092e-01 9.94981247e-01 -3.11097974e-04 -1.82150721e+01] [-2.40367384e-03 7.09388694e-05 9.99997109e-01 -1.94173594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.025769231 meters Centerline goodness [0,1] 0.9985448942908499 Centerline is valid? [True, True] Translation: X:160.01, Y:-18.21, Z:-1.94 [[ 9.95125681e-01 9.85556418e-02 3.41529238e-03 1.60013967e+02] [-9.85546930e-02 9.95131536e-01 -4.45400944e-04 -1.82091913e+01] [-3.44256192e-03 1.06636827e-04 9.99994069e-01 -1.93991754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.055769231 meters Centerline goodness [0,1] 0.9979947522239051 Centerline is valid? [True, True] Translation: X:160.04, Y:-18.21, Z:-1.94 [[ 9.95294245e-01 9.68231725e-02 3.82622095e-03 1.60042957e+02] [-9.68219693e-02 9.95301591e-01 -4.98894233e-04 -1.82145017e+01] [-3.85654832e-03 1.26084312e-04 9.99992556e-01 -1.94026244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.085769231 meters Centerline goodness [0,1] 0.9981839547056939 Centerline is valid? [True, True] Translation: X:160.07, Y:-18.22, Z:-1.94 [[ 9.95530367e-01 9.43652184e-02 3.80705664e-03 1.60072375e+02] [-9.43640096e-02 9.95537637e-01 -4.96310061e-04 -1.82183601e+01] [-3.83690258e-03 1.34842608e-04 9.99992630e-01 -1.94068739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.115769231 meters Centerline goodness [0,1] 0.9962072253416675 Centerline is valid? [True, True] Translation: X:160.10, Y:-18.23, Z:-1.94 [[ 9.96075188e-01 8.84787153e-02 2.39536580e-03 1.60100754e+02] [-8.84782198e-02 9.96078063e-01 -3.12231916e-04 -1.82339995e+01] [-2.41359721e-03 9.90687625e-05 9.99997082e-01 -1.94383013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.145769231 meters Centerline goodness [0,1] 0.9939464493597207 Centerline is valid? [True, True] Translation: X:160.13, Y:-18.25, Z:-1.95 [[ 9.96519581e-01 8.33590054e-02 3.11463022e-05 1.60129968e+02] [-8.33590053e-02 9.96519581e-01 -4.05220177e-06 -1.82488294e+01] [-3.13756876e-05 1.44177364e-06 1.00000000e+00 -1.94712053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.175769231 meters Centerline goodness [0,1] 0.992732340015007 Centerline is valid? [True, True] Translation: X:160.16, Y:-18.26, Z:-1.95 [[ 9.96640408e-01 8.19016094e-02 -1.55050292e-04 1.60159373e+02] [-8.19016073e-02 9.96640420e-01 2.02082902e-05 -1.82573135e+01] [ 1.56184479e-04 -7.44153048e-06 9.99999988e-01 -1.94764292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.205769231 meters Centerline goodness [0,1] 0.994122965641953 Centerline is valid? [True, True] Translation: X:160.19, Y:-18.26, Z:-1.95 [[ 9.96666992e-01 8.15772619e-02 2.41193559e-04 1.60189270e+02] [-8.15772567e-02 9.96667021e-01 -3.14356675e-05 -1.82607088e+01] [-2.42954101e-04 1.16549833e-05 9.99999970e-01 -1.94640344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.235769231 meters Centerline goodness [0,1] 0.9950887232815869 Centerline is valid? [True, True] Translation: X:160.22, Y:-18.27, Z:-1.94 [[ 9.96467547e-01 8.39650892e-02 1.51370096e-03 1.60218169e+02] [-8.39648862e-02 9.96468694e-01 -1.97286363e-04 -1.82695819e+01] [-1.52492078e-03 6.94917298e-05 9.99998835e-01 -1.94460147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.265769231 meters Centerline goodness [0,1] 0.9952874646559849 Centerline is valid? [True, True] Translation: X:160.25, Y:-18.27, Z:-1.94 [[ 9.96300554e-01 8.59218869e-02 1.62357224e-03 1.60247538e+02] [-8.59216559e-02 9.96301874e-01 -2.11606302e-04 -1.82745278e+01] [-1.63574967e-03 7.13234609e-05 9.99998660e-01 -1.94391246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.295769231 meters Centerline goodness [0,1] 0.9974491450312372 Centerline is valid? [True, True] Translation: X:160.28, Y:-18.28, Z:-1.95 [[ 9.95930465e-01 9.01235674e-02 5.01351644e-04 1.60276841e+02] [-9.01235458e-02 9.95930591e-01 -6.53811210e-05 -1.82779553e+01] [-5.05203819e-04 1.99314624e-05 9.99999872e-01 -1.94593281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.325769231 meters Centerline goodness [0,1] 0.9987803051376971 Centerline is valid? [True, True] Translation: X:160.31, Y:-18.28, Z:-1.95 [[ 9.95732263e-01 9.22871893e-02 -5.79443270e-04 1.60307087e+02] [-9.22871610e-02 9.95732431e-01 7.54612546e-05 -1.82786002e+01] [ 5.83934563e-04 -2.16640314e-05 9.99999829e-01 -1.94815179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.355769231 meters Centerline goodness [0,1] 0.9991677869534601 Centerline is valid? [True, True] Translation: X:160.34, Y:-18.29, Z:-1.95 [[ 9.95488540e-01 9.48727129e-02 -1.31732010e-03 1.60335427e+02] [-9.48725688e-02 9.95489410e-01 1.71598892e-04 -1.82877713e+01] [ 1.32765826e-03 -4.58471888e-05 9.99999118e-01 -1.95015253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.385769231 meters Centerline goodness [0,1] 0.9990629924613484 Centerline is valid? [True, True] Translation: X:160.36, Y:-18.29, Z:-1.95 [[ 9.95443359e-01 9.53511265e-02 -8.25523160e-04 1.60363468e+02] [-9.53510702e-02 9.95443701e-01 1.07398261e-04 -1.82944337e+01] [ 8.32002375e-04 -2.81943691e-05 9.99999653e-01 -1.94938678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.415769231 meters Centerline goodness [0,1] 0.9985290355589664 Centerline is valid? [True, True] Translation: X:160.39, Y:-18.30, Z:-1.95 [[ 9.95448227e-01 9.53038040e-02 -1.12632963e-04 1.60392359e+02] [-9.53038030e-02 9.95448233e-01 1.46253364e-05 -1.83044941e+01] [ 1.13514134e-04 -3.82441544e-06 9.99999994e-01 -1.94842901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.445769231 meters Centerline goodness [0,1] 0.9975744680851064 Centerline is valid? [True, True] Translation: X:160.42, Y:-18.32, Z:-1.94 [[ 9.95441674e-01 9.53464557e-02 2.21958297e-03 1.60420523e+02] [-9.53460478e-02 9.95444146e-01 -2.89123000e-04 -1.83175674e+01] [-2.23703772e-03 7.61766195e-05 9.99997495e-01 -1.94271728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47576923100002 meters Centerline goodness [0,1] 0.9982799626263484 Centerline is valid? [True, True] Translation: X:160.45, Y:-18.32, Z:-1.94 [[ 9.95288456e-01 9.69195417e-02 2.73719695e-03 1.60450345e+02] [-9.69189274e-02 9.95292216e-01 -3.56493599e-04 -1.83235446e+01] [-2.75886202e-03 8.95277705e-05 9.99996190e-01 -1.94181281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50576923100002 meters Centerline goodness [0,1] 0.998982209876805 Centerline is valid? [True, True] Translation: X:160.48, Y:-18.33, Z:-1.95 [[ 9.95116348e-01 9.87024082e-02 1.13521427e-03 1.60480473e+02] [-9.87023037e-02 9.95116995e-01 -1.47787345e-04 -1.83311867e+01] [-1.14425798e-03 3.50173391e-05 9.99999345e-01 -1.94534860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53576923100002 meters Centerline goodness [0,1] 0.9996789589709565 Centerline is valid? [True, True] Translation: X:160.51, Y:-18.33, Z:-1.95 [[ 9.94875261e-01 1.01108101e-01 -6.05180297e-04 1.60511945e+02] [-1.01108072e-01 9.94875445e-01 7.88865472e-05 -1.83299831e+01] [ 6.10055087e-04 -1.72936613e-05 9.99999814e-01 -1.94853931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56576923100002 meters Centerline goodness [0,1] 0.9998946303633145 Centerline is valid? [True, True] Translation: X:160.54, Y:-18.33, Z:-1.95 [[ 9.94220954e-01 1.07342300e-01 -1.52475298e-03 1.60541398e+02] [-1.07342122e-01 9.94222123e-01 1.98544577e-04 -1.83326072e+01] [ 1.53725538e-03 -3.37269577e-05 9.99998818e-01 -1.95029178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59576923100002 meters Centerline goodness [0,1] 0.9999787401407403 Centerline is valid? [True, True] Translation: X:160.57, Y:-18.33, Z:-1.95 [[ 9.93821995e-01 1.10982206e-01 -8.89942821e-04 1.60572319e+02] [-1.10982147e-01 9.93822393e-01 1.15864697e-04 -1.83300548e+01] [ 8.97304024e-04 -1.63811191e-05 9.99999597e-01 -1.94808933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62576923100002 meters Centerline goodness [0,1] 0.9999787120808941 Centerline is valid? [True, True] Translation: X:160.60, Y:-18.33, Z:-1.95 [[ 9.93118700e-01 1.17104603e-01 -1.32627641e-03 1.60601937e+02] [-1.17104477e-01 9.93119586e-01 1.72711095e-04 -1.83259551e+01] [ 1.33737635e-03 -1.62097123e-05 9.99999106e-01 -1.94978705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65576923100002 meters Centerline goodness [0,1] 0.9998933583585718 Centerline is valid? [True, True] Translation: X:160.63, Y:-18.33, Z:-1.95 [[ 9.92877852e-01 1.19117596e-01 -2.13740935e-03 1.60631046e+02] [-1.19117273e-01 9.92880153e-01 2.78162567e-04 -1.83267191e+01] [ 2.15532538e-03 -2.15790787e-05 9.99997677e-01 -1.95146484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.66, Y:-18.33, Z:-1.95 [[ 9.92782572e-01 1.19921767e-01 -1.23901565e-03 1.60658180e+02] [-1.19921659e-01 9.92783345e-01 1.61022173e-04 -1.83304761e+01] [ 1.24938416e-03 -1.12751950e-05 9.99999219e-01 -1.95035735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71576923100002 meters Centerline goodness [0,1] 0.999978605964657 Centerline is valid? [True, True] Translation: X:160.69, Y:-18.34, Z:-1.95 [[ 9.92884520e-01 1.19081183e-01 -3.30564330e-05 1.60686153e+02] [-1.19081183e-01 9.92884521e-01 4.11600831e-06 -1.83358018e+01] [ 3.33113598e-05 -1.50321794e-07 9.99999999e-01 -1.94768935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.745769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.71, Y:-18.34, Z:-1.95 [[ 9.93064541e-01 1.17564764e-01 1.15895596e-03 1.60714177e+02] [-1.17564668e-01 9.93065217e-01 -1.50873800e-04 -1.83421842e+01] [-1.16865630e-03 1.35751470e-05 9.99999317e-01 -1.94550905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.74, Y:-18.35, Z:-1.94 [[ 9.93272799e-01 1.15760138e-01 2.95597105e-03 1.60742729e+02] [-1.15759506e-01 9.93277196e-01 -3.84482293e-04 -1.83498410e+01] [-2.98060636e-03 3.97140555e-05 9.99995557e-01 -1.94286125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.805769231 meters Centerline goodness [0,1] 0.9999573606225349 Centerline is valid? [True, True] Translation: X:160.77, Y:-18.36, Z:-1.94 [[ 9.93434331e-01 1.14345837e-01 3.64134780e-03 1.60770934e+02] [-1.14344869e-01 9.93441003e-01 -4.73519033e-04 -1.83586762e+01] [-3.67160914e-03 5.40406268e-05 9.99993258e-01 -1.94123043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.835769231 meters Centerline goodness [0,1] 0.9999152057320925 Centerline is valid? [True, True] Translation: X:160.80, Y:-18.36, Z:-1.94 [[ 9.93495438e-01 1.13792773e-01 4.24501668e-03 1.60800206e+02] [-1.13791453e-01 9.93504505e-01 -5.51969885e-04 -1.83645827e+01] [-4.28025338e-03 6.53329457e-05 9.99990838e-01 -1.93991257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.865769231 meters Centerline goodness [0,1] 0.9999151733644365 Centerline is valid? [True, True] Translation: X:160.83, Y:-18.37, Z:-1.94 [[ 9.93540309e-01 1.13379493e-01 4.76925356e-03 1.60830136e+02] [-1.13377821e-01 9.93551753e-01 -6.20171496e-04 -1.83707070e+01] [-4.80881497e-03 7.54378002e-05 9.99988435e-01 -1.93923559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.895769231 meters Centerline goodness [0,1] 0.9998506443628915 Centerline is valid? [True, True] Translation: X:160.86, Y:-18.38, Z:-1.94 [[ 9.93521708e-01 1.13592953e-01 3.35514891e-03 1.60859346e+02] [-1.13592127e-01 9.93527372e-01 -4.36281889e-04 -1.83794695e+01] [-3.38299083e-03 5.23370268e-05 9.99994276e-01 -1.94243147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.925769231 meters Centerline goodness [0,1] 0.9998717537672331 Centerline is valid? [True, True] Translation: X:160.89, Y:-18.39, Z:-1.95 [[ 9.93498772e-01 1.13826172e-01 1.94748237e-03 1.60889286e+02] [-1.13825894e-01 9.93500680e-01 -2.53263934e-04 -1.83860117e+01] [-1.96365312e-03 2.99434865e-05 9.99998072e-01 -1.94517738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.955769231 meters Centerline goodness [0,1] 0.9999572704354143 Centerline is valid? [True, True] Translation: X:160.92, Y:-18.40, Z:-1.95 [[ 9.93395645e-01 1.14738890e-01 -2.82100398e-04 1.60917522e+02] [-1.14738884e-01 9.93395685e-01 3.66862662e-05 -1.83950426e+01] [ 2.84446660e-04 -4.07609230e-06 9.99999960e-01 -1.94944153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.985769231 meters Centerline goodness [0,1] 0.9999787161586923 Centerline is valid? [True, True] Translation: X:160.95, Y:-18.40, Z:-1.95 [[ 9.93290731e-01 1.15641188e-01 -7.99081158e-04 1.60947983e+02] [-1.15641142e-01 9.93291053e-01 1.03927252e-04 -1.84012153e+01] [ 8.05738435e-04 -1.08233188e-05 9.99999675e-01 -1.95029496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.98, Y:-18.41, Z:-1.95 [[ 9.93189482e-01 1.16510312e-01 -3.07685824e-05 1.60978309e+02] [-1.16510312e-01 9.93189482e-01 4.00141797e-06 -1.84070412e+01] [ 3.10252388e-05 -3.89309118e-07 1.00000000e+00 -1.94925507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.045769231 meters Centerline goodness [0,1] 0.9999572274856178 Centerline is valid? [True, True] Translation: X:161.01, Y:-18.42, Z:-1.95 [[ 9.93078910e-01 1.17424004e-01 2.42516523e-03 1.61007236e+02] [-1.17423584e-01 9.93081871e-01 -3.15406322e-04 -1.84163698e+01] [-2.44542389e-03 2.84517750e-05 9.99997010e-01 -1.94558545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.075769231 meters Centerline goodness [0,1] 0.9999574531452763 Centerline is valid? [True, True] Translation: X:161.04, Y:-18.43, Z:-1.95 [[ 9.92978228e-01 1.18278960e-01 2.07995820e-03 1.61036175e+02] [-1.18278653e-01 9.92980406e-01 -2.70452374e-04 -1.84272639e+01] [-2.09734656e-03 2.25386653e-05 9.99997800e-01 -1.94592298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.105769231 meters Centerline goodness [0,1] 0.9999363408734032 Centerline is valid? [True, True] Translation: X:161.07, Y:-18.43, Z:-1.95 [[ 9.92868510e-01 1.19213006e-01 6.17550444e-04 1.61067031e+02] [-1.19212980e-01 9.92868702e-01 -8.02384013e-05 -1.84335915e+01] [-6.22711969e-04 6.04615339e-06 9.99999806e-01 -1.94839772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.10, Y:-18.44, Z:-1.95 [[ 9.92664393e-01 1.20900118e-01 -7.50980442e-04 1.61097684e+02] [-1.20900079e-01 9.92664677e-01 9.76809524e-05 -1.84378808e+01] [ 7.57281397e-04 -6.17080843e-06 9.99999713e-01 -1.95068225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.13, Y:-18.44, Z:-1.95 [[ 9.92137299e-01 1.25150772e-01 -9.29873391e-04 1.61127263e+02] [-1.25150714e-01 9.92137735e-01 1.21028790e-04 -1.84380825e+01] [ 9.37709326e-04 -3.70285786e-06 9.99999560e-01 -1.95109036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.16, Y:-18.44, Z:-1.95 [[ 9.91900923e-01 1.27013282e-01 -4.31238076e-04 1.61157099e+02] [-1.27013270e-01 9.91901016e-01 5.60031396e-05 -1.84400603e+01] [ 4.34858629e-04 -7.76607669e-07 9.99999905e-01 -1.95048704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.19, Y:-18.44, Z:-1.95 [[ 9.91460870e-01 1.30404249e-01 2.74855905e-04 1.61185677e+02] [-1.30404244e-01 9.91460908e-01 -3.58687015e-05 -1.84422502e+01] [-2.77186316e-04 -2.79962482e-07 9.99999962e-01 -1.94931826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.21, Y:-18.45, Z:-1.95 [[ 9.91213129e-01 1.32272278e-01 7.59824296e-04 1.61214906e+02] [-1.32272241e-01 9.91213420e-01 -9.88702490e-05 -1.84454855e+01] [-7.66225832e-04 -2.50217330e-06 9.99999706e-01 -1.94840204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.24, Y:-18.45, Z:-1.95 [[ 9.91000667e-01 1.33853343e-01 9.80377018e-04 1.61244154e+02] [-1.33853282e-01 9.91001152e-01 -1.27522752e-04 -1.84486085e+01] [-9.88624100e-04 -4.85154932e-06 9.99999511e-01 -1.94778547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.27, Y:-18.45, Z:-1.95 [[ 9.90670112e-01 1.36281129e-01 4.28943008e-04 1.61273302e+02] [-1.36281118e-01 9.90670204e-01 -5.58436796e-05 -1.84490486e+01] [-4.32551497e-04 -3.13416830e-06 9.99999906e-01 -1.94882645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.30, Y:-18.45, Z:-1.95 [[ 9.90376108e-01 1.38401001e-01 5.72124322e-04 1.61302126e+02] [-1.38400982e-01 9.90376273e-01 -7.44630061e-05 -1.84484308e+01] [-5.76924108e-04 -5.43618556e-06 9.99999834e-01 -1.94907233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.33, Y:-18.45, Z:-1.95 [[ 9.89988720e-01 1.41145056e-01 6.38865032e-04 1.61332327e+02] [-1.41145032e-01 9.89988926e-01 -8.30782603e-05 -1.84466798e+01] [-6.44195393e-04 -7.92608479e-06 9.99999792e-01 -1.94846042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40576923100002 meters Centerline goodness [0,1] 0.9999356637357925 Centerline is valid? [True, True] Translation: X:161.36, Y:-18.44, Z:-1.95 [[ 9.89134955e-01 1.47009953e-01 3.38183403e-04 1.61362355e+02] [-1.47009947e-01 9.89135013e-01 -4.40837845e-05 -1.84382188e+01] [-3.40989800e-04 -6.11151204e-06 9.99999942e-01 -1.94797957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43576923100002 meters Centerline goodness [0,1] 0.9998925863069024 Centerline is valid? [True, True] Translation: X:161.39, Y:-18.43, Z:-1.94 [[ 9.88393984e-01 1.51893010e-01 2.41780102e-03 1.61393295e+02] [-1.51892696e-01 9.88396940e-01 -3.14007782e-04 -1.84301580e+01] [-2.43744271e-03 -5.68829122e-05 9.99997028e-01 -1.94368521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46576923100002 meters Centerline goodness [0,1] 0.9998509560107312 Centerline is valid? [True, True] Translation: X:161.42, Y:-18.43, Z:-1.94 [[ 9.88205581e-01 1.53078981e-01 4.06878004e-03 1.61421345e+02] [-1.53078103e-01 9.88213952e-01 -5.28346295e-04 -1.84295807e+01] [-4.10170392e-03 -1.00726372e-04 9.99991583e-01 -1.94036230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49576923100003 meters Centerline goodness [0,1] 0.9997871842346081 Centerline is valid? [True, True] Translation: X:161.45, Y:-18.43, Z:-1.94 [[ 9.88043036e-01 1.54112762e-01 4.49618209e-03 1.61450152e+02] [-1.54111701e-01 9.88053259e-01 -5.83593602e-04 -1.84294343e+01] [-4.53240659e-03 -1.16298674e-04 9.99989722e-01 -1.93932147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.525769231 meters Centerline goodness [0,1] 0.9995553202752779 Centerline is valid? [True, True] Translation: X:161.48, Y:-18.42, Z:-1.94 [[ 9.87626786e-01 1.56803190e-01 2.46812786e-03 1.61480988e+02] [-1.56802879e-01 9.87629867e-01 -3.20296950e-04 -1.84208925e+01] [-2.48782038e-03 -7.06757058e-05 9.99996903e-01 -1.94353121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.555769231 meters Centerline goodness [0,1] 0.9994466554578926 Centerline is valid? [True, True] Translation: X:161.51, Y:-18.42, Z:-1.95 [[ 9.87404227e-01 1.58211700e-01 1.39669949e-03 1.61510643e+02] [-1.58211601e-01 9.87405214e-01 -1.81312432e-04 -1.84167270e+01] [-1.40779411e-03 -4.19454006e-05 9.99999008e-01 -1.94589173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.585769231 meters Centerline goodness [0,1] 0.9994466554578926 Centerline is valid? [True, True] Translation: X:161.54, Y:-18.42, Z:-1.95 [[ 9.87414039e-01 1.58150448e-01 1.39670029e-03 1.61537940e+02] [-1.58150350e-01 9.87415026e-01 -1.81306305e-04 -1.84201209e+01] [-1.40779653e-03 -4.18642478e-05 9.99999008e-01 -1.94599934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.615769231 meters Centerline goodness [0,1] 0.9987088854082885 Centerline is valid? [True, True] Translation: X:161.57, Y:-18.41, Z:-1.95 [[ 9.86871342e-01 1.61500575e-01 1.58691199e-03 1.61569407e+02] [-1.61500452e-01 9.86872617e-01 -2.05743852e-04 -1.84098096e+01] [-1.59930773e-03 -5.32442921e-05 9.99998720e-01 -1.94540144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.645769231 meters Centerline goodness [0,1] 0.9979479725541329 Centerline is valid? [True, True] Translation: X:161.60, Y:-18.41, Z:-1.95 [[ 9.86680284e-01 1.62664632e-01 1.49463624e-03 1.61598813e+02] [-1.62664525e-01 9.86681415e-01 -1.93841800e-04 -1.84070736e+01] [-1.50626101e-03 -5.18644116e-05 9.99998864e-01 -1.94609786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.675769231 meters Centerline goodness [0,1] 0.9971818451498072 Centerline is valid? [True, True] Translation: X:161.63, Y:-18.41, Z:-1.95 [[ 9.86600381e-01 1.63152738e-01 9.33508044e-04 1.61628328e+02] [-1.63152696e-01 9.86600823e-01 -1.21090130e-04 -1.84058673e+01] [-9.40755990e-04 -3.28367856e-05 9.99999557e-01 -1.94802719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.705769231 meters Centerline goodness [0,1] 0.9978782228508969 Centerline is valid? [True, True] Translation: X:161.66, Y:-18.41, Z:-1.95 [[ 9.86975839e-01 1.60867662e-01 5.36937966e-04 1.61658238e+02] [-1.60867648e-01 9.86975985e-01 -6.95904947e-05 -1.84085454e+01] [-5.41139738e-04 -1.76918110e-05 9.99999853e-01 -1.94958985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.735769231 meters Centerline goodness [0,1] 0.9998506602948393 Centerline is valid? [True, True] Translation: X:161.69, Y:-18.43, Z:-1.95 [[ 9.87721575e-01 1.56224483e-01 -2.92215613e-05 1.61685816e+02] [-1.56224483e-01 9.87721576e-01 3.73857489e-06 -1.84284113e+01] [ 2.94468235e-05 8.72452240e-07 1.00000000e+00 -1.94861007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.765769231 meters Centerline goodness [0,1] 0.9994205386844082 Centerline is valid? [True, True] Translation: X:161.72, Y:-18.42, Z:-1.95 [[ 9.88106066e-01 1.53772636e-01 -6.14901982e-04 1.61715175e+02] [-1.53772617e-01 9.88106257e-01 7.93005143e-05 -1.84199159e+01] [ 6.19782746e-04 1.61977676e-05 9.99999808e-01 -1.95240444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.795769231 meters Centerline goodness [0,1] 0.9996630231039785 Centerline is valid? [True, True] Translation: X:161.74, Y:-18.43, Z:-1.95 [[ 9.88420768e-01 1.51732767e-01 -1.24640395e-03 1.61744079e+02] [-1.51732685e-01 9.88421553e-01 1.61175675e-04 -1.84252780e+01] [ 1.25642816e-03 2.98108335e-05 9.99999210e-01 -1.95471773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.825769231 meters Centerline goodness [0,1] 0.9999784119856655 Centerline is valid? [True, True] Translation: X:161.77, Y:-18.44, Z:-1.95 [[ 9.88980654e-01 1.48042030e-01 -9.07628371e-04 1.61771842e+02] [-1.48041985e-01 9.88981070e-01 1.17399689e-04 -1.84443647e+01] [ 9.15007366e-04 1.82610839e-05 9.99999581e-01 -1.95211575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.855769231 meters Centerline goodness [0,1] 0.999894083504565 Centerline is valid? [True, True] Translation: X:161.80, Y:-18.44, Z:-1.95 [[ 9.89169331e-01 1.46777966e-01 -5.12766320e-04 1.61800836e+02] [-1.46777952e-01 9.89169464e-01 6.60877854e-05 -1.84387515e+01] [ 5.16913017e-04 9.89077966e-06 9.99999866e-01 -1.95322294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.885769231 meters Centerline goodness [0,1] 0.9998311060442925 Centerline is valid? [True, True] Translation: X:161.83, Y:-18.44, Z:-1.95 [[ 9.89177470e-01 1.46723866e-01 1.99401171e-04 1.61829720e+02] [-1.46723864e-01 9.89177490e-01 -2.59456979e-05 -1.84371318e+01] [-2.01050003e-04 -3.59201049e-06 9.99999980e-01 -1.95035649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.915769231 meters Centerline goodness [0,1] 0.9998524980508671 Centerline is valid? [True, True] Translation: X:161.86, Y:-18.44, Z:-1.95 [[ 9.89020155e-01 1.47779961e-01 4.64728170e-04 1.61859153e+02] [-1.47779949e-01 9.89020264e-01 -6.02322114e-05 -1.84353951e+01] [-4.68526691e-04 -9.10663411e-06 9.99999890e-01 -1.94969506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.945769231 meters Centerline goodness [0,1] 0.9995757138614282 Centerline is valid? [True, True] Translation: X:161.89, Y:-18.43, Z:-1.95 [[ 9.88547397e-01 1.50910704e-01 4.90738967e-05 1.61889962e+02] [-1.50910704e-01 9.88547399e-01 -6.42391093e-06 -1.84283452e+01] [-4.94813098e-05 -1.05543587e-06 9.99999999e-01 -1.95123112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97576923100002 meters Centerline goodness [0,1] 0.9995773457311918 Centerline is valid? [True, True] Translation: X:161.92, Y:-18.43, Z:-1.95 [[ 9.88341776e-01 1.52250614e-01 -5.33266050e-04 1.61918975e+02] [-1.52250599e-01 9.88341920e-01 6.87290823e-05 -1.84266843e+01] [ 5.37513237e-04 1.32622523e-05 9.99999855e-01 -1.95339421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00576923100002 meters Centerline goodness [0,1] 0.9994269340974212 Centerline is valid? [True, True] Translation: X:161.95, Y:-18.43, Z:-1.95 [[ 9.88201993e-01 1.53152887e-01 -1.00710865e-03 1.61948465e+02] [-1.53152834e-01 9.88202506e-01 1.29902893e-04 -1.84253503e+01] [ 1.01512229e-03 2.58712453e-05 9.99999484e-01 -1.95422433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03576923100002 meters Centerline goodness [0,1] 0.9998514494291414 Centerline is valid? [True, True] Translation: X:161.98, Y:-18.43, Z:-1.95 [[ 9.88167848e-01 1.53375497e-01 -5.10422248e-04 1.61976345e+02] [-1.53375483e-01 9.88167980e-01 6.57131715e-05 -1.84349269e+01] [ 5.14461712e-04 1.33506157e-05 9.99999868e-01 -1.94983229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06576923100002 meters Centerline goodness [0,1] 0.999831188014349 Centerline is valid? [True, True] Translation: X:162.00, Y:-18.43, Z:-1.95 [[ 9.88252405e-01 1.52830573e-01 2.32128415e-05 1.62004654e+02] [-1.52830573e-01 9.88252405e-01 -3.33483614e-06 -1.84324935e+01] [-2.34498114e-05 -2.51972032e-07 1.00000000e+00 -1.94884486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09576923100002 meters Centerline goodness [0,1] 0.9999360613810742 Centerline is valid? [True, True] Translation: X:162.03, Y:-18.43, Z:-1.95 [[ 9.88459546e-01 1.51476080e-01 1.65008075e-03 1.62033205e+02] [-1.51475935e-01 9.88460923e-01 -2.12991348e-04 -1.84348480e+01] [-1.66330343e-03 -3.94141928e-05 9.99998616e-01 -1.94519628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12576923100002 meters Centerline goodness [0,1] 0.9999575308432251 Centerline is valid? [True, True] Translation: X:162.06, Y:-18.43, Z:-1.94 [[ 9.88490399e-01 1.51255309e-01 2.92615666e-03 1.62061482e+02] [-1.51254854e-01 9.88494728e-01 -3.77431025e-04 -1.84328328e+01] [-2.94957888e-03 -6.95084537e-05 9.99995648e-01 -1.94288761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15576923100002 meters Centerline goodness [0,1] 0.9998507589971004 Centerline is valid? [True, True] Translation: X:162.09, Y:-18.42, Z:-1.94 [[ 9.88290185e-01 1.52524524e-01 4.33347946e-03 1.62091935e+02] [-1.52523540e-01 9.88299680e-01 -5.58586908e-04 -1.84241876e+01] [-4.36797456e-03 -1.08911669e-04 9.99990454e-01 -1.93987364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18576923100002 meters Centerline goodness [0,1] 0.9996202291284259 Centerline is valid? [True, True] Translation: X:162.12, Y:-18.42, Z:-1.94 [[ 9.88109681e-01 1.53697829e-01 4.02938312e-03 1.62121380e+02] [-1.53696989e-01 9.88117891e-01 -5.19204599e-04 -1.84159813e+01] [-4.06130617e-03 -1.06272963e-04 9.99991747e-01 -1.94095700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21576923100002 meters Centerline goodness [0,1] 0.9997428699993571 Centerline is valid? [True, True] Translation: X:162.15, Y:-18.41, Z:-1.95 [[ 9.87859501e-01 1.55336746e-01 2.02520159e-03 1.62151711e+02] [-1.55336538e-01 9.87861575e-01 -2.60922991e-04 -1.84079053e+01] [-2.04114976e-03 -5.68325473e-05 9.99997915e-01 -1.94541959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24576923100003 meters Centerline goodness [0,1] 0.9997008163439757 Centerline is valid? [True, True] Translation: X:162.18, Y:-18.40, Z:-1.94 [[ 9.87877271e-01 1.55222356e-01 2.12526881e-03 1.62178923e+02] [-1.55222126e-01 9.87879556e-01 -2.73769300e-04 -1.84048227e+01] [-2.14200473e-03 -5.94382743e-05 9.99997704e-01 -1.94495147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.275769231 meters Centerline goodness [0,1] 0.9996361535004173 Centerline is valid? [True, True] Translation: X:162.21, Y:-18.40, Z:-1.94 [[ 9.87892273e-01 1.55104409e-01 3.38823079e-03 1.62206772e+02] [-1.55103825e-01 9.87898078e-01 -4.36005924e-04 -1.84019400e+01] [-3.41485313e-03 -9.48006729e-05 9.99994165e-01 -1.94286717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.305769231 meters Centerline goodness [0,1] 0.9995512820512821 Centerline is valid? [True, True] Translation: X:162.24, Y:-18.39, Z:-1.94 [[ 9.87855786e-01 1.55266293e-01 5.77277757e-03 1.62237239e+02] [-1.55264606e-01 9.87872639e-01 -7.42032152e-04 -1.83942012e+01] [-5.81798159e-03 -1.63287279e-04 9.99983062e-01 -1.93741213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.335769231 meters Centerline goodness [0,1] 0.9994692369750754 Centerline is valid? [True, True] Translation: X:162.27, Y:-18.39, Z:-1.94 [[ 9.87818659e-01 1.55486770e-01 6.17743765e-03 1.62265999e+02] [-1.55484847e-01 9.87837959e-01 -7.93195982e-04 -1.83907463e+01] [-6.22563888e-03 -1.76964157e-04 9.99980605e-01 -1.93660145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.365769231 meters Centerline goodness [0,1] 0.9998932900802459 Centerline is valid? [True, True] Translation: X:162.30, Y:-18.39, Z:-1.94 [[ 9.87912471e-01 1.54921195e-01 5.32667797e-03 1.62295595e+02] [-1.54919760e-01 9.87926820e-01 -6.83426562e-04 -1.83891349e+01] [-5.36824529e-03 -1.50042051e-04 9.99985580e-01 -1.93884934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.395769231 meters Centerline goodness [0,1] 0.9997454877091773 Centerline is valid? [True, True] Translation: X:162.32, Y:-18.38, Z:-1.94 [[ 9.87977314e-01 1.54550940e-01 3.85153014e-03 1.62323898e+02] [-1.54550189e-01 9.87984815e-01 -4.93680887e-04 -1.83835821e+01] [-3.88155214e-03 -1.07509195e-04 9.99992461e-01 -1.94222488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.425769231 meters Centerline goodness [0,1] 0.9998512821602329 Centerline is valid? [True, True] Translation: X:162.35, Y:-18.38, Z:-1.95 [[ 9.88212135e-01 1.53088522e-01 8.24969976e-04 1.62353518e+02] [-1.53088487e-01 9.88212479e-01 -1.06194571e-04 -1.83752853e+01] [-8.31502795e-04 -2.13506410e-05 9.99999654e-01 -1.94909692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.455769231 meters Centerline goodness [0,1] 0.9999365535910667 Centerline is valid? [True, True] Translation: X:162.38, Y:-18.38, Z:-1.95 [[ 9.88394896e-01 1.51905389e-01 5.31509517e-04 1.62382589e+02] [-1.51905374e-01 9.88395039e-01 -6.85531841e-05 -1.83762917e+01] [-5.35754968e-04 -1.29815347e-05 9.99999856e-01 -1.95006900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.485769231 meters Centerline goodness [0,1] 0.999978660748581 Centerline is valid? [True, True] Translation: X:162.41, Y:-18.38, Z:-1.95 [[ 9.88984527e-01 1.48017133e-01 7.30595177e-04 1.62412876e+02] [-1.48017104e-01 9.88984797e-01 -9.34685875e-05 -1.83783187e+01] [-7.36382475e-04 -1.57015958e-05 9.99999729e-01 -1.94958357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.515769231 meters Centerline goodness [0,1] 0.9999788842434224 Centerline is valid? [True, True] Translation: X:162.44, Y:-18.38, Z:-1.95 [[ 9.89377333e-01 1.45369695e-01 3.80726148e-04 1.62440779e+02] [-1.45369687e-01 9.89377406e-01 -4.88502387e-05 -1.83798925e+01] [-3.83783193e-04 -7.01472201e-06 9.99999926e-01 -1.95091107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.47, Y:-18.38, Z:-1.95 [[ 9.89955501e-01 1.41377887e-01 6.31853034e-04 1.62469015e+02] [-1.41377865e-01 9.89955702e-01 -8.08351193e-05 -1.83834756e+01] [-6.36934812e-04 -9.30686160e-06 9.99999797e-01 -1.94941220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.50, Y:-18.39, Z:-1.95 [[ 9.90188102e-01 1.39731846e-01 1.59199118e-03 1.62498188e+02] [-1.39731700e-01 9.90189381e-01 -2.03567786e-04 -1.83867314e+01] [-1.60481766e-03 -2.08812339e-05 9.99998712e-01 -1.94687492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.53, Y:-18.39, Z:-1.95 [[ 9.90377846e-01 1.38371629e-01 2.23924785e-03 1.62525791e+02] [-1.38371336e-01 9.90380377e-01 -2.85589206e-04 -1.83874252e+01] [-2.25722457e-03 -2.70064949e-05 9.99997452e-01 -1.94602754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.55, Y:-18.39, Z:-1.95 [[ 9.90650613e-01 1.36399838e-01 2.53903048e-03 1.62554654e+02] [-1.36399457e-01 9.90653867e-01 -3.23786494e-04 -1.83855775e+01] [-2.55946478e-03 -2.55630878e-05 9.99996724e-01 -1.94731937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.665769231 meters Centerline goodness [0,1] 0.9999786548272108 Centerline is valid? [True, True] Translation: X:162.58, Y:-18.39, Z:-1.95 [[ 9.90848061e-01 1.34962231e-01 2.30563046e-03 1.62582366e+02] [-1.34961914e-01 9.90850743e-01 -2.93576675e-04 -1.83870214e+01] [-2.32415742e-03 -2.02824194e-05 9.99997299e-01 -1.94772637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.695769231 meters Centerline goodness [0,1] 0.9999787061879818 Centerline is valid? [True, True] Translation: X:162.61, Y:-18.39, Z:-1.95 [[ 9.91326358e-01 1.31389166e-01 2.98981056e-03 1.62610997e+02] [-1.31388616e-01 9.91330866e-01 -3.80398505e-04 -1.83891343e+01] [-3.01387174e-03 -1.57280088e-05 9.99995458e-01 -1.94627962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72576923100002 meters Centerline goodness [0,1] 0.9999576369913791 Centerline is valid? [True, True] Translation: X:162.64, Y:-18.39, Z:-1.95 [[ 9.91578797e-01 1.29467879e-01 3.09145236e-03 1.62640146e+02] [-1.29467284e-01 9.91583616e-01 -3.92796340e-04 -1.83922718e+01] [-3.11628802e-03 -1.07534184e-05 9.99995144e-01 -1.94668959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75576923100002 meters Centerline goodness [0,1] 0.9999576405803241 Centerline is valid? [True, True] Translation: X:162.67, Y:-18.40, Z:-1.95 [[ 9.91834376e-01 1.27497493e-01 2.99342850e-03 1.62669054e+02] [-1.27496928e-01 9.91838893e-01 -3.79822372e-04 -1.83959041e+01] [-3.01742521e-03 -4.93205230e-06 9.99995448e-01 -1.94771143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78576923100002 meters Centerline goodness [0,1] 0.9998713136729223 Centerline is valid? [True, True] Translation: X:162.70, Y:-18.40, Z:-1.95 [[ 9.92450972e-01 1.22623821e-01 2.11358355e-03 1.62697499e+02] [-1.22623528e-01 9.92453222e-01 -2.68137013e-04 -1.84008163e+01] [-2.13051279e-03 6.93776775e-06 9.99997730e-01 -1.94926773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81576923100002 meters Centerline goodness [0,1] 0.9998060219410738 Centerline is valid? [True, True] Translation: X:162.73, Y:-18.41, Z:-1.95 [[ 9.92794447e-01 1.19815451e-01 1.85560345e-03 1.62726009e+02] [-1.19815220e-01 9.92796181e-01 -2.35343372e-04 -1.84054276e+01] [-1.87043379e-03 1.13180569e-05 9.99998251e-01 -1.94920189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84576923100002 meters Centerline goodness [0,1] 0.9997663452143252 Centerline is valid? [True, True] Translation: X:162.75, Y:-18.41, Z:-1.95 [[ 9.93433193e-01 1.14350721e-01 3.79523330e-03 1.62753402e+02] [-1.14349717e-01 9.93440441e-01 -4.80963842e-04 -1.84135004e+01] [-3.82533681e-03 4.38215893e-05 9.99992682e-01 -1.94577286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87576923100002 meters Centerline goodness [0,1] 0.9995948568138687 Centerline is valid? [True, True] Translation: X:162.78, Y:-18.42, Z:-1.94 [[ 9.93751738e-01 1.11489605e-01 5.24898302e-03 1.62781715e+02] [-1.11487649e-01 9.93765597e-01 -6.64805697e-04 -1.84188059e+01] [-5.29037767e-03 7.54550410e-05 9.99986003e-01 -1.94412915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90576923100002 meters Centerline goodness [0,1] 0.9990053962543646 Centerline is valid? [True, True] Translation: X:162.81, Y:-18.43, Z:-1.95 [[ 9.94360576e-01 1.05917400e-01 5.34310488e-03 1.62808567e+02] [-1.05915293e-01 9.94374926e-01 -6.76466977e-04 -1.84330189e+01] [-5.38469915e-03 1.06735571e-04 9.99985497e-01 -1.94528442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93576923100002 meters Centerline goodness [0,1] 0.9991679289966077 Centerline is valid? [True, True] Translation: X:162.84, Y:-18.44, Z:-1.95 [[ 9.94675165e-01 1.02983356e-01 3.96802419e-03 1.62837771e+02] [-1.02982172e-01 9.94683075e-01 -5.02234968e-04 -1.84405794e+01] [-3.99864835e-03 9.09249017e-05 9.99992001e-01 -1.94826109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96576923100002 meters Centerline goodness [0,1] 0.9990231264201831 Centerline is valid? [True, True] Translation: X:162.86, Y:-18.45, Z:-1.95 [[ 9.94990597e-01 9.99376310e-02 2.48612860e-03 1.62864975e+02] [-9.99371565e-02 9.94993701e-01 -3.14685077e-04 -1.84503977e+01] [-2.50513118e-03 6.46520696e-05 9.99996860e-01 -1.95042471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99576923100003 meters Centerline goodness [0,1] 0.9984872051648094 Centerline is valid? [True, True] Translation: X:162.89, Y:-18.47, Z:-1.95 [[ 9.95435478e-01 9.54236643e-02 1.59165182e-03 1.62892032e+02] [-9.54234642e-02 9.95436749e-01 -2.01359997e-04 -1.84669526e+01] [-1.60360322e-03 4.85599545e-05 9.99998713e-01 -1.95130653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.025769231 meters Centerline goodness [0,1] 0.998614249776148 Centerline is valid? [True, True] Translation: X:162.92, Y:-18.47, Z:-1.95 [[ 9.95532491e-01 9.44006130e-02 1.89316189e-03 1.62920793e+02] [-9.44003280e-02 9.95534289e-01 -2.39552450e-04 -1.84696704e+01] [-1.90732148e-03 5.97671429e-05 9.99998179e-01 -1.95052532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.055769231 meters Centerline goodness [0,1] 0.9986350743244684 Centerline is valid? [True, True] Translation: X:162.95, Y:-18.47, Z:-1.95 [[ 9.95495928e-01 9.47753330e-02 2.34395220e-03 1.62949436e+02] [-9.47748975e-02 9.95498685e-01 -2.96441059e-04 -1.84742457e+01] [-2.36149663e-03 7.29580374e-05 9.99997209e-01 -1.94951679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.085769231 meters Centerline goodness [0,1] 0.998617491917645 Centerline is valid? [True, True] Translation: X:162.98, Y:-18.48, Z:-1.95 [[ 9.95433127e-01 9.54232046e-02 2.70225529e-03 1.62977936e+02] [-9.54226286e-02 9.95436791e-01 -3.41601749e-04 -1.84797664e+01] [-2.72252106e-03 8.21853943e-05 9.99996291e-01 -1.94902623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.115769231 meters Centerline goodness [0,1] 0.9987036171207548 Centerline is valid? [True, True] Translation: X:163.01, Y:-18.49, Z:-1.95 [[ 9.95372642e-01 9.59913050e-02 4.35586075e-03 1.63006375e+02] [-9.59898150e-02 9.95382164e-01 -5.50327480e-04 -1.84860936e+01] [-4.38857275e-03 1.29662650e-04 9.99990362e-01 -1.94604978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.145769231 meters Centerline goodness [0,1] 0.9983611442193087 Centerline is valid? [True, True] Translation: X:163.03, Y:-18.50, Z:-1.95 [[ 9.95421411e-01 9.54576941e-02 4.90344633e-03 1.63033506e+02] [-9.54558009e-02 9.95433477e-01 -6.19232372e-04 -1.84960884e+01] [-4.94016513e-03 1.48334764e-04 9.99987786e-01 -1.94586050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.175769231 meters Centerline goodness [0,1] 0.9984372658574701 Centerline is valid? [True, True] Translation: X:163.06, Y:-18.50, Z:-1.95 [[ 9.95514522e-01 9.44674331e-02 5.17120433e-03 1.63061592e+02] [-9.44653159e-02 9.95527939e-01 -6.52700525e-04 -1.85031312e+01] [-5.20973733e-03 1.61273401e-04 9.99986416e-01 -1.94605528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.205769231 meters Centerline goodness [0,1] 0.9985980415064681 Centerline is valid? [True, True] Translation: X:163.09, Y:-18.52, Z:-1.95 [[ 9.95659658e-01 9.29126427e-02 5.39313434e-03 1.63087105e+02] [-9.29103188e-02 9.95674249e-01 -6.80411955e-04 -1.85189293e+01] [-5.43302385e-03 1.76380904e-04 9.99985225e-01 -1.94551924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.235769231 meters Centerline goodness [0,1] 0.9984191412091433 Centerline is valid? [True, True] Translation: X:163.12, Y:-18.53, Z:-1.95 [[ 9.95661355e-01 9.29392710e-02 4.55607837e-03 1.63115500e+02] [-9.29376139e-02 9.95671768e-01 -5.74542706e-04 -1.85255766e+01] [-4.58975619e-03 1.48618916e-04 9.99989456e-01 -1.94642499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.265769231 meters Centerline goodness [0,1] 0.9985233376848504 Centerline is valid? [True, True] Translation: X:163.14, Y:-18.54, Z:-1.95 [[ 9.95531349e-01 9.43985573e-02 2.49927103e-03 1.63143309e+02] [-9.43980633e-02 9.95534483e-01 -3.15134723e-04 -1.85350805e+01] [-2.51785876e-03 7.78001511e-05 9.99996827e-01 -1.94989205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.295769231 meters Centerline goodness [0,1] 0.9986344918816276 Centerline is valid? [True, True] Translation: X:163.17, Y:-18.54, Z:-1.95 [[ 9.95428947e-01 9.54850580e-02 1.95317789e-03 1.63171900e+02] [-9.54847586e-02 9.95430862e-01 -2.46202843e-04 -1.85431229e+01] [-1.96776224e-03 5.85787180e-05 9.99998062e-01 -1.95162224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.325769231 meters Centerline goodness [0,1] 0.9990358451353031 Centerline is valid? [True, True] Translation: X:163.20, Y:-18.55, Z:-1.95 [[ 9.95119599e-01 9.86473002e-02 2.38598818e-03 1.63199747e+02] [-9.86468627e-02 9.95122458e-01 -3.00645234e-04 -1.85520002e+01] [-2.40400826e-03 6.38077165e-05 9.99997108e-01 -1.95055072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.355769231 meters Centerline goodness [0,1] 0.9988843117061449 Centerline is valid? [True, True] Translation: X:163.23, Y:-18.56, Z:-1.95 [[ 9.94916162e-01 1.00660523e-01 3.04785890e-03 1.63228536e+02] [-1.00659819e-01 9.94920828e-01 -3.83909262e-04 -1.85554051e+01] [-3.07102281e-03 7.51606053e-05 9.99995282e-01 -1.94948355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.385769231 meters Centerline goodness [0,1] 0.9990866804018607 Centerline is valid? [True, True] Translation: X:163.26, Y:-18.56, Z:-1.95 [[ 9.94713537e-01 1.02648652e-01 2.86941874e-03 1.63255611e+02] [-1.02648037e-01 9.94717674e-01 -3.61318667e-04 -1.85620764e+01] [-2.89135040e-03 6.48683689e-05 9.99995818e-01 -1.94938844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.415769231 meters Centerline goodness [0,1] 0.9995941211655132 Centerline is valid? [True, True] Translation: X:163.28, Y:-18.57, Z:-1.95 [[ 9.94350234e-01 1.06128032e-01 2.11019997e-03 1.63284072e+02] [-1.06127707e-01 9.94352472e-01 -2.65634517e-04 -1.85653639e+01] [-2.12647383e-03 4.01830599e-05 9.99997738e-01 -1.95111665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.445769231 meters Centerline goodness [0,1] 0.9996571893814411 Centerline is valid? [True, True] Translation: X:163.31, Y:-18.57, Z:-1.95 [[ 9.94176910e-01 1.07738834e-01 2.14850402e-03 1.63311499e+02] [-1.07738501e-01 9.94179230e-01 -2.70369112e-04 -1.85697852e+01] [-2.16512733e-03 3.73181260e-05 9.99997655e-01 -1.95114322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47576923100002 meters Centerline goodness [0,1] 0.9994917838387261 Centerline is valid? [True, True] Translation: X:163.34, Y:-18.58, Z:-1.95 [[ 9.93968051e-01 1.09635932e-01 2.73428964e-03 1.63338537e+02] [-1.09635401e-01 9.93971811e-01 -3.43853011e-04 -1.85782497e+01] [-2.75550547e-03 4.20039664e-05 9.99996203e-01 -1.95035633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50576923100002 meters Centerline goodness [0,1] 0.9994917838387261 Centerline is valid? [True, True] Translation: X:163.37, Y:-18.58, Z:-1.95 [[ 9.93975492e-01 1.09568446e-01 2.73430885e-03 1.63365832e+02] [-1.09567915e-01 9.93979252e-01 -3.43700174e-04 -1.85815436e+01] [-2.75550496e-03 4.20370289e-05 9.99996203e-01 -1.95046390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53576923100002 meters Centerline goodness [0,1] 0.9996795145714041 Centerline is valid? [True, True] Translation: X:163.39, Y:-18.59, Z:-1.95 [[ 9.93934479e-01 1.09961882e-01 1.62347786e-03 1.63394405e+02] [-1.09961696e-01 9.93935805e-01 -2.04019082e-04 -1.85860405e+01] [-1.63606709e-03 2.42612215e-05 9.99998661e-01 -1.95165621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56576923100002 meters Centerline goodness [0,1] 0.9997232099133434 Centerline is valid? [True, True] Translation: X:163.42, Y:-18.60, Z:-1.96 [[ 9.93798324e-01 1.11197130e-01 -2.99561817e-04 1.63421604e+02] [-1.11197124e-01 9.93798369e-01 3.73609357e-05 -1.85950007e+01] [ 3.01858474e-04 -3.81882291e-06 9.99999954e-01 -1.95618895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59576923100002 meters Centerline goodness [0,1] 0.9996794392323638 Centerline is valid? [True, True] Translation: X:163.45, Y:-18.60, Z:-1.95 [[ 9.93721667e-01 1.11878424e-01 6.83032000e-04 1.63449055e+02] [-1.11878391e-01 9.93721902e-01 -8.59562631e-05 -1.85995925e+01] [-6.88360509e-04 9.00007965e-06 9.99999763e-01 -1.95490203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62576923100002 meters Centerline goodness [0,1] 0.9995520095571294 Centerline is valid? [True, True] Translation: X:163.48, Y:-18.60, Z:-1.95 [[ 9.93660957e-01 1.12397529e-01 2.16749678e-03 1.63477756e+02] [-1.12397203e-01 9.93663321e-01 -2.71923786e-04 -1.86038763e+01] [-2.18432561e-03 2.65794745e-05 9.99997614e-01 -1.95231166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65576923100002 meters Centerline goodness [0,1] 0.9994901427600272 Centerline is valid? [True, True] Translation: X:163.51, Y:-18.61, Z:-1.95 [[ 9.93671147e-01 1.12263389e-01 3.81876915e-03 1.63505848e+02] [-1.12262377e-01 9.93678484e-01 -4.78768521e-04 -1.86090877e+01] [-3.84837691e-03 4.70343622e-05 9.99992594e-01 -1.94972616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68576923100002 meters Centerline goodness [0,1] 0.9995348345491066 Centerline is valid? [True, True] Translation: X:163.53, Y:-18.61, Z:-1.95 [[ 9.93704575e-01 1.12022609e-01 1.46733823e-03 1.63533021e+02] [-1.12022459e-01 9.93705658e-01 -1.84035552e-04 -1.86143382e+01] [-1.47871845e-03 1.85021320e-05 9.99998907e-01 -1.95352033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71576923100002 meters Centerline goodness [0,1] 0.9996560175431053 Centerline is valid? [True, True] Translation: X:163.56, Y:-18.62, Z:-1.96 [[ 9.93746894e-01 1.11656216e-01 -4.66047537e-06 1.63561602e+02] [-1.11656216e-01 9.93746894e-01 4.00640454e-07 -1.86183727e+01] [ 4.67606691e-06 1.22235840e-07 1.00000000e+00 -1.95631383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74576923100003 meters Centerline goodness [0,1] 0.9996777173796274 Centerline is valid? [True, True] Translation: X:163.59, Y:-18.62, Z:-1.96 [[ 9.93776458e-01 1.11390843e-01 -6.56703412e-04 1.63588788e+02] [-1.11390813e-01 9.93776675e-01 8.19646224e-05 -1.86222850e+01] [ 6.61746642e-04 -8.30378497e-06 9.99999781e-01 -1.95753107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.775769231 meters Centerline goodness [0,1] 0.9997213947407899 Centerline is valid? [True, True] Translation: X:163.62, Y:-18.63, Z:-1.95 [[ 9.93845125e-01 1.10755774e-01 2.24179943e-03 1.63616956e+02] [-1.10755422e-01 9.93847653e-01 -2.80658427e-04 -1.86265770e+01] [-2.25909164e-03 3.06395671e-05 9.99997448e-01 -1.95293939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.805769231 meters Centerline goodness [0,1] 0.9995966286648409 Centerline is valid? [True, True] Translation: X:163.65, Y:-18.63, Z:-1.95 [[ 9.93883763e-01 1.10365211e-01 3.81909609e-03 1.63645881e+02] [-1.10364189e-01 9.93891099e-01 -4.77821496e-04 -1.86306089e+01] [-3.84850048e-03 5.34075823e-05 9.99992593e-01 -1.95042576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.835769231 meters Centerline goodness [0,1] 0.9996589140676629 Centerline is valid? [True, True] Translation: X:163.67, Y:-18.63, Z:-1.95 [[ 9.93979375e-01 1.09522767e-01 3.12505356e-03 1.63674853e+02] [-1.09522079e-01 9.93984286e-01 -3.90876256e-04 -1.86344207e+01] [-3.14906398e-03 4.62605746e-05 9.99995041e-01 -1.95256992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.865769231 meters Centerline goodness [0,1] 0.9997032703842649 Centerline is valid? [True, True] Translation: X:163.70, Y:-18.64, Z:-1.96 [[ 9.94081421e-01 1.08630718e-01 1.22288856e-03 1.63701622e+02] [-1.08630612e-01 9.94082173e-01 -1.53041631e-04 -1.86414060e+01] [-1.23227674e-03 1.92927103e-05 9.99999241e-01 -1.95717950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.895769231 meters Centerline goodness [0,1] 0.9997443109179238 Centerline is valid? [True, True] Translation: X:163.73, Y:-18.65, Z:-1.96 [[ 9.94218430e-01 1.07370811e-01 -1.10523323e-03 1.63729803e+02] [-1.07370724e-01 9.94219045e-01 1.37879911e-04 -1.86481320e+01] [ 1.11364820e-03 -1.84130572e-05 9.99999380e-01 -1.96190403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.925769231 meters Centerline goodness [0,1] 0.9997202917572132 Centerline is valid? [True, True] Translation: X:163.76, Y:-18.66, Z:-1.96 [[ 9.94456895e-01 1.05120954e-01 -2.25124868e-03 1.63756073e+02] [-1.05120588e-01 9.94459443e-01 2.80789989e-04 -1.86593286e+01] [ 2.26829242e-03 -4.25809566e-05 9.99997427e-01 -1.96345040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.955769231 meters Centerline goodness [0,1] 0.9992670044195322 Centerline is valid? [True, True] Translation: X:163.78, Y:-18.66, Z:-1.95 [[ 9.94287267e-01 1.06724574e-01 1.64203674e-03 1.63784335e+02] [-1.06724381e-01 9.94288622e-01 -2.05127142e-04 -1.86605862e+01] [-1.65455055e-03 2.87099506e-05 9.99998631e-01 -1.94966464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.985769231 meters Centerline goodness [0,1] 0.9995107111706767 Centerline is valid? [True, True] Translation: X:163.81, Y:-18.66, Z:-1.95 [[ 9.94005598e-01 1.09265616e-01 3.72775328e-03 1.63813705e+02] [-1.09264640e-01 9.94012586e-01 -4.65187483e-04 -1.86588430e+01] [-3.75626268e-03 5.50873433e-05 9.99992944e-01 -1.94973519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.015769231 meters Centerline goodness [0,1] 0.9996387129680793 Centerline is valid? [True, True] Translation: X:163.84, Y:-18.66, Z:-1.95 [[ 9.93634358e-01 1.12558012e-01 4.63205775e-03 1.63843375e+02] [-1.12556541e-01 9.93645154e-01 -5.77782426e-04 -1.86554501e+01] [-4.66765578e-03 5.27360694e-05 9.99989105e-01 -1.94841128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.045769231 meters Centerline goodness [0,1] 0.9999577327866773 Centerline is valid? [True, True] Translation: X:163.87, Y:-18.64, Z:-1.95 [[ 9.92824439e-01 1.19534778e-01 3.32717300e-03 1.63872831e+02] [-1.19534059e-01 9.92830014e-01 -4.14921260e-04 -1.86442843e+01] [-3.35291474e-03 1.42334747e-05 9.99994379e-01 -1.95337643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.90, Y:-18.64, Z:-1.96 [[ 9.92515514e-01 1.22098329e-01 2.22541457e-03 1.63902301e+02] [-1.22098014e-01 9.92518009e-01 -2.77451605e-04 -1.86419303e+01] [-2.24264042e-03 3.65632366e-06 9.99997485e-01 -1.95568381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.93, Y:-18.63, Z:-1.96 [[ 9.92112193e-01 1.25345648e-01 1.36538472e-03 1.63932628e+02] [-1.25345532e-01 9.92113133e-01 -1.70234505e-04 -1.86346989e+01] [-1.37595427e-03 -2.25314665e-06 9.99999053e-01 -1.95658978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.96, Y:-18.63, Z:-1.96 [[ 9.91991424e-01 1.26304008e-01 5.58714072e-04 1.63962288e+02] [-1.26303988e-01 9.91991581e-01 -6.97376180e-05 -1.86334188e+01] [-5.63047796e-04 -1.38869659e-06 9.99999841e-01 -1.95764813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.165769231 meters Centerline goodness [0,1] 0.9999786393250026 Centerline is valid? [True, True] Translation: X:163.99, Y:-18.63, Z:-1.96 [[ 9.91960187e-01 1.26549545e-01 -4.47770019e-04 1.63991707e+02] [-1.26549533e-01 9.91960288e-01 5.55563460e-05 -1.86332312e+01] [ 4.51200707e-04 1.55540314e-06 9.99999898e-01 -1.95986757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.02, Y:-18.64, Z:-1.96 [[ 9.92207049e-01 1.24597205e-01 -8.41833075e-04 1.64018511e+02] [-1.24597161e-01 9.92207406e-01 1.04406952e-04 -1.86354028e+01] [ 8.48281826e-04 1.29669782e-06 9.99999640e-01 -1.96223980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22576923100002 meters Centerline goodness [0,1] 0.9998729244323958 Centerline is valid? [True, True] Translation: X:164.05, Y:-18.65, Z:-1.96 [[ 9.92983594e-01 1.18250666e-01 6.01418622e-04 1.64045598e+02] [-1.18250642e-01 9.92983776e-01 -7.50709407e-05 -1.86460048e+01] [-6.06076123e-04 3.42607413e-06 9.99999816e-01 -1.96049962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25576923100002 meters Centerline goodness [0,1] 0.9996367909411388 Centerline is valid? [True, True] Translation: X:164.07, Y:-18.65, Z:-1.96 [[ 9.93423828e-01 1.14489065e-01 1.16292814e-03 1.64073779e+02] [-1.14488974e-01 9.93424508e-01 -1.44673986e-04 -1.86537258e+01] [-1.17184491e-03 1.05801351e-05 9.99999313e-01 -1.95882355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28576923100002 meters Centerline goodness [0,1] 0.9995269122422209 Centerline is valid? [True, True] Translation: X:164.10, Y:-18.66, Z:-1.96 [[ 9.93814720e-01 1.11044177e-01 1.22172375e-03 1.64102412e+02] [-1.11044074e-01 9.93815471e-01 -1.51937667e-04 -1.86579041e+01] [-1.23103976e-03 1.53327067e-05 9.99999242e-01 -1.95778758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31576923100002 meters Centerline goodness [0,1] 0.9993157275740404 Centerline is valid? [True, True] Translation: X:164.13, Y:-18.67, Z:-1.96 [[ 9.94409501e-01 1.05590200e-01 -6.73955472e-04 1.64129676e+02] [-1.05590168e-01 9.94409729e-01 8.35501987e-05 -1.86729569e+01] [ 6.79009961e-04 -1.19200398e-05 9.99999769e-01 -1.96264704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34576923100002 meters Centerline goodness [0,1] 0.9993995539543661 Centerline is valid? [True, True] Translation: X:164.16, Y:-18.68, Z:-1.96 [[ 9.94647995e-01 1.03315400e-01 -1.13733907e-03 1.64158186e+02] [-1.03315306e-01 9.94648645e-01 1.40997089e-04 -1.86754099e+01] [ 1.14581993e-03 -2.27379383e-05 9.99999343e-01 -1.96237293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37576923100002 meters Centerline goodness [0,1] 0.9991875828451704 Centerline is valid? [True, True] Translation: X:164.19, Y:-18.68, Z:-1.96 [[ 9.95083651e-01 9.90360916e-02 6.17119740e-04 1.64186966e+02] [-9.90360630e-02 9.95083842e-01 -7.67177487e-05 -1.86822670e+01] [-6.21683708e-04 1.52234679e-05 9.99999807e-01 -1.95830259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40576923100002 meters Centerline goodness [0,1] 0.998775930936735 Centerline is valid? [True, True] Translation: X:164.21, Y:-18.70, Z:-1.96 [[ 9.95286176e-01 9.69765154e-02 9.91962775e-04 1.64212999e+02] [-9.69764407e-02 9.95286670e-01 -1.23265037e-04 -1.86959006e+01] [-9.99241141e-04 2.64869682e-05 9.99999500e-01 -1.95877435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43576923100002 meters Centerline goodness [0,1] 0.9989286020399417 Centerline is valid? [True, True] Translation: X:164.24, Y:-18.70, Z:-1.96 [[ 9.95834297e-01 9.11805073e-02 4.09761020e-04 1.64243203e+02] [-9.11804941e-02 9.95834381e-01 -5.07931887e-05 -1.87034751e+01] [-4.12685461e-04 1.32193870e-05 9.99999915e-01 -1.96051651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46576923100002 meters Centerline goodness [0,1] 0.9980755249540264 Centerline is valid? [True, True] Translation: X:164.27, Y:-18.72, Z:-1.96 [[ 9.96181395e-01 8.73067065e-02 4.08132367e-04 1.64271008e+02] [-8.73066930e-02 9.96181479e-01 -5.06561999e-05 -1.87170767e+01] [-4.10996531e-04 1.48300766e-05 9.99999915e-01 -1.96146218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49576923100003 meters Centerline goodness [0,1] 0.9958413307741523 Centerline is valid? [True, True] Translation: X:164.30, Y:-18.74, Z:-1.96 [[ 9.96775634e-01 8.02241081e-02 1.55789339e-03 1.64299182e+02] [-8.02239039e-02 9.96776850e-01 -1.93256011e-04 -1.87359317e+01] [-1.56837586e-03 6.76525927e-05 9.99998768e-01 -1.95884553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.525769231 meters Centerline goodness [0,1] 0.9810189598559474 Centerline is valid? [True, True] Translation: X:164.33, Y:-18.76, Z:-1.96 [[ 9.97008333e-01 7.72531850e-02 2.51588074e-03 1.64325411e+02] [-7.72526430e-02 9.97011500e-01 -3.12041410e-04 -1.87593329e+01] [-2.53246822e-03 1.16749450e-04 9.99996786e-01 -1.95694834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.555769231 meters Centerline goodness [0,1] 0.9937144567494762 Centerline is valid? [True, True] Translation: X:164.36, Y:-18.76, Z:-1.95 [[ 9.97166285e-01 7.51533622e-02 3.37223793e-03 1.64355769e+02] [-7.51523766e-02 9.97171974e-01 -4.18239034e-04 -1.87582656e+01] [-3.39413322e-03 1.63622169e-04 9.99994227e-01 -1.95478529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.585769231 meters Centerline goodness [0,1] 0.9895284608330313 Centerline is valid? [True, True] Translation: X:164.38, Y:-18.77, Z:-1.96 [[ 9.97299520e-01 7.33978984e-02 2.53316187e-03 1.64384283e+02] [-7.33973367e-02 9.97302729e-01 -3.14116301e-04 -1.87737459e+01] [-2.54938472e-03 1.27340701e-04 9.99996742e-01 -1.95648963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.615769231 meters Centerline goodness [0,1] 0.9786534258493008 Centerline is valid? [True, True] Translation: X:164.41, Y:-18.79, Z:-1.96 [[ 9.97282196e-01 7.36652925e-02 1.28288247e-03 1.64412563e+02] [-7.36651486e-02 9.97283019e-01 -1.59141953e-04 -1.87866490e+01] [-1.29112014e-03 6.42057092e-05 9.99999164e-01 -1.95978347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.645769231 meters Centerline goodness [0,1] 0.9970070839523717 Centerline is valid? [True, True] Translation: X:164.44, Y:-18.78, Z:-1.96 [[ 9.97126164e-01 7.57550431e-02 -7.66476209e-04 1.64443200e+02] [-7.57549924e-02 9.97126457e-01 9.49681753e-05 -1.87814875e+01] [ 7.71468026e-04 -3.66308529e-05 9.99999702e-01 -1.96247818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.675769231 meters Centerline goodness [0,1] 0.991013193396928 Centerline is valid? [True, True] Translation: X:164.47, Y:-18.80, Z:-1.96 [[ 9.97022283e-01 7.71101048e-02 -7.73762390e-04 1.64470612e+02] [-7.71100535e-02 9.97022583e-01 9.59665760e-05 -1.88044848e+01] [ 7.78858569e-04 -3.60159554e-05 9.99999696e-01 -1.96406847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.705769231 meters Centerline goodness [0,1] 0.9970759609843554 Centerline is valid? [True, True] Translation: X:164.50, Y:-18.81, Z:-1.96 [[ 9.96661385e-01 8.16383561e-02 1.12391953e-03 1.64500798e+02] [-8.16382507e-02 9.96662017e-01 -1.39400664e-04 -1.88051113e+01] [-1.13154835e-03 4.71804341e-05 9.99999359e-01 -1.95928663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.735769231 meters Centerline goodness [0,1] 0.9981466316107064 Centerline is valid? [True, True] Translation: X:164.53, Y:-18.80, Z:-1.96 [[ 9.96452976e-01 8.41348738e-02 1.67045326e-03 1.64530616e+02] [-8.41346444e-02 9.96454374e-01 -2.07230685e-04 -1.88037951e+01] [-1.68196579e-03 6.59526416e-05 9.99998583e-01 -1.95788196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.765769231 meters Centerline goodness [0,1] 0.9965370159212804 Centerline is valid? [True, True] Translation: X:164.56, Y:-18.83, Z:-1.96 [[ 9.96256312e-01 8.64446868e-02 8.23334251e-04 1.64557256e+02] [-8.64446320e-02 9.96256651e-01 -1.01978930e-04 -1.88261417e+01] [-8.29067761e-04 3.04243263e-05 9.99999656e-01 -1.96014236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.795769231 meters Centerline goodness [0,1] 0.999270855672314 Centerline is valid? [True, True] Translation: X:164.59, Y:-18.82, Z:-1.96 [[ 9.95791771e-01 9.16181932e-02 -2.20341142e-03 1.64588792e+02] [-9.16178125e-02 9.95794207e-01 2.73285357e-04 -1.88188777e+01] [ 2.21918223e-03 -7.02635753e-05 9.99997535e-01 -1.96459329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.825769231 meters Centerline goodness [0,1] 0.9990254443761785 Centerline is valid? [True, True] Translation: X:164.62, Y:-18.83, Z:-1.97 [[ 9.95524140e-01 9.44484269e-02 -3.34390742e-03 1.64616523e+02] [-9.44475670e-02 9.95529751e-01 4.14499305e-04 -1.88270276e+01] [ 3.36810813e-03 -9.68201443e-05 9.99994323e-01 -1.96829892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.855769231 meters Centerline goodness [0,1] 0.9996543679253435 Centerline is valid? [True, True] Translation: X:164.65, Y:-18.83, Z:-1.97 [[ 9.95001797e-01 9.97875170e-02 -3.72496918e-03 1.64646404e+02] [-9.97864874e-02 9.95008766e-01 4.61701370e-04 -1.88273747e+01] [ 3.75244902e-03 -8.76921028e-05 9.99992956e-01 -1.96722704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.885769231 meters Centerline goodness [0,1] 0.9997236629538304 Centerline is valid? [True, True] Translation: X:164.67, Y:-18.83, Z:-1.97 [[ 9.94831168e-01 1.01471601e-01 -3.80286493e-03 1.64674615e+02] [-1.01470541e-01 9.94838433e-01 4.71170365e-04 -1.88348784e+01] [ 3.83104660e-03 -8.28562012e-05 9.99992658e-01 -1.96754013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.915769231 meters Centerline goodness [0,1] 0.9996574902598793 Centerline is valid? [True, True] Translation: X:164.70, Y:-18.84, Z:-1.97 [[ 9.94687118e-01 1.02896881e-01 -3.12559149e-03 1.64704274e+02] [-1.02896172e-01 9.94692027e-01 3.87291225e-04 -1.88400203e+01] [ 3.14885200e-03 -6.36221920e-05 9.99995040e-01 -1.96642522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.945769231 meters Centerline goodness [0,1] 0.9997222934290353 Centerline is valid? [True, True] Translation: X:164.73, Y:-18.85, Z:-1.96 [[ 9.94336387e-01 1.06272541e-01 -1.13899071e-03 1.64734165e+02] [-1.06272449e-01 9.94337039e-01 1.41088697e-04 -1.88450623e+01] [ 1.14753451e-03 -1.92462930e-05 9.99999341e-01 -1.96323809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97576923100002 meters Centerline goodness [0,1] 0.9996142719382836 Centerline is valid? [True, True] Translation: X:164.76, Y:-18.85, Z:-1.96 [[ 9.94130269e-01 1.08189684e-01 1.23994278e-05 1.64762139e+02] [-1.08189684e-01 9.94130269e-01 -1.67531993e-06 -1.88491847e+01] [-1.25078988e-05 3.23996075e-07 1.00000000e+00 -1.96116089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00576923100002 meters Centerline goodness [0,1] 0.9997427707873358 Centerline is valid? [True, True] Translation: X:164.79, Y:-18.85, Z:-1.96 [[ 9.93638135e-01 1.12614693e-01 1.09023116e-03 1.64790793e+02] [-1.12614612e-01 9.93638733e-01 -1.35153583e-04 -1.88501919e+01] [-1.09851619e-03 1.15177946e-05 9.99999397e-01 -1.95559639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03576923100002 meters Centerline goodness [0,1] 0.9998514903999152 Centerline is valid? [True, True] Translation: X:164.82, Y:-18.85, Z:-1.96 [[ 9.93398611e-01 1.14713063e-01 3.35717752e-04 1.64820789e+02] [-1.14713055e-01 9.93398668e-01 -4.16593498e-05 -1.88509251e+01] [-3.38280439e-04 2.87313118e-06 9.99999943e-01 -1.96110990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06576923100002 meters Centerline goodness [0,1] 0.9999367342204601 Centerline is valid? [True, True] Translation: X:164.85, Y:-18.85, Z:-1.96 [[ 9.92811822e-01 1.19685777e-01 2.11461823e-05 1.64849389e+02] [-1.19685777e-01 9.92811822e-01 -2.84538304e-06 -1.88466520e+01] [-2.13347317e-05 2.94032651e-07 1.00000000e+00 -1.96246010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.88, Y:-18.85, Z:-1.96 [[ 9.92585304e-01 1.21547705e-01 7.54582171e-04 1.64878258e+02] [-1.21547669e-01 9.92585591e-01 -9.35362511e-05 -1.88469102e+01] [-7.60356507e-04 1.12500398e-06 9.99999711e-01 -1.96080010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.91, Y:-18.85, Z:-1.96 [[ 9.92494512e-01 1.22284709e-01 1.04563360e-03 1.64905532e+02] [-1.22284640e-01 9.92495063e-01 -1.29526103e-04 -1.88497484e+01] [-1.05362525e-03 6.89017984e-07 9.99999445e-01 -1.96128137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15576923100002 meters Centerline goodness [0,1] 0.9999787960391001 Centerline is valid? [True, True] Translation: X:164.93, Y:-18.86, Z:-1.96 [[ 9.92618190e-01 1.21277867e-01 8.98753925e-04 1.64933063e+02] [-1.21277816e-01 9.92618597e-01 -1.11307721e-04 -1.88553127e+01] [-9.05619023e-04 1.48715557e-06 9.99999590e-01 -1.96205979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18576923100002 meters Centerline goodness [0,1] 0.9999575677854627 Centerline is valid? [True, True] Translation: X:164.96, Y:-18.86, Z:-1.96 [[ 9.92982558e-01 1.18259127e-01 6.46110828e-04 1.64962245e+02] [-1.18259100e-01 9.92982769e-01 -7.99300004e-05 -1.88639077e+01] [-6.51029371e-04 2.96061103e-06 9.99999788e-01 -1.96245224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21576923100002 meters Centerline goodness [0,1] 0.9998716522631984 Centerline is valid? [True, True] Translation: X:164.99, Y:-18.87, Z:-1.96 [[ 9.93152638e-01 1.16821452e-01 7.65616574e-04 1.64990716e+02] [-1.16821413e-01 9.93152933e-01 -9.47564110e-05 -1.88686188e+01] [-7.71443928e-04 4.66716938e-06 9.99999702e-01 -1.96222178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24576923100003 meters Centerline goodness [0,1] 0.9998502385485976 Centerline is valid? [True, True] Translation: X:165.02, Y:-18.87, Z:-1.96 [[ 9.93248266e-01 1.16007066e-01 4.92234774e-04 1.65019056e+02] [-1.16007050e-01 9.93248388e-01 -6.09231638e-05 -1.88736249e+01] [-4.95978913e-04 3.40912265e-06 9.99999877e-01 -1.96314335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.275769231 meters Centerline goodness [0,1] 0.9999143395579921 Centerline is valid? [True, True] Translation: X:165.05, Y:-18.88, Z:-1.97 [[ 9.93204756e-01 1.16364184e-01 -1.92082332e-03 1.65046626e+02] [-1.16363943e-01 9.93206613e-01 2.36820803e-04 -1.88770172e+01] [ 1.93533188e-03 -1.16969720e-05 9.99998127e-01 -1.96848393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.305769231 meters Centerline goodness [0,1] 0.9999570225201995 Centerline is valid? [True, True] Translation: X:165.08, Y:-18.88, Z:-1.97 [[ 9.93073427e-01 1.17459648e-01 -2.89825659e-03 1.65075281e+02] [-1.17459105e-01 9.93077656e-01 3.57388955e-04 -1.88789410e+01] [ 2.92017264e-03 -1.44868495e-05 9.99995736e-01 -1.97036922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.10, Y:-18.88, Z:-1.97 [[ 9.92643251e-01 1.21063527e-01 -1.73189652e-03 1.65103924e+02] [-1.21063339e-01 9.92644761e-01 2.13336384e-04 -1.88760965e+01] [ 1.74498526e-03 -2.09774711e-06 9.99998478e-01 -1.96723900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.13, Y:-18.88, Z:-1.96 [[ 9.92326580e-01 1.23643479e-01 -4.99334760e-04 1.65133075e+02] [-1.23643463e-01 9.92326705e-01 6.13668710e-05 -1.88755158e+01] [ 5.03090831e-04 8.43501980e-07 9.99999873e-01 -1.96394819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.16, Y:-18.88, Z:-1.96 [[ 9.92332368e-01 1.23597013e-01 -4.99337650e-04 1.65161203e+02] [-1.23596998e-01 9.92332494e-01 6.13433897e-05 -1.88788905e+01] [ 5.03090835e-04 8.43603097e-07 9.99999873e-01 -1.96405902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.19, Y:-18.88, Z:-1.96 [[ 9.91987525e-01 1.26335287e-01 3.80268953e-04 1.65189173e+02] [-1.26335278e-01 9.91987598e-01 -4.70837987e-05 -1.88776591e+01] [-3.83170431e-04 -1.33484320e-06 9.99999927e-01 -1.96218840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.22, Y:-18.87, Z:-1.96 [[ 9.91485888e-01 1.30212694e-01 6.23228413e-04 1.65218531e+02] [-1.30212671e-01 9.91486084e-01 -7.69069158e-05 -1.88724385e+01] [-6.27936555e-04 -4.90011472e-06 9.99999803e-01 -1.96139707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.25, Y:-18.87, Z:-1.96 [[ 9.91235666e-01 1.32102599e-01 8.70607270e-04 1.65246738e+02] [-1.32102556e-01 9.91236048e-01 -1.07354569e-04 -1.88696893e+01] [-8.77159128e-04 -8.59576782e-06 9.99999615e-01 -1.96119534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.28, Y:-18.86, Z:-1.96 [[ 9.90765342e-01 1.35558248e-01 2.82828616e-03 1.65276711e+02] [-1.35557806e-01 9.90769378e-01 -3.48065059e-04 -1.88648784e+01] [-2.84936241e-03 -3.85454700e-05 9.99995940e-01 -1.95828361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.31, Y:-18.86, Z:-1.96 [[ 9.90600859e-01 1.36740759e-01 3.44994256e-03 1.65306006e+02] [-1.36740110e-01 9.90606866e-01 -4.24369710e-04 -1.88643109e+01] [-3.47556542e-03 -5.13645248e-05 9.99993959e-01 -1.95726766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.33, Y:-18.86, Z:-1.96 [[ 9.90604065e-01 1.36721732e-01 3.27943921e-03 1.65334332e+02] [-1.36721146e-01 9.90609492e-01 -4.03267509e-04 -1.88648637e+01] [-3.30377905e-03 -4.88902531e-05 9.99994541e-01 -1.95767871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.36, Y:-18.86, Z:-1.96 [[ 9.90752560e-01 1.35677913e-01 9.32371474e-04 1.65363260e+02] [-1.35677865e-01 9.90752998e-01 -1.14711586e-04 -1.88643843e+01] [-9.39313662e-04 -1.28513732e-05 9.99999559e-01 -1.96213891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.39, Y:-18.87, Z:-1.96 [[ 9.91156835e-01 1.32694354e-01 5.80007074e-04 1.65391431e+02] [-1.32694335e-01 9.91157005e-01 -7.14154258e-05 -1.88715511e+01] [-5.84354498e-04 -6.17976576e-06 9.99999829e-01 -1.96263237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.42, Y:-18.87, Z:-1.96 [[ 9.91496411e-01 1.30131647e-01 7.88414099e-04 1.65419424e+02] [-1.30131611e-01 9.91496724e-01 -9.70035912e-05 -1.88744329e+01] [-7.94333234e-04 -6.41888472e-06 9.99999684e-01 -1.96335494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.45, Y:-18.88, Z:-1.96 [[ 9.91925712e-01 1.26816754e-01 9.44392946e-04 1.65447592e+02] [-1.26816701e-01 9.91926162e-01 -1.16035633e-04 -1.88817308e+01] [-9.51483332e-04 -4.66606932e-06 9.99999547e-01 -1.96308816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72576923100002 meters Centerline goodness [0,1] 0.999978793790822 Centerline is valid? [True, True] Translation: X:165.48, Y:-18.90, Z:-1.97 [[ 9.92856278e-01 1.19314871e-01 6.10724080e-04 1.65475156e+02] [-1.19314848e-01 9.92856466e-01 -7.50721602e-05 -1.88974628e+01] [-6.15318576e-04 1.66741506e-06 9.99999811e-01 -1.96536861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75576923100002 meters Centerline goodness [0,1] 0.9999787252148753 Centerline is valid? [True, True] Translation: X:165.50, Y:-18.91, Z:-1.97 [[ 9.93339774e-01 1.15221206e-01 4.07766334e-04 1.65503219e+02] [-1.15221195e-01 9.93339858e-01 -5.01769754e-05 -1.89071696e+01] [-4.10832004e-04 2.85946098e-06 9.99999916e-01 -1.96571411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78576923100002 meters Centerline goodness [0,1] 0.9996165725849399 Centerline is valid? [True, True] Translation: X:165.53, Y:-18.93, Z:-1.97 [[ 9.94242039e-01 1.07157638e-01 -9.04835174e-05 1.65530022e+02] [-1.07157637e-01 9.94242043e-01 1.09956864e-05 -1.89284579e+01] [ 9.11407890e-05 -1.23637369e-06 9.99999996e-01 -1.96744980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81576923100002 meters Centerline goodness [0,1] 0.999614890885751 Centerline is valid? [True, True] Translation: X:165.56, Y:-18.94, Z:-1.97 [[ 9.94672075e-01 1.03088971e-01 -3.57530944e-04 1.65559107e+02] [-1.03088962e-01 9.94672139e-01 4.38204204e-05 -1.89410240e+01] [ 3.60143471e-04 -6.72945443e-06 9.99999935e-01 -1.96774575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84576923100002 meters Centerline goodness [0,1] 0.9994249691187119 Centerline is valid? [True, True] Translation: X:165.59, Y:-18.97, Z:-1.97 [[ 9.95408925e-01 9.57125320e-02 -4.27455858e-04 1.65586208e+02] [-9.57125183e-02 9.95409017e-01 5.24354064e-05 -1.89654231e+01] [ 4.30512141e-04 -1.12817949e-05 9.99999907e-01 -1.96786945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87576923100002 meters Centerline goodness [0,1] 0.9995741237596355 Centerline is valid? [True, True] Translation: X:165.62, Y:-18.97, Z:-1.97 [[ 9.95769609e-01 9.18851802e-02 -1.99909581e-06 1.65616582e+02] [-9.18851802e-02 9.95769609e-01 2.90467118e-07 -1.89735349e+01] [ 2.01732847e-06 -1.05551049e-07 1.00000000e+00 -1.96630446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90576923100002 meters Centerline goodness [0,1] 0.9988664556420567 Centerline is valid? [True, True] Translation: X:165.64, Y:-18.99, Z:-1.97 [[ 9.96130442e-01 8.78853126e-02 5.60847551e-04 1.65644349e+02] [-8.78852878e-02 9.96130600e-01 -6.87520914e-05 -1.89944261e+01] [-5.64719706e-04 1.91958028e-05 9.99999840e-01 -1.96626374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93576923100002 meters Centerline goodness [0,1] 0.9986469362771419 Centerline is valid? [True, True] Translation: X:165.67, Y:-19.01, Z:-1.97 [[ 9.96594755e-01 8.24502570e-02 9.21286344e-04 1.65673701e+02] [-8.24501877e-02 9.96595180e-01 -1.12930325e-04 -1.90052811e+01] [-9.27460664e-04 3.65855373e-05 9.99999569e-01 -1.96500426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96576923100002 meters Centerline goodness [0,1] 0.998376415295877 Centerline is valid? [True, True] Translation: X:165.71, Y:-19.02, Z:-1.97 [[ 9.96693047e-01 8.12576537e-02 4.05310709e-04 1.65705086e+02] [-8.12576402e-02 9.96693129e-01 -4.95213087e-05 -1.90158780e+01] [-4.07994385e-04 1.64229522e-05 9.99999917e-01 -1.96582606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99576923100003 meters Centerline goodness [0,1] 0.9986466456144873 Centerline is valid? [True, True] Translation: X:165.74, Y:-19.03, Z:-1.97 [[ 9.96599765e-01 8.23898023e-02 -9.10230162e-04 1.65735773e+02] [-8.23897340e-02 9.96600180e-01 1.12417395e-04 -1.90282252e+01] [ 9.16397590e-04 -3.70415288e-05 9.99999579e-01 -1.96765114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.025769231 meters Centerline goodness [0,1] 0.9983307652799178 Centerline is valid? [True, True] Translation: X:165.77, Y:-19.03, Z:-1.97 [[ 9.96451139e-01 8.41717078e-02 -5.00761343e-04 1.65766664e+02] [-8.41716874e-02 9.96451265e-01 6.15974445e-05 -1.90343475e+01] [ 5.04169036e-04 -1.92289165e-05 9.99999873e-01 -1.96707501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.055769231 meters Centerline goodness [0,1] 0.9987855286146503 Centerline is valid? [True, True] Translation: X:165.80, Y:-19.04, Z:-1.96 [[ 9.96226993e-01 8.67827379e-02 7.31168816e-04 1.65797215e+02] [-8.67826954e-02 9.96227261e-01 -8.97306166e-05 -1.90439620e+01] [-7.36197376e-04 2.59392617e-05 9.99999729e-01 -1.96496698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.085769231 meters Centerline goodness [0,1] 0.9984633443602604 Centerline is valid? [True, True] Translation: X:165.83, Y:-19.05, Z:-1.96 [[ 9.96135768e-01 8.78232340e-02 7.81741756e-04 1.65827603e+02] [-8.78231860e-02 9.96136074e-01 -9.55611438e-05 -1.90525881e+01] [-7.87113653e-04 2.65368218e-05 9.99999690e-01 -1.96488223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.115769231 meters Centerline goodness [0,1] 0.9984704282800816 Centerline is valid? [True, True] Translation: X:165.86, Y:-19.06, Z:-1.96 [[ 9.95997496e-01 8.93791693e-02 5.93758482e-04 1.65858929e+02] [-8.93791419e-02 9.95997673e-01 -7.24951959e-05 -1.90636867e+01] [-5.97861626e-04 1.91354100e-05 9.99999821e-01 -1.96466253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.145769231 meters Centerline goodness [0,1] 0.9983158164026691 Centerline is valid? [True, True] Translation: X:165.89, Y:-19.07, Z:-1.96 [[ 9.95887498e-01 9.05907478e-02 1.18611801e-03 1.65890658e+02] [-9.05906385e-02 9.95888204e-01 -1.45640360e-04 -1.90690783e+01] [-1.19443460e-03 3.75902265e-05 9.99999286e-01 -1.96330093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.175769231 meters Centerline goodness [0,1] 0.9980036492433186 Centerline is valid? [True, True] Translation: X:165.92, Y:-19.08, Z:-1.96 [[ 9.95595256e-01 9.37365795e-02 1.88147772e-03 1.65921368e+02] [-9.37363083e-02 9.95597032e-01 -2.31995348e-04 -1.90755564e+01] [-1.89494009e-03 5.46106917e-05 9.99998203e-01 -1.96189860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.205769231 meters Centerline goodness [0,1] 0.9976345103436411 Centerline is valid? [True, True] Translation: X:165.95, Y:-19.08, Z:-1.96 [[ 9.95382033e-01 9.59855525e-02 1.17594943e-03 1.65952262e+02] [-9.59854481e-02 9.95382727e-01 -1.44993083e-04 -1.90789947e+01] [-1.18443699e-03 3.14494767e-05 9.99999298e-01 -1.96306441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.235769231 meters Centerline goodness [0,1] 0.9969344880809466 Centerline is valid? [True, True] Translation: X:165.98, Y:-19.08, Z:-1.96 [[ 9.94796465e-01 1.01882240e-01 5.82209198e-05 1.65982448e+02] [-1.01882239e-01 9.94796466e-01 -7.18319407e-06 -1.90801627e+01] [-5.86498052e-05 1.21413837e-06 9.99999998e-01 -1.96438750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.265769231 meters Centerline goodness [0,1] 0.9967432991236903 Centerline is valid? [True, True] Translation: X:166.02, Y:-19.08, Z:-1.97 [[ 9.94508649e-01 1.04654268e-01 -1.77758576e-04 1.66015038e+02] [-1.04654266e-01 9.94508665e-01 2.21745844e-05 -1.90820527e+01] [ 1.79103109e-04 -3.44962271e-06 9.99999984e-01 -1.96502595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.295769231 meters Centerline goodness [0,1] 0.9965779222176786 Centerline is valid? [True, True] Translation: X:166.05, Y:-19.08, Z:-1.97 [[ 9.94185647e-01 1.07678976e-01 -3.70229367e-04 1.66047656e+02] [-1.07678966e-01 9.94185716e-01 4.64114203e-05 -1.90827435e+01] [ 3.73074283e-04 -6.27565245e-06 9.99999930e-01 -1.96529288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.325769231 meters Centerline goodness [0,1] 0.9960314947332869 Centerline is valid? [True, True] Translation: X:166.08, Y:-19.08, Z:-1.96 [[ 9.93398615e-01 1.14707939e-01 1.13157715e-03 1.66078941e+02] [-1.14707855e-01 9.93399259e-01 -1.39835872e-04 -1.90765613e+01] [-1.14014819e-03 9.11197467e-06 9.99999350e-01 -1.96308749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.355769231 meters Centerline goodness [0,1] 0.9956184410199415 Centerline is valid? [True, True] Translation: X:166.11, Y:-19.07, Z:-1.96 [[ 9.92916069e-01 1.18810949e-01 1.28023719e-03 1.66111716e+02] [-1.18810845e-01 9.92916894e-01 -1.57836282e-04 -1.90730356e+01] [-1.28992181e-03 4.61211890e-06 9.99999168e-01 -1.96270167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.385769231 meters Centerline goodness [0,1] 0.9957742610238965 Centerline is valid? [True, True] Translation: X:166.14, Y:-19.07, Z:-1.96 [[ 9.92481829e-01 1.22386767e-01 1.13976224e-03 1.66143040e+02] [-1.22386686e-01 9.92482483e-01 -1.40913558e-04 -1.90690545e+01] [-1.14844002e-03 3.62422598e-07 9.99999341e-01 -1.96322029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.415769231 meters Centerline goodness [0,1] 0.996265428842705 Centerline is valid? [True, True] Translation: X:166.17, Y:-19.06, Z:-1.96 [[ 9.91766446e-01 1.28058128e-01 6.57641503e-04 1.66174769e+02] [-1.28058103e-01 9.91766664e-01 -8.14796411e-05 -1.90568183e+01] [-6.62661050e-04 -3.40754907e-06 9.99999780e-01 -1.96385508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.445769231 meters Centerline goodness [0,1] 0.9960722870879121 Centerline is valid? [True, True] Translation: X:166.21, Y:-19.05, Z:-1.96 [[ 9.91442119e-01 1.30546796e-01 2.42382758e-04 1.66206345e+02] [-1.30546793e-01 9.91442149e-01 -3.00140131e-05 -1.90499803e+01] [-2.44226716e-04 -1.88513492e-06 9.99999970e-01 -1.96420084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47576923100002 meters Centerline goodness [0,1] 0.9960523538104286 Centerline is valid? [True, True] Translation: X:166.24, Y:-19.05, Z:-1.96 [[ 9.91434755e-01 1.30601780e-01 5.48739109e-04 1.66236300e+02] [-1.30601762e-01 9.91434907e-01 -6.79907567e-05 -1.90480159e+01] [-5.52918821e-04 -4.25789548e-06 9.99999847e-01 -1.96499915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50576923100002 meters Centerline goodness [0,1] 0.9958731905527808 Centerline is valid? [True, True] Translation: X:166.27, Y:-19.05, Z:-1.96 [[ 9.91543514e-01 1.29772693e-01 7.13070616e-04 1.66266391e+02] [-1.29772663e-01 9.91543770e-01 -8.83627159e-05 -1.90499867e+01] [-7.18507794e-04 -4.92159507e-06 9.99999742e-01 -1.96470732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53576923100002 meters Centerline goodness [0,1] 0.9957600303759018 Centerline is valid? [True, True] Translation: X:166.30, Y:-19.05, Z:-1.96 [[ 9.91881292e-01 1.27159205e-01 1.42826188e-03 1.66295152e+02] [-1.27159083e-01 9.91882320e-01 -1.76894047e-04 -1.90520703e+01] [-1.43916141e-03 -6.15857466e-06 9.99998964e-01 -1.96345334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56576923100002 meters Centerline goodness [0,1] 0.9950440409461769 Centerline is valid? [True, True] Translation: X:166.32, Y:-19.06, Z:-1.96 [[ 9.92065533e-01 1.25713292e-01 1.46487637e-03 1.66324270e+02] [-1.25713161e-01 9.92066615e-01 -1.81323021e-04 -1.90569325e+01] [-1.47604966e-03 -4.26991990e-06 9.99998911e-01 -1.96237925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59576923100002 meters Centerline goodness [0,1] 0.9949691141820034 Centerline is valid? [True, True] Translation: X:166.35, Y:-19.06, Z:-1.96 [[ 9.92401085e-01 1.23039581e-01 1.16138445e-03 1.66353133e+02] [-1.23039497e-01 9.92401764e-01 -1.43752157e-04 -1.90604716e+01] [-1.17024718e-03 -2.36362004e-07 9.99999315e-01 -1.96422841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62576923100002 meters Centerline goodness [0,1] 0.99464697543533 Centerline is valid? [True, True] Translation: X:166.38, Y:-19.06, Z:-1.97 [[ 9.92481250e-01 1.22393942e-01 8.31215820e-04 1.66382768e+02] [-1.22393899e-01 9.92481598e-01 -1.02886080e-04 -1.90645861e+01] [-8.37559039e-04 3.76760277e-07 9.99999649e-01 -1.96559924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65576923100002 meters Centerline goodness [0,1] 0.994907456938055 Centerline is valid? [True, True] Translation: X:166.41, Y:-19.07, Z:-1.97 [[ 9.92517492e-01 1.22101565e-01 4.84644191e-04 1.66412259e+02] [-1.22101550e-01 9.92517611e-01 -6.00452028e-05 -1.90681003e+01] [-4.88349508e-04 4.20107015e-07 9.99999881e-01 -1.96531389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68576923100002 meters Centerline goodness [0,1] 0.9946080200394846 Centerline is valid? [True, True] Translation: X:166.44, Y:-19.07, Z:-1.97 [[ 9.92476948e-01 1.22431593e-01 1.16243817e-04 1.66440790e+02] [-1.22431592e-01 9.92476954e-01 -1.45178374e-05 -1.90684482e+01] [-1.17146752e-04 1.76703307e-07 9.99999993e-01 -1.96554907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71576923100002 meters Centerline goodness [0,1] 0.9951686726563824 Centerline is valid? [True, True] Translation: X:166.47, Y:-19.07, Z:-1.97 [[ 9.92240763e-01 1.24327259e-01 -1.00029109e-03 1.66470252e+02] [-1.24327198e-01 9.92241267e-01 1.23464530e-04 -1.90658914e+01] [ 1.00788011e-03 1.85684894e-06 9.99999492e-01 -1.96768529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74576923100003 meters Centerline goodness [0,1] 0.9953975253671277 Centerline is valid? [True, True] Translation: X:166.50, Y:-19.07, Z:-1.97 [[ 9.92161117e-01 1.24959648e-01 -1.18511898e-03 1.66498680e+02] [-1.24959562e-01 9.92161825e-01 1.46196947e-04 -1.90663497e+01] [ 1.19409853e-03 3.04102304e-06 9.99999287e-01 -1.96968777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.775769231 meters Centerline goodness [0,1] 0.9953670934946272 Centerline is valid? [True, True] Translation: X:166.53, Y:-19.07, Z:-1.97 [[ 9.92158476e-01 1.24982794e-01 -9.26739743e-04 1.66527698e+02] [-1.24982742e-01 9.92158909e-01 1.14271232e-04 -1.90687112e+01] [ 9.33755031e-04 2.45130293e-06 9.99999564e-01 -1.96826494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.805769231 meters Centerline goodness [0,1] 0.9949155773997416 Centerline is valid? [True, True] Translation: X:166.56, Y:-19.07, Z:-1.97 [[ 9.92370667e-01 1.23281925e-01 1.42365977e-03 1.66557719e+02] [-1.23281799e-01 9.92371688e-01 -1.75889502e-04 -1.90713356e+01] [-1.43448364e-03 -9.63755069e-07 9.99998971e-01 -1.96558542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.835769231 meters Centerline goodness [0,1] 0.9946128521954765 Centerline is valid? [True, True] Translation: X:166.59, Y:-19.08, Z:-1.96 [[ 9.92535828e-01 1.21938494e-01 1.90614396e-03 1.66585613e+02] [-1.21938267e-01 9.92537659e-01 -2.35445119e-04 -1.90754617e+01] [-1.92062948e-03 1.25582593e-06 9.99998156e-01 -1.96473430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.865769231 meters Centerline goodness [0,1] 0.9944262925235441 Centerline is valid? [True, True] Translation: X:166.62, Y:-19.08, Z:-1.97 [[ 9.92984806e-01 1.18233223e-01 1.44214624e-03 1.66615447e+02] [-1.18233089e-01 9.92985853e-01 -1.78027661e-04 -1.90824148e+01] [-1.45307959e-03 6.26935759e-06 9.99998944e-01 -1.96520987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.895769231 meters Centerline goodness [0,1] 0.9944629014396457 Centerline is valid? [True, True] Translation: X:166.64, Y:-19.09, Z:-1.97 [[ 9.93271500e-01 1.15804884e-01 9.77927128e-04 1.66644364e+02] [-1.15804821e-01 9.93271981e-01 -1.20757011e-04 -1.90890010e+01] [-9.85331868e-04 6.69582110e-06 9.99999515e-01 -1.96672117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.925769231 meters Centerline goodness [0,1] 0.9942416800745194 Centerline is valid? [True, True] Translation: X:166.67, Y:-19.10, Z:-1.97 [[ 9.93716919e-01 1.11918484e-01 -9.68755688e-04 1.66673611e+02] [-1.11918421e-01 9.93717391e-01 1.19520143e-04 -1.90961744e+01] [ 9.76045888e-04 -1.03475813e-05 9.99999524e-01 -1.97024840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.955769231 meters Centerline goodness [0,1] 0.9942228928648416 Centerline is valid? [True, True] Translation: X:166.70, Y:-19.10, Z:-1.97 [[ 9.93801611e-01 1.11157163e-01 -1.56294611e-03 1.66703042e+02] [-1.11156997e-01 9.93802840e-01 1.92771185e-04 -1.91007148e+01] [ 1.57468818e-03 -1.78439185e-05 9.99998760e-01 -1.97104228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.985769231 meters Centerline goodness [0,1] 0.994199658307144 Centerline is valid? [True, True] Translation: X:166.73, Y:-19.11, Z:-1.97 [[ 9.93814607e-01 1.11049798e-01 -6.84856211e-04 1.66730861e+02] [-1.11049766e-01 9.93814843e-01 8.43956646e-05 -1.91071626e+01] [ 6.89992389e-04 -7.82052229e-06 9.99999762e-01 -1.97063066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.015769231 meters Centerline goodness [0,1] 0.9943347602922071 Centerline is valid? [True, True] Translation: X:166.76, Y:-19.11, Z:-1.97 [[ 9.93732729e-01 1.11779623e-01 7.61707779e-04 1.66761008e+02] [-1.11779583e-01 9.93733020e-01 -9.40115009e-05 -1.91093627e+01] [-7.67442742e-04 8.27892706e-06 9.99999705e-01 -1.96640780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.045769231 meters Centerline goodness [0,1] 0.9942482383903557 Centerline is valid? [True, True] Translation: X:166.79, Y:-19.11, Z:-1.97 [[ 9.93588218e-01 1.13053877e-01 -1.12861962e-03 1.66789964e+02] [-1.13053792e-01 9.93588859e-01 1.39168210e-04 -1.91127230e+01] [ 1.13711739e-03 -1.06811660e-05 9.99999353e-01 -1.96982283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.075769231 meters Centerline goodness [0,1] 0.9942536101854226 Centerline is valid? [True, True] Translation: X:166.82, Y:-19.12, Z:-1.97 [[ 9.93619083e-01 1.12782078e-01 -1.14901872e-03 1.66819457e+02] [-1.12781989e-01 9.93619748e-01 1.41611646e-04 -1.91179579e+01] [ 1.15765894e-03 -1.11194171e-05 9.99999330e-01 -1.97019708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.105769231 meters Centerline goodness [0,1] 0.994389721627409 Centerline is valid? [True, True] Translation: X:166.85, Y:-19.12, Z:-1.97 [[ 9.93712024e-01 1.11966016e-01 -1.54977250e-04 1.66848302e+02] [-1.11966015e-01 9.93712036e-01 1.90171877e-05 -1.91249457e+01] [ 1.56132038e-04 -1.54542304e-06 9.99999988e-01 -1.96889749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.135769231 meters Centerline goodness [0,1] 0.9941442016949874 Centerline is valid? [True, True] Translation: X:166.88, Y:-19.14, Z:-1.96 [[ 9.93929277e-01 1.09968760e-01 3.38587605e-03 1.66877400e+02] [-1.09967976e-01 9.93935043e-01 -4.17485340e-04 -1.91358298e+01] [-3.41125121e-03 4.26129655e-05 9.99994181e-01 -1.96230630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.165769231 meters Centerline goodness [0,1] 0.9943193861545636 Centerline is valid? [True, True] Translation: X:166.91, Y:-19.14, Z:-1.96 [[ 9.94073529e-01 1.08640636e-01 3.87689476e-03 1.66907612e+02] [-1.08639598e-01 9.94081088e-01 -4.78028803e-04 -1.91445196e+01] [-3.90588111e-03 5.40114907e-05 9.99992371e-01 -1.96140355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.195769231 meters Centerline goodness [0,1] 0.9941591524375946 Centerline is valid? [True, True] Translation: X:166.94, Y:-19.16, Z:-1.97 [[ 9.94441366e-01 1.05278353e-01 1.68467169e-03 1.66938115e+02] [-1.05278152e-01 9.94442792e-01 -2.07660100e-04 -1.91605198e+01] [-1.69717173e-03 2.91466715e-05 9.99998559e-01 -1.96554556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22576923100002 meters Centerline goodness [0,1] 0.9941083211929043 Centerline is valid? [True, True] Translation: X:166.97, Y:-19.17, Z:-1.97 [[ 9.94639268e-01 1.03402606e-01 7.91852530e-04 1.66969578e+02] [-1.03402562e-01 9.94639583e-01 -9.71913058e-05 -1.91708402e+01] [-7.97657704e-04 1.47907093e-05 9.99999682e-01 -1.96743079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25576923100002 meters Centerline goodness [0,1] 0.9939506747324337 Centerline is valid? [True, True] Translation: X:167.00, Y:-19.19, Z:-1.97 [[ 9.94970859e-01 1.00151043e-01 1.66058258e-03 1.66999409e+02] [-1.00150840e-01 9.94972244e-01 -2.04805028e-04 -1.91861978e+01] [-1.67274502e-03 3.74662940e-05 9.99998600e-01 -1.96649345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28576923100002 meters Centerline goodness [0,1] 0.9935981438913832 Centerline is valid? [True, True] Translation: X:167.03, Y:-19.20, Z:-1.97 [[ 9.95070903e-01 9.91322788e-02 2.58645972e-03 1.67030169e+02] [-9.91317825e-02 9.95074262e-01 -3.19696975e-04 -1.91964296e+01] [-2.60541179e-03 6.17207954e-05 9.99996604e-01 -1.96500872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31576923100002 meters Centerline goodness [0,1] 0.9935981438913832 Centerline is valid? [True, True] Translation: X:167.06, Y:-19.20, Z:-1.97 [[ 9.95052989e-01 9.93119278e-02 2.58641295e-03 1.67062407e+02] [-9.93114311e-02 9.95056349e-01 -3.20074844e-04 -1.92006273e+01] [-2.60541387e-03 6.16310598e-05 9.99996604e-01 -1.96513596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34576923100002 meters Centerline goodness [0,1] 0.9937501328628218 Centerline is valid? [True, True] Translation: X:167.09, Y:-19.21, Z:-1.96 [[ 9.95074969e-01 9.90673232e-02 3.38705457e-03 1.67092874e+02] [-9.90664671e-02 9.95080730e-01 -4.20014836e-04 -1.92103259e+01] [-3.41200248e-03 8.24027201e-05 9.99994176e-01 -1.96315533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37576923100002 meters Centerline goodness [0,1] 0.9940931351490678 Centerline is valid? [True, True] Translation: X:167.13, Y:-19.22, Z:-1.97 [[ 9.94983007e-01 1.00013814e-01 2.46038747e-03 1.67125050e+02] [-1.00013365e-01 9.94986047e-01 -3.05273641e-04 -1.92155133e+01] [-2.47858278e-03 5.76704557e-05 9.99996927e-01 -1.96507098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40576923100002 meters Centerline goodness [0,1] 0.9940209267563528 Centerline is valid? [True, True] Translation: X:167.15, Y:-19.23, Z:-1.97 [[ 9.94859105e-01 1.01268581e-01 -1.89686053e-04 1.67154474e+02] [-1.01268579e-01 9.94859123e-01 2.42421529e-05 -1.92303559e+01] [ 1.91165868e-04 -4.90828964e-06 9.99999982e-01 -1.97174196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43576923100002 meters Centerline goodness [0,1] 0.9940073951294147 Centerline is valid? [True, True] Translation: X:167.18, Y:-19.24, Z:-1.97 [[ 9.94733871e-01 1.02488829e-01 -7.51702419e-04 1.67184618e+02] [-1.02488787e-01 9.94734155e-01 9.42714441e-05 -1.92373492e+01] [ 7.57405841e-04 -1.67339294e-05 9.99999713e-01 -1.97333641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46576923100002 meters Centerline goodness [0,1] 0.9940008141752191 Centerline is valid? [True, True] Translation: X:167.22, Y:-19.24, Z:-1.97 [[ 9.94652834e-01 1.03271402e-01 -8.70770865e-04 1.67216142e+02] [-1.03271346e-01 9.94653214e-01 1.09292873e-04 -1.92443277e+01] [ 8.77401869e-04 -1.87827862e-05 9.99999615e-01 -1.97342777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49576923100003 meters Centerline goodness [0,1] 0.9941924544298432 Centerline is valid? [True, True] Translation: X:167.25, Y:-19.26, Z:-1.97 [[ 9.94528004e-01 1.04468182e-01 -6.69236389e-04 1.67245687e+02] [-1.04468149e-01 9.94528229e-01 8.42388233e-05 -1.92558543e+01] [ 6.74374758e-04 -1.38639821e-05 9.99999773e-01 -1.97259201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.525769231 meters Centerline goodness [0,1] 0.9943196488510199 Centerline is valid? [True, True] Translation: X:167.28, Y:-19.26, Z:-1.97 [[ 9.94413367e-01 1.05554840e-01 -4.80660355e-04 1.67277574e+02] [-1.05554823e-01 9.94413483e-01 6.08215026e-05 -1.92567444e+01] [ 4.84395141e-04 -9.74569648e-06 9.99999883e-01 -1.97089955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.555769231 meters Centerline goodness [0,1] 0.9943526995807307 Centerline is valid? [True, True] Translation: X:167.31, Y:-19.26, Z:-1.97 [[ 9.93951231e-01 1.09819871e-01 7.39539749e-04 1.67307463e+02] [-1.09819832e-01 9.93951506e-01 -9.25083883e-05 -1.92626801e+01] [-7.45225907e-04 1.07326952e-05 9.99999722e-01 -1.96974801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.585769231 meters Centerline goodness [0,1] 0.9946311012633956 Centerline is valid? [True, True] Translation: X:167.34, Y:-19.27, Z:-1.97 [[ 9.93613568e-01 1.12830717e-01 1.14293349e-03 1.67339193e+02] [-1.12830628e-01 9.93614226e-01 -1.42578525e-04 -1.92653660e+01] [-1.15172222e-03 1.27100533e-05 9.99999337e-01 -1.96906040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.615769231 meters Centerline goodness [0,1] 0.9950631409441478 Centerline is valid? [True, True] Translation: X:167.37, Y:-19.26, Z:-1.97 [[ 9.92865420e-01 1.19237648e-01 8.00893713e-04 1.67371322e+02] [-1.19237606e-01 9.92865743e-01 -9.98509132e-05 -1.92629628e+01] [-8.07085919e-04 3.64187002e-06 9.99999674e-01 -1.96915360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.645769231 meters Centerline goodness [0,1] 0.9951405028523136 Centerline is valid? [True, True] Translation: X:167.40, Y:-19.26, Z:-1.97 [[ 9.92415702e-01 1.22927108e-01 -2.25971369e-05 1.67403796e+02] [-1.22927108e-01 9.92415702e-01 3.48310841e-06 -1.92622873e+01] [ 2.28539219e-05 -6.78890798e-07 1.00000000e+00 -1.97058709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.675769231 meters Centerline goodness [0,1] 0.9954039205626456 Centerline is valid? [True, True] Translation: X:167.44, Y:-19.26, Z:-1.97 [[ 9.91940461e-01 1.26696428e-01 -1.46219767e-03 1.67437080e+02] [-1.26696293e-01 9.91941538e-01 1.84766593e-04 -1.92619170e+01] [ 1.47382387e-03 1.97756568e-06 9.99998914e-01 -1.97249684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.705769231 meters Centerline goodness [0,1] 0.9965947541972887 Centerline is valid? [True, True] Translation: X:167.47, Y:-19.26, Z:-1.97 [[ 9.91113194e-01 1.33002947e-01 -2.20295497e-03 1.67470243e+02] [-1.33002657e-01 9.91115642e-01 2.78265268e-04 -1.92580335e+01] [ 2.22039323e-03 1.72064850e-05 9.99997535e-01 -1.97455562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.735769231 meters Centerline goodness [0,1] 0.9969574036511156 Centerline is valid? [True, True] Translation: X:167.50, Y:-19.26, Z:-1.97 [[ 9.90840028e-01 1.35032824e-01 -1.47453778e-03 1.67501966e+02] [-1.35032696e-01 9.90841126e-01 1.86645007e-04 -1.92579537e+01] [ 1.48623588e-03 1.41754681e-05 9.99998895e-01 -1.97438183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.765769231 meters Centerline goodness [0,1] 0.9967038376747073 Centerline is valid? [True, True] Translation: X:167.53, Y:-19.26, Z:-1.97 [[ 9.90871535e-01 1.34809476e-01 -8.03551239e-05 1.67533868e+02] [-1.34809476e-01 9.90871538e-01 1.07860964e-05 -1.92604079e+01] [ 8.10756732e-05 1.44996198e-07 9.99999997e-01 -1.97220305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.795769231 meters Centerline goodness [0,1] 0.9965132198168906 Centerline is valid? [True, True] Translation: X:167.56, Y:-19.26, Z:-1.97 [[ 9.90973109e-01 1.34060740e-01 -1.25883084e-04 1.67564426e+02] [-1.34060739e-01 9.90973117e-01 1.65095396e-05 -1.92648399e+01] [ 1.26960033e-04 5.15469446e-07 9.99999992e-01 -1.97230662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.825769231 meters Centerline goodness [0,1] 0.9965694312591697 Centerline is valid? [True, True] Translation: X:167.60, Y:-19.27, Z:-1.97 [[ 9.90987102e-01 1.33953326e-01 -1.03446592e-03 1.67596207e+02] [-1.33953262e-01 9.90987642e-01 1.31677081e-04 -1.92684353e+01] [ 1.04278152e-03 8.07979455e-06 9.99999456e-01 -1.97254033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.855769231 meters Centerline goodness [0,1] 0.997155110186404 Centerline is valid? [True, True] Translation: X:167.63, Y:-19.27, Z:-1.97 [[ 9.90758598e-01 1.35635511e-01 -6.39181809e-04 1.67627625e+02] [-1.35635486e-01 9.90758804e-01 8.16640978e-05 -1.92669626e+01] [ 6.44351556e-04 5.78632833e-06 9.99999792e-01 -1.97237390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.885769231 meters Centerline goodness [0,1] 0.9975580753386843 Centerline is valid? [True, True] Translation: X:167.66, Y:-19.26, Z:-1.97 [[ 9.90168212e-01 1.39881577e-01 -2.38802476e-04 1.67659435e+02] [-1.39881573e-01 9.90168241e-01 3.02832479e-05 -1.92589231e+01] [ 2.40690696e-04 3.41855663e-06 9.99999971e-01 -1.97031969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.915769231 meters Centerline goodness [0,1] 0.9975378868276945 Centerline is valid? [True, True] Translation: X:167.69, Y:-19.25, Z:-1.97 [[ 9.89811193e-01 1.42385920e-01 2.29752866e-04 1.67690888e+02] [-1.42385917e-01 9.89811219e-01 -2.91356401e-05 -1.92549425e+01] [-2.31560469e-04 -3.87478984e-06 9.99999973e-01 -1.97003182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.945769231 meters Centerline goodness [0,1] 0.997782941439809 Centerline is valid? [True, True] Translation: X:167.72, Y:-19.24, Z:-1.97 [[ 9.89205163e-01 1.46528912e-01 1.55667416e-03 1.67721376e+02] [-1.46528782e-01 9.89206387e-01 -1.97487463e-04 -1.92406292e+01] [-1.56880964e-03 -3.27419511e-05 9.99998769e-01 -1.96857585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97576923100002 meters Centerline goodness [0,1] 0.9977162190737999 Centerline is valid? [True, True] Translation: X:167.75, Y:-19.24, Z:-1.97 [[ 9.89168024e-01 1.46775319e-01 1.90421874e-03 1.67751105e+02] [-1.46775125e-01 9.89169856e-01 -2.41502500e-04 -1.92386869e+01] [-1.91904238e-03 -4.06053935e-05 9.99998158e-01 -1.96833808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00576923100002 meters Centerline goodness [0,1] 0.9977938524850979 Centerline is valid? [True, True] Translation: X:167.78, Y:-19.24, Z:-1.97 [[ 9.89344037e-01 1.45587771e-01 1.60550349e-03 1.67780484e+02] [-1.45587633e-01 9.89345339e-01 -2.03523408e-04 -1.92415352e+01] [-1.61802791e-03 -3.23867821e-05 9.99998690e-01 -1.96880309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03576923100002 meters Centerline goodness [0,1] 0.997785490705449 Centerline is valid? [True, True] Translation: X:167.81, Y:-19.24, Z:-1.97 [[ 9.90164415e-01 1.39908622e-01 -9.19624265e-05 1.67809696e+02] [-1.39908622e-01 9.90164419e-01 1.15596970e-05 -1.92434431e+01] [ 9.26752239e-05 1.42033568e-06 9.99999996e-01 -1.97228385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06576923100002 meters Centerline goodness [0,1] 0.9965818135496062 Centerline is valid? [True, True] Translation: X:167.84, Y:-19.25, Z:-1.97 [[ 9.91284993e-01 1.31733524e-01 -5.83515310e-04 1.67838294e+02] [-1.31733503e-01 9.91285165e-01 7.38233246e-05 -1.92534691e+01] [ 5.88155077e-04 3.68856220e-06 9.99999827e-01 -1.97319288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09576923100002 meters Centerline goodness [0,1] 0.9960109219676607 Centerline is valid? [True, True] Translation: X:167.87, Y:-19.26, Z:-1.97 [[ 9.91877396e-01 1.27197453e-01 -1.98735999e-04 1.67867602e+02] [-1.27197450e-01 9.91877416e-01 2.51726548e-05 -1.92618917e+01] [ 2.00323646e-04 3.10525036e-07 9.99999980e-01 -1.97203340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12576923100002 meters Centerline goodness [0,1] 0.9958351926223412 Centerline is valid? [True, True] Translation: X:167.90, Y:-19.27, Z:-1.97 [[ 9.92420874e-01 1.22885184e-01 2.02667385e-04 1.67896475e+02] [-1.22885182e-01 9.92420894e-01 -2.56295393e-05 -1.92706111e+01] [-2.04280838e-04 5.30471277e-07 9.99999979e-01 -1.97224411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15576923100002 meters Centerline goodness [0,1] 0.9953071581763744 Centerline is valid? [True, True] Translation: X:167.93, Y:-19.29, Z:-1.97 [[ 9.93343991e-01 1.15185475e-01 1.47350869e-04 1.67926580e+02] [-1.15185474e-01 9.93344002e-01 -1.81112116e-05 -1.92861158e+01] [-1.48456250e-04 1.01798358e-06 9.99999989e-01 -1.97228274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18576923100002 meters Centerline goodness [0,1] 0.995347270468852 Centerline is valid? [True, True] Translation: X:167.96, Y:-19.30, Z:-1.97 [[ 9.93914149e-01 1.10155609e-01 6.37105039e-04 1.67956296e+02] [-1.10155580e-01 9.93914353e-01 -8.03231112e-05 -1.93008043e+01] [-6.42075885e-04 9.65360173e-06 9.99999794e-01 -1.97256073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21576923100002 meters Centerline goodness [0,1] 0.9951414567030699 Centerline is valid? [True, True] Translation: X:167.99, Y:-19.31, Z:-1.97 [[ 9.94188703e-01 1.07646509e-01 1.02530358e-03 1.67987167e+02] [-1.07646432e-01 9.94189232e-01 -1.29954815e-04 -1.93095316e+01] [-1.03333496e-03 1.88293368e-05 9.99999466e-01 -1.97113605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24576923100003 meters Centerline goodness [0,1] 0.9950395353274119 Centerline is valid? [True, True] Translation: X:168.02, Y:-19.32, Z:-1.97 [[ 9.94465594e-01 1.05056282e-01 1.16650436e-03 1.68017264e+02] [-1.05056180e-01 9.94466278e-01 -1.47817819e-04 -1.93219813e+01] [-1.17557844e-03 2.44512425e-05 9.99999309e-01 -1.97158336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.275769231 meters Centerline goodness [0,1] 0.9948189856344601 Centerline is valid? [True, True] Translation: X:168.05, Y:-19.34, Z:-1.97 [[ 9.95230599e-01 9.75499151e-02 -2.62665070e-04 1.68046367e+02] [-9.75499097e-02 9.95230634e-01 3.34182031e-05 -1.93389442e+01] [ 2.64672267e-04 -7.63586444e-06 9.99999965e-01 -1.97393254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.305769231 meters Centerline goodness [0,1] 0.9939820742637644 Centerline is valid? [True, True] Translation: X:168.07, Y:-19.36, Z:-1.98 [[ 9.95556951e-01 9.41539467e-02 -1.17929315e-03 1.68073694e+02] [-9.41538347e-02 9.95557649e-01 1.50265684e-04 -1.93607563e+01] [ 1.18820243e-03 -3.85630733e-05 9.99999293e-01 -1.97655162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.335769231 meters Centerline goodness [0,1] 0.9946778831709515 Centerline is valid? [True, True] Translation: X:168.10, Y:-19.37, Z:-1.98 [[ 9.95827322e-01 9.12418336e-02 -1.69493141e-03 1.68104253e+02] [-9.12415983e-02 9.95828762e-01 2.15809537e-04 -1.93691454e+01] [ 1.70755230e-03 -6.02607832e-05 9.99998540e-01 -1.97553730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.365769231 meters Centerline goodness [0,1] 0.9947006282319757 Centerline is valid? [True, True] Translation: X:168.13, Y:-19.38, Z:-1.98 [[ 9.95706513e-01 9.25503042e-02 -1.72688957e-03 1.68134580e+02] [-9.25500605e-02 9.95708008e-01 2.20654193e-04 -1.93780206e+01] [ 1.73989938e-03 -5.98830832e-05 9.99998485e-01 -1.97564163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.395769231 meters Centerline goodness [0,1] 0.9952214352760475 Centerline is valid? [True, True] Translation: X:168.16, Y:-19.39, Z:-1.97 [[ 9.95252101e-01 9.73284878e-02 -6.48991479e-04 1.68164818e+02] [-9.73284546e-02 9.95252312e-01 8.27506438e-05 -1.93859423e+01] [ 6.53964266e-04 -1.91924144e-05 9.99999786e-01 -1.97359578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.425769231 meters Centerline goodness [0,1] 0.9953388387536183 Centerline is valid? [True, True] Translation: X:168.20, Y:-19.39, Z:-1.97 [[ 9.94980968e-01 1.00064051e-01 2.41618330e-04 1.68195136e+02] [-1.00064046e-01 9.94980998e-01 -3.07050330e-05 -1.93917766e+01] [-2.43478117e-04 6.37361576e-06 9.99999970e-01 -1.97242244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.455769231 meters Centerline goodness [0,1] 0.9954579379464762 Centerline is valid? [True, True] Translation: X:168.22, Y:-19.40, Z:-1.97 [[ 9.94552559e-01 1.04229884e-01 1.15656461e-03 1.68224237e+02] [-1.04229783e-01 9.94553232e-01 -1.47417955e-04 -1.93995811e+01] [-1.16563042e-03 2.60664265e-05 9.99999320e-01 -1.97215978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.485769231 meters Centerline goodness [0,1] 0.9956159295093296 Centerline is valid? [True, True] Translation: X:168.26, Y:-19.40, Z:-1.97 [[ 9.94446119e-01 1.05236563e-01 1.47757095e-03 1.68256127e+02] [-1.05236399e-01 9.94447216e-01 -1.88187277e-04 -1.94049962e+01] [-1.48917050e-03 3.16478611e-05 9.99998891e-01 -1.97138146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.515769231 meters Centerline goodness [0,1] 0.9957752789809461 Centerline is valid? [True, True] Translation: X:168.29, Y:-19.42, Z:-1.97 [[ 9.94385081e-01 1.05808659e-01 1.68472055e-03 1.68285747e+02] [-1.05808447e-01 9.94386508e-01 -2.14492325e-04 -1.94156412e+01] [-1.69795853e-03 3.50303021e-05 9.99998558e-01 -1.97138084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.545769231 meters Centerline goodness [0,1] 0.9960988857038171 Centerline is valid? [True, True] Translation: X:168.32, Y:-19.43, Z:-1.97 [[ 9.94278632e-01 1.06811360e-01 1.15600851e-03 1.68316614e+02] [-1.06811261e-01 9.94279303e-01 -1.47140362e-04 -1.94263783e+01] [-1.16511159e-03 2.28237914e-05 9.99999321e-01 -1.97258866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.575769231 meters Centerline goodness [0,1] 0.996174363988013 Centerline is valid? [True, True] Translation: X:168.35, Y:-19.43, Z:-1.97 [[ 9.94100580e-01 1.08456936e-01 1.06246701e-03 1.68347195e+02] [-1.08456854e-01 9.94101148e-01 -1.35396215e-04 -1.94337770e+01] [-1.07088433e-03 1.93656269e-05 9.99999426e-01 -1.97313237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.605769231 meters Centerline goodness [0,1] 0.996505135745642 Centerline is valid? [True, True] Translation: X:168.38, Y:-19.43, Z:-1.97 [[ 9.93314093e-01 1.15433491e-01 1.49082413e-03 1.68378934e+02] [-1.15433335e-01 9.93315211e-01 -1.90808539e-04 -1.94319931e+01] [-1.50288398e-03 1.74420096e-05 9.99998871e-01 -1.97084475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.635769231 meters Centerline goodness [0,1] 0.996356935589774 Centerline is valid? [True, True] Translation: X:168.41, Y:-19.43, Z:-1.97 [[ 9.92707092e-01 1.20539155e-01 1.71537979e-03 1.68411947e+02] [-1.20538956e-01 9.92708574e-01 -2.19238689e-04 -1.94299825e+01] [-1.72929907e-03 1.08697124e-05 9.99998505e-01 -1.97001067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.665769231 meters Centerline goodness [0,1] 0.9972526302338459 Centerline is valid? [True, True] Translation: X:168.44, Y:-19.42, Z:-1.97 [[ 9.91433505e-01 1.30601100e-01 1.71987092e-03 1.68444075e+02] [-1.30600915e-01 9.91434997e-01 -2.20258160e-04 -1.94214092e+01] [-1.73390618e-03 -6.24539573e-06 9.99998497e-01 -1.97061363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.695769231 meters Centerline goodness [0,1] 0.9978874141095131 Centerline is valid? [True, True] Translation: X:168.48, Y:-19.42, Z:-1.97 [[ 9.90803568e-01 1.35293659e-01 1.97879249e-03 1.68476083e+02] [-1.35293422e-01 9.90805544e-01 -2.53674266e-04 -1.94184991e+01] [-1.99491909e-03 -1.63762405e-05 9.99998010e-01 -1.97066715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72576923100002 meters Centerline goodness [0,1] 0.9983120740123497 Centerline is valid? [True, True] Translation: X:168.51, Y:-19.42, Z:-1.97 [[ 9.90229163e-01 1.39440187e-01 1.62465724e-03 1.68509015e+02] [-1.39440033e-01 9.90230495e-01 -2.08188122e-04 -1.94155904e+01] [-1.63781493e-03 -2.03883095e-05 9.99998659e-01 -1.97172204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75576923100002 meters Centerline goodness [0,1] 0.9987498410814935 Centerline is valid? [True, True] Translation: X:168.54, Y:-19.40, Z:-1.98 [[ 9.89226816e-01 1.46389849e-01 -5.64753721e-04 1.68540454e+02] [-1.46389831e-01 9.89226977e-01 7.28067311e-05 -1.94047487e+01] [ 5.69327783e-04 1.06518309e-05 9.99999838e-01 -1.97625938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78576923100002 meters Centerline goodness [0,1] 0.99867981176671 Centerline is valid? [True, True] Translation: X:168.57, Y:-19.40, Z:-1.98 [[ 9.88640732e-01 1.50281962e-01 -2.19885215e-03 1.68572292e+02] [-1.50281705e-01 9.88643176e-01 2.82799920e-04 -1.93991920e+01] [ 2.21637990e-03 5.08597294e-05 9.99997543e-01 -1.97914461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81576923100002 meters Centerline goodness [0,1] 0.9987068051727793 Centerline is valid? [True, True] Translation: X:168.60, Y:-19.40, Z:-1.98 [[ 9.88555531e-01 1.50837562e-01 -2.44804459e-03 1.68603897e+02] [-1.50837244e-01 9.88558560e-01 3.14948413e-04 -1.94018093e+01] [ 2.46754149e-03 5.79123050e-05 9.99996954e-01 -1.97934956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84576923100002 meters Centerline goodness [0,1] 0.99880162636422 Centerline is valid? [True, True] Translation: X:168.64, Y:-19.40, Z:-1.98 [[ 9.88431289e-01 1.51647155e-01 -2.59387312e-03 1.68635339e+02] [-1.51646801e-01 9.88434690e-01 3.33765300e-04 -1.94022016e+01] [ 2.61448873e-03 6.34484964e-05 9.99996580e-01 -1.97971110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87576923100002 meters Centerline goodness [0,1] 0.9986530978748878 Centerline is valid? [True, True] Translation: X:168.67, Y:-19.40, Z:-1.98 [[ 9.88261996e-01 1.52734442e-01 -3.22757464e-03 1.68665503e+02] [-1.52733900e-01 9.88267263e-01 4.15109977e-04 -1.93972037e+01] [ 3.25310794e-03 8.27226490e-05 9.99994705e-01 -1.98194531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90576923100002 meters Centerline goodness [0,1] 0.9987369412570646 Centerline is valid? [True, True] Translation: X:168.70, Y:-19.40, Z:-1.98 [[ 9.88439481e-01 1.51600333e-01 -2.17499256e-03 1.68695929e+02] [-1.51600084e-01 9.88441873e-01 2.79764163e-04 -1.93983528e+01] [ 2.19226606e-03 5.31991112e-05 9.99997596e-01 -1.98053340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93576923100002 meters Centerline goodness [0,1] 0.9986775308220639 Centerline is valid? [True, True] Translation: X:168.73, Y:-19.40, Z:-1.98 [[ 9.88668518e-01 1.50114306e-01 -5.07504897e-04 1.68726313e+02] [-1.50114292e-01 9.88668648e-01 6.52791580e-05 -1.94024022e+01] [ 5.11553516e-04 1.16442901e-05 9.99999869e-01 -1.97742608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96576923100002 meters Centerline goodness [0,1] 0.9987995970075668 Centerline is valid? [True, True] Translation: X:168.76, Y:-19.41, Z:-1.97 [[ 9.89292981e-01 1.45938079e-01 1.21473441e-03 1.68756338e+02] [-1.45937997e-01 9.89293726e-01 -1.56186394e-04 -1.94083664e+01] [-1.22452267e-03 -2.27618032e-05 9.99999250e-01 -1.97391401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99576923100003 meters Centerline goodness [0,1] 0.9987477448795501 Centerline is valid? [True, True] Translation: X:168.79, Y:-19.41, Z:-1.97 [[ 9.89504534e-01 1.44498946e-01 9.12126555e-04 1.68787070e+02] [-1.44498899e-01 9.89504954e-01 -1.17159048e-04 -1.94087101e+01] [-9.19483104e-04 -1.58718743e-05 9.99999577e-01 -1.97489421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.025769231 meters Centerline goodness [0,1] 0.9988073687573208 Centerline is valid? [True, True] Translation: X:168.82, Y:-19.41, Z:-1.97 [[ 9.89584673e-01 1.43949915e-01 7.73124120e-04 1.68817703e+02] [-1.43949881e-01 9.89584975e-01 -9.94761370e-05 -1.94133284e+01] [-7.79391594e-04 -1.28510647e-05 9.99999696e-01 -1.97485749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.055769231 meters Centerline goodness [0,1] 0.998702072428614 Centerline is valid? [True, True] Translation: X:168.85, Y:-19.41, Z:-1.97 [[ 9.89577655e-01 1.43991355e-01 1.59802556e-03 1.68847628e+02] [-1.43991211e-01 9.89578945e-01 -2.05679463e-04 -1.94106818e+01] [-1.61098852e-03 -2.65658354e-05 9.99998702e-01 -1.97306473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.085769231 meters Centerline goodness [0,1] 0.9987500529638574 Centerline is valid? [True, True] Translation: X:168.88, Y:-19.40, Z:-1.97 [[ 9.89353735e-01 1.45497447e-01 3.11139774e-03 1.68876934e+02] [-1.45496906e-01 9.89358625e-01 -4.00578767e-04 -1.94045311e+01] [-3.13657138e-03 -5.63846465e-05 9.99995079e-01 -1.97061836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.115769231 meters Centerline goodness [0,1] 0.9987433172165542 Centerline is valid? [True, True] Translation: X:168.91, Y:-19.40, Z:-1.97 [[ 9.89177464e-01 1.46696586e-01 2.83856236e-03 1.68906972e+02] [-1.46696141e-01 9.89181535e-01 -3.65355088e-04 -1.94020371e+01] [-2.86144981e-03 -5.50051240e-05 9.99995905e-01 -1.97089642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.145769231 meters Centerline goodness [0,1] 0.9987179213231052 Centerline is valid? [True, True] Translation: X:168.94, Y:-19.40, Z:-1.97 [[ 9.89032565e-01 1.47678151e-01 2.39777385e-03 1.68937506e+02] [-1.47677836e-01 9.89035470e-01 -3.08580022e-04 -1.94001121e+01] [-2.41705391e-03 -4.89023637e-05 9.99997078e-01 -1.97269406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.175769231 meters Centerline goodness [0,1] 0.998696664743713 Centerline is valid? [True, True] Translation: X:168.97, Y:-19.40, Z:-1.98 [[ 9.88923200e-01 1.48425017e-01 9.58438739e-04 1.68966723e+02] [-1.48424967e-01 9.88923664e-01 -1.23474716e-04 -1.93951417e+01] [-9.66149487e-04 -2.01492269e-05 9.99999533e-01 -1.97543963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.205769231 meters Centerline goodness [0,1] 0.9987792864179552 Centerline is valid? [True, True] Translation: X:169.00, Y:-19.40, Z:-1.97 [[ 9.88956269e-01 1.48198081e-01 1.68155697e-03 1.68995549e+02] [-1.48197927e-01 9.88957698e-01 -2.16350248e-04 -1.93965143e+01] [-1.69505140e-03 -3.52423230e-05 9.99998563e-01 -1.97391145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.235769231 meters Centerline goodness [0,1] 0.9987792864179552 Centerline is valid? [True, True] Translation: X:169.02, Y:-19.40, Z:-1.97 [[ 9.88962831e-01 1.48154280e-01 1.68156660e-03 1.69023667e+02] [-1.48154126e-01 9.88964260e-01 -2.16275379e-04 -1.94000354e+01] [-1.69505139e-03 -3.52427182e-05 9.99998563e-01 -1.97402230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.265769231 meters Centerline goodness [0,1] 0.9985579303071394 Centerline is valid? [True, True] Translation: X:169.05, Y:-19.40, Z:-1.97 [[ 9.89084174e-01 1.47315835e-01 3.24670585e-03 1.69051565e+02] [-1.47315258e-01 9.89089501e-01 -4.17275751e-04 -1.93979050e+01] [-3.27275399e-03 -6.55684700e-05 9.99994642e-01 -1.97166826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.295769231 meters Centerline goodness [0,1] 0.9987392893010535 Centerline is valid? [True, True] Translation: X:169.08, Y:-19.40, Z:-1.97 [[ 9.89148317e-01 1.46887234e-01 3.12212488e-03 1.69080504e+02] [-1.46886700e-01 9.89153242e-01 -4.01083712e-04 -1.94011160e+01] [-3.14717402e-03 -6.18673401e-05 9.99995046e-01 -1.97139893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.325769231 meters Centerline goodness [0,1] 0.9989495347939802 Centerline is valid? [True, True] Translation: X:169.11, Y:-19.40, Z:-1.97 [[ 9.89078018e-01 1.47384753e-01 1.55217983e-03 1.69110145e+02] [-1.47384621e-01 9.89079235e-01 -1.99419661e-04 -1.93986961e+01] [-1.56462025e-03 -3.15258333e-05 9.99998775e-01 -1.97436514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.355769231 meters Centerline goodness [0,1] 0.9986648865153538 Centerline is valid? [True, True] Translation: X:169.14, Y:-19.40, Z:-1.98 [[ 9.89029052e-01 1.47719841e-01 6.19295190e-04 1.69138853e+02] [-1.47719820e-01 9.89029245e-01 -7.97023826e-05 -1.93965400e+01] [-6.24274678e-04 -1.26542022e-05 9.99999805e-01 -1.97669891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.385769231 meters Centerline goodness [0,1] 0.9989795701439231 Centerline is valid? [True, True] Translation: X:169.17, Y:-19.40, Z:-1.98 [[ 9.89016592e-01 1.47803902e-01 4.33198391e-04 1.69167742e+02] [-1.47803892e-01 9.89016687e-01 -5.57337709e-05 -1.93968965e+01] [-4.36678107e-04 -8.90678417e-06 9.99999905e-01 -1.97707817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.415769231 meters Centerline goodness [0,1] 0.9988903115663679 Centerline is valid? [True, True] Translation: X:169.20, Y:-19.40, Z:-1.98 [[ 9.89060503e-01 1.47509324e-01 5.66151531e-04 1.69196290e+02] [-1.47509306e-01 9.89060665e-01 -7.27964817e-05 -1.93955424e+01] [-5.70696370e-04 -1.15124950e-05 9.99999837e-01 -1.97723519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.445769231 meters Centerline goodness [0,1] 0.9990239141044412 Centerline is valid? [True, True] Translation: X:169.23, Y:-19.40, Z:-1.98 [[ 9.89291562e-01 1.45952748e-01 -2.47268385e-05 1.69225023e+02] [-1.45952748e-01 9.89291562e-01 3.00173153e-06 -1.93965860e+01] [ 2.49001637e-05 6.39362348e-07 1.00000000e+00 -1.97885721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47576923100002 meters Centerline goodness [0,1] 0.9992034960067164 Centerline is valid? [True, True] Translation: X:169.25, Y:-19.40, Z:-1.98 [[ 9.89446215e-01 1.44900258e-01 -3.21225162e-04 1.69253360e+02] [-1.44900252e-01 9.89446267e-01 4.09728710e-05 -1.94030979e+01] [ 3.23772017e-04 6.00515492e-06 9.99999948e-01 -1.97939548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50576923100002 meters Centerline goodness [0,1] 0.9990898507778601 Centerline is valid? [True, True] Translation: X:169.28, Y:-19.40, Z:-1.98 [[ 9.89610627e-01 1.43772419e-01 -5.46474336e-04 1.69281373e+02] [-1.43772402e-01 9.89610778e-01 6.97540168e-05 -1.94026595e+01] [ 5.50825596e-04 9.53861184e-06 9.99999848e-01 -1.98054093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53576923100002 meters Centerline goodness [0,1] 0.9990665704951419 Centerline is valid? [True, True] Translation: X:169.31, Y:-19.41, Z:-1.98 [[ 9.89854539e-01 1.42081810e-01 -8.66530780e-04 1.69309964e+02] [-1.42081768e-01 9.89854918e-01 1.10742870e-04 -1.94069789e+01] [ 8.73474301e-04 1.34988921e-05 9.99999618e-01 -1.98080888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56576923100002 meters Centerline goodness [0,1] 0.9991235008658101 Centerline is valid? [True, True] Translation: X:169.34, Y:-19.41, Z:-1.98 [[ 9.90039308e-01 1.40787435e-01 -1.03317572e-03 1.69338831e+02] [-1.40787374e-01 9.90039847e-01 1.32026853e-04 -1.94110063e+01] [ 1.04147285e-03 1.47463218e-05 9.99999458e-01 -1.98154944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59576923100002 meters Centerline goodness [0,1] 0.9991612903225806 Centerline is valid? [True, True] Translation: X:169.37, Y:-19.42, Z:-1.98 [[ 9.90710808e-01 1.35979272e-01 -1.31591669e-03 1.69365768e+02] [-1.35979168e-01 9.90711682e-01 1.68088530e-04 -1.94209793e+01] [ 1.32655060e-03 1.24101345e-05 9.99999120e-01 -1.98261405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62576923100002 meters Centerline goodness [0,1] 0.998699693042292 Centerline is valid? [True, True] Translation: X:169.39, Y:-19.43, Z:-1.98 [[ 9.91162659e-01 1.32646567e-01 -1.21293800e-03 1.69393770e+02] [-1.32646477e-01 9.91163401e-01 1.54907253e-04 -1.94298423e+01] [ 1.22276767e-03 7.35366837e-06 9.99999252e-01 -1.98315567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65576923100002 meters Centerline goodness [0,1] 0.9979896918240339 Centerline is valid? [True, True] Translation: X:169.42, Y:-19.45, Z:-1.98 [[ 9.92191961e-01 1.24718915e-01 -5.51953353e-04 1.69421272e+02] [-1.24718895e-01 9.92192115e-01 7.04612555e-05 -1.94468687e+01] [ 5.56431615e-04 -1.07207884e-06 9.99999845e-01 -1.98087069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68576923100002 meters Centerline goodness [0,1] 0.9980190427503355 Centerline is valid? [True, True] Translation: X:169.45, Y:-19.46, Z:-1.98 [[ 9.92704242e-01 1.20574760e-01 -1.24122945e-04 1.69449862e+02] [-1.20574759e-01 9.92704250e-01 1.58975904e-05 -1.94580404e+01] [ 1.25134223e-04 -8.15511176e-07 9.99999992e-01 -1.98002858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71576923100002 meters Centerline goodness [0,1] 0.9978880675818373 Centerline is valid? [True, True] Translation: X:169.48, Y:-19.48, Z:-1.98 [[ 9.93587341e-01 1.13050554e-01 1.94138236e-03 1.69477680e+02] [-1.13050285e-01 9.93589237e-01 -2.48139169e-04 -1.94816077e+01] [-1.95698889e-03 2.70741079e-05 9.99998085e-01 -1.97698600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74576923100003 meters Centerline goodness [0,1] 0.9978734155893376 Centerline is valid? [True, True] Translation: X:169.51, Y:-19.50, Z:-1.97 [[ 9.94026820e-01 1.09077467e-01 3.57580246e-03 1.69508271e+02] [-1.09076528e-01 9.94033250e-01 -4.57200402e-04 -1.94961746e+01] [-3.60433680e-03 6.44333440e-05 9.99993502e-01 -1.97277803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.775769231 meters Centerline goodness [0,1] 0.998215082552432 Centerline is valid? [True, True] Translation: X:169.54, Y:-19.50, Z:-1.97 [[ 9.94055169e-01 1.08803598e-01 4.01222152e-03 1.69539691e+02] [-1.08802412e-01 9.94063263e-01 -5.13212047e-04 -1.95025222e+01] [-4.04424133e-03 7.36217089e-05 9.99991819e-01 -1.97207511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.805769231 meters Centerline goodness [0,1] 0.9982247128526511 Centerline is valid? [True, True] Translation: X:169.57, Y:-19.50, Z:-1.97 [[ 9.93967803e-01 1.09583927e-01 4.40101897e-03 1.69571749e+02] [-1.09582506e-01 9.93977543e-01 -5.63675601e-04 -1.95040803e+01] [-4.43628381e-03 7.80007135e-05 9.99990157e-01 -1.97182940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.835769231 meters Centerline goodness [0,1] 0.9986855997759055 Centerline is valid? [True, True] Translation: X:169.60, Y:-19.51, Z:-1.97 [[ 9.93717865e-01 1.11816126e-01 4.68597291e-03 1.69603682e+02] [-1.11814535e-01 9.93728911e-01 -6.00982670e-04 -1.95061965e+01] [-4.72378631e-03 7.32473337e-05 9.99988840e-01 -1.97128844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.865769231 meters Centerline goodness [0,1] 0.9986001636731705 Centerline is valid? [True, True] Translation: X:169.63, Y:-19.51, Z:-1.97 [[ 9.93555115e-01 1.13232030e-01 5.17108343e-03 1.69634808e+02] [-1.13230106e-01 9.93568569e-01 -6.64139162e-04 -1.95104268e+01] [-5.21302779e-03 7.43365363e-05 9.99986409e-01 -1.97079263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.895769231 meters Centerline goodness [0,1] 0.9984195886716116 Centerline is valid? [True, True] Translation: X:169.67, Y:-19.51, Z:-1.97 [[ 9.93164768e-01 1.16584096e-01 5.64733734e-03 1.69666236e+02] [-1.16581851e-01 9.93180822e-01 -7.26273066e-04 -1.95141224e+01] [-5.69349903e-03 6.29317828e-05 9.99983790e-01 -1.96844010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.925769231 meters Centerline goodness [0,1] 0.9984413698864122 Centerline is valid? [True, True] Translation: X:169.70, Y:-19.51, Z:-1.97 [[ 9.92867967e-01 1.19128527e-01 4.64697789e-03 1.69699240e+02] [-1.19127031e-01 9.92878841e-01 -5.98287088e-04 -1.95107621e+01] [-4.68515908e-03 4.04394035e-05 9.99989024e-01 -1.97070374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.955769231 meters Centerline goodness [0,1] 0.9988481720063137 Centerline is valid? [True, True] Translation: X:169.73, Y:-19.51, Z:-1.98 [[ 9.92369982e-01 1.23290883e-01 1.08469475e-03 1.69729791e+02] [-1.23290803e-01 9.92370575e-01 -1.39771102e-04 -1.95077184e+01] [-1.09365165e-03 4.97175949e-06 9.99999402e-01 -1.97748513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.985769231 meters Centerline goodness [0,1] 0.9988405050244782 Centerline is valid? [True, True] Translation: X:169.76, Y:-19.51, Z:-1.98 [[ 9.92195184e-01 1.24694457e-01 9.86306154e-05 1.69760382e+02] [-1.24694456e-01 9.92195189e-01 -1.27135404e-05 -1.95081857e+01] [-9.94461301e-05 3.15622569e-07 9.99999995e-01 -1.97873068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.015769231 meters Centerline goodness [0,1] 0.9989704431384325 Centerline is valid? [True, True] Translation: X:169.79, Y:-19.51, Z:-1.97 [[ 9.91958376e-01 1.26539421e-01 2.52083424e-03 1.69790600e+02] [-1.26539004e-01 9.91961579e-01 -3.24953222e-04 -1.95080786e+01] [-2.54169011e-03 3.35621684e-06 9.99996770e-01 -1.97362040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.045769231 meters Centerline goodness [0,1] 0.9988228495601738 Centerline is valid? [True, True] Translation: X:169.82, Y:-19.51, Z:-1.97 [[ 9.91862955e-01 1.27233110e-01 4.42887496e-03 1.69821313e+02] [-1.27231829e-01 9.91872843e-01 -5.70831269e-04 -1.95104374e+01] [-4.46550944e-03 2.69252671e-06 9.99990030e-01 -1.97020584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.075769231 meters Centerline goodness [0,1] 0.9989803721641601 Centerline is valid? [True, True] Translation: X:169.85, Y:-19.51, Z:-1.97 [[ 9.91696255e-01 1.28557754e-01 3.38261299e-03 1.69850601e+02] [-1.28557015e-01 9.91702024e-01 -4.35986019e-04 -1.95124661e+01] [-3.41059353e-03 -2.49292702e-06 9.99994184e-01 -1.97261478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.105769231 meters Centerline goodness [0,1] 0.999142091152815 Centerline is valid? [True, True] Translation: X:169.88, Y:-19.52, Z:-1.98 [[ 9.91726233e-01 1.28362127e-01 1.49740951e-03 1.69881234e+02] [-1.28361982e-01 9.91727364e-01 -1.92981059e-04 -1.95165915e+01] [-1.50979344e-03 -8.26072923e-07 9.99998860e-01 -1.97663948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.135769231 meters Centerline goodness [0,1] 0.9990858454866278 Centerline is valid? [True, True] Translation: X:169.91, Y:-19.52, Z:-1.98 [[ 9.91834896e-01 1.27524452e-01 -1.02667850e-03 1.69910121e+02] [-1.27524383e-01 9.91835427e-01 1.32254357e-04 -1.95224683e+01] [ 1.03516178e-03 -2.47943782e-07 9.99999464e-01 -1.98308445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.165769231 meters Centerline goodness [0,1] 0.9991342905405406 Centerline is valid? [True, True] Translation: X:169.94, Y:-19.53, Z:-1.98 [[ 9.91833561e-01 1.27534315e-01 -1.08923726e-03 1.69939039e+02] [-1.27534238e-01 9.91834159e-01 1.40246308e-04 -1.95272139e+01] [ 1.09822894e-03 -1.85951731e-07 9.99999397e-01 -1.98160096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.195769231 meters Centerline goodness [0,1] 0.9992735663618494 Centerline is valid? [True, True] Translation: X:169.97, Y:-19.53, Z:-1.98 [[ 9.91709801e-01 1.28496892e-01 4.69255956e-04 1.69968756e+02] [-1.28496878e-01 9.91709912e-01 -6.05409817e-05 -1.95315849e+01] [-4.73145110e-04 -2.58840472e-07 9.99999888e-01 -1.97805057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22576923100002 meters Centerline goodness [0,1] 0.9994011847986484 Centerline is valid? [True, True] Translation: X:170.00, Y:-19.54, Z:-1.98 [[ 9.91613977e-01 1.29228560e-01 1.30347988e-03 1.69999508e+02] [-1.29228451e-01 9.91614834e-01 -1.67909944e-04 -1.95350680e+01] [-1.31424875e-03 -1.94483872e-06 9.99999136e-01 -1.97647319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25576923100002 meters Centerline goodness [0,1] 0.9992770879401258 Centerline is valid? [True, True] Translation: X:170.03, Y:-19.54, Z:-1.98 [[ 9.91564586e-01 1.29600130e-01 1.86504723e-03 1.70028756e+02] [-1.29599908e-01 9.91566340e-01 -2.40273269e-04 -1.95382841e+01] [-1.88045750e-03 -3.46348402e-06 9.99998232e-01 -1.97678723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28576923100002 meters Centerline goodness [0,1] 0.9992541130338419 Centerline is valid? [True, True] Translation: X:170.06, Y:-19.55, Z:-1.98 [[ 9.91653330e-01 1.28917173e-01 2.00882959e-03 1.70058881e+02] [-1.28916913e-01 9.91655365e-01 -2.58746733e-04 -1.95456696e+01] [-2.02542354e-03 -2.38505010e-06 9.99997949e-01 -1.97652810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31576923100002 meters Centerline goodness [0,1] 0.9992458846849953 Centerline is valid? [True, True] Translation: X:170.09, Y:-19.55, Z:-1.98 [[ 9.91787301e-01 1.27883185e-01 1.95994211e-03 1.70088907e+02] [-1.27882936e-01 9.91789237e-01 -2.52449795e-04 -1.95522556e+01] [-1.97613357e-03 -2.66650833e-07 9.99998047e-01 -1.97683791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34576923100002 meters Centerline goodness [0,1] 0.9991689042321954 Centerline is valid? [True, True] Translation: X:170.12, Y:-19.56, Z:-1.98 [[ 9.91983357e-01 1.26364283e-01 1.04242051e-03 1.70118519e+02] [-1.26364212e-01 9.91983905e-01 -1.34235036e-04 -1.95620510e+01] [-1.05102689e-03 1.43427443e-06 9.99999448e-01 -1.97894033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37576923100002 meters Centerline goodness [0,1] 0.9991438356164384 Centerline is valid? [True, True] Translation: X:170.15, Y:-19.57, Z:-1.98 [[ 9.92050245e-01 1.25841004e-01 5.95086537e-04 1.70148638e+02] [-1.25840980e-01 9.92050423e-01 -7.66570113e-05 -1.95675144e+01] [-6.00002446e-04 1.16133369e-06 9.99999820e-01 -1.97924121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40576923100002 meters Centerline goodness [0,1] 0.9991205868474111 Centerline is valid? [True, True] Translation: X:170.18, Y:-19.57, Z:-1.98 [[ 9.92114883e-01 1.25331683e-01 -1.67085536e-04 1.70179930e+02] [-1.25331681e-01 9.92114897e-01 2.16224374e-05 -1.95729975e+01] [ 1.68478026e-04 -5.10830882e-07 9.99999986e-01 -1.98048627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43576923100002 meters Centerline goodness [0,1] 0.9992667198654215 Centerline is valid? [True, True] Translation: X:170.21, Y:-19.58, Z:-1.98 [[ 9.92181572e-01 1.24801194e-01 -6.25139011e-04 1.70209353e+02] [-1.24801168e-01 9.92181769e-01 8.05984721e-05 -1.95783889e+01] [ 6.30310315e-04 -1.95024002e-06 9.99999801e-01 -1.98131834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46576923100002 meters Centerline goodness [0,1] 0.9991639871382637 Centerline is valid? [True, True] Translation: X:170.24, Y:-19.59, Z:-1.98 [[ 9.92360320e-01 1.23358449e-01 -1.92029036e-03 1.70238846e+02] [-1.23358201e-01 9.92362178e-01 2.47743042e-04 -1.95871562e+01] [ 1.93618472e-03 -8.96680167e-06 9.99998126e-01 -1.98371906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49576923100003 meters Centerline goodness [0,1] 0.9992091820377456 Centerline is valid? [True, True] Translation: X:170.27, Y:-19.59, Z:-1.98 [[ 9.92441136e-01 1.22705109e-01 -2.01208184e-03 1.70269913e+02] [-1.22704835e-01 9.92443175e-01 2.59514154e-04 -1.95928780e+01] [ 2.02872061e-03 -1.06603507e-05 9.99997942e-01 -1.98314534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.525769231 meters Centerline goodness [0,1] 0.9993130688648463 Centerline is valid? [True, True] Translation: X:170.30, Y:-19.60, Z:-1.98 [[ 9.92636718e-01 1.21116690e-01 -1.75901235e-03 1.70299896e+02] [-1.21116476e-01 9.92638276e-01 2.27684644e-04 -1.96029434e+01] [ 1.77363940e-03 -1.29627599e-05 9.99998427e-01 -1.98286797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.555769231 meters Centerline goodness [0,1] 0.9992727428290304 Centerline is valid? [True, True] Translation: X:170.33, Y:-19.61, Z:-1.98 [[ 9.92809114e-01 1.19701503e-01 -1.27053281e-03 1.70330628e+02] [-1.19701390e-01 9.92809926e-01 1.64492754e-04 -1.96116633e+01] [ 1.28108762e-03 -1.12253621e-05 9.99999179e-01 -1.98231862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.585769231 meters Centerline goodness [0,1] 0.9992705428019738 Centerline is valid? [True, True] Translation: X:170.36, Y:-19.62, Z:-1.98 [[ 9.93016312e-01 1.17973716e-01 -8.97517406e-04 1.70360761e+02] [-1.17973658e-01 9.93016718e-01 1.16682485e-04 -1.96216151e+01] [ 9.05015255e-04 -9.98419893e-06 9.99999590e-01 -1.98219561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.615769231 meters Centerline goodness [0,1] 0.9991300288575794 Centerline is valid? [True, True] Translation: X:170.39, Y:-19.63, Z:-1.98 [[ 9.93408555e-01 1.14624932e-01 7.53131037e-04 1.70390918e+02] [-1.14624892e-01 9.93408841e-01 -9.69245928e-05 -1.96348715e+01] [-7.59277006e-04 9.95815620e-06 9.99999712e-01 -1.97841631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.645769231 meters Centerline goodness [0,1] 0.9991073326248672 Centerline is valid? [True, True] Translation: X:170.42, Y:-19.65, Z:-1.98 [[ 9.93572303e-01 1.13171471e-01 2.50925235e-03 1.70421037e+02] [-1.13171011e-01 9.93575471e-01 -3.24716798e-04 -1.96466102e+01] [-2.52988026e-03 3.86549910e-05 9.99996799e-01 -1.97578176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.675769231 meters Centerline goodness [0,1] 0.9992115413301511 Centerline is valid? [True, True] Translation: X:170.45, Y:-19.65, Z:-1.98 [[ 9.93522467e-01 1.13614626e-01 2.19644782e-03 1.70453306e+02] [-1.13614275e-01 9.93524894e-01 -2.84443543e-04 -1.96527999e+01] [-2.21454254e-03 3.30532249e-05 9.99997547e-01 -1.97599465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.705769231 meters Centerline goodness [0,1] 0.9992738456281235 Centerline is valid? [True, True] Translation: X:170.49, Y:-19.66, Z:-1.98 [[ 9.93389340e-01 1.14786478e-01 1.29764852e-03 1.70485482e+02] [-1.14786356e-01 9.93390187e-01 -1.68032065e-04 -1.96558367e+01] [-1.30835912e-03 1.79689171e-05 9.99999144e-01 -1.97716126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.735769231 meters Centerline goodness [0,1] 0.9992974538022652 Centerline is valid? [True, True] Translation: X:170.52, Y:-19.66, Z:-1.98 [[ 9.92958537e-01 1.18459765e-01 -7.92895139e-04 1.70516312e+02] [-1.18459720e-01 9.92958853e-01 1.03829179e-04 -1.96576399e+01] [ 7.99611828e-04 -9.17193388e-06 9.99999680e-01 -1.97966168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.765769231 meters Centerline goodness [0,1] 0.9994637839692856 Centerline is valid? [True, True] Translation: X:170.55, Y:-19.66, Z:-1.98 [[ 9.92654939e-01 1.20976235e-01 -9.60068682e-04 1.70548891e+02] [-1.20976170e-01 9.92655404e-01 1.25801735e-04 -1.96582301e+01] [ 9.68236385e-04 -8.73228075e-06 9.99999531e-01 -1.97974326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.795769231 meters Centerline goodness [0,1] 0.9994279418619433 Centerline is valid? [True, True] Translation: X:170.58, Y:-19.65, Z:-1.98 [[ 9.91980744e-01 1.26388641e-01 -3.39794626e-04 1.70581245e+02] [-1.26388633e-01 9.91980802e-01 4.49584779e-05 -1.96536248e+01] [ 3.42751987e-04 -1.65176599e-06 9.99999941e-01 -1.97869710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.825769231 meters Centerline goodness [0,1] 0.9995970392992726 Centerline is valid? [True, True] Translation: X:170.61, Y:-19.65, Z:-1.98 [[ 9.91651530e-01 1.28945907e-01 -4.42998140e-04 1.70612398e+02] [-1.28945894e-01 9.91651629e-01 5.84854031e-05 -1.96535879e+01] [ 4.46841280e-04 -8.74348150e-07 9.99999900e-01 -1.98003301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.855769231 meters Centerline goodness [0,1] 0.9996789727126806 Centerline is valid? [True, True] Translation: X:170.64, Y:-19.65, Z:-1.98 [[ 9.91393821e-01 1.30908468e-01 -1.12457672e-03 1.70644769e+02] [-1.30908385e-01 9.91394459e-01 1.47774398e-04 -1.96538523e+01] [ 1.13424405e-03 7.13896722e-07 9.99999357e-01 -1.98135754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.885769231 meters Centerline goodness [0,1] 0.9996578272027374 Centerline is valid? [True, True] Translation: X:170.68, Y:-19.66, Z:-1.98 [[ 9.91474868e-01 1.30291724e-01 -1.28557596e-03 1.70676141e+02] [-1.30291614e-01 9.91475701e-01 1.69049467e-04 -1.96590138e+01] [ 1.29664308e-03 -1.08530258e-07 9.99999159e-01 -1.98160184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.915769231 meters Centerline goodness [0,1] 0.9995122054675405 Centerline is valid? [True, True] Translation: X:170.71, Y:-19.67, Z:-1.98 [[ 9.91909695e-01 1.26940241e-01 -1.15465648e-03 1.70707545e+02] [-1.26940150e-01 9.91910367e-01 1.52096100e-04 -1.96691569e+01] [ 1.16462285e-03 -4.29332953e-06 9.99999322e-01 -1.98024049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.945769231 meters Centerline goodness [0,1] 0.999679363857894 Centerline is valid? [True, True] Translation: X:170.74, Y:-19.68, Z:-1.98 [[ 9.92185176e-01 1.24762024e-01 -1.73590562e-03 1.70737943e+02] [-1.24761815e-01 9.92186695e-01 2.28194895e-04 -1.96781404e+01] [ 1.75081252e-03 -9.83685474e-06 9.99998467e-01 -1.98157963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97576923100002 meters Centerline goodness [0,1] 0.9995532865347798 Centerline is valid? [True, True] Translation: X:170.77, Y:-19.69, Z:-1.99 [[ 9.92708626e-01 1.20495905e-01 -3.21243019e-03 1.70767478e+02] [-1.20495168e-01 9.92713824e-01 4.22727967e-04 -1.96932248e+01] [ 3.23996084e-03 -3.25633835e-05 9.99994751e-01 -1.98528553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00576923100002 meters Centerline goodness [0,1] 0.99944582986977 Centerline is valid? [True, True] Translation: X:170.80, Y:-19.70, Z:-1.99 [[ 9.92919354e-01 1.18745555e-01 -3.26338525e-03 1.70798707e+02] [-1.18744783e-01 9.92924716e-01 4.30005127e-04 -1.97030031e+01] [ 3.29135707e-03 -3.94504409e-05 9.99994583e-01 -1.98573934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03576923100002 meters Centerline goodness [0,1] 0.9995334732913459 Centerline is valid? [True, True] Translation: X:170.83, Y:-19.72, Z:-1.98 [[ 9.93249248e-01 1.15988597e-01 -1.60512671e-03 1.70828154e+02] [-1.15988406e-01 9.93250545e-01 2.12022885e-04 -1.97175946e+01] [ 1.61888521e-03 -2.44154825e-05 9.99998689e-01 -1.98199558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06576923100002 meters Centerline goodness [0,1] 0.999679261017384 Centerline is valid? [True, True] Translation: X:170.86, Y:-19.73, Z:-1.98 [[ 9.93337747e-01 1.15235585e-01 -9.37896583e-04 1.70859538e+02] [-1.15235519e-01 9.93338190e-01 1.24328192e-04 -1.97271458e+01] [ 9.45975526e-04 -1.54208866e-05 9.99999552e-01 -1.97998164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09576923100002 meters Centerline goodness [0,1] 0.999763481551561 Centerline is valid? [True, True] Translation: X:170.89, Y:-19.74, Z:-1.98 [[ 9.93459467e-01 1.14183741e-01 -6.00694250e-04 1.70890641e+02] [-1.14183713e-01 9.93459649e-01 7.99980026e-05 -1.97352063e+01] [ 6.05899970e-04 -1.08852729e-05 9.99999816e-01 -1.97827362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12576923100002 meters Centerline goodness [0,1] 0.999763481551561 Centerline is valid? [True, True] Translation: X:170.92, Y:-19.74, Z:-1.98 [[ 9.93437233e-01 1.14377019e-01 -6.00666181e-04 1.70922832e+02] [-1.14376991e-01 9.93437415e-01 8.02099036e-05 -1.97396524e+01] [ 6.05898427e-04 -1.09811141e-05 9.99999816e-01 -1.97840084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15576923100002 meters Centerline goodness [0,1] 0.9997224120259651 Centerline is valid? [True, True] Translation: X:170.95, Y:-19.76, Z:-1.98 [[ 9.93706972e-01 1.12004439e-01 -1.20834518e-03 1.70951222e+02] [-1.12004326e-01 9.93707706e-01 1.60624872e-04 -1.97614383e+01] [ 1.21873262e-03 -2.42741670e-05 9.99999257e-01 -1.97907707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18576923100002 meters Centerline goodness [0,1] 0.9995102736080059 Centerline is valid? [True, True] Translation: X:170.98, Y:-19.77, Z:-1.98 [[ 9.93777211e-01 1.11371017e-01 -1.83098397e-03 1.70982232e+02] [-1.11370757e-01 9.93778897e-01 2.43403556e-04 -1.97697404e+01] [ 1.84670133e-03 -3.79708364e-05 9.99998294e-01 -1.97972409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21576923100002 meters Centerline goodness [0,1] 0.999533591977782 Centerline is valid? [True, True] Translation: X:171.01, Y:-19.78, Z:-1.98 [[ 9.93833404e-01 1.10870184e-01 -1.72253153e-03 1.71012935e+02] [-1.10869953e-01 9.93834896e-01 2.29308310e-04 -1.97845106e+01] [ 1.73733540e-03 -3.69172686e-05 9.99998490e-01 -1.97831871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24576923100003 meters Centerline goodness [0,1] 0.9994306079841414 Centerline is valid? [True, True] Translation: X:171.04, Y:-19.79, Z:-1.98 [[ 9.93755017e-01 1.11583406e-01 -3.32156517e-04 1.71043445e+02] [-1.11583398e-01 9.93755072e-01 4.44923470e-05 -1.97948642e+01] [ 3.35046831e-04 -7.15134039e-06 9.99999944e-01 -1.97506284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.275769231 meters Centerline goodness [0,1] 0.9997004899129281 Centerline is valid? [True, True] Translation: X:171.08, Y:-19.80, Z:-1.97 [[ 9.93614477e-01 1.12823975e-01 1.01100677e-03 1.71075154e+02] [-1.12823897e-01 9.93614991e-01 -1.33832013e-04 -1.98010065e+01] [-1.01965094e-03 1.89117019e-05 9.99999480e-01 -1.97145898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.305769231 meters Centerline goodness [0,1] 0.9996594367935974 Centerline is valid? [True, True] Translation: X:171.10, Y:-19.81, Z:-1.97 [[ 9.93183719e-01 1.16538806e-01 2.19235451e-03 1.71104397e+02] [-1.16538446e-01 9.93186138e-01 -2.91583613e-04 -1.98106776e+01] [-2.21139691e-03 3.41025104e-05 9.99997554e-01 -1.96930455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.335769231 meters Centerline goodness [0,1] 0.9997642621404997 Centerline is valid? [True, True] Translation: X:171.14, Y:-19.82, Z:-1.97 [[ 9.92622898e-01 1.21217909e-01 2.44958444e-03 1.71135162e+02] [-1.21217474e-01 9.92625920e-01 -3.25812675e-04 -1.98152508e+01] [-2.47101534e-03 2.64766822e-05 9.99996947e-01 -1.96549147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.365769231 meters Centerline goodness [0,1] 0.999787627158239 Centerline is valid? [True, True] Translation: X:171.17, Y:-19.82, Z:-1.97 [[ 9.92296328e-01 1.23840688e-01 3.38836337e-03 1.71165856e+02] [-1.23839871e-01 9.92302113e-01 -4.50729410e-04 -1.98205496e+01] [-3.41809877e-03 2.76426552e-05 9.99994158e-01 -1.96546834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.395769231 meters Centerline goodness [0,1] 0.9998284255903233 Centerline is valid? [True, True] Translation: X:171.20, Y:-19.82, Z:-1.96 [[ 9.91893770e-01 1.26995783e-01 4.33818417e-03 1.71197923e+02] [-1.26994471e-01 9.91903257e-01 -5.77900768e-04 -1.98218697e+01] [-4.37644997e-03 2.22907696e-05 9.99990423e-01 -1.96273680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.425769231 meters Centerline goodness [0,1] 0.9998939284653571 Centerline is valid? [True, True] Translation: X:171.23, Y:-19.82, Z:-1.96 [[ 9.90837004e-01 1.35021393e-01 3.35470051e-03 1.71230441e+02] [-1.35020652e-01 9.90842683e-01 -4.47301857e-04 -1.98155027e+01] [-3.38437577e-03 -9.75061941e-06 9.99994273e-01 -1.96390319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.455769231 meters Centerline goodness [0,1] 0.9998715670954899 Centerline is valid? [True, True] Translation: X:171.26, Y:-19.81, Z:-1.97 [[ 9.90187994e-01 1.39734716e-01 1.39502654e-03 1.71263243e+02] [-1.39734593e-01 9.90188976e-01 -1.85858190e-04 -1.98111059e+01] [-1.40731074e-03 -1.08989168e-05 9.99999010e-01 -1.96790888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.485769231 meters Centerline goodness [0,1] 0.9999358384840773 Centerline is valid? [True, True] Translation: X:171.30, Y:-19.80, Z:-1.97 [[ 9.88865575e-01 1.48808777e-01 -9.06667009e-04 1.71296888e+02] [-1.48808728e-01 9.88865991e-01 1.21304058e-04 -1.97966950e+01] [ 9.14623279e-04 1.49665574e-05 9.99999582e-01 -1.97140604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.515769231 meters Centerline goodness [0,1] 0.9998939419650432 Centerline is valid? [True, True] Translation: X:171.33, Y:-19.79, Z:-1.97 [[ 9.88295173e-01 1.52552480e-01 -6.26090565e-04 1.71328800e+02] [-1.52552457e-01 9.88295371e-01 8.40656260e-05 -1.97898909e+01] [ 6.31586827e-04 1.24300015e-05 9.99999800e-01 -1.97049045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.545769231 meters Centerline goodness [0,1] 0.9998519114007066 Centerline is valid? [True, True] Translation: X:171.36, Y:-19.78, Z:-1.97 [[ 9.87821594e-01 1.55583020e-01 1.55637374e-03 1.71362162e+02] [-1.55582885e-01 9.87822819e-01 -2.08096873e-04 -1.97818111e+01] [-1.56979784e-03 -3.65825322e-05 9.99998767e-01 -1.96571900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.575769231 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:171.39, Y:-19.79, Z:-1.96 [[ 9.87909483e-01 1.55014362e-01 2.32403749e-03 1.71393846e+02] [-1.55014060e-01 9.87912215e-01 -3.10746598e-04 -1.97862100e+01] [-2.34411521e-03 -5.32689763e-05 9.99997251e-01 -1.96433086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.605769231 meters Centerline goodness [0,1] 0.9999786105407256 Centerline is valid? [True, True] Translation: X:171.43, Y:-19.79, Z:-1.96 [[ 9.88143416e-01 1.53514731e-01 2.41182145e-03 1.71425104e+02] [-1.53514400e-01 9.88146358e-01 -3.22885039e-04 -1.97930252e+01] [-2.43280019e-03 -5.11925988e-05 9.99997039e-01 -1.96424920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.635769231 meters Centerline goodness [0,1] 0.9999148646347693 Centerline is valid? [True, True] Translation: X:171.46, Y:-19.80, Z:-1.97 [[ 9.89014945e-01 1.47814642e-01 5.20035686e-04 1.71455100e+02] [-1.47814626e-01 9.89015081e-01 -6.96802633e-05 -1.97998212e+01] [-5.24622899e-04 -7.95405873e-06 9.99999862e-01 -1.96828035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.665769231 meters Centerline goodness [0,1] 0.9999572366311018 Centerline is valid? [True, True] Translation: X:171.49, Y:-19.81, Z:-1.97 [[ 9.89508764e-01 1.44468668e-01 -1.09997130e-03 1.71486099e+02] [-1.44468593e-01 9.89509375e-01 1.48388383e-04 -1.98076366e+01] [ 1.10986938e-03 1.20796997e-05 9.99999384e-01 -1.97173309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.695769231 meters Centerline goodness [0,1] 0.9999572366311018 Centerline is valid? [True, True] Translation: X:171.52, Y:-19.82, Z:-1.97 [[ 9.90276910e-01 1.39087625e-01 -2.50486989e-03 1.71516531e+02] [-1.39087216e-01 9.90280078e-01 3.37515928e-04 -1.98183669e+01] [ 2.52746703e-03 1.41611498e-05 9.99996806e-01 -1.97417881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72576923100002 meters Centerline goodness [0,1] 0.9999785981808453 Centerline is valid? [True, True] Translation: X:171.55, Y:-19.83, Z:-1.97 [[ 9.90468552e-01 1.37707943e-01 -2.92741333e-03 1.71548480e+02] [-1.37707376e-01 9.90472878e-01 3.95013505e-04 -1.98258907e+01] [ 2.95392001e-03 1.18779552e-05 9.99995637e-01 -1.97385775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75576923100002 meters Centerline goodness [0,1] 0.9999574187229875 Centerline is valid? [True, True] Translation: X:171.58, Y:-19.83, Z:-1.97 [[ 9.90424927e-01 1.38021556e-01 -2.91773373e-03 1.71580264e+02] [-1.38020993e-01 9.90429225e-01 3.94179218e-04 -1.98294333e+01] [ 2.94421398e-03 1.23035839e-05 9.99995666e-01 -1.97419294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78576923100002 meters Centerline goodness [0,1] 0.999978596348537 Centerline is valid? [True, True] Translation: X:171.61, Y:-19.83, Z:-1.97 [[ 9.90164573e-01 1.39879677e-01 -2.79167280e-03 1.71613041e+02] [-1.39879168e-01 9.90168509e-01 3.77753206e-04 -1.98308024e+01] [ 2.81706649e-03 1.64590252e-05 9.99996032e-01 -1.97347152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.64, Y:-19.82, Z:-1.98 [[ 9.89467589e-01 1.44686203e-01 -4.44896758e-03 1.71644796e+02] [-1.44684963e-01 9.89477590e-01 6.01034854e-04 -1.98248576e+01] [ 4.48911517e-03 4.89942041e-05 9.99989923e-01 -1.97882213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84576923100002 meters Centerline goodness [0,1] 0.9999575587810882 Centerline is valid? [True, True] Translation: X:171.68, Y:-19.82, Z:-1.98 [[ 9.89130283e-01 1.46941065e-01 -5.44117288e-03 1.71675081e+02] [-1.46939245e-01 9.89145246e-01 7.35069073e-04 -1.98246999e+01] [ 5.49012212e-03 7.24427535e-05 9.99984927e-01 -1.98168019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.71, Y:-19.82, Z:-1.98 [[ 9.88640685e-01 1.50246805e-01 -3.93617527e-03 1.71706740e+02] [-1.50245877e-01 9.88648519e-01 5.31901744e-04 -1.98226544e+01] [ 3.97141039e-03 6.55344032e-05 9.99992112e-01 -1.97843756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90576923100002 meters Centerline goodness [0,1] 0.9999575290395192 Centerline is valid? [True, True] Translation: X:171.74, Y:-19.82, Z:-1.98 [[ 9.88411548e-01 1.51789155e-01 -1.63239752e-03 1.71737387e+02] [-1.51788998e-01 9.88412895e-01 2.20488192e-04 -1.98174734e+01] [ 1.64695048e-03 2.98469089e-05 9.99998643e-01 -1.97526738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93576923100002 meters Centerline goodness [0,1] 0.9999141336081058 Centerline is valid? [True, True] Translation: X:171.77, Y:-19.81, Z:-1.97 [[ 9.87835475e-01 1.55499673e-01 9.62007613e-04 1.71768044e+02] [-1.55499621e-01 9.87835943e-01 -1.29997952e-04 -1.98143525e+01] [-9.70520337e-04 -2.11752304e-05 9.99999529e-01 -1.96967012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96576923100002 meters Centerline goodness [0,1] 0.999936153911637 Centerline is valid? [True, True] Translation: X:171.80, Y:-19.81, Z:-1.97 [[ 9.87496070e-01 1.57642761e-01 5.20667991e-04 1.71799020e+02] [-1.57642746e-01 9.87496207e-01 -7.03349927e-05 -1.98112512e+01] [-5.25245469e-04 -1.26240029e-05 9.99999862e-01 -1.97101896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99576923100003 meters Centerline goodness [0,1] 0.9998713302309622 Centerline is valid? [True, True] Translation: X:171.83, Y:-19.81, Z:-1.97 [[ 9.87196934e-01 1.59505067e-01 -5.88622894e-04 1.71828898e+02] [-1.59505048e-01 9.87197110e-01 7.93630631e-05 -1.98079008e+01] [ 5.93745630e-04 1.55413505e-05 9.99999824e-01 -1.97389770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.025769231 meters Centerline goodness [0,1] 0.9997423289171373 Centerline is valid? [True, True] Translation: X:171.86, Y:-19.80, Z:-1.98 [[ 9.86940807e-01 1.61073452e-01 -1.78491671e-03 1.71859167e+02] [-1.61073280e-01 9.86942420e-01 2.40865944e-04 -1.97994646e+01] [ 1.80040713e-03 4.97819600e-05 9.99998378e-01 -1.97778513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.055769231 meters Centerline goodness [0,1] 0.9998306878306878 Centerline is valid? [True, True] Translation: X:171.89, Y:-19.80, Z:-1.98 [[ 9.87038946e-01 1.60476190e-01 -1.22958571e-03 1.71887621e+02] [-1.60476108e-01 9.87039711e-01 1.65788210e-04 -1.98001748e+01] [ 1.24025498e-03 3.36797094e-05 9.99999230e-01 -1.97716210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.085769231 meters Centerline goodness [0,1] 0.9998718988855203 Centerline is valid? [True, True] Translation: X:171.92, Y:-19.80, Z:-1.98 [[ 9.87650056e-01 1.56675357e-01 -4.47479145e-04 1.71916500e+02] [-1.56675346e-01 9.87650157e-01 6.03018727e-05 -1.98025059e+01] [ 4.51400665e-04 1.05518019e-05 9.99999898e-01 -1.97606588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.115769231 meters Centerline goodness [0,1] 0.9999153725722507 Centerline is valid? [True, True] Translation: X:171.95, Y:-19.81, Z:-1.98 [[ 9.88053639e-01 1.54110262e-01 -1.80450630e-04 1.71945071e+02] [-1.54110261e-01 9.88053656e-01 2.42176426e-05 -1.98059123e+01] [ 1.82027092e-04 3.88096374e-06 9.99999983e-01 -1.97668767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.145769231 meters Centerline goodness [0,1] 0.9999786077953194 Centerline is valid? [True, True] Translation: X:171.97, Y:-19.81, Z:-1.98 [[ 9.88691512e-01 1.49963504e-01 -2.05227762e-04 1.71973946e+02] [-1.49963502e-01 9.88691533e-01 2.75538097e-05 -1.98075141e+01] [ 2.07039017e-04 3.53445613e-06 9.99999979e-01 -1.97798512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.00, Y:-19.81, Z:-1.98 [[ 9.88841589e-01 1.48970742e-01 1.73491270e-04 1.72002664e+02] [-1.48970740e-01 9.88841604e-01 -2.35652343e-05 -1.98094834e+01] [-1.75065916e-04 -2.54283918e-06 9.99999985e-01 -1.97829290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.03, Y:-19.81, Z:-1.98 [[ 9.88886295e-01 1.48673388e-01 3.44301218e-04 1.72031301e+02] [-1.48673381e-01 9.88886355e-01 -4.65813176e-05 -1.98103083e+01] [-3.47400179e-04 -5.12479966e-06 9.99999940e-01 -1.97835650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.235769231 meters Centerline goodness [0,1] 0.9999564440959973 Centerline is valid? [True, True] Translation: X:172.06, Y:-19.81, Z:-1.98 [[ 9.89093862e-01 1.47286474e-01 -1.61929870e-04 1.72060096e+02] [-1.47286472e-01 9.89093876e-01 2.16500787e-05 -1.98108473e+01] [ 1.63352607e-04 2.43611944e-06 9.99999987e-01 -1.98076468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.265769231 meters Centerline goodness [0,1] 0.9999788936026509 Centerline is valid? [True, True] Translation: X:172.09, Y:-19.81, Z:-1.98 [[ 9.89572393e-01 1.44026573e-01 -1.68116820e-03 1.72087739e+02] [-1.44026396e-01 9.89573820e-01 2.26238396e-04 -1.98140895e+01] [ 1.69622438e-03 1.82533262e-05 9.99998561e-01 -1.98475672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.12, Y:-19.82, Z:-1.99 [[ 9.89892217e-01 1.41804084e-01 -2.23609827e-03 1.72116210e+02] [-1.41803766e-01 9.89894743e-01 3.00933926e-04 -1.98196097e+01] [ 2.25617558e-03 1.91950041e-05 9.99997455e-01 -1.98674232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.14, Y:-19.83, Z:-1.99 [[ 9.90234510e-01 1.39395431e-01 -2.12832091e-03 1.72144917e+02] [-1.39395138e-01 9.90236797e-01 2.86176945e-04 -1.98258332e+01] [ 2.14743344e-03 1.32952995e-05 9.99997694e-01 -1.98691308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.17, Y:-19.84, Z:-1.98 [[ 9.90832920e-01 1.35091507e-01 -6.39787159e-04 1.72174196e+02] [-1.35091479e-01 9.90833127e-01 8.61066329e-05 -1.98361279e+01] [ 6.45554585e-04 1.11250704e-06 9.99999792e-01 -1.98237591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.20, Y:-19.84, Z:-1.98 [[ 9.91050800e-01 1.33484688e-01 -3.87646820e-04 1.72202717e+02] [-1.33484678e-01 9.91050876e-01 5.21202209e-05 -1.98421862e+01] [ 3.91134972e-04 9.11245235e-08 9.99999924e-01 -1.98325891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.23, Y:-19.85, Z:-1.99 [[ 9.91495592e-01 1.30136015e-01 -1.05296870e-03 1.72230479e+02] [-1.30135938e-01 9.91496151e-01 1.41649677e-04 -1.98549033e+01] [ 1.06244814e-03 -3.41596103e-06 9.99999436e-01 -1.98572602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.26, Y:-19.86, Z:-1.99 [[ 9.91832560e-01 1.27539574e-01 -1.35287350e-03 1.72261340e+02] [-1.27539444e-01 9.91833483e-01 1.82173197e-04 -1.98633415e+01] [ 1.36505953e-03 -8.14057429e-06 9.99999068e-01 -1.98535970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.29, Y:-19.88, Z:-1.99 [[ 9.92372699e-01 1.23269553e-01 -1.02119574e-03 1.72290519e+02] [-1.23269476e-01 9.92373225e-01 1.38201057e-04 -1.98807574e+01] [ 1.03044329e-03 -1.12646926e-05 9.99999469e-01 -1.98767565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.32, Y:-19.89, Z:-1.99 [[ 9.92513902e-01 1.22125714e-01 -1.20974821e-03 1.72322141e+02] [-1.22125605e-01 9.92514640e-01 1.63847020e-04 -1.98855540e+01] [ 1.22070275e-03 -1.48792127e-05 9.99999255e-01 -1.98614029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.35, Y:-19.90, Z:-1.99 [[ 9.92554368e-01 1.21793732e-01 -1.45408074e-03 1.72351786e+02] [-1.21793575e-01 9.92555432e-01 1.96653247e-04 -1.98975016e+01] [ 1.46720687e-03 -1.80913476e-05 9.99998923e-01 -1.98777582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.38, Y:-19.90, Z:-1.98 [[ 9.92491961e-01 1.22309537e-01 2.90081954e-04 1.72383171e+02] [-1.22309531e-01 9.92492004e-01 -3.85746801e-05 -1.99031907e+01] [-2.92622071e-04 2.80527225e-06 9.99999957e-01 -1.98209334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.42, Y:-19.91, Z:-1.98 [[ 9.92361835e-01 1.23348635e-01 1.76131699e-03 1.72415362e+02] [-1.23348407e-01 9.92363398e-01 -2.37941314e-04 -1.99089926e+01] [-1.77721625e-03 1.88682336e-05 9.99998421e-01 -1.97936848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.45, Y:-19.91, Z:-1.98 [[ 9.91985048e-01 1.26337912e-01 2.09679958e-03 1.72446615e+02] [-1.26337596e-01 9.91987264e-01 -2.83242605e-04 -1.99141547e+01] [-2.11578275e-03 1.60678111e-05 9.99997762e-01 -1.97969057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.48, Y:-19.92, Z:-1.98 [[ 9.91700607e-01 1.28566804e-01 6.95351198e-04 1.72479047e+02] [-1.28566770e-01 9.91700851e-01 -9.36236462e-05 -1.99175324e+01] [-7.01617267e-04 3.44756950e-06 9.99999754e-01 -1.98249475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.51, Y:-19.92, Z:-1.99 [[ 9.90909660e-01 1.34504655e-01 -2.55814754e-03 1.72511093e+02] [-1.34504205e-01 9.90912962e-01 3.47710193e-04 -1.99157278e+01] [ 2.58167020e-03 -4.67786568e-07 9.99996667e-01 -1.98689910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.54, Y:-19.91, Z:-1.99 [[ 9.90558584e-01 1.37060391e-01 -2.85324699e-03 1.72541198e+02] [-1.37059845e-01 9.90562693e-01 3.87096741e-04 -1.99149703e+01] [ 2.87937565e-03 7.62358955e-06 9.99995855e-01 -1.98936988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.57, Y:-19.91, Z:-1.98 [[ 9.89993390e-01 1.41113520e-01 -2.50970112e-04 1.72571731e+02] [-1.41113516e-01 9.89993421e-01 3.39650226e-05 -1.99100294e+01] [ 2.53251684e-04 1.79012700e-06 9.99999968e-01 -1.98228391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.775769231 meters Centerline goodness [0,1] 0.9999575623832966 Centerline is valid? [True, True] Translation: X:172.60, Y:-19.91, Z:-1.98 [[ 9.89856058e-01 1.42063775e-01 1.69334678e-03 1.72601728e+02] [-1.42063590e-01 9.89857507e-01 -2.29770963e-04 -1.99119304e+01] [-1.70881416e-03 -1.31227439e-05 9.99998540e-01 -1.97826408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.63, Y:-19.92, Z:-1.97 [[ 9.89957125e-01 1.41331878e-01 3.19217795e-03 1.72632029e+02] [-1.41331217e-01 9.89962272e-01 -4.32977289e-04 -1.99219596e+01] [-3.22132923e-03 -2.25254415e-05 9.99994811e-01 -1.97450632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.66, Y:-19.93, Z:-1.98 [[ 9.90104968e-01 1.40294451e-01 3.10152910e-03 1.72662482e+02] [-1.40293821e-01 9.90109826e-01 -4.20760158e-04 -1.99260152e+01] [-3.12988475e-03 -1.85286466e-05 9.99995102e-01 -1.97520498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.69, Y:-19.93, Z:-1.98 [[ 9.90276821e-01 1.39078396e-01 3.00284808e-03 1.72692692e+02] [-1.39077799e-01 9.90281374e-01 -4.07416148e-04 -1.99335762e+01] [-3.03032731e-03 -1.41747357e-05 9.99995408e-01 -1.97556985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.72, Y:-19.94, Z:-1.98 [[ 9.90435665e-01 1.37955386e-01 2.34617299e-03 1.72722638e+02] [-1.37955019e-01 9.90438444e-01 -3.18320719e-04 -1.99403791e+01] [-2.36765398e-03 -8.39014624e-06 9.99997197e-01 -1.97573337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.75, Y:-19.94, Z:-1.98 [[ 9.90354219e-01 1.38544437e-01 1.98983235e-03 1.72752893e+02] [-1.38544174e-01 9.90356218e-01 -2.69973641e-04 -1.99426577e+01] [-2.00804618e-03 -8.31014425e-06 9.99997984e-01 -1.97641994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.955769231 meters Centerline goodness [0,1] 0.9999575515748366 Centerline is valid? [True, True] Translation: X:172.78, Y:-19.94, Z:-1.98 [[ 9.90051636e-01 1.40698546e-01 1.29540251e-03 1.72784044e+02] [-1.40698437e-01 9.90052483e-01 -1.75755777e-04 -1.99422520e+01] [-1.30724505e-03 -8.25381274e-06 9.99999146e-01 -1.97790229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.985769231 meters Centerline goodness [0,1] 0.9999576737492593 Centerline is valid? [True, True] Translation: X:172.81, Y:-19.95, Z:-1.98 [[ 9.89950073e-01 1.41411977e-01 1.22728275e-03 1.72814695e+02] [-1.41411879e-01 9.89950834e-01 -1.66513521e-04 -1.99458716e+01] [-1.23849658e-03 -8.71228614e-06 9.99999233e-01 -1.97768390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.85, Y:-19.96, Z:-1.98 [[ 9.90024529e-01 1.40893505e-01 6.73134853e-04 1.72845218e+02] [-1.40893475e-01 9.90024757e-01 -9.12574664e-05 -1.99561455e+01] [-6.79277754e-04 -4.49317848e-06 9.99999769e-01 -1.97733872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.87, Y:-19.96, Z:-1.98 [[ 9.90024529e-01 1.40893505e-01 6.73123378e-04 1.72874946e+02] [-1.40893475e-01 9.90024757e-01 -9.13420297e-05 -1.99601795e+01] [-6.79278308e-04 -4.40784212e-06 9.99999769e-01 -1.97745610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.91, Y:-19.97, Z:-1.98 [[ 9.90028641e-01 1.40864669e-01 6.59505177e-04 1.72906949e+02] [-1.40864641e-01 9.90028861e-01 -8.89608386e-05 -1.99668107e+01] [-6.65460598e-04 -4.82718198e-06 9.99999779e-01 -1.97679723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.94, Y:-19.97, Z:-1.98 [[ 9.90029217e-01 1.40860455e-01 -6.94346355e-04 1.72938597e+02] [-1.40860423e-01 9.90029460e-01 9.51097871e-05 -1.99723399e+01] [ 7.00820555e-04 3.64445335e-06 9.99999754e-01 -1.97942775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.97, Y:-19.97, Z:-1.98 [[ 9.89985976e-01 1.41153738e-01 -1.84119562e-03 1.72969050e+02] [-1.41153516e-01 9.89987688e-01 2.50533079e-04 -1.99730256e+01] [ 1.85812468e-03 1.18670023e-05 9.99998274e-01 -1.98266111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.00, Y:-19.97, Z:-1.98 [[ 9.89904613e-01 1.41713681e-01 -2.46769479e-03 1.72999391e+02] [-1.41713285e-01 9.89907689e-01 3.35719030e-04 -1.99744018e+01] [ 2.49036603e-03 1.73753176e-05 9.99996899e-01 -1.98403306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.03, Y:-19.97, Z:-1.98 [[ 9.89832828e-01 1.42218487e-01 -2.20761220e-03 1.73028989e+02] [-1.42218171e-01 9.89835290e-01 3.00269074e-04 -1.99740461e+01] [ 2.22787628e-03 1.67463836e-05 9.99997518e-01 -1.98374995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.06, Y:-19.98, Z:-1.98 [[ 9.89884091e-01 1.41872155e-01 -1.33314275e-03 1.73058161e+02] [-1.41872039e-01 9.89884989e-01 1.81296669e-04 -1.99777797e+01] [ 1.34537895e-03 9.67299286e-06 9.99999095e-01 -1.98218010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.09, Y:-19.99, Z:-1.98 [[ 9.90287429e-01 1.39034451e-01 4.78220490e-04 1.73088117e+02] [-1.39034436e-01 9.90287545e-01 -6.50493174e-05 -1.99859207e+01] [-4.82619891e-04 -2.07159470e-06 9.99999884e-01 -1.97869765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28576923100002 meters Centerline goodness [0,1] 0.9999784936986537 Centerline is valid? [True, True] Translation: X:173.12, Y:-19.99, Z:-1.98 [[ 9.90537851e-01 1.37237468e-01 8.02270176e-04 1.73119907e+02] [-1.37237425e-01 9.90538176e-01 -1.08612462e-04 -1.99941754e+01] [-8.09584935e-04 -2.51673849e-06 9.99999672e-01 -1.97815980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.15, Y:-20.01, Z:-1.98 [[ 9.91003107e-01 1.33838531e-01 3.00371050e-04 1.73150188e+02] [-1.33838525e-01 9.91003152e-01 -4.02665620e-05 -2.00060115e+01] [-3.03057875e-04 -2.96930179e-07 9.99999954e-01 -1.97999696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.18, Y:-20.01, Z:-1.98 [[ 9.91070738e-01 1.33337017e-01 1.80996811e-04 1.73182565e+02] [-1.33337015e-01 9.91070754e-01 -2.39477666e-05 -2.00125133e+01] [-1.82573769e-04 -3.99643707e-07 9.99999983e-01 -1.97965670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.22, Y:-20.02, Z:-1.98 [[ 9.90929151e-01 1.34384565e-01 4.54127991e-04 1.73215285e+02] [-1.34384551e-01 9.90929255e-01 -6.13334780e-05 -2.00165450e+01] [-4.58250984e-04 -2.50654836e-07 9.99999895e-01 -1.97900706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40576923100002 meters Centerline goodness [0,1] 0.999978621515307 Centerline is valid? [True, True] Translation: X:173.25, Y:-20.02, Z:-1.98 [[ 9.90709727e-01 1.35993518e-01 -6.12144764e-06 1.73246811e+02] [-1.35993518e-01 9.90709727e-01 1.56527899e-06 -2.00186430e+01] [ 6.27744551e-06 -7.18259922e-07 1.00000000e+00 -1.98076539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.28, Y:-20.02, Z:-1.98 [[ 9.90062845e-01 1.40623477e-01 -7.75572062e-04 1.73278243e+02] [-1.40623437e-01 9.90063148e-01 1.06276125e-04 -2.00150325e+01] [ 7.82810236e-04 3.84356564e-06 9.99999694e-01 -1.98349747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.31, Y:-20.01, Z:-1.98 [[ 9.89723711e-01 1.42990885e-01 -7.62948784e-04 1.73308154e+02] [-1.42990847e-01 9.89724005e-01 1.04446568e-04 -2.00146106e+01] [ 7.70043633e-04 5.72144804e-06 9.99999704e-01 -1.98419448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49576923100003 meters Centerline goodness [0,1] 0.9999786866727765 Centerline is valid? [True, True] Translation: X:173.34, Y:-20.01, Z:-1.99 [[ 9.89144280e-01 1.46943228e-01 -1.13157963e-03 1.73338803e+02] [-1.46943146e-01 9.89144928e-01 1.54917965e-04 -2.00116478e+01] [ 1.14206040e-03 1.30416530e-05 9.99999348e-01 -1.98607185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.525769231 meters Centerline goodness [0,1] 0.999894436820437 Centerline is valid? [True, True] Translation: X:173.37, Y:-20.01, Z:-1.99 [[ 9.88975311e-01 1.48074250e-01 -1.36010903e-03 1.73368963e+02] [-1.48074134e-01 9.88976246e-01 1.86198201e-04 -2.00108527e+01] [ 1.37268668e-03 1.72515425e-05 9.99999058e-01 -1.98735685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.555769231 meters Centerline goodness [0,1] 0.9998095842589654 Centerline is valid? [True, True] Translation: X:173.40, Y:-20.01, Z:-1.98 [[ 9.88882477e-01 1.48698137e-01 5.57766877e-04 1.73398759e+02] [-1.48698118e-01 9.88882634e-01 -7.64533852e-05 -2.00098369e+01] [-5.62934454e-04 -7.33547176e-06 9.99999842e-01 -1.98461764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.585769231 meters Centerline goodness [0,1] 0.9999360040957379 Centerline is valid? [True, True] Translation: X:173.43, Y:-20.01, Z:-1.98 [[ 9.89072512e-01 1.47417661e-01 1.89730789e-03 1.73428119e+02] [-1.47417434e-01 9.89074331e-01 -2.59784785e-04 -2.00139122e+01] [-1.91487539e-03 -2.27502701e-05 9.99998166e-01 -1.98333386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.615769231 meters Centerline goodness [0,1] 0.9999788332909999 Centerline is valid? [True, True] Translation: X:173.46, Y:-20.02, Z:-1.98 [[ 9.89452542e-01 1.44831987e-01 2.71327451e-03 1.73457128e+02] [-1.44831513e-01 9.89456262e-01 -3.71458676e-04 -2.00205564e+01] [-2.73846555e-03 -2.54269200e-05 9.99996250e-01 -1.98272303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.49, Y:-20.04, Z:-1.99 [[ 9.90577738e-01 1.36939567e-01 1.81650152e-03 1.73486925e+02] [-1.36939341e-01 9.90579404e-01 -2.48559341e-04 -2.00369285e+01] [-1.83342660e-03 -2.53317112e-06 9.99998319e-01 -1.98580219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.675769231 meters Centerline goodness [0,1] 0.9999572128447041 Centerline is valid? [True, True] Translation: X:173.52, Y:-20.05, Z:-1.99 [[ 9.91129843e-01 1.32895654e-01 6.15453604e-04 1.73518008e+02] [-1.32895628e-01 9.91130034e-01 -8.36991420e-05 -2.00483867e+01] [-6.21117804e-04 1.16562435e-06 9.99999807e-01 -1.98848530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.705769231 meters Centerline goodness [0,1] 0.9998291948673058 Centerline is valid? [True, True] Translation: X:173.55, Y:-20.07, Z:-1.99 [[ 9.92067497e-01 1.25703791e-01 -7.99019248e-04 1.73548366e+02] [-1.25703744e-01 9.92067819e-01 1.09777135e-04 -2.00656822e+01] [ 8.06480685e-04 -8.46661642e-06 9.99999675e-01 -1.99156840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.735769231 meters Centerline goodness [0,1] 0.9997609371264643 Centerline is valid? [True, True] Translation: X:173.58, Y:-20.08, Z:-1.99 [[ 9.92401130e-01 1.23041936e-01 -8.24458490e-04 1.73578748e+02] [-1.23041884e-01 9.92401472e-01 1.13493928e-04 -2.00760578e+01] [ 8.32158332e-04 -1.11885763e-05 9.99999654e-01 -1.99184417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.765769231 meters Centerline goodness [0,1] 0.9995757858567005 Centerline is valid? [True, True] Translation: X:173.61, Y:-20.09, Z:-1.99 [[ 9.92873398e-01 1.19173341e-01 -3.60442574e-04 1.73608332e+02] [-1.19173331e-01 9.92873464e-01 5.01129977e-05 -2.00908170e+01] [ 3.63846000e-04 -6.80072022e-06 9.99999934e-01 -1.99246865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.795769231 meters Centerline goodness [0,1] 0.9996606646730716 Centerline is valid? [True, True] Translation: X:173.64, Y:-20.10, Z:-1.99 [[ 9.93014422e-01 1.17992146e-01 4.58488677e-04 1.73639922e+02] [-1.17992130e-01 9.93014528e-01 -6.24411043e-05 -2.00992007e+01] [-4.62653478e-04 7.90686140e-06 9.99999893e-01 -1.99084893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.825769231 meters Centerline goodness [0,1] 0.9994189549797711 Centerline is valid? [True, True] Translation: X:173.67, Y:-20.11, Z:-1.99 [[ 9.93051109e-01 1.17675421e-01 1.41069293e-03 1.73671789e+02] [-1.17675264e-01 9.93052111e-01 -1.93600496e-04 -2.01071533e+01] [-1.42367361e-03 2.62515232e-05 9.99998986e-01 -1.98969103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.855769231 meters Centerline goodness [0,1] 0.9996591030148078 Centerline is valid? [True, True] Translation: X:173.70, Y:-20.12, Z:-1.99 [[ 9.92859475e-01 1.19277629e-01 1.70602721e-03 1.73701906e+02] [-1.19277402e-01 9.92860940e-01 -2.34675652e-04 -2.01173402e+01] [-1.72183933e-03 2.95094516e-05 9.99998517e-01 -1.98938531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.885769231 meters Centerline goodness [0,1] 0.9996157868897949 Centerline is valid? [True, True] Translation: X:173.73, Y:-20.12, Z:-1.99 [[ 9.92611026e-01 1.21328214e-01 1.67814880e-03 1.73733490e+02] [-1.21327996e-01 9.92612444e-01 -2.31058615e-04 -2.01226380e+01] [-1.69378531e-03 2.57448983e-05 9.99998565e-01 -1.98984645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.915769231 meters Centerline goodness [0,1] 0.9998296712655425 Centerline is valid? [True, True] Translation: X:173.76, Y:-20.12, Z:-1.99 [[ 9.91892700e-01 1.27053562e-01 2.50287478e-03 1.73763781e+02] [-1.27053095e-01 9.91895857e-01 -3.45442570e-04 -2.01242282e+01] [-2.52648083e-03 2.46439764e-05 9.99996808e-01 -1.98801823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.945769231 meters Centerline goodness [0,1] 0.9998933970108522 Centerline is valid? [True, True] Translation: X:173.80, Y:-20.12, Z:-1.99 [[ 9.91356240e-01 1.31146722e-01 3.65273419e-03 1.73796594e+02] [-1.31145754e-01 9.91362969e-01 -5.04495709e-04 -2.01242635e+01] [-3.68734837e-03 2.10943903e-05 9.99993201e-01 -1.98505440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.83, Y:-20.12, Z:-1.98 [[ 9.89985883e-01 1.41088173e-01 4.69891380e-03 1.73828899e+02] [-1.41086677e-01 9.89997034e-01 -6.49903059e-04 -2.01150372e+01] [-4.74360436e-03 -1.95592800e-05 9.99988749e-01 -1.98191928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00576923100002 meters Centerline goodness [0,1] 0.9999368912636473 Centerline is valid? [True, True] Translation: X:173.86, Y:-20.11, Z:-1.98 [[ 9.89280516e-01 1.45961639e-01 4.38874729e-03 1.73861182e+02] [-1.45960380e-01 9.89290250e-01 -6.07610293e-04 -2.01127824e+01] [-4.43043270e-03 -3.94861983e-05 9.99990185e-01 -1.98267682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03576923100002 meters Centerline goodness [0,1] 0.999743128692525 Centerline is valid? [True, True] Translation: X:173.89, Y:-20.11, Z:-1.99 [[ 9.88281681e-01 1.52610871e-01 3.03996511e-03 1.73892213e+02] [-1.52610297e-01 9.88286355e-01 -4.21220004e-04 -2.01060472e+01] [-3.06863879e-03 -4.76459641e-05 9.99995291e-01 -1.98535945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06576923100002 meters Centerline goodness [0,1] 0.9996365502202078 Centerline is valid? [True, True] Translation: X:173.92, Y:-20.11, Z:-1.99 [[ 9.87934513e-01 1.54853203e-01 2.42553921e-03 1.73922986e+02] [-1.54852844e-01 9.87937490e-01 -3.36255180e-04 -2.01059321e+01] [-2.44835131e-03 -4.34035469e-05 9.99997002e-01 -1.98676941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09576923100002 meters Centerline goodness [0,1] 0.9998282524688707 Centerline is valid? [True, True] Translation: X:173.95, Y:-20.11, Z:-1.99 [[ 9.87644256e-01 1.56700397e-01 1.95146585e-03 1.73953096e+02] [-1.56700169e-01 9.87646184e-01 -2.70533866e-04 -2.01081002e+01] [-1.96975056e-03 -3.86038082e-05 9.99998059e-01 -1.98709087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12576923100002 meters Centerline goodness [0,1] 0.9998303323365358 Centerline is valid? [True, True] Translation: X:173.98, Y:-20.10, Z:-1.99 [[ 9.87137272e-01 1.59858356e-01 2.30497248e-03 1.73983546e+02] [-1.59858046e-01 9.87139961e-01 -3.19558859e-04 -2.01015586e+01] [-2.32641460e-03 -5.30199369e-05 9.99997292e-01 -1.98670845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15576923100002 meters Centerline goodness [0,1] 0.9996165480806101 Centerline is valid? [True, True] Translation: X:174.01, Y:-20.10, Z:-1.99 [[ 9.87036826e-01 1.60476024e-01 2.39772398e-03 1.74012302e+02] [-1.60475690e-01 9.87039737e-01 -3.32419643e-04 -2.01029299e+01] [-2.41999423e-03 -5.66659817e-05 9.99997070e-01 -1.98619024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18576923100002 meters Centerline goodness [0,1] 0.9995554520629141 Centerline is valid? [True, True] Translation: X:174.04, Y:-20.10, Z:-1.99 [[ 9.86905017e-01 1.61293747e-01 1.67770696e-03 1.74041285e+02] [-1.61293585e-01 9.86906442e-01 -2.32603458e-04 -2.01024862e+01] [-1.69325729e-03 -4.10458503e-05 9.99998566e-01 -1.98724100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21576923100002 meters Centerline goodness [0,1] 0.9995945715261181 Centerline is valid? [True, True] Translation: X:174.07, Y:-20.10, Z:-1.99 [[ 9.86825594e-01 1.61784154e-01 1.06535396e-03 1.74070264e+02] [-1.61784089e-01 9.86826168e-01 -1.47719056e-04 -2.01032441e+01] [-1.07521777e-03 -2.65843743e-05 9.99999422e-01 -1.98883999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24576923100003 meters Centerline goodness [0,1] 0.9995536757986015 Centerline is valid? [True, True] Translation: X:174.10, Y:-20.10, Z:-1.99 [[ 9.86695327e-01 1.62576862e-01 1.04639024e-03 1.74098492e+02] [-1.62576799e-01 9.86695882e-01 -1.45077069e-04 -2.01012156e+01] [-1.05605511e-03 -2.69719088e-05 9.99999442e-01 -1.98881691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.275769231 meters Centerline goodness [0,1] 0.9996326230712711 Centerline is valid? [True, True] Translation: X:174.13, Y:-20.11, Z:-1.99 [[ 9.86681060e-01 1.62663080e-01 1.09911963e-03 1.74127503e+02] [-1.62663011e-01 9.86681672e-01 -1.52236313e-04 -2.01115649e+01] [-1.10924442e-03 -2.85774221e-05 9.99999384e-01 -1.98732310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.305769231 meters Centerline goodness [0,1] 0.9998282303431099 Centerline is valid? [True, True] Translation: X:174.16, Y:-20.11, Z:-1.99 [[ 9.86856560e-01 1.61596971e-01 7.41325066e-04 1.74156926e+02] [-1.61596940e-01 9.86856838e-01 -1.02691552e-04 -2.01131187e+01] [-7.48176354e-04 -1.84540306e-05 9.99999720e-01 -1.98749377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.335769231 meters Centerline goodness [0,1] 0.9994895029034523 Centerline is valid? [True, True] Translation: X:174.19, Y:-20.11, Z:-1.99 [[ 9.86964450e-01 1.60936320e-01 8.22374655e-04 1.74185953e+02] [-1.60936280e-01 9.86964792e-01 -1.13996725e-04 -2.01072828e+01] [-8.30001043e-04 -1.98392028e-05 9.99999655e-01 -1.98842991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.365769231 meters Centerline goodness [0,1] 0.99982967489195 Centerline is valid? [True, True] Translation: X:174.21, Y:-20.12, Z:-1.99 [[ 9.87010431e-01 1.60652381e-01 1.10558033e-03 1.74213547e+02] [-1.60652310e-01 9.87011049e-01 -1.53078340e-04 -2.01178009e+01] [-1.11581240e-03 -2.65241161e-05 9.99999377e-01 -1.98636704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.395769231 meters Centerline goodness [0,1] 0.9998505295524428 Centerline is valid? [True, True] Translation: X:174.24, Y:-20.12, Z:-1.99 [[ 9.87324664e-01 1.58704050e-01 1.74119696e-03 1.74242789e+02] [-1.58703872e-01 9.87326199e-01 -2.40848630e-04 -2.01222733e+01] [-1.75735303e-03 -3.85389052e-05 9.99998455e-01 -1.98532100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.425769231 meters Centerline goodness [0,1] 0.9998498884885916 Centerline is valid? [True, True] Translation: X:174.27, Y:-20.13, Z:-1.99 [[ 9.87724889e-01 1.56196898e-01 1.43949382e-03 1.74271148e+02] [-1.56196773e-01 9.87725938e-01 -1.99126452e-04 -2.01282083e+01] [-1.45292832e-03 -2.81621381e-05 9.99998944e-01 -1.98527243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.455769231 meters Centerline goodness [0,1] 0.9999573041863246 Centerline is valid? [True, True] Translation: X:174.30, Y:-20.14, Z:-1.98 [[ 9.88480417e-01 1.51339475e-01 1.68168728e-03 1.74299473e+02] [-1.51339299e-01 9.88481847e-01 -2.32378091e-04 -2.01377516e+01] [-1.69748533e-03 -2.48041809e-05 9.99998559e-01 -1.98430105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.485769231 meters Centerline goodness [0,1] 0.9999570944351482 Centerline is valid? [True, True] Translation: X:174.33, Y:-20.14, Z:-1.98 [[ 9.88614230e-01 1.50463249e-01 1.64790822e-03 1.74329581e+02] [-1.50463078e-01 9.88615603e-01 -2.27866058e-04 -2.01447533e+01] [-1.66343325e-03 -2.26777152e-05 9.99998616e-01 -1.98341046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.515769231 meters Centerline goodness [0,1] 0.9999360013653043 Centerline is valid? [True, True] Translation: X:174.36, Y:-20.14, Z:-1.99 [[ 9.88466161e-01 1.51441636e-01 2.82976196e-04 1.74359058e+02] [-1.51441631e-01 9.88466201e-01 -3.91008210e-05 -2.01442050e+01] [-2.85633898e-04 -4.20453815e-06 9.99999959e-01 -1.98576113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.545769231 meters Centerline goodness [0,1] 0.9999152452590316 Centerline is valid? [True, True] Translation: X:174.39, Y:-20.14, Z:-1.99 [[ 9.88344995e-01 1.52230634e-01 -6.61638800e-05 1.74387753e+02] [-1.52230634e-01 9.88344997e-01 9.04718393e-06 -2.01449578e+01] [ 6.67699983e-05 1.13043042e-06 9.99999998e-01 -1.98678406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.42, Y:-20.14, Z:-1.99 [[ 9.88162665e-01 1.53407048e-01 9.08185283e-04 1.74417341e+02] [-1.53406997e-01 9.88163082e-01 -1.25702472e-04 -2.01443746e+01] [-9.16718814e-04 -1.51074869e-05 9.99999580e-01 -1.98538384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.605769231 meters Centerline goodness [0,1] 0.9999569160509252 Centerline is valid? [True, True] Translation: X:174.45, Y:-20.15, Z:-1.98 [[ 9.88126270e-01 1.53632716e-01 1.86114010e-03 1.74446165e+02] [-1.53632504e-01 9.88128022e-01 -2.57300423e-04 -2.01467347e+01] [-1.87857445e-03 -3.16863060e-05 9.99998235e-01 -1.98364478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.635769231 meters Centerline goodness [0,1] 0.9999361797179144 Centerline is valid? [True, True] Translation: X:174.48, Y:-20.15, Z:-1.98 [[ 9.88087120e-01 1.53878284e-01 2.30586916e-03 1.74475154e+02] [-1.53877960e-01 9.88089810e-01 -3.18670041e-04 -2.01484663e+01] [-2.32744222e-03 -3.99486791e-05 9.99997291e-01 -1.98318439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.665769231 meters Centerline goodness [0,1] 0.9999574051199046 Centerline is valid? [True, True] Translation: X:174.50, Y:-20.15, Z:-1.98 [[ 9.88083405e-01 1.53907129e-01 1.94445373e-03 1.74504937e+02] [-1.53906899e-01 9.88085317e-01 -2.68654147e-04 -2.01509222e+01] [-1.96263397e-03 -3.38121386e-05 9.99998073e-01 -1.98420273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.695769231 meters Centerline goodness [0,1] 0.9999570649607145 Centerline is valid? [True, True] Translation: X:174.53, Y:-20.16, Z:-1.99 [[ 9.88184433e-01 1.53261698e-01 1.54201305e-03 1.74534163e+02] [-1.53261552e-01 9.88185636e-01 -2.13036768e-04 -2.01573025e+01] [-1.55644553e-03 -2.58116967e-05 9.99998788e-01 -1.98544501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72576923100002 meters Centerline goodness [0,1] 0.9999144805764009 Centerline is valid? [True, True] Translation: X:174.56, Y:-20.16, Z:-1.99 [[ 9.88472135e-01 1.51380563e-01 2.60074004e-03 1.74562166e+02] [-1.51380142e-01 9.88475555e-01 -3.59171884e-04 -2.01610856e+01] [-2.62513960e-03 -3.86689974e-05 9.99996554e-01 -1.98525503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75576923100002 meters Centerline goodness [0,1] 0.9999788045782111 Centerline is valid? [True, True] Translation: X:174.59, Y:-20.17, Z:-1.98 [[ 9.88653343e-01 1.50169113e-01 3.71553079e-03 1.74590783e+02] [-1.50168246e-01 9.88660323e-01 -5.13033077e-04 -2.01677227e+01] [-3.75043960e-03 -5.07428741e-05 9.99992966e-01 -1.98305617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78576923100002 meters Centerline goodness [0,1] 0.9999786766744141 Centerline is valid? [True, True] Translation: X:174.62, Y:-20.17, Z:-1.98 [[ 9.88766133e-01 1.49392924e-01 4.82572952e-03 1.74619510e+02] [-1.49391452e-01 9.88777908e-01 -6.66190017e-04 -2.01717690e+01] [-4.87109881e-03 -6.22166111e-05 9.99988134e-01 -1.98133204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81576923100002 meters Centerline goodness [0,1] 0.9998939149622337 Centerline is valid? [True, True] Translation: X:174.65, Y:-20.17, Z:-1.98 [[ 9.88765666e-01 1.49421527e-01 3.95791037e-03 1.74648916e+02] [-1.49420537e-01 9.88773586e-01 -5.46317666e-04 -2.01744281e+01] [-3.99510885e-03 -5.12129409e-05 9.99992018e-01 -1.98408977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84576923100002 meters Centerline goodness [0,1] 0.9998298162014976 Centerline is valid? [True, True] Translation: X:174.68, Y:-20.18, Z:-1.99 [[ 9.88596313e-01 1.50562570e-01 2.87086592e-03 1.74677953e+02] [-1.50562054e-01 9.88600481e-01 -3.96232278e-04 -2.01758793e+01] [-2.89779718e-03 -4.05296996e-05 9.99995801e-01 -1.98733959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87576923100002 meters Centerline goodness [0,1] 0.9999365897994124 Centerline is valid? [True, True] Translation: X:174.71, Y:-20.18, Z:-1.99 [[ 9.88450067e-01 1.51517626e-01 2.97898337e-03 1.74706063e+02] [-1.51517075e-01 9.88454555e-01 -4.11101589e-04 -2.01752151e+01] [-3.00687882e-03 -4.50134534e-05 9.99995478e-01 -1.98756475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90576923100002 meters Centerline goodness [0,1] 0.9998712556862072 Centerline is valid? [True, True] Translation: X:174.73, Y:-20.18, Z:-1.99 [[ 9.88357528e-01 1.52111783e-01 3.37682338e-03 1.74734819e+02] [-1.52111079e-01 9.88363295e-01 -4.65775702e-04 -2.01774519e+01] [-3.40837826e-03 -5.32993263e-05 9.99994190e-01 -1.98737037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93576923100002 meters Centerline goodness [0,1] 0.9998712556862072 Centerline is valid? [True, True] Translation: X:174.76, Y:-20.18, Z:-1.99 [[ 9.88364070e-01 1.52069267e-01 3.37684332e-03 1.74762901e+02] [-1.52068563e-01 9.88369837e-01 -4.65631125e-04 -2.01812270e+01] [-3.40837826e-03 -5.32986378e-05 9.99994190e-01 -1.98748121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96576923100002 meters Centerline goodness [0,1] 0.9999574386584665 Centerline is valid? [True, True] Translation: X:174.79, Y:-20.19, Z:-1.99 [[ 9.88344108e-01 1.52204897e-01 3.09747332e-03 1.74792064e+02] [-1.52204306e-01 9.88348960e-01 -4.26971729e-04 -2.01897924e+01] [-3.12637172e-03 -4.94537844e-05 9.99995112e-01 -1.98838283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99576923100003 meters Centerline goodness [0,1] 0.9999788668399586 Centerline is valid? [True, True] Translation: X:174.82, Y:-20.20, Z:-1.99 [[ 9.88644638e-01 1.50269262e-01 9.63271964e-04 1.74820086e+02] [-1.50269203e-01 9.88645108e-01 -1.32857038e-04 -2.01984068e+01] [-9.72298443e-04 -1.34017120e-05 9.99999527e-01 -1.99355614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.85, Y:-20.21, Z:-2.00 [[ 9.89144891e-01 1.46943446e-01 9.45834371e-05 1.74848663e+02] [-1.46943446e-01 9.89144895e-01 -1.30765161e-05 -2.02122683e+01] [-9.54782323e-05 -9.63847034e-07 9.99999995e-01 -1.99685919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.055769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.88, Y:-20.22, Z:-2.00 [[ 9.89531465e-01 1.44317176e-01 -1.78492812e-04 1.74878178e+02] [-1.44317174e-01 9.89531481e-01 2.45905720e-05 -2.02231571e+01] [ 1.80173099e-04 1.42643343e-06 9.99999984e-01 -1.99814181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.085769231 meters Centerline goodness [0,1] 0.9999783975286772 Centerline is valid? [True, True] Translation: X:174.91, Y:-20.24, Z:-2.00 [[ 9.89903603e-01 1.41741625e-01 -4.10254383e-04 1.74908664e+02] [-1.41741614e-01 9.89903688e-01 5.72694473e-05 -2.02356463e+01] [ 4.14229792e-04 1.45888603e-06 9.99999914e-01 -1.99815786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.94, Y:-20.25, Z:-2.00 [[ 9.90426421e-01 1.38040974e-01 -4.41374074e-04 1.74937440e+02] [-1.38040961e-01 9.90426519e-01 6.15836435e-05 -2.02527341e+01] [ 4.45649654e-04 -6.63664413e-08 9.99999901e-01 -1.99794575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.145769231 meters Centerline goodness [0,1] 0.9999787915420669 Centerline is valid? [True, True] Translation: X:174.97, Y:-20.26, Z:-2.00 [[ 9.90479566e-01 1.37657126e-01 -8.63330095e-04 1.74968130e+02] [-1.37657074e-01 9.90479942e-01 1.20109385e-04 -2.02610446e+01] [ 8.71645055e-04 -1.22397257e-07 9.99999620e-01 -1.99867146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.00, Y:-20.27, Z:-2.00 [[ 9.90030783e-01 1.40845383e-01 -1.27514699e-03 1.75000207e+02] [-1.40845272e-01 9.90031605e-01 1.77228141e-04 -2.02655840e+01] [ 1.28739759e-03 4.13710879e-06 9.99999171e-01 -1.99942720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.03, Y:-20.27, Z:-2.00 [[ 9.89579092e-01 1.43988504e-01 -7.29631778e-04 1.75031081e+02] [-1.43988468e-01 9.89579360e-01 1.01757587e-04 -2.02667377e+01] [ 7.36680471e-04 4.36138123e-06 9.99999729e-01 -1.99943350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.06, Y:-20.27, Z:-2.00 [[ 9.89093133e-01 1.47291386e-01 1.47166840e-04 1.75062088e+02] [-1.47291385e-01 9.89093144e-01 -2.02085721e-05 -2.02680455e+01] [-1.48538261e-04 -1.68824784e-06 9.99999989e-01 -1.99732854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.265769231 meters Centerline goodness [0,1] 0.9999787568509155 Centerline is valid? [True, True] Translation: X:175.09, Y:-20.26, Z:-2.00 [[ 9.88310050e-01 1.52453786e-01 1.04309041e-03 1.75092274e+02] [-1.52453719e-01 9.88310600e-01 -1.44716580e-04 -2.02621515e+01] [-1.05295990e-03 -1.59981616e-05 9.99999446e-01 -1.99615890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.295769231 meters Centerline goodness [0,1] 0.9998932262748783 Centerline is valid? [True, True] Translation: X:175.12, Y:-20.27, Z:-2.00 [[ 9.88110207e-01 1.53744673e-01 8.90948257e-04 1.75123179e+02] [-1.53744624e-01 9.88110609e-01 -1.23457643e-04 -2.02690813e+01] [-8.99336380e-04 -1.49887481e-05 9.99999595e-01 -1.99550457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.325769231 meters Centerline goodness [0,1] 0.999978366216684 Centerline is valid? [True, True] Translation: X:175.15, Y:-20.28, Z:-1.99 [[ 9.88210840e-01 1.53086394e-01 1.97271713e-03 1.75153614e+02] [-1.53086153e-01 9.88212809e-01 -2.73539363e-04 -2.02750248e+01] [-1.99133949e-03 -3.16811130e-05 9.99998017e-01 -1.99437804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.355769231 meters Centerline goodness [0,1] 0.9999574332233692 Centerline is valid? [True, True] Translation: X:175.18, Y:-20.28, Z:-1.99 [[ 9.88366959e-01 1.52071282e-01 2.25356051e-03 1.75183810e+02] [-1.52070965e-01 9.88369528e-01 -3.12495700e-04 -2.02816355e+01] [-2.27487216e-03 -3.38406968e-05 9.99997412e-01 -1.99422817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.21, Y:-20.29, Z:-1.99 [[ 9.88704468e-01 1.49873025e-01 1.24581809e-03 1.75213458e+02] [-1.49872927e-01 9.88705252e-01 -1.72404325e-04 -2.02916517e+01] [-1.25758565e-03 -1.62574775e-05 9.99999209e-01 -1.99470634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.415769231 meters Centerline goodness [0,1] 0.9999787084548726 Centerline is valid? [True, True] Translation: X:175.24, Y:-20.30, Z:-2.00 [[ 9.88823336e-01 1.49090142e-01 7.35208265e-04 1.75244696e+02] [-1.49090108e-01 9.88823609e-01 -1.01577759e-04 -2.02988852e+01] [-7.42135532e-04 -9.16982054e-06 9.99999725e-01 -1.99538316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.445769231 meters Centerline goodness [0,1] 0.9999788198415724 Centerline is valid? [True, True] Translation: X:175.28, Y:-20.31, Z:-2.00 [[ 9.88885862e-01 1.48675637e-01 5.53937894e-04 1.75276518e+02] [-1.48675617e-01 9.88886017e-01 -7.64683644e-05 -2.03058635e+01] [-5.59150420e-04 -6.73857393e-06 9.99999844e-01 -1.99581216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.31, Y:-20.31, Z:-1.99 [[ 9.88705224e-01 1.49868602e-01 1.17585843e-03 1.75307562e+02] [-1.49868513e-01 9.88705923e-01 -1.63257614e-04 -2.03120633e+01] [-1.18704539e-03 -1.48104997e-05 9.99999295e-01 -1.99456791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50576923100002 meters Centerline goodness [0,1] 0.9999785292538915 Centerline is valid? [True, True] Translation: X:175.34, Y:-20.31, Z:-1.99 [[ 9.88411468e-01 1.51784418e-01 2.06397830e-03 1.75338409e+02] [-1.51784148e-01 9.88413623e-01 -2.87570648e-04 -2.03146657e+01] [-2.08371301e-03 -2.90410616e-05 9.99997829e-01 -1.99179878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53576923100002 meters Centerline goodness [0,1] 0.9999786306521925 Centerline is valid? [True, True] Translation: X:175.37, Y:-20.31, Z:-1.99 [[ 9.87704466e-01 1.56297197e-01 3.32779211e-03 1.75369616e+02] [-1.56296522e-01 9.87710070e-01 -4.63721404e-04 -2.03121386e+01] [-3.35937214e-03 -6.21026310e-05 9.99994355e-01 -1.98797345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56576923100002 meters Centerline goodness [0,1] 0.9999787901925851 Centerline is valid? [True, True] Translation: X:175.40, Y:-20.31, Z:-1.99 [[ 9.87346196e-01 1.58563175e-01 2.28215736e-03 1.75400681e+02] [-1.58562864e-01 9.87348833e-01 -3.18044650e-04 -2.03126691e+01] [-2.30371557e-03 -4.78452305e-05 9.99997345e-01 -1.98958388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59576923100002 meters Centerline goodness [0,1] 0.9999358384840773 Centerline is valid? [True, True] Translation: X:175.43, Y:-20.31, Z:-1.99 [[ 9.86998241e-01 1.60726795e-01 1.17043219e-03 1.75429833e+02] [-1.60726714e-01 9.86998934e-01 -1.63174170e-04 -2.03134418e+01] [-1.18144178e-03 -2.70671011e-05 9.99999302e-01 -1.99152481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62576923100002 meters Centerline goodness [0,1] 0.9998081718779973 Centerline is valid? [True, True] Translation: X:175.46, Y:-20.31, Z:-1.99 [[ 9.86549075e-01 1.63458606e-01 1.48553220e-03 1.75459562e+02] [-1.63458480e-01 9.86550193e-01 -2.07019057e-04 -2.03131140e+01] [-1.49939113e-03 -3.85883754e-05 9.99998875e-01 -1.99198537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65576923100002 meters Centerline goodness [0,1] 0.9997870437412155 Centerline is valid? [True, True] Translation: X:175.49, Y:-20.31, Z:-1.99 [[ 9.86312333e-01 1.64843964e-01 3.80125684e-03 1.75489098e+02] [-1.64843146e-01 9.86319652e-01 -5.29621637e-04 -2.03141956e+01] [-3.83655926e-03 -1.04238783e-04 9.99992635e-01 -1.98767849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68576923100002 meters Centerline goodness [0,1] 0.9995767733197901 Centerline is valid? [True, True] Translation: X:175.52, Y:-20.32, Z:-1.99 [[ 9.86204498e-01 1.65486307e-01 3.86925198e-03 1.75519141e+02] [-1.65485465e-01 9.86212082e-01 -5.39007266e-04 -2.03159853e+01] [-3.90510137e-03 -1.08733572e-04 9.99992369e-01 -1.98752928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71576923100002 meters Centerline goodness [0,1] 0.9995997134791219 Centerline is valid? [True, True] Translation: X:175.55, Y:-20.32, Z:-1.99 [[ 9.86128275e-01 1.65961516e-01 2.79281055e-03 1.75548375e+02] [-1.65961079e-01 9.86132227e-01 -3.89027078e-04 -2.03167315e+01] [-2.81864401e-03 -7.98672504e-05 9.99996024e-01 -1.98947910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74576923100003 meters Centerline goodness [0,1] 0.9998715285955935 Centerline is valid? [True, True] Translation: X:175.58, Y:-20.32, Z:-1.99 [[ 9.86290284e-01 1.65019345e-01 -3.03246360e-04 1.75577930e+02] [-1.65019339e-01 9.86290330e-01 4.22270485e-05 -2.03247704e+01] [ 3.06057233e-04 8.39338639e-06 9.99999953e-01 -1.99432788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77576923100003 meters Centerline goodness [0,1] 0.9997010144153764 Centerline is valid? [True, True] Translation: X:175.61, Y:-20.32, Z:-2.00 [[ 9.86462604e-01 1.63982540e-01 -1.12145282e-03 1.75607323e+02] [-1.63982468e-01 9.86463241e-01 1.56067081e-04 -2.03228907e+01] [ 1.13186426e-03 2.99442626e-05 9.99999359e-01 -1.99709769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.805769231 meters Centerline goodness [0,1] 0.999935883735841 Centerline is valid? [True, True] Translation: X:175.64, Y:-20.33, Z:-2.00 [[ 9.86751942e-01 1.62233999e-01 -8.57062086e-04 1.75635747e+02] [-1.62233957e-01 9.86752314e-01 1.19218341e-04 -2.03331043e+01] [ 8.65049265e-04 2.14056438e-05 9.99999626e-01 -1.99576992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.835769231 meters Centerline goodness [0,1] 0.9999143193745315 Centerline is valid? [True, True] Translation: X:175.67, Y:-20.34, Z:-1.99 [[ 9.86902394e-01 1.61318114e-01 -3.62636028e-04 1.75665360e+02] [-1.61318106e-01 9.86902460e-01 5.03815139e-05 -2.03384078e+01] [ 3.66013839e-04 8.77812064e-06 9.99999933e-01 -1.99485624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.865769231 meters Centerline goodness [0,1] 0.9999570741758241 Centerline is valid? [True, True] Translation: X:175.69, Y:-20.34, Z:-1.99 [[ 9.87045806e-01 1.60438698e-01 2.10440324e-05 1.75693627e+02] [-1.60438698e-01 9.87045806e-01 -3.06524101e-06 -2.03409324e+01] [-2.12632072e-05 -3.50743887e-07 1.00000000e+00 -1.99411788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.895769231 meters Centerline goodness [0,1] 0.9999149044802791 Centerline is valid? [True, True] Translation: X:175.72, Y:-20.33, Z:-2.00 [[ 9.86925499e-01 1.61177025e-01 -1.63721997e-04 1.75723773e+02] [-1.61177023e-01 9.86925512e-01 2.26408648e-05 -2.03310780e+01] [ 1.65230603e-04 4.04337726e-06 9.99999986e-01 -1.99522902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.925769231 meters Centerline goodness [0,1] 0.999829754633866 Centerline is valid? [True, True] Translation: X:175.75, Y:-20.33, Z:-2.00 [[ 9.86709837e-01 1.62491845e-01 -3.13451011e-04 1.75753086e+02] [-1.62491840e-01 9.86709887e-01 4.34233825e-05 -2.03285201e+01] [ 3.16341157e-04 8.08695269e-06 9.99999950e-01 -1.99554635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.955769231 meters Centerline goodness [0,1] 0.999789535715789 Centerline is valid? [True, True] Translation: X:175.78, Y:-20.32, Z:-2.00 [[ 9.86424285e-01 1.64216199e-01 4.13581966e-04 1.75782200e+02] [-1.64216189e-01 9.86424371e-01 -5.77373854e-05 -2.03228767e+01] [-4.17448745e-04 -1.09632952e-05 9.99999913e-01 -1.99568944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.985769231 meters Centerline goodness [0,1] 0.9997853893038029 Centerline is valid? [True, True] Translation: X:175.81, Y:-20.33, Z:-2.00 [[ 9.86423600e-01 1.64220384e-01 -3.84261028e-04 1.75809957e+02] [-1.64220376e-01 9.86423674e-01 5.32142211e-05 -2.03315915e+01] [ 3.87783035e-04 1.06117269e-05 9.99999925e-01 -1.99661060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.015769231 meters Centerline goodness [0,1] 0.9997016070591245 Centerline is valid? [True, True] Translation: X:175.84, Y:-20.33, Z:-2.00 [[ 9.86680794e-01 1.62659333e-01 -1.71811711e-03 1.75839152e+02] [-1.62659164e-01 9.86682289e-01 2.38552150e-04 -2.03266492e+01] [ 1.73403845e-03 4.40926676e-05 9.99998496e-01 -2.00143067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.87, Y:-20.34, Z:-2.00 [[ 9.87392759e-01 1.58271065e-01 -2.41027008e-03 1.75867988e+02] [-1.58270719e-01 9.87395699e-01 3.34770612e-04 -2.03387752e+01] [ 2.43287481e-03 5.09251008e-05 9.99997039e-01 -2.00177256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.075769231 meters Centerline goodness [0,1] 0.9998732117574963 Centerline is valid? [True, True] Translation: X:175.90, Y:-20.34, Z:-2.00 [[ 9.87880202e-01 1.55209898e-01 -1.61035518e-03 1.75896189e+02] [-1.55209740e-01 9.87881515e-01 2.23385873e-04 -2.03395958e+01] [ 1.62551181e-03 2.92643263e-05 9.99998678e-01 -2.00239218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.92, Y:-20.35, Z:-2.00 [[ 9.88677481e-01 1.50054410e-01 7.15492398e-04 1.75924858e+02] [-1.50054378e-01 9.88677740e-01 -9.93856934e-05 -2.03536975e+01] [-7.22304669e-04 -9.10236944e-06 9.99999739e-01 -1.99635243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.95, Y:-20.36, Z:-1.99 [[ 9.88929708e-01 1.48371835e-01 1.95725906e-03 1.75954128e+02] [-1.48371587e-01 9.88931645e-01 -2.71797704e-04 -2.03594797e+01] [-1.97592255e-03 -2.16128087e-05 9.99998048e-01 -1.99393258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.98, Y:-20.36, Z:-1.99 [[ 9.89187526e-01 1.46629887e-01 2.77772257e-03 1.75983452e+02] [-1.46629382e-01 9.89191425e-01 -3.85633169e-04 -2.03640374e+01] [-2.80424469e-03 -2.58322219e-05 9.99996068e-01 -1.99336203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.195769231 meters Centerline goodness [0,1] 0.9999789407181215 Centerline is valid? [True, True] Translation: X:176.01, Y:-20.36, Z:-1.99 [[ 9.89213664e-01 1.46445952e-01 3.14798518e-03 1.76012152e+02] [-1.46445303e-01 9.89218673e-01 -4.36959009e-04 -2.03629830e+01] [-3.17803660e-03 -2.87618209e-05 9.99994950e-01 -1.99395668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.04, Y:-20.36, Z:-1.99 [[ 9.89206454e-01 1.46489548e-01 3.37684466e-03 1.76040798e+02] [-1.46488802e-01 9.89212218e-01 -4.68600177e-04 -2.03647437e+01] [-3.40906102e-03 -3.11276081e-05 9.99994189e-01 -1.99410153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.07, Y:-20.37, Z:-1.99 [[ 9.89358222e-01 1.45474344e-01 2.74309275e-03 1.76069636e+02] [-1.45473848e-01 9.89362024e-01 -3.80548000e-04 -2.03695019e+01] [-2.76927177e-03 -2.25499661e-05 9.99996165e-01 -1.99483876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.10, Y:-20.37, Z:-2.00 [[ 9.89501857e-01 1.44509202e-01 1.77906357e-03 1.76098089e+02] [-1.44508992e-01 9.89503456e-01 -2.46823096e-04 -2.03720494e+01] [-1.79605776e-03 -1.28587708e-05 9.99998387e-01 -1.99761701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.13, Y:-20.38, Z:-2.00 [[ 9.89828164e-01 1.42264720e-01 9.77413878e-04 1.76126777e+02] [-1.42264655e-01 9.89828647e-01 -1.35598978e-04 -2.03830738e+01] [-9.86763207e-04 -4.83176061e-06 9.99999513e-01 -1.99863849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.16, Y:-20.39, Z:-2.00 [[ 9.89972345e-01 1.41251390e-01 1.67386851e-03 1.76155174e+02] [-1.41251199e-01 9.89973760e-01 -2.32113408e-04 -2.03876106e+01] [-1.68987225e-03 -6.65008058e-06 9.99998572e-01 -1.99818903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.18, Y:-20.40, Z:-2.00 [[ 9.90458061e-01 1.37794499e-01 2.34636250e-03 1.76184622e+02] [-1.37794115e-01 9.90460840e-01 -3.25245696e-04 -2.03995047e+01] [-2.36879724e-03 -1.17272378e-06 9.99997194e-01 -1.99626828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40576923100002 meters Centerline goodness [0,1] 0.999936400254399 Centerline is valid? [True, True] Translation: X:176.21, Y:-20.41, Z:-2.00 [[ 9.90647552e-01 1.36439385e-01 1.31218293e-03 1.76214539e+02] [-1.36439264e-01 9.90648421e-01 -1.81890841e-04 -2.04064403e+01] [-1.32472902e-03 1.15644396e-06 9.99999123e-01 -1.99822154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43576923100002 meters Centerline goodness [0,1] 0.9999784798140656 Centerline is valid? [True, True] Translation: X:176.25, Y:-20.41, Z:-2.00 [[ 9.90632004e-01 1.36557524e-01 -5.25128787e-04 1.76245542e+02] [-1.36557504e-01 9.90632143e-01 7.29002367e-05 -2.04121848e+01] [ 5.30164531e-04 -5.07031105e-07 9.99999859e-01 -2.00051546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.27, Y:-20.42, Z:-2.00 [[ 9.90495802e-01 1.37542398e-01 -3.93045822e-04 1.76274557e+02] [-1.37542387e-01 9.90495880e-01 5.44401400e-05 -2.04158946e+01] [ 3.96798095e-04 1.37730349e-07 9.99999921e-01 -2.00007321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.30, Y:-20.42, Z:-2.00 [[ 9.90291521e-01 1.39005682e-01 3.51831627e-04 1.76303764e+02] [-1.39005673e-01 9.90291584e-01 -4.88166635e-05 -2.04183192e+01] [-3.55201692e-04 -5.63864232e-07 9.99999937e-01 -1.99990088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.33, Y:-20.42, Z:-2.00 [[ 9.89937103e-01 1.41507802e-01 2.73643247e-04 1.76334266e+02] [-1.41507797e-01 9.89937140e-01 -3.79316908e-05 -2.04205421e+01] [-2.76257243e-04 -1.17266486e-06 9.99999962e-01 -1.99795147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.555769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.36, Y:-20.42, Z:-2.00 [[ 9.89863963e-01 1.42018293e-01 -3.72801407e-04 1.76363839e+02] [-1.42018284e-01 9.89864033e-01 5.16238715e-05 -2.04240258e+01] [ 3.76354238e-04 1.84400599e-06 9.99999929e-01 -1.99958879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.39, Y:-20.43, Z:-2.00 [[ 9.89998251e-01 1.41079311e-01 -3.02669961e-04 1.76393715e+02] [-1.41079304e-01 9.89998297e-01 4.19515296e-05 -2.04313627e+01] [ 3.05561239e-04 1.16852662e-06 9.99999953e-01 -1.99819608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.42, Y:-20.44, Z:-2.00 [[ 9.90142938e-01 1.40060262e-01 2.92011112e-04 1.76422335e+02] [-1.40060256e-01 9.90142981e-01 -4.05167850e-05 -2.04372686e+01] [-2.94807544e-04 -7.81742523e-07 9.99999957e-01 -1.99643841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.45, Y:-20.44, Z:-1.99 [[ 9.90269902e-01 1.39153800e-01 1.31924090e-03 1.76451973e+02] [-1.39153680e-01 9.90270781e-01 -1.82837515e-04 -2.04432902e+01] [-1.33184825e-03 -2.51873745e-06 9.99999113e-01 -1.99420279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.48, Y:-20.45, Z:-1.99 [[ 9.90621374e-01 1.36622488e-01 1.89447021e-03 1.76483282e+02] [-1.36622236e-01 9.90623186e-01 -2.62222989e-04 -2.04523803e+01] [-1.91253167e-03 9.36942219e-07 9.99998171e-01 -1.99300773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.51, Y:-20.46, Z:-1.99 [[ 9.90942508e-01 1.34282675e-01 1.05350519e-03 1.76514911e+02] [-1.34282596e-01 9.90943068e-01 -1.45708357e-04 -2.04614002e+01] [-1.06352977e-03 2.92119239e-06 9.99999434e-01 -1.99355492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.735769231 meters Centerline goodness [0,1] 0.9999572366311018 Centerline is valid? [True, True] Translation: X:176.55, Y:-20.47, Z:-1.99 [[ 9.90914983e-01 1.34484869e-01 1.14749070e-03 1.76545533e+02] [-1.34484775e-01 9.90915647e-01 -1.58995963e-04 -2.04658852e+01] [-1.15844904e-03 3.23145248e-06 9.99999329e-01 -1.99281118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.58, Y:-20.47, Z:-1.99 [[ 9.90775664e-01 1.35508249e-01 1.04755149e-03 1.76576927e+02] [-1.35508171e-01 9.90776218e-01 -1.45635891e-04 -2.04686012e+01] [-1.05762397e-03 2.34071025e-06 9.99999441e-01 -1.99240908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.61, Y:-20.47, Z:-1.99 [[ 9.90463389e-01 1.37762709e-01 1.92645273e-03 1.76607830e+02] [-1.37762449e-01 9.90465262e-01 -2.67875820e-04 -2.04700911e+01] [-1.94498781e-03 -7.16531845e-08 9.99998109e-01 -1.99112388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.825769231 meters Centerline goodness [0,1] 0.9999789389439987 Centerline is valid? [True, True] Translation: X:176.64, Y:-20.47, Z:-1.99 [[ 9.90443993e-01 1.37889330e-01 2.68872479e-03 1.76638100e+02] [-1.37888822e-01 9.90447643e-01 -3.74194746e-04 -2.04746569e+01] [-2.71463859e-03 -1.26155142e-07 9.99996315e-01 -1.99032369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.855769231 meters Centerline goodness [0,1] 0.9999789389439987 Centerline is valid? [True, True] Translation: X:176.67, Y:-20.48, Z:-1.99 [[ 9.90440847e-01 1.37911926e-01 2.68872228e-03 1.76668632e+02] [-1.37911419e-01 9.90444496e-01 -3.74212776e-04 -2.04789538e+01] [-2.71463859e-03 -1.69885129e-07 9.99996315e-01 -1.99044431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.70, Y:-20.49, Z:-1.99 [[ 9.90783079e-01 1.35453152e-01 1.15501446e-03 1.76700222e+02] [-1.35453057e-01 9.90783752e-01 -1.60274889e-04 -2.04900694e+01] [-1.16607930e-03 2.34740867e-06 9.99999320e-01 -1.99323162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.915769231 meters Centerline goodness [0,1] 0.9999574793774981 Centerline is valid? [True, True] Translation: X:176.73, Y:-20.50, Z:-2.00 [[ 9.91112973e-01 1.33022601e-01 -2.50509172e-04 1.76731613e+02] [-1.33022596e-01 9.91113005e-01 3.56081148e-05 -2.05008394e+01] [ 2.53019582e-04 -1.96828420e-06 9.99999968e-01 -1.99608835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.945769231 meters Centerline goodness [0,1] 0.9999364218200314 Centerline is valid? [True, True] Translation: X:176.76, Y:-20.51, Z:-2.00 [[ 9.91494667e-01 1.30145927e-01 -6.03346469e-04 1.76762494e+02] [-1.30145899e-01 9.91494850e-01 8.49499907e-05 -2.05119459e+01] [ 6.09270812e-04 -5.70439400e-06 9.99999814e-01 -1.99738519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.79, Y:-20.53, Z:-2.00 [[ 9.92180745e-01 1.24807004e-01 7.61592795e-04 1.76791412e+02] [-1.24806960e-01 9.92181038e-01 -1.06153111e-04 -2.05295942e+01] [-7.68886581e-04 1.02709911e-05 9.99999704e-01 -1.99587736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.82, Y:-20.54, Z:-2.00 [[ 9.92436323e-01 1.22758873e-01 6.35363852e-04 1.76822761e+02] [-1.22758842e-01 9.92436526e-01 -8.82846475e-05 -2.05393510e+01] [-6.41396018e-04 9.62036013e-06 9.99999794e-01 -1.99600567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03576923100002 meters Centerline goodness [0,1] 0.9998939734509521 Centerline is valid? [True, True] Translation: X:176.85, Y:-20.55, Z:-2.00 [[ 9.92749422e-01 1.20201510e-01 -4.26336833e-04 1.76851706e+02] [-1.20201495e-01 9.92749514e-01 6.00474926e-05 -2.05541241e+01] [ 4.30463483e-04 -8.36578888e-06 9.99999907e-01 -1.99809885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06576923100002 meters Centerline goodness [0,1] 0.9998922437016443 Centerline is valid? [True, True] Translation: X:176.88, Y:-20.56, Z:-2.00 [[ 9.92767152e-01 1.20054675e-01 -5.06324615e-04 1.76883935e+02] [-1.20054654e-01 9.92767281e-01 7.17752819e-05 -2.05609846e+01] [ 5.11279469e-04 -1.04695157e-05 9.99999869e-01 -1.99864662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09576923100002 meters Centerline goodness [0,1] 0.9997642873979472 Centerline is valid? [True, True] Translation: X:176.92, Y:-20.57, Z:-1.99 [[ 9.92629874e-01 1.21181852e-01 -9.44147207e-04 1.76915408e+02] [-1.21181780e-01 9.92630323e-01 1.33254256e-04 -2.05662228e+01] [ 9.53337145e-04 -1.78587167e-05 9.99999545e-01 -1.99489333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12576923100002 meters Centerline goodness [0,1] 0.9999574504297507 Centerline is valid? [True, True] Translation: X:176.95, Y:-20.57, Z:-2.00 [[ 9.92204993e-01 1.24607083e-01 -1.52536246e-03 1.76946297e+02] [-1.24606900e-01 9.92206165e-01 2.15067765e-04 -2.05682628e+01] [ 1.54027300e-03 -2.33206237e-05 9.99998814e-01 -2.00230940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.98, Y:-20.57, Z:-2.00 [[ 9.91816688e-01 1.27654569e-01 -1.99215072e-03 1.76977437e+02] [-1.27654263e-01 9.91818688e-01 2.80647967e-04 -2.05708058e+01] [ 2.01167831e-03 -2.40448062e-05 9.99997976e-01 -2.00417621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.01, Y:-20.57, Z:-2.00 [[ 9.91590929e-01 1.29396832e-01 -1.97211841e-03 1.77009509e+02] [-1.29396534e-01 9.91592890e-01 2.78435451e-04 -2.05723511e+01] [ 1.99156726e-03 -2.09087802e-05 9.99998017e-01 -2.00452786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.04, Y:-20.57, Z:-2.00 [[ 9.91390788e-01 1.30930545e-01 -1.22355203e-03 1.77041846e+02] [-1.30930431e-01 9.91391543e-01 1.73197660e-04 -2.05741470e+01] [ 1.23569600e-03 -1.15063695e-05 9.99999236e-01 -2.00431919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24576923100003 meters Centerline goodness [0,1] 0.9999574305053 Centerline is valid? [True, True] Translation: X:177.07, Y:-20.58, Z:-2.00 [[ 9.91283080e-01 1.31743809e-01 1.19347359e-03 1.77072592e+02] [-1.31743702e-01 9.91283798e-01 -1.67896644e-04 -2.05777959e+01] [-1.20519038e-03 9.20047346e-06 9.99999274e-01 -2.00040435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27576923100003 meters Centerline goodness [0,1] 0.9999364622161979 Centerline is valid? [True, True] Translation: X:177.10, Y:-20.59, Z:-2.00 [[ 9.91434673e-01 1.30589248e-01 1.93323854e-03 1.77103079e+02] [-1.30588965e-01 9.91436558e-01 -2.72637994e-04 -2.05863328e+01] [-1.95228695e-03 1.78431418e-05 9.99998094e-01 -1.99968824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.305769231 meters Centerline goodness [0,1] 0.9999786420623225 Centerline is valid? [True, True] Translation: X:177.13, Y:-20.60, Z:-2.00 [[ 9.92090074e-01 1.25503874e-01 2.46213615e-03 1.77133698e+02] [-1.25503397e-01 9.92093129e-01 -3.47767402e-04 -2.05969271e+01] [-2.48631451e-03 3.60101374e-05 9.99996908e-01 -1.99983529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.335769231 meters Centerline goodness [0,1] 0.9999363395225465 Centerline is valid? [True, True] Translation: X:177.16, Y:-20.61, Z:-2.00 [[ 9.92428136e-01 1.22810878e-01 1.97072876e-03 1.77164400e+02] [-1.22810567e-01 9.92430092e-01 -2.78532217e-04 -2.06057274e+01] [-1.99001731e-03 3.43968927e-05 9.99998019e-01 -2.00156669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.365769231 meters Centerline goodness [0,1] 0.9999154655733548 Centerline is valid? [True, True] Translation: X:177.20, Y:-20.62, Z:-2.00 [[ 9.92720170e-01 1.20441154e-01 7.70054765e-04 1.77195157e+02] [-1.20441106e-01 9.92720468e-01 -1.08920844e-04 -2.06168206e+01] [-7.77567679e-04 1.53816710e-05 9.99999698e-01 -2.00440691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.395769231 meters Centerline goodness [0,1] 0.9998716852010265 Centerline is valid? [True, True] Translation: X:177.22, Y:-20.63, Z:-2.00 [[ 9.93201968e-01 1.16403409e-01 3.11745323e-04 1.77222985e+02] [-1.16403401e-01 9.93202017e-01 -4.41677017e-05 -2.06345868e+01] [-3.14767354e-04 7.57923243e-06 9.99999950e-01 -2.00415295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.425769231 meters Centerline goodness [0,1] 0.9996816368112743 Centerline is valid? [True, True] Translation: X:177.25, Y:-20.65, Z:-2.00 [[ 9.93325101e-01 1.15341915e-01 1.21909665e-03 1.77253079e+02] [-1.15341790e-01 9.93325849e-01 -1.72323452e-04 -2.06460818e+01] [-1.23083633e-03 3.05604210e-05 9.99999242e-01 -2.00213529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.455769231 meters Centerline goodness [0,1] 0.9995931390393799 Centerline is valid? [True, True] Translation: X:177.29, Y:-20.65, Z:-2.00 [[ 9.93247752e-01 1.15999278e-01 1.75211602e-03 1.77285049e+02] [-1.15999021e-01 9.93249297e-01 -2.48160917e-04 -2.06517917e+01] [-1.76907449e-03 4.32415304e-05 9.99998434e-01 -2.00089796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.485769231 meters Centerline goodness [0,1] 0.9999140136288398 Centerline is valid? [True, True] Translation: X:177.32, Y:-20.65, Z:-2.00 [[ 9.93084215e-01 1.17388734e-01 1.90461820e-03 1.77317604e+02] [-1.17388431e-01 9.93086040e-01 -2.70313394e-04 -2.06530564e+01] [-1.92318149e-03 4.48638229e-05 9.99998150e-01 -2.00089598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.35, Y:-20.66, Z:-2.00 [[ 9.92567916e-01 1.21691463e-01 3.47087043e-04 1.77347791e+02] [-1.21691453e-01 9.92567976e-01 -4.92600948e-05 -2.06553557e+01] [-3.50502017e-04 6.65646293e-06 9.99999939e-01 -2.00407941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.38, Y:-20.66, Z:-2.01 [[ 9.92254555e-01 1.24220648e-01 -3.59144591e-04 1.77378623e+02] [-1.24220638e-01 9.92254620e-01 5.14198150e-05 -2.06613706e+01] [ 3.62750283e-04 -6.40837557e-06 9.99999934e-01 -2.00599822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.41, Y:-20.66, Z:-2.00 [[ 9.91856226e-01 1.27362440e-01 1.90458571e-04 1.77410689e+02] [-1.27362437e-01 9.91856244e-01 -2.64621941e-05 -2.06636884e+01] [-1.92277813e-04 1.98942422e-06 9.99999982e-01 -2.00277482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.44, Y:-20.67, Z:-2.00 [[ 9.91758512e-01 1.28112379e-01 1.50707666e-03 1.77442823e+02] [-1.28112201e-01 9.91759657e-01 -2.14348739e-04 -2.06699140e+01] [-1.52211856e-03 1.95072777e-05 9.99998841e-01 -1.99974118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.48, Y:-20.67, Z:-1.99 [[ 9.91536713e-01 1.29765947e-01 3.96807086e-03 1.77475124e+02] [-1.29764725e-01 9.91544652e-01 -5.64983062e-04 -2.06749604e+01] [-4.00783501e-03 4.52858249e-05 9.99991968e-01 -1.99495764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.51, Y:-20.68, Z:-1.99 [[ 9.91384658e-01 1.30912295e-01 4.29322856e-03 1.77506166e+02] [-1.30910874e-01 9.91393953e-01 -6.11593300e-04 -2.06809537e+01] [-4.33634591e-03 4.42939133e-05 9.99990597e-01 -1.99489506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.54, Y:-20.69, Z:-2.00 [[ 9.91306379e-01 1.31502594e-01 4.32791763e-03 1.77536484e+02] [-1.31501153e-01 9.91315825e-01 -6.17174795e-04 -2.06863634e+01] [-4.37149333e-03 4.26831525e-05 9.99990444e-01 -1.99518898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.57, Y:-20.69, Z:-1.99 [[ 9.91452805e-01 1.30397079e-01 4.23522130e-03 1.77568142e+02] [-1.30395687e-01 9.91461850e-01 -6.04348658e-04 -2.06939557e+01] [-4.27786564e-03 4.69285813e-05 9.99990849e-01 -1.99399074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.60, Y:-20.71, Z:-2.00 [[ 9.91660034e-01 1.28876134e-01 1.14863370e-03 1.77597330e+02] [-1.28876031e-01 9.91660699e-01 -1.63655752e-04 -2.07098039e+01] [-1.16014622e-03 1.42595162e-05 9.99999327e-01 -2.00005895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78576923100002 meters Centerline goodness [0,1] 0.9999786169439336 Centerline is valid? [True, True] Translation: X:177.63, Y:-20.72, Z:-2.00 [[ 9.91751420e-01 1.28175345e-01 -4.49772306e-04 1.77628803e+02] [-1.28175329e-01 9.91751522e-01 6.50150447e-05 -2.07176000e+01] [ 4.54395695e-04 -6.82904946e-06 9.99999897e-01 -2.00405615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.66, Y:-20.73, Z:-2.01 [[ 9.91794686e-01 1.27825834e-01 -1.96398693e-03 1.77660446e+02] [-1.27825526e-01 9.91796630e-01 2.82153573e-04 -2.07257493e+01] [ 1.98394213e-03 -2.87907531e-05 9.99998032e-01 -2.00581498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84576923100002 meters Centerline goodness [0,1] 0.999978584889498 Centerline is valid? [True, True] Translation: X:177.69, Y:-20.74, Z:-2.01 [[ 9.91676870e-01 1.28735710e-01 -2.02526915e-03 1.77690057e+02] [-1.28735384e-01 9.91678938e-01 2.91201050e-04 -2.07373039e+01] [ 2.04590473e-03 -2.80535448e-05 9.99997907e-01 -2.00559315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.72, Y:-20.74, Z:-2.01 [[ 9.91453268e-01 1.30450295e-01 -1.77141444e-03 1.77721171e+02] [-1.30450047e-01 9.91454850e-01 2.55070451e-04 -2.07433147e+01] [ 1.78955145e-03 -2.18093347e-05 9.99998399e-01 -2.00540389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.75, Y:-20.74, Z:-2.00 [[ 9.90702347e-01 1.36034550e-01 -1.86012837e-03 1.77754040e+02] [-1.36034286e-01 9.90704094e-01 2.68143145e-04 -2.07400904e+01] [ 1.87931352e-03 -1.26088093e-05 9.99998234e-01 -2.00366383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.79, Y:-20.74, Z:-2.01 [[ 9.90209974e-01 1.39563341e-01 -2.50626499e-03 1.77785108e+02] [-1.39562873e-01 9.90213146e-01 3.61395515e-04 -2.07414926e+01] [ 2.53217410e-03 -8.07590109e-06 9.99996794e-01 -2.00593468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.82, Y:-20.74, Z:-2.01 [[ 9.89743902e-01 1.42812317e-01 -3.41317892e-03 1.77818322e+02] [-1.42811467e-01 9.89749788e-01 4.92667876e-04 -2.07421648e+01] [ 3.44855215e-03 -1.73936860e-07 9.99994054e-01 -2.00793014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.85, Y:-20.74, Z:-2.01 [[ 9.88996662e-01 1.47903313e-01 -3.19563710e-03 1.77850810e+02] [-1.47902593e-01 9.89001825e-01 4.61637552e-04 -2.07369611e+01] [ 3.22876865e-03 1.60850163e-05 9.99994787e-01 -2.00925220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.88, Y:-20.74, Z:-2.01 [[ 9.88670235e-01 1.50092368e-01 -1.85668329e-03 1.77883969e+02] [-1.50092128e-01 9.88671978e-01 2.68863319e-04 -2.07373460e+01] [ 1.87600507e-03 1.28563847e-05 9.99998240e-01 -2.00626020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.055769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.92, Y:-20.73, Z:-2.00 [[ 9.87937231e-01 1.54854226e-01 4.43807579e-04 1.77916754e+02] [-1.54854213e-01 9.87937330e-01 -6.35700959e-05 -2.07332777e+01] [-4.48298173e-04 -5.92220891e-06 9.99999899e-01 -2.00037628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.95, Y:-20.73, Z:-2.00 [[ 9.87450297e-01 1.57929479e-01 4.36320421e-04 1.77949201e+02] [-1.57929467e-01 9.87450393e-01 -6.25965880e-05 -2.07300306e+01] [-4.40730618e-04 -7.09683226e-06 9.99999903e-01 -2.00107518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.115769231 meters Centerline goodness [0,1] 0.9999352373550936 Centerline is valid? [True, True] Translation: X:177.98, Y:-20.72, Z:-2.00 [[ 9.86278581e-01 1.65088834e-01 -4.87945914e-04 1.77982833e+02] [-1.65088820e-01 9.86278701e-01 7.06817090e-05 -2.07155971e+01] [ 4.92919423e-04 1.08425594e-05 9.99999878e-01 -2.00477880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.145769231 meters Centerline goodness [0,1] 0.9999571137557628 Centerline is valid? [True, True] Translation: X:178.01, Y:-20.71, Z:-2.01 [[ 9.85773078e-01 1.68080004e-01 -7.42100823e-04 1.78013916e+02] [-1.68079971e-01 9.85773357e-01 1.07484123e-04 -2.07112202e+01] [ 7.49609152e-04 1.87773299e-05 9.99999719e-01 -2.00612156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.175769231 meters Centerline goodness [0,1] 0.9998311666385278 Centerline is valid? [True, True] Translation: X:178.05, Y:-20.71, Z:-2.01 [[ 9.85434031e-01 1.70056537e-01 -7.38636671e-04 1.78045572e+02] [-1.70056504e-01 9.85434307e-01 1.07041365e-04 -2.07090638e+01] [ 7.46081000e-04 2.01277661e-05 9.99999721e-01 -2.00635075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.205769231 meters Centerline goodness [0,1] 0.9999786753102743 Centerline is valid? [True, True] Translation: X:178.08, Y:-20.71, Z:-2.01 [[ 9.85321467e-01 1.70707105e-01 -8.31008733e-04 1.78076599e+02] [-1.70707064e-01 9.85321817e-01 1.20331482e-04 -2.07088440e+01] [ 8.39352474e-04 2.32938680e-05 9.99999647e-01 -2.00762507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.235769231 meters Centerline goodness [0,1] 0.9998297836124173 Centerline is valid? [True, True] Translation: X:178.11, Y:-20.71, Z:-2.01 [[ 9.85450659e-01 1.69956272e-01 -1.36544232e-03 1.78107297e+02] [-1.69956161e-01 9.85451604e-01 1.97718377e-04 -2.07058363e+01] [ 1.37918080e-03 3.72236296e-05 9.99999048e-01 -2.00974816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.265769231 meters Centerline goodness [0,1] 0.9998093543467209 Centerline is valid? [True, True] Translation: X:178.14, Y:-20.70, Z:-2.01 [[ 9.85783197e-01 1.68002389e-01 -2.58568658e-03 1.78136947e+02] [-1.68001985e-01 9.85786586e-01 3.74270688e-04 -2.07049331e+01] [ 2.61181352e-03 6.54507237e-05 9.99996587e-01 -2.01322297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.295769231 meters Centerline goodness [0,1] 0.9999356885611388 Centerline is valid? [True, True] Translation: X:178.17, Y:-20.70, Z:-2.01 [[ 9.85924472e-01 1.67170043e-01 -2.66669369e-03 1.78166152e+02] [-1.67169611e-01 9.85928077e-01 3.85870126e-04 -2.07049899e+01] [ 2.69367411e-03 6.53513458e-05 9.99996370e-01 -2.01332997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.325769231 meters Centerline goodness [0,1] 0.999936 Centerline is valid? [True, True] Translation: X:178.20, Y:-20.71, Z:-2.01 [[ 9.85995465e-01 1.66762171e-01 -1.82244378e-03 1.78195597e+02] [-1.66761968e-01 9.85997148e-01 2.63662734e-04 -2.07089134e+01] [ 1.84089334e-03 4.39440507e-05 9.99998305e-01 -2.01067601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.355769231 meters Centerline goodness [0,1] 0.999892359690857 Centerline is valid? [True, True] Translation: X:178.23, Y:-20.71, Z:-2.01 [[ 9.86269262e-01 1.65144105e-01 6.06756676e-04 1.78225167e+02] [-1.65144082e-01 9.86269448e-01 -8.79244762e-05 -2.07053565e+01] [-6.12945781e-04 -1.34850658e-05 9.99999812e-01 -2.00758467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.25, Y:-20.70, Z:-2.01 [[ 9.86745693e-01 1.62269700e-01 -1.21756381e-03 1.78254047e+02] [-1.62269606e-01 9.86746444e-01 1.75995345e-04 -2.07037452e+01] [ 1.22998547e-03 2.39109517e-05 9.99999243e-01 -2.01269802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.415769231 meters Centerline goodness [0,1] 0.9999574440921761 Centerline is valid? [True, True] Translation: X:178.28, Y:-20.71, Z:-2.01 [[ 9.87152075e-01 1.59768464e-01 -2.19496694e-03 1.78283337e+02] [-1.59768153e-01 9.87154515e-01 3.17384753e-04 -2.07107009e+01] [ 2.21747960e-03 3.73787955e-05 9.99997541e-01 -2.01463644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.31, Y:-20.72, Z:-2.01 [[ 9.87605518e-01 1.56939743e-01 -2.29299208e-03 1.78311834e+02] [-1.56939396e-01 9.87608179e-01 3.31506446e-04 -2.07203136e+01] [ 2.31660427e-03 3.24631962e-05 9.99997316e-01 -2.01388547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.34, Y:-20.73, Z:-2.01 [[ 9.88424545e-01 1.51708014e-01 -1.26410422e-03 1.78341260e+02] [-1.51707904e-01 9.88425353e-01 1.82804384e-04 -2.07275743e+01] [ 1.27720555e-03 1.10862617e-05 9.99999184e-01 -2.01080354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.37, Y:-20.73, Z:-2.01 [[ 9.88690929e-01 1.49966564e-01 -5.25800764e-04 1.78371121e+02] [-1.49966545e-01 9.88691069e-01 7.59876664e-05 -2.07321609e+01] [ 5.31250129e-04 3.72420744e-06 9.99999859e-01 -2.00959298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.40, Y:-20.74, Z:-2.01 [[ 9.89160612e-01 1.46835470e-01 7.92225449e-04 1.78400098e+02] [-1.46835425e-01 9.89160930e-01 -1.14590618e-04 -2.07387786e+01] [-8.00464429e-04 -2.97823493e-06 9.99999680e-01 -2.00616000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.43, Y:-20.74, Z:-2.00 [[ 9.89363974e-01 1.45455764e-01 1.24417209e-03 1.78430512e+02] [-1.45455653e-01 9.89364756e-01 -1.79894126e-04 -2.07442458e+01] [-1.25710665e-03 -2.99109588e-06 9.99999210e-01 -2.00478637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.46, Y:-20.75, Z:-2.01 [[ 9.89562097e-01 1.44106049e-01 5.49648546e-04 1.78460265e+02] [-1.44106027e-01 9.89562250e-01 -7.95100424e-05 -2.07467031e+01] [-5.55369330e-04 -5.27543997e-07 9.99999846e-01 -2.00578165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.49, Y:-20.75, Z:-2.01 [[ 9.89590667e-01 1.43910730e-01 -1.16662032e-04 1.78490675e+02] [-1.43910729e-01 9.89590674e-01 1.68668081e-05 -2.07496121e+01] [ 1.17874973e-04 9.76822360e-08 9.99999993e-01 -2.00689984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.52, Y:-20.75, Z:-2.01 [[ 9.89551587e-01 1.44179093e-01 -2.12409207e-04 1.78521106e+02] [-1.44179089e-01 9.89551610e-01 3.07097799e-05 -2.07519549e+01] [ 2.14617581e-04 2.36054552e-07 9.99999977e-01 -2.00694105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.55, Y:-20.75, Z:-2.00 [[ 9.89367004e-01 1.45440292e-01 2.30424631e-04 1.78550645e+02] [-1.45440288e-01 9.89367031e-01 -3.34335429e-05 -2.07513574e+01] [-2.32837117e-04 -4.34980546e-07 9.99999973e-01 -2.00441131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.58, Y:-20.75, Z:-2.00 [[ 9.89192446e-01 1.46622079e-01 5.21200599e-04 1.78579534e+02] [-1.46622059e-01 9.89192583e-01 -7.54462155e-05 -2.07517731e+01] [-5.26629848e-04 -1.78867859e-06 9.99999861e-01 -2.00322550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.61, Y:-20.76, Z:-2.00 [[ 9.89195548e-01 1.46601146e-01 5.21208171e-04 1.78608407e+02] [-1.46601126e-01 9.89195685e-01 -7.53938227e-05 -2.07558965e+01] [-5.26629695e-04 -1.83047125e-06 9.99999861e-01 -2.00333959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.64, Y:-20.75, Z:-2.00 [[ 9.88780707e-01 1.49372172e-01 8.17220250e-04 1.78638833e+02] [-1.49372126e-01 9.88781045e-01 -1.18153388e-04 -2.07520759e+01] [-8.25700720e-04 -5.24213561e-06 9.99999659e-01 -2.00154367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.67, Y:-20.75, Z:-2.00 [[ 9.88571908e-01 1.50747141e-01 9.39606237e-04 1.78668237e+02] [-1.50747080e-01 9.88572354e-01 -1.35846438e-04 -2.07498345e+01] [-9.49347212e-04 -7.34892399e-06 9.99999549e-01 -2.00292003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.70, Y:-20.75, Z:-2.00 [[ 9.88167723e-01 1.53376701e-01 -3.73869535e-04 1.78697510e+02] [-1.53376692e-01 9.88167793e-01 5.38004871e-05 -2.07497196e+01] [ 3.77697574e-04 4.17896753e-06 9.99999929e-01 -2.00414654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.865769231 meters Centerline goodness [0,1] 0.9999788543274619 Centerline is valid? [True, True] Translation: X:178.73, Y:-20.75, Z:-2.01 [[ 9.87944719e-01 1.54801633e-01 -1.29861369e-03 1.78726474e+02] [-1.54801520e-01 9.87945573e-01 1.87200100e-04 -2.07467286e+01] [ 1.31193853e-03 1.60840236e-05 9.99999139e-01 -2.00605030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.895769231 meters Centerline goodness [0,1] 0.9999367222105041 Centerline is valid? [True, True] Translation: X:178.75, Y:-20.75, Z:-2.00 [[ 9.87630317e-01 1.56789273e-01 -1.86553334e-03 1.78754971e+02] [-1.56789045e-01 9.87632079e-01 2.68918201e-04 -2.07476510e+01] [ 1.88462406e-03 2.69034222e-05 9.99998224e-01 -2.00477254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.78, Y:-20.75, Z:-2.00 [[ 9.87491693e-01 1.57668355e-01 -9.20404757e-04 1.78783625e+02] [-1.57668300e-01 9.87492121e-01 1.32558290e-04 -2.07499620e+01] [ 9.29792694e-04 1.42184427e-05 9.99999568e-01 -2.00317983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.955769231 meters Centerline goodness [0,1] 0.99991533495608 Centerline is valid? [True, True] Translation: X:178.81, Y:-20.74, Z:-2.00 [[ 9.87350677e-01 1.58548445e-01 1.01593471e-03 1.78812887e+02] [-1.58548378e-01 9.87351199e-01 -1.46689942e-04 -2.07442654e+01] [-1.02634181e-03 -1.62403854e-05 9.99999473e-01 -2.00207771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.985769231 meters Centerline goodness [0,1] 0.9999366005198758 Centerline is valid? [True, True] Translation: X:178.84, Y:-20.75, Z:-2.00 [[ 9.87063191e-01 1.60273028e-01 4.33750577e-03 1.78841501e+02] [-1.60271828e-01 9.87072718e-01 -6.25287445e-04 -2.07456506e+01] [-4.38165032e-03 -7.79817559e-05 9.99990397e-01 -1.99528024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.015769231 meters Centerline goodness [0,1] 0.9999787025599522 Centerline is valid? [True, True] Translation: X:178.87, Y:-20.74, Z:-1.99 [[ 9.86905588e-01 1.61227964e-01 4.78571646e-03 1.78870462e+02] [-1.61226515e-01 9.86917188e-01 -6.89666061e-04 -2.07446744e+01] [-4.83429928e-03 -9.09490945e-05 9.99988311e-01 -1.99449680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.045769231 meters Centerline goodness [0,1] 0.9998938068133548 Centerline is valid? [True, True] Translation: X:178.90, Y:-20.74, Z:-2.00 [[ 9.86583216e-01 1.63228093e-01 3.18563808e-03 1.78899484e+02] [-1.63227462e-01 9.86588356e-01 -4.59002561e-04 -2.07373445e+01] [-3.21783555e-03 -6.71393946e-05 9.99994821e-01 -1.99878448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.075769231 meters Centerline goodness [0,1] 0.9999358851061102 Centerline is valid? [True, True] Translation: X:178.93, Y:-20.74, Z:-2.00 [[ 9.86644832e-01 1.62865031e-01 2.63758440e-03 1.78928207e+02] [-1.62864597e-01 9.86648356e-01 -3.79911341e-04 -2.07381161e+01] [-2.66424259e-03 -5.47315609e-05 9.99996449e-01 -2.00062808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.105769231 meters Centerline goodness [0,1] 0.9999788583509513 Centerline is valid? [True, True] Translation: X:178.96, Y:-20.74, Z:-2.00 [[ 9.87189116e-01 1.59531168e-01 2.73047378e-03 1.78955960e+02] [-1.59530691e-01 9.87192891e-01 -3.93176177e-04 -2.07410652e+01] [-2.75822815e-03 -4.74551241e-05 9.99996195e-01 -2.00109412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.135769231 meters Centerline goodness [0,1] 0.9999158125144697 Centerline is valid? [True, True] Translation: X:178.98, Y:-20.74, Z:-2.00 [[ 9.87525420e-01 1.57435635e-01 2.75047337e-03 1.78983778e+02] [-1.57435142e-01 9.87529250e-01 -3.95901538e-04 -2.07410068e+01] [-2.77850191e-03 -4.20583340e-05 9.99996139e-01 -2.00196599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.165769231 meters Centerline goodness [0,1] 0.9999788189443362 Centerline is valid? [True, True] Translation: X:179.01, Y:-20.75, Z:-2.00 [[ 9.87809747e-01 1.55641722e-01 2.74934821e-03 1.79011787e+02] [-1.55641224e-01 9.87813572e-01 -3.95575296e-04 -2.07490434e+01] [-2.77741150e-03 -3.71587877e-05 9.99996142e-01 -2.00192848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.04, Y:-20.75, Z:-2.00 [[ 9.88127857e-01 1.53619720e-01 2.07831394e-03 1.79040878e+02] [-1.53619431e-01 9.88130043e-01 -2.98977202e-04 -2.07508571e+01] [-2.09957324e-03 -2.38417030e-05 9.99997796e-01 -2.00442126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.07, Y:-20.76, Z:-2.01 [[ 9.88595452e-01 1.50588163e-01 1.49571450e-03 1.79068517e+02] [-1.50588010e-01 9.88596583e-01 -2.15160584e-04 -2.07581434e+01] [-1.51105888e-03 -1.25298951e-05 9.99998858e-01 -2.00663825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.10, Y:-20.76, Z:-2.01 [[ 9.88899297e-01 1.48572963e-01 2.06259367e-03 1.79097316e+02] [-1.48572668e-01 9.88901448e-01 -2.96537204e-04 -2.07629521e+01] [-2.08375928e-03 -1.31996108e-05 9.99997829e-01 -2.00532553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.13, Y:-20.77, Z:-2.00 [[ 9.89144843e-01 1.46917825e-01 2.76263408e-03 1.79125421e+02] [-1.46917289e-01 9.89148701e-01 -3.96990953e-04 -2.07659063e+01] [-2.79098096e-03 -1.31971568e-05 9.99996105e-01 -2.00499396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.15, Y:-20.77, Z:-2.00 [[ 9.89323042e-01 1.45704513e-01 3.18014108e-03 1.79153562e+02] [-1.45703797e-01 9.89328153e-01 -4.56742536e-04 -2.07705862e+01] [-3.21275255e-03 -1.14927166e-05 9.99994839e-01 -2.00378496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.18, Y:-20.78, Z:-2.01 [[ 9.89502321e-01 1.44493794e-01 2.58850987e-03 1.79182431e+02] [-1.44493316e-01 9.89505707e-01 -3.71665223e-04 -2.07758638e+01] [-2.61504860e-03 -6.25877394e-06 9.99996581e-01 -2.00535417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.21, Y:-20.78, Z:-2.01 [[ 9.89796179e-01 1.42457671e-01 3.05557790e-03 1.79210297e+02] [-1.42456996e-01 9.89800895e-01 -4.38603175e-04 -2.07815064e+01] [-3.08689613e-03 -1.16070129e-06 9.99995236e-01 -2.00531242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.24, Y:-20.79, Z:-2.01 [[ 9.89880181e-01 1.41871955e-01 3.09435027e-03 1.79238998e+02] [-1.41871261e-01 9.89885018e-01 -4.44019951e-04 -2.07857742e+01] [-3.12604495e-03 5.27175948e-07 9.99995114e-01 -2.00593937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.27, Y:-20.79, Z:-2.01 [[ 9.89938797e-01 1.41473180e-01 2.55283257e-03 1.79266872e+02] [-1.41472706e-01 9.89942089e-01 -3.66244916e-04 -2.07898071e+01] [-2.57897024e-03 1.40392103e-06 9.99996674e-01 -2.00768423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.30, Y:-20.79, Z:-2.01 [[ 9.89897845e-01 1.41766130e-01 2.14958863e-03 1.79295769e+02] [-1.41765795e-01 9.89900179e-01 -3.08259223e-04 -2.07935995e+01] [-2.17157889e-03 4.06999869e-07 9.99997642e-01 -2.00747463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.32, Y:-20.80, Z:-2.01 [[ 9.89811633e-01 1.42361259e-01 2.49048492e-03 1.79324056e+02] [-1.42360812e-01 9.89814766e-01 -3.57008254e-04 -2.07955223e+01] [-2.51594290e-03 -1.17653164e-06 9.99996835e-01 -2.00625968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.35, Y:-20.79, Z:-2.00 [[ 9.89415312e-01 1.45065229e-01 3.66332364e-03 1.79353062e+02] [-1.45064281e-01 9.89422093e-01 -5.24795404e-04 -2.07913181e+01] [-3.70070291e-03 -1.21768003e-05 9.99993152e-01 -2.00262333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.555769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.38, Y:-20.79, Z:-2.00 [[ 9.89176385e-01 1.46691144e-01 3.43316378e-03 1.79382369e+02] [-1.46690321e-01 9.89182343e-01 -4.91623363e-04 -2.07912571e+01] [-3.46814178e-03 -1.73096767e-05 9.99993986e-01 -2.00270720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.41, Y:-20.79, Z:-2.00 [[ 9.89028007e-01 1.47703508e-01 2.69742177e-03 1.79410871e+02] [-1.47703004e-01 9.89031685e-01 -3.86162087e-04 -2.07924988e+01] [-2.72487310e-03 -1.64921792e-05 9.99996287e-01 -2.00425479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.44, Y:-20.79, Z:-2.00 [[ 9.89072337e-01 1.47409270e-01 2.53359957e-03 1.79439941e+02] [-1.47408825e-01 9.89075582e-01 -3.62642973e-04 -2.07928257e+01] [-2.55937841e-03 -1.47948027e-05 9.99996725e-01 -2.00390498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.47, Y:-20.79, Z:-2.00 [[ 9.89165229e-01 1.46752530e-01 3.98041104e-03 1.79468121e+02] [-1.46751427e-01 9.89173238e-01 -5.69429820e-04 -2.07929451e+01] [-4.02088135e-03 -2.08708233e-05 9.99991916e-01 -1.99977606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.50, Y:-20.80, Z:-2.00 [[ 9.89207692e-01 1.46451567e-01 4.48116246e-03 1.79495441e+02] [-1.46450167e-01 9.89217842e-01 -6.40769331e-04 -2.07952899e+01] [-4.52668753e-03 -2.24130391e-05 9.99989754e-01 -1.99872365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.52, Y:-20.80, Z:-2.00 [[ 9.89270951e-01 1.46039048e-01 3.94729317e-03 1.79522955e+02] [-1.46037959e-01 9.89278826e-01 -5.64222648e-04 -2.07975303e+01] [-3.98737210e-03 -1.82855646e-05 9.99992050e-01 -1.99940252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.55, Y:-20.79, Z:-2.00 [[ 9.89239371e-01 1.46291619e-01 2.05667954e-03 1.79551853e+02] [-1.46291324e-01 9.89241508e-01 -2.93943897e-04 -2.07945273e+01] [-2.07755430e-03 -1.00934981e-05 9.99997842e-01 -2.00302411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.58, Y:-20.79, Z:-2.00 [[ 9.89147213e-01 1.46922265e-01 1.28040551e-03 1.79580551e+02] [-1.46922151e-01 9.89148042e-01 -1.82976457e-04 -2.07945239e+01] [-1.29339391e-03 -7.12927855e-06 9.99999164e-01 -2.00426565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.61, Y:-20.80, Z:-2.00 [[ 9.89139608e-01 1.46973819e-01 1.23752517e-03 1.79608252e+02] [-1.46973713e-01 9.89140383e-01 -1.76859103e-04 -2.07961383e+01] [-1.25007978e-03 -6.94532629e-06 9.99999219e-01 -2.00374098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.825769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.64, Y:-20.80, Z:-2.00 [[ 9.89302178e-01 1.45878125e-01 8.79813243e-04 1.79635928e+02] [-1.45878071e-01 9.89302569e-01 -1.25718666e-04 -2.07999908e+01] [-8.88741105e-04 -3.97170874e-06 9.99999605e-01 -2.00487128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.66, Y:-20.81, Z:-2.01 [[ 9.89768604e-01 1.42681725e-01 1.88550976e-04 1.79662660e+02] [-1.42681722e-01 9.89768622e-01 -2.71068841e-05 -2.08068933e+01] [-1.90489497e-04 -7.32351180e-08 9.99999982e-01 -2.00621830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.69, Y:-20.81, Z:-2.01 [[ 9.89946689e-01 1.41440534e-01 3.58252448e-04 1.79689112e+02] [-1.41440525e-01 9.89946754e-01 -5.13594086e-05 -2.08118419e+01] [-3.61915150e-04 1.71662110e-07 9.99999935e-01 -2.00654115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.72, Y:-20.82, Z:-2.00 [[ 9.90003233e-01 1.41041657e-01 9.21605628e-04 1.79716705e+02] [-1.41041596e-01 9.90003662e-01 -1.31538104e-04 -2.08165719e+01] [-9.30945299e-04 2.38419902e-07 9.99999567e-01 -2.00482561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.74, Y:-20.82, Z:-2.00 [[ 9.89885198e-01 1.41862335e-01 1.54057524e-03 1.79744469e+02] [-1.41862165e-01 9.89886396e-01 -2.19588608e-04 -2.08185514e+01] [-1.55614583e-03 -1.18182653e-06 9.99998789e-01 -2.00391275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.77, Y:-20.82, Z:-2.00 [[ 9.89670903e-01 1.43351173e-01 1.39487016e-03 1.79772861e+02] [-1.43351035e-01 9.89671886e-01 -1.98754420e-04 -2.08181890e+01] [-1.40895546e-03 -3.25461500e-06 9.99999007e-01 -2.00464792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.80, Y:-20.81, Z:-2.01 [[ 9.89084923e-01 1.47345335e-01 6.05835301e-04 1.79802757e+02] [-1.47345310e-01 9.89085109e-01 -8.63579667e-05 -2.08132714e+01] [-6.11947118e-04 -3.85162756e-06 9.99999813e-01 -2.00687808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.83, Y:-20.81, Z:-2.01 [[ 9.88867086e-01 1.48801480e-01 7.47719209e-05 1.79831147e+02] [-1.48801479e-01 9.88867089e-01 -1.08674229e-05 -2.08142110e+01] [-7.55565803e-05 -3.79735580e-07 9.99999997e-01 -2.00844643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.86, Y:-20.82, Z:-2.01 [[ 9.88759875e-01 1.49508270e-01 -1.08903302e-03 1.79860147e+02] [-1.49508190e-01 9.88760475e-01 1.54588795e-04 -2.08155145e+01] [ 1.09990510e-03 9.96815708e-06 9.99999395e-01 -2.01190578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.89, Y:-20.82, Z:-2.01 [[ 9.88861458e-01 1.48830031e-01 -1.62458960e-03 1.79888245e+02] [-1.48829853e-01 9.88862792e-01 2.30489605e-04 -2.08184036e+01] [ 1.64079999e-03 1.38651444e-05 9.99998654e-01 -2.01305517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.92, Y:-20.82, Z:-2.02 [[ 9.88996192e-01 1.47923082e-01 -2.30078085e-03 1.79915080e+02] [-1.47922723e-01 9.88998868e-01 3.26302824e-04 -2.08192901e+01] [ 2.32373737e-03 1.76255173e-05 9.99997300e-01 -2.01546387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.94, Y:-20.82, Z:-2.02 [[ 9.88953589e-01 1.48209362e-01 -2.18739370e-03 1.79943620e+02] [-1.48209038e-01 9.88956008e-01 3.10242338e-04 -2.08206370e+01] [ 2.20921696e-03 1.73762422e-05 9.99997560e-01 -2.01557835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.97, Y:-20.82, Z:-2.01 [[ 9.88887700e-01 1.48658714e-01 -1.30484528e-03 1.79971479e+02] [-1.48658600e-01 9.88888561e-01 1.84787877e-04 -2.08220287e+01] [ 1.31781690e-03 1.12420129e-05 9.99999132e-01 -2.01329609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.00, Y:-20.82, Z:-2.01 [[ 9.88744441e-01 1.49604251e-01 1.73148959e-03 1.79999824e+02] [-1.49604050e-01 9.88745957e-01 -2.45784099e-04 -2.08176059e+01] [-1.74877368e-03 -1.60201936e-05 9.99998471e-01 -2.00894580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.03, Y:-20.82, Z:-2.01 [[ 9.88802908e-01 1.49206845e-01 2.47514527e-03 1.80028801e+02] [-1.49206434e-01 9.88806006e-01 -3.50927595e-04 -2.08194426e+01] [-2.49979931e-03 -2.23093722e-05 9.99996875e-01 -2.00838740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.06, Y:-20.83, Z:-2.01 [[ 9.89274195e-01 1.46070400e-01 7.77490513e-05 1.80055632e+02] [-1.46070400e-01 9.89274198e-01 -1.12458339e-05 -2.08250625e+01] [-7.85578138e-05 -2.31621716e-07 9.99999997e-01 -2.01417937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.08, Y:-20.83, Z:-2.02 [[ 9.89665994e-01 1.43383989e-01 -1.50076264e-03 1.80083960e+02] [-1.43383832e-01 9.89667132e-01 2.12316775e-04 -2.08320469e+01] [ 1.51569828e-03 5.06240661e-06 9.99998851e-01 -2.01724465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.11, Y:-20.84, Z:-2.02 [[ 9.90473187e-01 1.37689736e-01 -2.09827684e-03 1.80109730e+02] [-1.37689417e-01 9.90475409e-01 2.96611285e-04 -2.08421026e+01] [ 2.11913195e-03 -4.87500999e-06 9.99997755e-01 -2.01884661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.14, Y:-20.85, Z:-2.02 [[ 9.90889931e-01 1.34669316e-01 -1.14881172e-03 1.80136376e+02] [-1.34669218e-01 9.90890597e-01 1.62274640e-04 -2.08505304e+01] [ 1.16020014e-03 -6.08673086e-06 9.99999327e-01 -2.01731612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.395769231 meters Centerline goodness [0,1] 0.9999787681267118 Centerline is valid? [True, True] Translation: X:180.16, Y:-20.86, Z:-2.01 [[ 9.91445706e-01 1.30515784e-01 -1.02095390e-03 1.80163648e+02] [-1.30515705e-01 9.91446231e-01 1.44129164e-04 -2.08596330e+01] [ 1.03103203e-03 -9.64572262e-06 9.99999468e-01 -2.01473750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.19, Y:-20.86, Z:-2.02 [[ 9.91502025e-01 1.30076662e-01 -1.94864415e-03 1.80192648e+02] [-1.30076372e-01 9.91503939e-01 2.75249336e-04 -2.08625214e+01] [ 1.96789187e-03 -1.94377124e-05 9.99998064e-01 -2.01523437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.22, Y:-20.86, Z:-2.02 [[ 9.91266681e-01 1.31826758e-01 -3.47460755e-03 1.80220334e+02] [-1.31825848e-01 9.91272770e-01 4.90686418e-04 -2.08628006e+01] [ 3.50896945e-03 -2.83580108e-05 9.99993843e-01 -2.01773433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.25, Y:-20.87, Z:-2.02 [[ 9.91100514e-01 1.33090055e-01 -2.60942979e-03 1.80248181e+02] [-1.33089546e-01 9.91103949e-01 3.68294685e-04 -2.08658799e+01] [ 2.63523253e-03 -1.77292244e-05 9.99996528e-01 -2.01686050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.28, Y:-20.87, Z:-2.01 [[ 9.91040834e-01 1.33556073e-01 -9.17108875e-04 1.80276930e+02] [-1.33556010e-01 9.91041258e-01 1.29293096e-04 -2.08691253e+01] [ 9.26160611e-04 -5.64933544e-06 9.99999571e-01 -2.01269771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.30, Y:-20.87, Z:-2.01 [[ 9.90972462e-01 1.34064613e-01 5.09197072e-04 1.80304927e+02] [-1.34064594e-01 9.90972593e-01 -7.20478234e-05 -2.08735506e+01] [-5.14259406e-04 3.13211041e-06 9.99999868e-01 -2.00894380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.575769231 meters Centerline goodness [0,1] 0.9999789278489548 Centerline is valid? [True, True] Translation: X:180.33, Y:-20.88, Z:-2.01 [[ 9.90993605e-01 1.33907495e-01 -6.76300213e-04 1.80332671e+02] [-1.33907461e-01 9.90993836e-01 9.51805506e-05 -2.08785784e+01] [ 6.82954731e-04 -3.76167266e-06 9.99999767e-01 -2.01150375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.36, Y:-20.88, Z:-2.01 [[ 9.91073700e-01 1.33292271e-01 -2.46801419e-03 1.80360620e+02] [-1.33291818e-01 9.91076773e-01 3.47870049e-04 -2.08838092e+01] [ 2.49235993e-03 -1.57987587e-05 9.99996894e-01 -2.01349827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.39, Y:-20.89, Z:-2.01 [[ 9.91157431e-01 1.32678014e-01 -1.86866932e-03 1.80386996e+02] [-1.32677753e-01 9.91159192e-01 2.63056116e-04 -2.08893510e+01] [ 1.88705054e-03 -1.27991758e-05 9.99998219e-01 -2.01269305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.41, Y:-20.89, Z:-2.01 [[ 9.91166558e-01 1.32609812e-01 -1.86868067e-03 1.80414238e+02] [-1.32609552e-01 9.91168320e-01 2.62975536e-04 -2.08930523e+01] [ 1.88705021e-03 -1.28476510e-05 9.99998219e-01 -2.01280061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.44, Y:-20.90, Z:-2.01 [[ 9.91233347e-01 1.32115708e-01 -1.37532199e-03 1.80440576e+02] [-1.32115567e-01 9.91234301e-01 1.93318639e-04 -2.08987235e+01] [ 1.38880676e-03 -9.92243639e-06 9.99999036e-01 -2.01160246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.47, Y:-20.90, Z:-2.01 [[ 9.91028159e-01 1.33642537e-01 -1.69123552e-03 1.80469384e+02] [-1.33642325e-01 9.91029602e-01 2.37844858e-04 -2.09019574e+01] [ 1.70785066e-03 -9.69030343e-06 9.99998542e-01 -2.01080640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.50, Y:-20.91, Z:-2.01 [[ 9.90846573e-01 1.34979981e-01 -1.86360747e-03 1.80496723e+02] [-1.34979727e-01 9.90848326e-01 2.61948192e-04 -2.09051071e+01] [ 1.88191010e-03 -8.00123983e-06 9.99998229e-01 -2.01170204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.52, Y:-20.90, Z:-2.01 [[ 9.90438503e-01 1.37942857e-01 -1.82751125e-03 1.80524693e+02] [-1.37942618e-01 9.90440189e-01 2.56772647e-04 -2.09049616e+01] [ 1.84546054e-03 -2.22583005e-06 9.99998297e-01 -2.01132273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.55, Y:-20.91, Z:-2.01 [[ 9.90315777e-01 1.38829625e-01 -9.98586393e-04 1.80553244e+02] [-1.38829554e-01 9.90316280e-01 1.40203624e-04 -2.09070794e+01] [ 1.00838078e-03 -2.12557381e-07 9.99999492e-01 -2.00916237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.58, Y:-20.91, Z:-2.01 [[ 9.90328126e-01 1.38745044e-01 1.21836241e-04 1.80581684e+02] [-1.38745043e-01 9.90328134e-01 -1.73098276e-05 -2.09094963e+01] [-1.23059510e-04 2.38234602e-07 9.99999992e-01 -2.00697330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.61, Y:-20.91, Z:-2.01 [[ 9.90398183e-01 1.38243689e-01 -3.48017902e-04 1.80609496e+02] [-1.38243681e-01 9.90398244e-01 4.86538532e-05 -2.09141527e+01] [ 3.51402408e-04 -7.54120448e-08 9.99999938e-01 -2.00865834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.64, Y:-20.92, Z:-2.01 [[ 9.90529844e-01 1.37293940e-01 -1.00068269e-03 1.80636850e+02] [-1.37293869e-01 9.90530350e-01 1.40160147e-04 -2.09196034e+01] [ 1.01044971e-03 -1.44521075e-06 9.99999489e-01 -2.01148428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.67, Y:-20.92, Z:-2.01 [[ 9.90724923e-01 1.35880020e-01 -8.64020065e-04 1.80665495e+02] [-1.35879966e-01 9.90725300e-01 1.21072226e-04 -2.09237269e+01] [ 8.72457835e-04 -2.54625530e-06 9.99999619e-01 -2.01061123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.69, Y:-20.93, Z:-2.01 [[ 9.90725968e-01 1.35875143e-01 -3.74124852e-05 1.80694866e+02] [-1.35875143e-01 9.90725969e-01 5.06472314e-06 -2.09253692e+01] [ 3.77536906e-05 6.56740223e-08 9.99999999e-01 -2.00864816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.72, Y:-20.92, Z:-2.00 [[ 9.90549278e-01 1.37143888e-01 1.91858999e-03 1.80724835e+02] [-1.37143623e-01 9.90551137e-01 -2.69234920e-04 -2.09229449e+01] [-1.93738542e-03 3.56807190e-06 9.99998123e-01 -2.00473516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.75, Y:-20.92, Z:-2.00 [[ 9.90482212e-01 1.37618695e-01 2.46630510e-03 1.80752463e+02] [-1.37618260e-01 9.90485282e-01 -3.46019343e-04 -2.09246149e+01] [-2.49045763e-03 3.31738730e-06 9.99996899e-01 -2.00486996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.055769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.78, Y:-20.93, Z:-2.01 [[ 9.90577789e-01 1.36938070e-01 1.89967338e-03 1.80779831e+02] [-1.36937810e-01 9.90579611e-01 -2.66526111e-04 -2.09267089e+01] [-1.91827529e-03 3.87773289e-06 9.99998160e-01 -2.00835120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.81, Y:-20.93, Z:-2.01 [[ 9.90716526e-01 1.35935087e-01 1.55442315e-03 1.80808724e+02] [-1.35934913e-01 9.90717746e-01 -2.17841027e-04 -2.09296946e+01] [-1.56960684e-03 4.51833034e-06 9.99998768e-01 -2.00965796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.84, Y:-20.93, Z:-2.01 [[ 9.90942837e-01 1.34279748e-01 1.11502395e-03 1.80837526e+02] [-1.34279658e-01 9.90943464e-01 -1.56261419e-04 -2.09340133e+01] [-1.12590844e-03 5.12110014e-06 9.99999366e-01 -2.01096317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.87, Y:-20.94, Z:-2.01 [[ 9.91464091e-01 1.30377645e-01 7.91786445e-04 1.80865492e+02] [-1.30377598e-01 9.91464407e-01 -1.10978426e-04 -2.09417360e+01] [-7.99497184e-04 6.79990953e-06 9.99999680e-01 -2.01132154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.89, Y:-20.95, Z:-2.01 [[ 9.91707653e-01 1.28512744e-01 6.37641152e-04 1.80893085e+02] [-1.28512713e-01 9.91707858e-01 -8.94159191e-05 -2.09476453e+01] [-6.43844825e-04 6.72945699e-06 9.99999793e-01 -2.01198648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.205769231 meters Centerline goodness [0,1] 0.9999787306448868 Centerline is valid? [True, True] Translation: X:180.92, Y:-20.96, Z:-2.01 [[ 9.92235977e-01 1.24360344e-01 1.50695039e-03 1.80920328e+02] [-1.24360167e-01 9.92237121e-01 -2.10916537e-04 -2.09556170e+01] [-1.52148177e-03 2.18743734e-05 9.99998842e-01 -2.01081628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.235769231 meters Centerline goodness [0,1] 0.9999366152545954 Centerline is valid? [True, True] Translation: X:180.95, Y:-20.96, Z:-2.01 [[ 9.92489142e-01 1.22312913e-01 2.20318930e-03 1.80947349e+02] [-1.22312530e-01 9.92491587e-01 -3.08127992e-04 -2.09621235e+01] [-2.22433488e-03 3.63360282e-05 9.99997526e-01 -2.01004956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.265769231 meters Centerline goodness [0,1] 0.9998518581224075 Centerline is valid? [True, True] Translation: X:180.97, Y:-20.97, Z:-2.01 [[ 9.92697950e-01 1.20595570e-01 2.73664410e-03 1.80974048e+02] [-1.20594973e-01 9.92701721e-01 -3.82532294e-04 -2.09696805e+01] [-2.76280300e-03 4.97135027e-05 9.99996182e-01 -2.00862905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.295769231 meters Centerline goodness [0,1] 0.9999784185082873 Centerline is valid? [True, True] Translation: X:181.00, Y:-20.98, Z:-2.01 [[ 9.93121419e-01 1.17058548e-01 2.67254352e-03 1.81002431e+02] [-1.17057967e-01 9.93125014e-01 -3.73341653e-04 -2.09790586e+01] [-2.69787265e-03 5.79310803e-05 9.99996359e-01 -2.00859880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.325769231 meters Centerline goodness [0,1] 0.9998727708390763 Centerline is valid? [True, True] Translation: X:181.03, Y:-20.99, Z:-2.01 [[ 9.93317691e-01 1.15402470e-01 1.49454065e-03 1.81030475e+02] [-1.15402287e-01 9.93318815e-01 -2.08839522e-04 -2.09855342e+01] [-1.50865595e-03 3.49705828e-05 9.99998861e-01 -2.01051976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.355769231 meters Centerline goodness [0,1] 0.999742013157329 Centerline is valid? [True, True] Translation: X:181.06, Y:-20.99, Z:-2.01 [[ 9.93568229e-01 1.13233174e-01 6.49381653e-04 1.81058439e+02] [-1.13233139e-01 9.93568441e-01 -9.07746805e-05 -2.09923211e+01] [-6.55483822e-04 1.66593155e-05 9.99999785e-01 -2.01198659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.385769231 meters Centerline goodness [0,1] 0.9997237510359336 Centerline is valid? [True, True] Translation: X:181.09, Y:-21.00, Z:-2.01 [[ 9.93658648e-01 1.12438468e-01 2.86816044e-04 1.81087040e+02] [-1.12438461e-01 9.93658689e-01 -4.01969807e-05 -2.09982821e+01] [-2.89516941e-04 7.69292283e-06 9.99999958e-01 -2.01232023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.415769231 meters Centerline goodness [0,1] 0.999661095931033 Centerline is valid? [True, True] Translation: X:181.12, Y:-21.00, Z:-2.01 [[ 9.93722998e-01 1.11868581e-01 1.53612877e-04 1.81115143e+02] [-1.11868579e-01 9.93723010e-01 -2.16026491e-05 -2.10041380e+01] [-1.55065308e-04 4.28259496e-06 9.99999988e-01 -2.01262408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.445769231 meters Centerline goodness [0,1] 0.9993873066846953 Centerline is valid? [True, True] Translation: X:181.14, Y:-21.01, Z:-2.01 [[ 9.93764551e-01 1.11498867e-01 1.39605800e-04 1.81142428e+02] [-1.11498865e-01 9.93764561e-01 -1.96837747e-05 -2.10080166e+01] [-1.40930015e-04 3.99514924e-06 9.99999990e-01 -2.01097923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47576923100002 meters Centerline goodness [0,1] 0.9997010718708631 Centerline is valid? [True, True] Translation: X:181.17, Y:-21.01, Z:-2.01 [[ 9.93693337e-01 1.12131842e-01 -4.72285512e-05 1.81171712e+02] [-1.12131842e-01 9.93693338e-01 6.39869546e-06 -2.10050974e+01] [ 4.76481942e-05 -1.06251658e-06 9.99999999e-01 -2.00955095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50576923100002 meters Centerline goodness [0,1] 0.9998075607252822 Centerline is valid? [True, True] Translation: X:181.20, Y:-21.01, Z:-2.01 [[ 9.93484561e-01 1.13966155e-01 3.78620668e-04 1.81198798e+02] [-1.13966143e-01 9.93484633e-01 -5.29815802e-05 -2.10103402e+01] [-3.82191922e-04 9.48644484e-06 9.99999927e-01 -2.00839544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53576923100002 meters Centerline goodness [0,1] 0.9998922483460121 Centerline is valid? [True, True] Translation: X:181.23, Y:-21.01, Z:-2.01 [[ 9.93368608e-01 1.14969853e-01 8.60967847e-04 1.81227941e+02] [-1.14969792e-01 9.93368981e-01 -1.20102507e-04 -2.10081060e+01] [-8.69066921e-04 2.03207656e-05 9.99999622e-01 -2.00627910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56576923100002 meters Centerline goodness [0,1] 0.99980899019483 Centerline is valid? [True, True] Translation: X:181.26, Y:-21.01, Z:-2.01 [[ 9.93245622e-01 1.16023595e-01 1.28814489e-03 1.81255772e+02] [-1.16023459e-01 9.93246457e-01 -1.79568025e-04 -2.10122952e+01] [-1.30027948e-03 2.89001283e-05 9.99999154e-01 -2.00641636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59576923100002 meters Centerline goodness [0,1] 0.9999361199241956 Centerline is valid? [True, True] Translation: X:181.29, Y:-21.01, Z:-2.01 [[ 9.92989044e-01 1.18206341e-01 -1.40033949e-04 1.81285214e+02] [-1.18206339e-01 9.92989054e-01 1.93519388e-05 -2.10129796e+01] [ 1.41339701e-04 -2.66336267e-06 9.99999990e-01 -2.00877954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62576923100002 meters Centerline goodness [0,1] 0.9999362095728168 Centerline is valid? [True, True] Translation: X:181.31, Y:-21.02, Z:-2.01 [[ 9.92920728e-01 1.18773878e-01 -1.09228697e-03 1.81312634e+02] [-1.18773783e-01 9.92921329e-01 1.51733678e-04 -2.10171069e+01] [ 1.10257703e-03 -2.09244584e-05 9.99999392e-01 -2.01032040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.34, Y:-21.02, Z:-2.01 [[ 9.92811931e-01 1.19684432e-01 -3.27563374e-04 1.81340673e+02] [-1.19684424e-01 9.92811985e-01 4.53731554e-05 -2.10216374e+01] [ 3.30639304e-04 -5.84277629e-06 9.99999945e-01 -2.00794946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.37, Y:-21.03, Z:-2.01 [[ 9.92780592e-01 1.19944271e-01 -2.60921197e-04 1.81368884e+02] [-1.19944266e-01 9.92780626e-01 3.60924833e-05 -2.10257108e+01] [ 2.63366596e-04 -4.53591559e-06 9.99999965e-01 -2.00759732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71576923100002 meters Centerline goodness [0,1] 0.9999785098747126 Centerline is valid? [True, True] Translation: X:181.40, Y:-21.03, Z:-2.01 [[ 9.92732011e-01 1.20343114e-01 -8.30479779e-04 1.81397641e+02] [-1.20343060e-01 9.92732358e-01 1.15238976e-04 -2.10298294e+01] [ 8.38312367e-04 -1.44589427e-05 9.99999649e-01 -2.00894695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74576923100003 meters Centerline goodness [0,1] 0.9999147957227453 Centerline is valid? [True, True] Translation: X:181.43, Y:-21.03, Z:-2.01 [[ 9.92511331e-01 1.22126771e-01 -2.51180168e-03 1.81425465e+02] [-1.22126279e-01 9.92514509e-01 3.48721883e-04 -2.10345436e+01] [ 2.53558788e-03 -3.93534281e-05 9.99996785e-01 -2.01378978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77576923100003 meters Centerline goodness [0,1] 0.9999788918205805 Centerline is valid? [True, True] Translation: X:181.45, Y:-21.03, Z:-2.01 [[ 9.92337464e-01 1.23522177e-01 -2.93766136e-03 1.81453320e+02] [-1.23521512e-01 9.92341811e-01 4.07742200e-04 -2.10345378e+01] [ 2.96552940e-03 -4.17534887e-05 9.99995602e-01 -2.01466515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.805769231 meters Centerline goodness [0,1] 0.9998713605763047 Centerline is valid? [True, True] Translation: X:181.48, Y:-21.03, Z:-2.01 [[ 9.92077599e-01 1.25609853e-01 -2.05016512e-03 1.81483651e+02] [-1.25609534e-01 9.92079717e-01 2.84216153e-04 -2.10300161e+01] [ 2.06962758e-03 -2.44441933e-05 9.99997858e-01 -2.00731699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.51, Y:-21.03, Z:-2.01 [[ 9.92154829e-01 1.25011110e-01 -1.00909022e-03 1.81509971e+02] [-1.25011033e-01 9.92155342e-01 1.39652827e-04 -2.10336540e+01] [ 1.01863241e-03 -1.24098159e-05 9.99999481e-01 -2.01235829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.54, Y:-21.04, Z:-2.01 [[ 9.92357513e-01 1.23395444e-01 -3.62637394e-04 1.81538456e+02] [-1.23395434e-01 9.92357579e-01 5.01540889e-05 -2.10403841e+01] [ 3.66054752e-04 -5.02298849e-06 9.99999933e-01 -2.01187770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.895769231 meters Centerline goodness [0,1] 0.999829387929196 Centerline is valid? [True, True] Translation: X:181.57, Y:-21.06, Z:-2.01 [[ 9.93095109e-01 1.17308332e-01 -9.27500988e-04 1.81566830e+02] [-1.17308263e-01 9.93095542e-01 1.28618001e-04 -2.10568370e+01] [ 9.36185060e-04 -1.89263776e-05 9.99999562e-01 -2.01475806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.925769231 meters Centerline goodness [0,1] 0.9996383209582367 Centerline is valid? [True, True] Translation: X:181.59, Y:-21.07, Z:-2.02 [[ 9.93625744e-01 1.12716962e-01 -1.66371936e-03 1.81594287e+02] [-1.12716733e-01 9.93627136e-01 2.30689512e-04 -2.10708333e+01] [ 1.67911932e-03 -4.16900262e-05 9.99998589e-01 -2.01719668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.955769231 meters Centerline goodness [0,1] 0.9986374281456248 Centerline is valid? [True, True] Translation: X:181.62, Y:-21.09, Z:-2.02 [[ 9.94593894e-01 1.03824781e-01 -1.84419273e-03 1.81621637e+02] [-1.03824485e-01 9.94595602e-01 2.55671450e-04 -2.10937320e+01] [ 1.86077101e-03 -6.28169021e-05 9.99998267e-01 -2.01724198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.985769231 meters Centerline goodness [0,1] 0.9974264318109904 Centerline is valid? [True, True] Translation: X:181.65, Y:-21.11, Z:-2.02 [[ 9.94930996e-01 1.00552257e-01 -1.24807209e-03 1.81649334e+02] [-1.00552119e-01 9.94931777e-01 1.73041653e-04 -2.11066569e+01] [ 1.25914631e-03 -4.66682112e-05 9.99999206e-01 -2.01625980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.015769231 meters Centerline goodness [0,1] 0.9954618430910842 Centerline is valid? [True, True] Translation: X:181.68, Y:-21.12, Z:-2.02 [[ 9.95213080e-01 9.77261595e-02 -7.23299571e-04 1.81677596e+02] [-9.77261124e-02 9.95213342e-01 1.00289091e-04 -2.11245349e+01] [ 7.29638252e-04 -2.91237604e-05 9.99999733e-01 -2.01576626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.045769231 meters Centerline goodness [0,1] 0.9957759334338052 Centerline is valid? [True, True] Translation: X:181.71, Y:-21.13, Z:-2.02 [[ 9.95156631e-01 9.82970983e-02 -9.79841556e-04 1.81706858e+02] [-9.82970121e-02 9.95157113e-01 1.35806151e-04 -2.11333135e+01] [ 9.88445644e-04 -3.88328941e-05 9.99999511e-01 -2.01677992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.075769231 meters Centerline goodness [0,1] 0.998020644886666 Centerline is valid? [True, True] Translation: X:181.74, Y:-21.14, Z:-2.02 [[ 9.94727303e-01 1.02540618e-01 -1.73602735e-03 1.81735007e+02] [-1.02540354e-01 9.94728816e-01 2.40550018e-04 -2.11408186e+01] [ 1.75154258e-03 -6.12688125e-05 9.99998464e-01 -2.01846139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.105769231 meters Centerline goodness [0,1] 0.9986744655781855 Centerline is valid? [True, True] Translation: X:181.77, Y:-21.14, Z:-2.02 [[ 9.94416119e-01 1.05516737e-01 -1.67340228e-03 1.81765207e+02] [-1.05516496e-01 9.94417526e-01 2.31903821e-04 -2.11442135e+01] [ 1.68853029e-03 -5.40373525e-05 9.99998573e-01 -2.01813780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.135769231 meters Centerline goodness [0,1] 0.9990413089328704 Centerline is valid? [True, True] Translation: X:181.79, Y:-21.15, Z:-2.02 [[ 9.94113622e-01 1.08333723e-01 -1.38211588e-03 1.81793264e+02] [-1.08333562e-01 9.94114582e-01 1.91397679e-04 -2.11497897e+01] [ 1.39471637e-03 -4.05415046e-05 9.99999027e-01 -2.01856667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.165769231 meters Centerline goodness [0,1] 0.9995494239062802 Centerline is valid? [True, True] Translation: X:181.82, Y:-21.15, Z:-2.02 [[ 9.93740842e-01 1.11704549e-01 -1.11007600e-03 1.81822965e+02] [-1.11704447e-01 9.93741462e-01 1.53722494e-04 -2.11529765e+01] [ 1.12030005e-03 -2.87598959e-05 9.99999372e-01 -2.01783732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.195769231 meters Centerline goodness [0,1] 0.9997019310609125 Centerline is valid? [True, True] Translation: X:181.85, Y:-21.16, Z:-2.02 [[ 9.93578428e-01 1.13142714e-01 -7.96561204e-04 1.81851289e+02] [-1.13142662e-01 9.93578747e-01 1.10206579e-04 -2.11583415e+01] [ 8.03915354e-04 -1.93738240e-05 9.99999677e-01 -2.01710226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22576923100002 meters Centerline goodness [0,1] 0.9998510035971989 Centerline is valid? [True, True] Translation: X:181.88, Y:-21.16, Z:-2.01 [[ 9.93043826e-01 1.17742475e-01 8.18304326e-04 1.81880943e+02] [-1.17742422e-01 9.93044163e-01 -1.13420438e-04 -2.11611825e+01] [-8.25966737e-04 1.62823322e-05 9.99999659e-01 -2.01280279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25576923100002 meters Centerline goodness [0,1] 0.9999577782938208 Centerline is valid? [True, True] Translation: X:181.91, Y:-21.16, Z:-2.01 [[ 9.92626811e-01 1.21203618e-01 1.30292932e-03 1.81911322e+02] [-1.21203485e-01 9.92627666e-01 -1.80480807e-04 -2.11620135e+01] [-1.31519862e-03 2.12305137e-05 9.99999135e-01 -2.01134435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28576923100002 meters Centerline goodness [0,1] 0.9999787043741215 Centerline is valid? [True, True] Translation: X:181.94, Y:-21.16, Z:-2.01 [[ 9.92173086e-01 1.24862074e-01 1.42503159e-03 1.81940235e+02] [-1.24861919e-01 9.92174109e-01 -1.97457900e-04 -2.11621863e+01] [-1.43853445e-03 1.79802344e-05 9.99998965e-01 -2.01098411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31576923100002 meters Centerline goodness [0,1] 0.9999147139719835 Centerline is valid? [True, True] Translation: X:181.97, Y:-21.16, Z:-2.01 [[ 9.91446690e-01 1.30509425e-01 8.66031145e-04 1.81968625e+02] [-1.30509370e-01 9.91447069e-01 -1.20064732e-04 -2.11577498e+01] [-8.74293620e-04 6.01260161e-06 9.99999618e-01 -2.01221587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.00, Y:-21.16, Z:-2.01 [[ 9.91234754e-01 1.32110074e-01 7.68680077e-04 1.81997410e+02] [-1.32110031e-01 9.91235052e-01 -1.06527765e-04 -2.11567612e+01] [-7.76016027e-04 4.04367424e-06 9.99999699e-01 -2.01129962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.03, Y:-21.16, Z:-2.01 [[ 9.91116117e-01 1.32996208e-01 9.23050321e-04 1.82025405e+02] [-1.32996146e-01 9.91116546e-01 -1.27886844e-04 -2.11586092e+01] [-9.31858911e-04 3.98857717e-06 9.99999566e-01 -2.01139887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.05, Y:-21.16, Z:-2.01 [[ 9.91073599e-01 1.33306266e-01 1.60051324e-03 1.82053466e+02] [-1.33306082e-01 9.91074891e-01 -2.21428617e-04 -2.11611248e+01] [-1.61574631e-03 6.09390754e-06 9.99998695e-01 -2.01029700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43576923100002 meters Centerline goodness [0,1] 0.9999573041863246 Centerline is valid? [True, True] Translation: X:182.08, Y:-21.16, Z:-2.01 [[ 9.91301492e-01 1.31591151e-01 2.26315612e-03 1.82082274e+02] [-1.31590780e-01 9.91304075e-01 -3.12857496e-04 -2.11643620e+01] [-2.28464517e-03 1.23256241e-05 9.99997390e-01 -2.00748402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46576923100002 meters Centerline goodness [0,1] 0.9999573860609805 Centerline is valid? [True, True] Translation: X:182.11, Y:-21.17, Z:-2.01 [[ 9.91542141e-01 1.29778974e-01 1.26484737e-03 1.82109645e+02] [-1.29778856e-01 9.91542948e-01 -1.74904491e-04 -2.11695639e+01] [-1.27684942e-03 9.27472793e-06 9.99999185e-01 -2.00944527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.14, Y:-21.18, Z:-2.01 [[ 9.91800967e-01 1.27792179e-01 2.80272179e-05 1.82137141e+02] [-1.27792179e-01 9.91800967e-01 -4.09887849e-06 -2.11761307e+01] [-2.83212265e-05 4.83612386e-07 1.00000000e+00 -2.01197628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52576923100003 meters Centerline goodness [0,1] 0.9999573387939678 Centerline is valid? [True, True] Translation: X:182.16, Y:-21.18, Z:-2.01 [[ 9.92117462e-01 1.25310954e-01 -3.26486653e-04 1.82164802e+02] [-1.25310946e-01 9.92117516e-01 4.47805153e-05 -2.11832658e+01] [ 3.29524617e-04 -3.51517976e-06 9.99999946e-01 -2.01280013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.555769231 meters Centerline goodness [0,1] 0.9999573387939678 Centerline is valid? [True, True] Translation: X:182.19, Y:-21.19, Z:-2.01 [[ 9.92123325e-01 1.25264523e-01 -3.26478059e-04 1.82192880e+02] [-1.25264515e-01 9.92123379e-01 4.48427749e-05 -2.11870479e+01] [ 3.29523724e-04 -3.59344718e-06 9.99999946e-01 -2.01291096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.585769231 meters Centerline goodness [0,1] 0.9998724950591835 Centerline is valid? [True, True] Translation: X:182.22, Y:-21.20, Z:-2.01 [[ 9.92605397e-01 1.21365307e-01 2.23346972e-03 1.82220304e+02] [-1.21364921e-01 9.92607909e-01 -3.08096739e-04 -2.11978806e+01] [-2.25435196e-03 3.47536092e-05 9.99997458e-01 -2.00850527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.615769231 meters Centerline goodness [0,1] 0.9998723947256487 Centerline is valid? [True, True] Translation: X:182.25, Y:-21.20, Z:-2.01 [[ 9.92724119e-01 1.20354637e-01 3.68587378e-03 1.82249825e+02] [-1.20353579e-01 9.92730959e-01 -5.08226006e-04 -2.12015610e+01] [-3.72024837e-03 6.09201117e-05 9.99993078e-01 -2.00573324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.645769231 meters Centerline goodness [0,1] 0.9997448220133544 Centerline is valid? [True, True] Translation: X:182.28, Y:-21.21, Z:-2.01 [[ 9.92890064e-01 1.19004055e-01 2.71213755e-03 1.82278569e+02] [-1.19003477e-01 9.92893767e-01 -3.73922567e-04 -2.12082873e+01] [-2.73736277e-03 4.85102019e-05 9.99996252e-01 -2.00794130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.675769231 meters Centerline goodness [0,1] 0.9997237451655404 Centerline is valid? [True, True] Translation: X:182.31, Y:-21.22, Z:-2.01 [[ 9.93043722e-01 1.17736382e-01 1.52013123e-03 1.82307346e+02] [-1.17736199e-01 9.93044885e-01 -2.09584938e-04 -2.12154625e+01] [-1.53423431e-03 2.91525339e-05 9.99998823e-01 -2.01090916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.705769231 meters Centerline goodness [0,1] 0.9997668009327962 Centerline is valid? [True, True] Translation: X:182.34, Y:-21.22, Z:-2.01 [[ 9.93262196e-01 1.15886940e-01 6.53189383e-04 1.82335820e+02] [-1.15886906e-01 9.93262411e-01 -9.00092504e-05 -2.12244286e+01] [-6.59219358e-04 1.37066891e-05 9.99999783e-01 -2.01303364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.735769231 meters Centerline goodness [0,1] 0.9994678699899959 Centerline is valid? [True, True] Translation: X:182.36, Y:-21.24, Z:-2.01 [[ 9.93726715e-01 1.11831443e-01 9.71942664e-04 1.82364778e+02] [-1.11831365e-01 9.93727190e-01 -1.33948425e-04 -2.12366521e+01] [-9.80825498e-04 2.44144536e-05 9.99999519e-01 -2.01277083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.765769231 meters Centerline goodness [0,1] 0.9986084463092201 Centerline is valid? [True, True] Translation: X:182.39, Y:-21.25, Z:-2.01 [[ 9.93989203e-01 1.09475660e-01 7.37945876e-04 1.82393074e+02] [-1.09475615e-01 9.93989477e-01 -1.01700122e-04 -2.12511117e+01] [-7.44644123e-04 2.03017452e-05 9.99999723e-01 -2.01445355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.795769231 meters Centerline goodness [0,1] 0.9985011348550383 Centerline is valid? [True, True] Translation: X:182.42, Y:-21.27, Z:-2.02 [[ 9.94611296e-01 1.03658213e-01 -1.82900617e-03 1.82421708e+02] [-1.03657924e-01 9.94612976e-01 2.52078034e-04 -2.12694717e+01] [ 1.84528323e-03 -6.11286771e-05 9.99998296e-01 -2.02091876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.825769231 meters Centerline goodness [0,1] 0.997690432402378 Centerline is valid? [True, True] Translation: X:182.45, Y:-21.28, Z:-2.02 [[ 9.94920646e-01 1.00602305e-01 -3.47621206e-03 1.82449996e+02] [-1.00601245e-01 9.94926711e-01 4.79082779e-04 -2.12839828e+01] [ 3.50677306e-03 -1.26938088e-04 9.99993843e-01 -2.02498506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.855769231 meters Centerline goodness [0,1] 0.9954813235076754 Centerline is valid? [True, True] Translation: X:182.48, Y:-21.30, Z:-2.03 [[ 9.95184164e-01 9.79363424e-02 -4.11742242e-03 1.82480041e+02] [-9.79348308e-02 9.95192668e-01 5.67636191e-04 -2.12971819e+01] [ 4.15322082e-03 -1.61663480e-04 9.99991362e-01 -2.02659795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.885769231 meters Centerline goodness [0,1] 0.9960593861162588 Centerline is valid? [True, True] Translation: X:182.51, Y:-21.30, Z:-2.03 [[ 9.95320880e-01 9.65318651e-02 -4.23624639e-03 1.82511592e+02] [-9.65302511e-02 9.95329880e-01 5.84309360e-04 -2.13045089e+01] [ 4.27286708e-03 -1.72649378e-04 9.99990856e-01 -2.02587657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.915769231 meters Centerline goodness [0,1] 0.9950165762189328 Centerline is valid? [True, True] Translation: X:182.54, Y:-21.32, Z:-2.02 [[ 9.95268414e-01 9.71174616e-02 -2.99700445e-03 1.82540730e+02] [-9.71166536e-02 9.95272919e-01 4.14294799e-04 -2.13208827e+01] [ 3.02307263e-03 -1.21275485e-04 9.99995423e-01 -2.02415185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.945769231 meters Centerline goodness [0,1] 0.9974667783001653 Centerline is valid? [True, True] Translation: X:182.57, Y:-21.33, Z:-2.02 [[ 9.94923581e-01 1.00615064e-01 -1.91753099e-03 1.82570587e+02] [-1.00614740e-01 9.94925426e-01 2.64695434e-04 -2.13271911e+01] [ 1.93443269e-03 -7.04198471e-05 9.99998127e-01 -2.02207685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97576923100002 meters Centerline goodness [0,1] 0.9975840762833259 Centerline is valid? [True, True] Translation: X:182.60, Y:-21.33, Z:-2.02 [[ 9.94727394e-01 1.02544869e-01 -1.40087748e-03 1.82602021e+02] [-1.02544698e-01 9.94728379e-01 1.93500830e-04 -2.13299571e+01] [ 1.41333510e-03 -4.88280189e-05 9.99999000e-01 -2.02204065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00576923100002 meters Centerline goodness [0,1] 0.9983671565197108 Centerline is valid? [True, True] Translation: X:182.63, Y:-21.34, Z:-2.02 [[ 9.94587322e-01 1.03892262e-01 -1.56711823e-03 1.82634258e+02] [-1.03892049e-01 9.94588556e-01 2.16683598e-04 -2.13359959e+01] [ 1.58114961e-03 -5.26996343e-05 9.99998749e-01 -2.02288364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03576923100002 meters Centerline goodness [0,1] 0.9984177882789755 Centerline is valid? [True, True] Translation: X:182.66, Y:-21.35, Z:-2.02 [[ 9.94401493e-01 1.05658728e-01 -1.37975595e-03 1.82662915e+02] [-1.05658565e-01 9.94402449e-01 1.90637163e-04 -2.13508477e+01] [ 1.39217518e-03 -4.37868456e-05 9.99999030e-01 -2.02340130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06576923100002 meters Centerline goodness [0,1] 0.9987297823693793 Centerline is valid? [True, True] Translation: X:182.69, Y:-21.36, Z:-2.02 [[ 9.94334586e-01 1.06295043e-01 -3.08446046e-04 1.82694544e+02] [-1.06295034e-01 9.94334634e-01 4.32756105e-05 -2.13560598e+01] [ 3.11298569e-04 -1.02441532e-05 9.99999951e-01 -2.02066551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09576923100002 meters Centerline goodness [0,1] 0.9984350547730829 Centerline is valid? [True, True] Translation: X:182.73, Y:-21.36, Z:-2.02 [[ 9.94253394e-01 1.07042389e-01 1.45456710e-03 1.82726040e+02] [-1.07042210e-01 9.94254457e-01 -2.00769306e-04 -2.13620873e+01] [-1.46770065e-03 4.39154868e-05 9.99998922e-01 -2.01652769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12576923100002 meters Centerline goodness [0,1] 0.998294388538291 Centerline is valid? [True, True] Translation: X:182.76, Y:-21.37, Z:-2.01 [[ 9.94040787e-01 1.08937231e-01 3.94892025e-03 1.82757956e+02] [-1.08935918e-01 9.94048624e-01 -5.46758239e-04 -2.13683794e+01] [-3.98498107e-03 1.13320739e-04 9.99992054e-01 -2.01210533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15576923100002 meters Centerline goodness [0,1] 0.9982314672505632 Centerline is valid? [True, True] Translation: X:182.79, Y:-21.38, Z:-2.01 [[ 9.93829975e-01 1.10846291e-01 3.88348563e-03 1.82788444e+02] [-1.10845033e-01 9.93837557e-01 -5.38319591e-04 -2.13755544e+01] [-3.91922460e-03 1.04533051e-04 9.99992314e-01 -2.01224106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18576923100002 meters Centerline goodness [0,1] 0.9996382208980634 Centerline is valid? [True, True] Translation: X:182.82, Y:-21.37, Z:-2.01 [[ 9.93230179e-01 1.16110413e-01 3.49044221e-03 1.82820303e+02] [-1.16109428e-01 9.93236309e-01 -4.84356935e-04 -2.13727575e+01] [-3.52307282e-03 7.58046785e-05 9.99993791e-01 -2.01197592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21576923100002 meters Centerline goodness [0,1] 0.9995554050048694 Centerline is valid? [True, True] Translation: X:182.85, Y:-21.38, Z:-2.01 [[ 9.92823814e-01 1.19530626e-01 3.64755012e-03 1.82850710e+02] [-1.19529573e-01 9.92830512e-01 -5.06190305e-04 -2.13758871e+01] [-3.68190430e-03 6.65676812e-05 9.99993220e-01 -2.01156167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24576923100003 meters Centerline goodness [0,1] 0.999851383197809 Centerline is valid? [True, True] Translation: X:182.88, Y:-21.37, Z:-2.01 [[ 9.92379408e-01 1.23156015e-01 3.96324403e-03 1.82883173e+02] [-1.23154799e-01 9.92387320e-01 -5.50304139e-04 -2.13734802e+01] [-4.00084638e-03 5.80179751e-05 9.99991995e-01 -2.01093714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27576923100003 meters Centerline goodness [0,1] 0.9998510226232787 Centerline is valid? [True, True] Translation: X:182.92, Y:-21.37, Z:-2.01 [[ 9.91636939e-01 1.28984184e-01 4.38871564e-03 1.82915707e+02] [-1.28982750e-01 9.91646650e-01 -6.09542066e-04 -2.13667044e+01] [-4.43067645e-03 3.83758178e-05 9.99990184e-01 -2.00978507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.305769231 meters Centerline goodness [0,1] 0.9998731179157503 Centerline is valid? [True, True] Translation: X:182.95, Y:-21.37, Z:-2.01 [[ 9.91402135e-01 1.30782313e-01 4.21814039e-03 1.82947000e+02] [-1.30781004e-01 9.91411108e-01 -5.85974067e-04 -2.13687305e+01] [-4.25854629e-03 2.92833063e-05 9.99990932e-01 -2.00949980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.335769231 meters Centerline goodness [0,1] 0.9999577470739849 Centerline is valid? [True, True] Translation: X:182.98, Y:-21.37, Z:-2.01 [[ 9.91301534e-01 1.31558330e-01 3.69786763e-03 1.82979106e+02] [-1.31557328e-01 9.91308431e-01 -5.13993812e-04 -2.13729120e+01] [-3.73334753e-03 2.30412691e-05 9.99993031e-01 -2.01047727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.365769231 meters Centerline goodness [0,1] 0.999914837445975 Centerline is valid? [True, True] Translation: X:183.01, Y:-21.38, Z:-2.01 [[ 9.91382835e-01 1.30967988e-01 2.73133853e-03 1.83010641e+02] [-1.30967438e-01 9.91386598e-01 -3.79967755e-04 -2.13764316e+01] [-2.75757603e-03 1.89771001e-05 9.99996198e-01 -2.01244620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.395769231 meters Centerline goodness [0,1] 0.999914806611007 Centerline is valid? [True, True] Translation: X:183.04, Y:-21.39, Z:-2.02 [[ 9.91866724e-01 1.27277818e-01 8.71144308e-04 1.83040591e+02] [-1.27277761e-01 9.91867107e-01 -1.20935913e-04 -2.13880989e+01] [-8.79451843e-04 9.07501065e-06 9.99999613e-01 -2.01673183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.425769231 meters Centerline goodness [0,1] 0.9999358041598905 Centerline is valid? [True, True] Translation: X:183.07, Y:-21.40, Z:-2.02 [[ 9.92199277e-01 1.24661445e-01 3.43777700e-04 1.83071925e+02] [-1.24661436e-01 9.92199337e-01 -4.73749789e-05 -2.13953235e+01] [-3.47001839e-04 4.14959799e-06 9.99999940e-01 -2.01734216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.455769231 meters Centerline goodness [0,1] 0.9998079344416227 Centerline is valid? [True, True] Translation: X:183.10, Y:-21.41, Z:-2.02 [[ 9.92774917e-01 1.19987122e-01 -1.02653597e-03 1.83100147e+02] [-1.19987038e-01 9.92775448e-01 1.43370485e-04 -2.14100900e+01] [ 1.03632232e-03 -1.91636110e-05 9.99999463e-01 -2.02117190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.485769231 meters Centerline goodness [0,1] 0.9998525073746313 Centerline is valid? [True, True] Translation: X:183.13, Y:-21.41, Z:-2.02 [[ 9.92898956e-01 1.18949693e-01 -1.62286212e-03 1.83131655e+02] [-1.18949480e-01 9.92900282e-01 2.27473501e-04 -2.14133508e+01] [ 1.63839816e-03 -3.28195963e-05 9.99998657e-01 -2.02142383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.515769231 meters Centerline goodness [0,1] 0.9997440218434693 Centerline is valid? [True, True] Translation: X:183.16, Y:-21.42, Z:-2.02 [[ 9.92917794e-01 1.18798138e-01 -1.12127360e-03 1.83162548e+02] [-1.18798035e-01 9.92918427e-01 1.57623301e-04 -2.14217997e+01] [ 1.13205857e-03 -2.33018805e-05 9.99999359e-01 -2.02151964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.545769231 meters Centerline goodness [0,1] 0.9998723377093129 Centerline is valid? [True, True] Translation: X:183.20, Y:-21.42, Z:-2.02 [[ 9.92661847e-01 1.20923352e-01 2.94160972e-05 1.83195700e+02] [-1.20923351e-01 9.92661847e-01 -3.49587596e-06 -2.14189478e+01] [-2.96229705e-05 -8.68703735e-08 1.00000000e+00 -2.01751772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.575769231 meters Centerline goodness [0,1] 0.9998096849228166 Centerline is valid? [True, True] Translation: X:183.23, Y:-21.42, Z:-2.02 [[ 9.92538219e-01 1.21933190e-01 4.25317970e-04 1.83227838e+02] [-1.21933176e-01 9.92538310e-01 -5.90505290e-05 -2.14215484e+01] [-4.29344599e-04 6.74953587e-06 9.99999908e-01 -2.01724381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.605769231 meters Centerline goodness [0,1] 0.9997888780982139 Centerline is valid? [True, True] Translation: X:183.26, Y:-21.43, Z:-2.02 [[ 9.92505534e-01 1.22198306e-01 5.82830480e-04 1.83259238e+02] [-1.22198279e-01 9.92505705e-01 -8.12103937e-05 -2.14254505e+01] [-5.88386349e-04 9.38088336e-06 9.99999827e-01 -2.01789068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.635769231 meters Centerline goodness [0,1] 0.9997874782165171 Centerline is valid? [True, True] Translation: X:183.29, Y:-21.43, Z:-2.02 [[ 9.92890909e-01 1.19027903e-01 1.30045808e-05 1.83291066e+02] [-1.19027903e-01 9.92890910e-01 -1.64063655e-06 -2.14323317e+01] [-1.31074116e-05 8.10651252e-08 1.00000000e+00 -2.02107718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.665769231 meters Centerline goodness [0,1] 0.9995290894301982 Centerline is valid? [True, True] Translation: X:183.32, Y:-21.44, Z:-2.02 [[ 9.93178631e-01 1.16602298e-01 -3.33846448e-04 1.83320395e+02] [-1.16602289e-01 9.93178687e-01 4.72667080e-05 -2.14432464e+01] [ 3.37080583e-04 -8.01702433e-06 9.99999943e-01 -2.02269229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.695769231 meters Centerline goodness [0,1] 0.9992152204806244 Centerline is valid? [True, True] Translation: X:183.35, Y:-21.45, Z:-2.02 [[ 9.93806420e-01 1.11124394e-01 -4.10386674e-04 1.83349867e+02] [-1.11124380e-01 9.93806505e-01 5.77569295e-05 -2.14536522e+01] [ 4.14263150e-04 -1.17952426e-05 9.99999914e-01 -2.02288355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72576923100002 meters Centerline goodness [0,1] 0.9982812400534725 Centerline is valid? [True, True] Translation: X:183.38, Y:-21.47, Z:-2.02 [[ 9.94100178e-01 1.08465699e-01 -1.68479033e-04 1.83377916e+02] [-1.08465696e-01 9.94100192e-01 2.36920073e-05 -2.14695655e+01] [ 1.70054810e-04 -5.27803300e-06 9.99999986e-01 -2.02366149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75576923100002 meters Centerline goodness [0,1] 0.9981700753498385 Centerline is valid? [True, True] Translation: X:183.41, Y:-21.47, Z:-2.02 [[ 9.94330676e-01 1.06332040e-01 6.38422238e-05 1.83409088e+02] [-1.06332039e-01 9.94330678e-01 -8.40396425e-06 -2.14747913e+01] [-6.43738923e-05 1.56784560e-06 9.99999998e-01 -2.02287880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78576923100002 meters Centerline goodness [0,1] 0.9962422068494321 Centerline is valid? [True, True] Translation: X:183.44, Y:-21.49, Z:-2.02 [[ 9.94599501e-01 1.03782764e-01 9.85236393e-04 1.83437981e+02] [-1.03782677e-01 9.94599988e-01 -1.38662017e-04 -2.14878361e+01] [-9.94306833e-04 3.56627021e-05 9.99999505e-01 -2.02261665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81576923100002 meters Centerline goodness [0,1] 0.9964059956449124 Centerline is valid? [True, True] Translation: X:183.47, Y:-21.49, Z:-2.02 [[ 9.94612254e-01 1.03640412e-01 2.26467063e-03 1.83470078e+02] [-1.03639955e-01 9.94614829e-01 -3.18564051e-04 -2.14905034e+01] [-2.28549110e-03 8.21373479e-05 9.99997385e-01 -2.02050971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84576923100002 meters Centerline goodness [0,1] 0.9966336422712262 Centerline is valid? [True, True] Translation: X:183.50, Y:-21.50, Z:-2.02 [[ 9.94612859e-01 1.03617932e-01 2.93007642e-03 1.83502199e+02] [-1.03617164e-01 9.94617169e-01 -4.12817079e-04 -2.14973384e+01] [-2.95707957e-03 1.06986965e-04 9.99995622e-01 -2.01940706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87576923100002 meters Centerline goodness [0,1] 0.9973867968984278 Centerline is valid? [True, True] Translation: X:183.53, Y:-21.51, Z:-2.02 [[ 9.94599977e-01 1.03776695e-01 1.13289917e-03 1.83532501e+02] [-1.03776581e-01 9.94600621e-01 -1.59411106e-04 -2.15099116e+01] [-1.14332538e-03 4.09818802e-05 9.99999346e-01 -2.02351281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90576923100002 meters Centerline goodness [0,1] 0.9975175141480656 Centerline is valid? [True, True] Translation: X:183.56, Y:-21.52, Z:-2.03 [[ 9.94585699e-01 1.03918687e-01 -4.40580694e-04 1.83564589e+02] [-1.03918669e-01 9.94585796e-01 6.30835198e-05 -2.15193068e+01] [ 4.44750857e-04 -1.69574072e-05 9.99999901e-01 -2.02719743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93576923100002 meters Centerline goodness [0,1] 0.9979349953752501 Centerline is valid? [True, True] Translation: X:183.60, Y:-21.53, Z:-2.03 [[ 9.94643529e-01 1.03346332e-01 -1.94565197e-03 1.83596076e+02] [-1.03345989e-01 9.94645429e-01 2.76313594e-04 -2.15271612e+01] [ 1.96378984e-03 -7.37582015e-05 9.99998069e-01 -2.02957150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96576923100002 meters Centerline goodness [0,1] 0.9977951153324288 Centerline is valid? [True, True] Translation: X:183.63, Y:-21.54, Z:-2.03 [[ 9.94583497e-01 1.03866439e-01 -3.92826505e-03 1.83626615e+02] [-1.03865046e-01 9.94591243e-01 5.57491207e-04 -2.15423766e+01] [ 3.96492265e-03 -1.46462125e-04 9.99992129e-01 -2.03240046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99576923100003 meters Centerline goodness [0,1] 0.9979587497342122 Centerline is valid? [True, True] Translation: X:183.66, Y:-21.55, Z:-2.03 [[ 9.94500602e-01 1.04668586e-01 -3.61112348e-03 1.83657902e+02] [-1.04667411e-01 9.94507149e-01 5.13299227e-04 -2.15491471e+01] [ 3.64501442e-03 -1.32509444e-04 9.99993348e-01 -2.02997540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02576923100003 meters Centerline goodness [0,1] 0.997717474004565 Centerline is valid? [True, True] Translation: X:183.69, Y:-21.56, Z:-2.03 [[ 9.94365341e-01 1.05984006e-01 -2.22697685e-03 1.83688478e+02] [-1.05983562e-01 9.94367831e-01 3.17092254e-04 -2.15572920e+01] [ 2.24804084e-03 -7.92826093e-05 9.99997470e-01 -2.02747884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.055769231 meters Centerline goodness [0,1] 0.9981721961276062 Centerline is valid? [True, True] Translation: X:183.72, Y:-21.57, Z:-2.02 [[ 9.94011482e-01 1.09264553e-01 1.55890893e-03 1.83717055e+02] [-1.09264340e-01 9.94012704e-01 -2.21442617e-04 -2.15650337e+01] [-1.57377111e-03 4.97833489e-05 9.99998760e-01 -2.02062472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.085769231 meters Centerline goodness [0,1] 0.998279195258227 Centerline is valid? [True, True] Translation: X:183.75, Y:-21.57, Z:-2.02 [[ 9.93771838e-01 1.11395249e-01 2.93807318e-03 1.83747388e+02] [-1.11394500e-01 9.93776177e-01 -4.17673722e-04 -2.15710355e+01] [-2.96631400e-03 8.77871891e-05 9.99995597e-01 -2.01883037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.115769231 meters Centerline goodness [0,1] 0.9989986364411113 Centerline is valid? [True, True] Translation: X:183.78, Y:-21.57, Z:-2.02 [[ 9.93533523e-01 1.13490589e-01 3.32051480e-03 1.83779342e+02] [-1.13489644e-01 9.93539067e-01 -4.72050286e-04 -2.15732697e+01] [-3.35263444e-03 9.21537392e-05 9.99994376e-01 -2.01802432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.145769231 meters Centerline goodness [0,1] 0.9994403547290025 Centerline is valid? [True, True] Translation: X:183.81, Y:-21.58, Z:-2.02 [[ 9.93079951e-01 1.17392128e-01 3.36145876e-03 1.83811063e+02] [-1.17391181e-01 9.93085637e-01 -4.78515094e-04 -2.15777297e+01] [-3.39439032e-03 8.05981326e-05 9.99994236e-01 -2.01797309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.175769231 meters Centerline goodness [0,1] 0.9994718942098482 Centerline is valid? [True, True] Translation: X:183.84, Y:-21.59, Z:-2.02 [[ 9.92840202e-01 1.19424183e-01 2.48946387e-03 1.83841646e+02] [-1.19423669e-01 9.92843322e-01 -3.54269773e-04 -2.15859713e+01] [-2.51395595e-03 5.44323629e-05 9.99996839e-01 -2.01878997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.205769231 meters Centerline goodness [0,1] 0.9997032515155369 Centerline is valid? [True, True] Translation: X:183.87, Y:-21.59, Z:-2.02 [[ 9.92563562e-01 1.21726552e-01 -4.71130938e-04 1.83873500e+02] [-1.21726534e-01 9.92563674e-01 6.78882569e-05 -2.15876548e+01] [ 4.75891258e-04 -1.00342740e-05 9.99999887e-01 -2.02274284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.235769231 meters Centerline goodness [0,1] 0.9997230034944175 Centerline is valid? [True, True] Translation: X:183.91, Y:-21.59, Z:-2.02 [[ 9.92456689e-01 1.22589652e-01 -1.22352718e-03 1.83905417e+02] [-1.22589529e-01 9.92457443e-01 1.75487394e-04 -2.15923718e+01] [ 1.23581159e-03 -2.41720182e-05 9.99999236e-01 -2.02429389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.265769231 meters Centerline goodness [0,1] 0.9997051762624773 Centerline is valid? [True, True] Translation: X:183.94, Y:-21.60, Z:-2.03 [[ 9.92394469e-01 1.23095561e-01 -8.37187694e-04 1.83936039e+02] [-1.23095503e-01 9.92394822e-01 1.20365515e-04 -2.16009469e+01] [ 8.45637193e-04 -1.63960312e-05 9.99999642e-01 -2.02547731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.295769231 meters Centerline goodness [0,1] 0.9998065265058687 Centerline is valid? [True, True] Translation: X:183.97, Y:-21.61, Z:-2.02 [[ 9.92370955e-01 1.23275540e-01 1.74016506e-03 1.83968278e+02] [-1.23275294e-01 9.92372481e-01 -2.48567135e-04 -2.16050777e+01] [-1.75753417e-03 3.21514457e-05 9.99998455e-01 -2.02061499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.325769231 meters Centerline goodness [0,1] 0.9998715725935915 Centerline is valid? [True, True] Translation: X:184.00, Y:-21.61, Z:-2.02 [[ 9.92347261e-01 1.23460535e-01 2.10019048e-03 1.84001053e+02] [-1.23460176e-01 9.92349482e-01 -3.00431899e-04 -2.16094389e+01] [-2.12121442e-03 3.88428855e-05 9.99997749e-01 -2.01952487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.355769231 meters Centerline goodness [0,1] 0.9997254719770241 Centerline is valid? [True, True] Translation: X:184.03, Y:-21.61, Z:-2.02 [[ 9.92092238e-01 1.25501831e-01 1.51082329e-03 1.84031967e+02] [-1.25501647e-01 9.92093388e-01 -2.16297110e-04 -2.16149194e+01] [-1.52602348e-03 2.49758720e-05 9.99998835e-01 -2.02004978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.385769231 meters Centerline goodness [0,1] 0.9998300078621364 Centerline is valid? [True, True] Translation: X:184.06, Y:-21.62, Z:-2.02 [[ 9.91862318e-01 1.27307788e-01 1.36701081e-03 1.84064713e+02] [-1.27307639e-01 9.91863260e-01 -1.95843048e-04 -2.16153579e+01] [-1.38082014e-03 2.02184221e-05 9.99999046e-01 -2.02055718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.415769231 meters Centerline goodness [0,1] 0.9999141465089825 Centerline is valid? [True, True] Translation: X:184.10, Y:-21.62, Z:-2.02 [[ 9.91621781e-01 1.29170691e-01 1.08402923e-03 1.84096962e+02] [-1.29170599e-01 9.91622374e-01 -1.55327711e-04 -2.16161358e+01] [-1.09501143e-03 1.40016370e-05 9.99999400e-01 -2.02112871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.445769231 meters Centerline goodness [0,1] 0.9998941149065035 Centerline is valid? [True, True] Translation: X:184.13, Y:-21.62, Z:-2.02 [[ 9.91187833e-01 1.32463195e-01 -4.27346393e-04 1.84128429e+02] [-1.32463180e-01 9.91187925e-01 6.22024321e-05 -2.16179503e+01] [ 4.31820118e-04 -5.04663150e-06 9.99999907e-01 -2.02463661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47576923100002 meters Centerline goodness [0,1] 0.9998941149065035 Centerline is valid? [True, True] Translation: X:184.16, Y:-21.62, Z:-2.02 [[ 9.91163305e-01 1.32646597e-01 -4.27320618e-04 1.84160557e+02] [-1.32646583e-01 9.91163397e-01 6.23808055e-05 -2.16227863e+01] [ 4.31819157e-04 -5.14694564e-06 9.99999907e-01 -2.02476381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50576923100002 meters Centerline goodness [0,1] 0.9998728678885476 Centerline is valid? [True, True] Translation: X:184.19, Y:-21.62, Z:-2.02 [[ 9.91005174e-01 1.33822959e-01 -4.01550446e-04 1.84192272e+02] [-1.33822946e-01 9.91005255e-01 5.86424387e-05 -2.16249109e+01] [ 4.05786307e-04 -4.37829642e-06 9.99999918e-01 -2.02493171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53576923100002 meters Centerline goodness [0,1] 0.9998730722853335 Centerline is valid? [True, True] Translation: X:184.22, Y:-21.63, Z:-2.02 [[ 9.90882274e-01 1.34728970e-01 6.51148156e-04 1.84222884e+02] [-1.34728937e-01 9.90882488e-01 -9.35535750e-05 -2.16277209e+01] [-6.57815681e-04 4.97208013e-06 9.99999784e-01 -2.02468097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56576923100002 meters Centerline goodness [0,1] 0.9998525819223317 Centerline is valid? [True, True] Translation: X:184.26, Y:-21.63, Z:-2.02 [[ 9.90784913e-01 1.35414242e-01 2.87048075e-03 1.84255315e+02] [-1.35413608e-01 9.90789071e-01 -4.14874725e-04 -2.16310780e+01] [-2.90022090e-03 2.23494633e-05 9.99995794e-01 -2.02270542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59576923100002 meters Centerline goodness [0,1] 0.9999153672005586 Centerline is valid? [True, True] Translation: X:184.29, Y:-21.64, Z:-2.02 [[ 9.90761252e-01 1.35566089e-01 3.73865637e-03 1.84287891e+02] [-1.35565012e-01 9.90768305e-01 -5.41174595e-04 -2.16369172e+01] [-3.77750716e-03 2.93438236e-05 9.99992865e-01 -2.02150060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62576923100002 meters Centerline goodness [0,1] 0.9998941552530748 Centerline is valid? [True, True] Translation: X:184.32, Y:-21.65, Z:-2.02 [[ 9.90793332e-01 1.35355642e-01 2.72454245e-03 1.84318816e+02] [-1.35355068e-01 9.90797078e-01 -3.94794477e-04 -2.16459662e+01] [-2.75290635e-03 2.23791074e-05 9.99996210e-01 -2.02381051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65576923100002 meters Centerline goodness [0,1] 0.9998932923575986 Centerline is valid? [True, True] Translation: X:184.35, Y:-21.65, Z:-2.03 [[ 9.90819289e-01 1.35184041e-01 1.55310070e-03 1.84349581e+02] [-1.35183854e-01 9.90820506e-01 -2.24899421e-04 -2.16541621e+01] [-1.56924683e-03 1.28805460e-05 9.99998769e-01 -2.02615936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68576923100002 meters Centerline goodness [0,1] 0.999829231327513 Centerline is valid? [True, True] Translation: X:184.38, Y:-21.66, Z:-2.03 [[ 9.90823394e-01 1.35162837e-01 1.00075145e-04 1.84382068e+02] [-1.35162836e-01 9.90823399e-01 -1.37917763e-05 -2.16616267e+01] [-1.01020931e-04 1.38774130e-07 9.99999995e-01 -2.02928205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71576923100002 meters Centerline goodness [0,1] 0.9998094996189992 Centerline is valid? [True, True] Translation: X:184.41, Y:-21.67, Z:-2.03 [[ 9.90727493e-01 1.35864031e-01 4.08224117e-06 1.84413569e+02] [-1.35864031e-01 9.90727493e-01 1.16574719e-07 -2.16689599e+01] [-4.02855026e-06 -6.70123517e-07 1.00000000e+00 -2.03136859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74576923100003 meters Centerline goodness [0,1] 0.9998515281990371 Centerline is valid? [True, True] Translation: X:184.45, Y:-21.67, Z:-2.03 [[ 9.90542709e-01 1.37204545e-01 2.33596469e-04 1.84445285e+02] [-1.37204541e-01 9.90542736e-01 -3.34024675e-05 -2.16734978e+01] [-2.35970256e-04 1.03607431e-06 9.99999972e-01 -2.03057091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77576923100003 meters Centerline goodness [0,1] 0.999873644308729 Centerline is valid? [True, True] Translation: X:184.48, Y:-21.68, Z:-2.03 [[ 9.90226857e-01 1.39461547e-01 1.11713441e-03 1.84476513e+02] [-1.39461452e-01 9.90227488e-01 -1.62455928e-04 -2.16774036e+01] [-1.12887355e-03 5.07103611e-06 9.99999363e-01 -2.02930855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.805769231 meters Centerline goodness [0,1] 0.9999575173116955 Centerline is valid? [True, True] Translation: X:184.51, Y:-21.68, Z:-2.02 [[ 9.89516236e-01 1.44379845e-01 3.47535619e-03 1.84509207e+02] [-1.44378954e-01 9.89522340e-01 -5.07211929e-04 -2.16777141e+01] [-3.51217377e-03 1.26146888e-07 9.99993832e-01 -2.02324190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.835769231 meters Centerline goodness [0,1] 0.9999577140199167 Centerline is valid? [True, True] Translation: X:184.54, Y:-21.68, Z:-2.02 [[ 9.89223678e-01 1.46370702e-01 3.48331215e-03 1.84541054e+02] [-1.46369817e-01 9.89229810e-01 -5.08952020e-04 -2.16806021e+01] [-3.52029188e-03 -6.38437307e-06 9.99993804e-01 -2.02281401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.865769231 meters Centerline goodness [0,1] 0.9999152955127798 Centerline is valid? [True, True] Translation: X:184.57, Y:-21.68, Z:-2.03 [[ 9.88796661e-01 1.49264585e-01 1.11656913e-03 1.84573336e+02] [-1.49264496e-01 9.88797291e-01 -1.62906438e-04 -2.16827000e+01] [-1.12837670e-03 -5.58278693e-06 9.99999363e-01 -2.02825141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.895769231 meters Centerline goodness [0,1] 0.9999572274856178 Centerline is valid? [True, True] Translation: X:184.61, Y:-21.69, Z:-2.03 [[ 9.88568138e-01 1.50774267e-01 -3.97141815e-04 1.84605584e+02] [-1.50774256e-01 9.88568217e-01 5.88946126e-05 -2.16864649e+01] [ 4.01481568e-04 1.65742399e-06 9.99999919e-01 -2.03045898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.925769231 meters Centerline goodness [0,1] 0.9999359685819176 Centerline is valid? [True, True] Translation: X:184.64, Y:-21.69, Z:-2.03 [[ 9.88316809e-01 1.52409963e-01 -1.04294774e-03 1.84636592e+02] [-1.52409886e-01 9.88317359e-01 1.53713345e-04 -2.16890561e+01] [ 1.05419080e-03 7.03806301e-06 9.99999444e-01 -2.03075058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.955769231 meters Centerline goodness [0,1] 0.9999789968915399 Centerline is valid? [True, True] Translation: X:184.67, Y:-21.69, Z:-2.03 [[ 9.87840786e-01 1.55465777e-01 9.87279226e-04 1.84668468e+02] [-1.55465710e-01 9.87841279e-01 -1.44486871e-04 -2.16861223e+01] [-9.97737937e-04 -1.07580415e-05 9.99999502e-01 -2.02509940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.70, Y:-21.69, Z:-2.02 [[ 9.87563901e-01 1.57196816e-01 2.58909258e-03 1.84700596e+02] [-1.57196359e-01 9.87567294e-01 -3.80270855e-04 -2.16876201e+01] [-2.61668052e-03 -3.14541594e-05 9.99996576e-01 -2.02089443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.73, Y:-21.68, Z:-2.02 [[ 9.86914665e-01 1.61163407e-01 5.07942163e-03 1.84732542e+02] [-1.61161695e-01 9.86927733e-01 -7.47332069e-04 -2.16822242e+01] [-5.13346466e-03 -8.10552198e-05 9.99986820e-01 -2.01581235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.77, Y:-21.68, Z:-2.02 [[ 9.86546397e-01 1.63387914e-01 5.53133698e-03 1.84765300e+02] [-1.63385916e-01 9.86561898e-01 -8.14197141e-04 -2.16825807e+01] [-5.59003629e-03 -1.00499305e-04 9.99984371e-01 -2.01594743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.80, Y:-21.68, Z:-2.02 [[ 9.86220066e-01 1.65357511e-01 5.18402998e-03 1.84797327e+02] [-1.65355779e-01 9.86233686e-01 -7.63875511e-04 -2.16817835e+01] [-5.23897755e-03 -1.03859959e-04 9.99986271e-01 -2.01662973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.105769231 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:184.83, Y:-21.69, Z:-2.02 [[ 9.86025315e-01 1.66530470e-01 4.65630591e-03 1.84829355e+02] [-1.66529083e-01 9.86036304e-01 -6.86780620e-04 -2.16874747e+01] [-4.70565657e-03 -9.82272762e-05 9.99988924e-01 -2.01842889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.86, Y:-21.69, Z:-2.02 [[ 9.86303951e-01 1.64908758e-01 3.10140039e-03 1.84860077e+02] [-1.64908134e-01 9.86308825e-01 -4.57806058e-04 -2.16906615e+01] [-3.13443480e-03 -5.99102269e-05 9.99995086e-01 -2.02117051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.89, Y:-21.70, Z:-2.02 [[ 9.86680098e-01 1.62655371e-01 2.36928127e-03 1.84890686e+02] [-1.62655000e-01 9.86682942e-01 -3.49774524e-04 -2.17011714e+01] [-2.39462212e-03 -4.02598831e-05 9.99997132e-01 -2.02248098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.92, Y:-21.71, Z:-2.03 [[ 9.87297317e-01 1.58881978e-01 7.24000310e-04 1.84920262e+02] [-1.58881943e-01 9.87297583e-01 -1.06596104e-04 -2.17130018e+01] [-7.31739955e-04 -9.78852878e-06 9.99999732e-01 -2.02533167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.95, Y:-21.72, Z:-2.03 [[ 9.87387266e-01 1.58321977e-01 7.34463503e-04 1.84950398e+02] [-1.58321940e-01 9.87387539e-01 -1.08268905e-04 -2.17195510e+01] [-7.42341458e-04 -9.37834852e-06 9.99999724e-01 -2.02568408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.98, Y:-21.73, Z:-2.02 [[ 9.87347381e-01 1.58567805e-01 1.18300603e-03 1.84982637e+02] [-1.58567709e-01 9.87348090e-01 -1.74832984e-04 -2.17256446e+01] [-1.19576163e-03 -1.49656674e-05 9.99999285e-01 -2.02460434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.01, Y:-21.73, Z:-2.02 [[ 9.86952163e-01 1.61007771e-01 1.38793763e-03 1.85014412e+02] [-1.61007642e-01 9.86953138e-01 -2.05556946e-04 -2.17289823e+01] [-1.40292566e-03 -2.05936919e-05 9.99999016e-01 -2.02461817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.05, Y:-21.73, Z:-2.03 [[ 9.86646945e-01 1.62872414e-01 6.19168888e-04 1.85045731e+02] [-1.62872388e-01 9.86647139e-01 -9.14690666e-05 -2.17338723e+01] [-6.25798999e-04 -1.05978404e-05 9.99999804e-01 -2.02578051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34576923100002 meters Centerline goodness [0,1] 0.9999787996353537 Centerline is valid? [True, True] Translation: X:185.08, Y:-21.74, Z:-2.03 [[ 9.86218131e-01 1.65438666e-01 -1.96093745e-03 1.85076970e+02] [-1.65438411e-01 9.86220080e-01 2.92513330e-04 -2.17358281e+01] [ 1.98230891e-03 3.59324269e-05 9.99998035e-01 -2.03394683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.11, Y:-21.74, Z:-2.04 [[ 9.86208904e-01 1.65485625e-01 -2.55059230e-03 1.85108623e+02] [-1.65485194e-01 9.86212201e-01 3.80821579e-04 -2.17417836e+01] [ 2.57844575e-03 4.65156292e-05 9.99996675e-01 -2.03669184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.14, Y:-21.75, Z:-2.04 [[ 9.86287605e-01 1.65023749e-01 -1.98058536e-03 1.85139882e+02] [-1.65023487e-01 9.86289593e-01 2.96159055e-04 -2.17520397e+01] [ 2.00230400e-03 3.47450968e-05 9.99997995e-01 -2.03517478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43576923100002 meters Centerline goodness [0,1] 0.9999577140199167 Centerline is valid? [True, True] Translation: X:185.17, Y:-21.76, Z:-2.03 [[ 9.86310023e-01 1.64901391e-01 -2.63570335e-04 1.85170623e+02] [-1.64901386e-01 9.86310058e-01 4.00101281e-05 -2.17608512e+01] [ 2.66559798e-04 4.00072310e-06 9.99999964e-01 -2.03082233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46576923100002 meters Centerline goodness [0,1] 0.999978578467075 Centerline is valid? [True, True] Translation: X:185.20, Y:-21.77, Z:-2.03 [[ 9.86130892e-01 1.65969072e-01 -3.60506145e-04 1.85202140e+02] [-1.65969063e-01 9.86130958e-01 5.45537042e-05 -2.17656872e+01] [ 3.64560498e-04 6.03577418e-06 9.99999934e-01 -2.03095596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49576923100003 meters Centerline goodness [0,1] 0.999936412386867 Centerline is valid? [True, True] Translation: X:185.24, Y:-21.76, Z:-2.03 [[ 9.85562766e-01 1.69305874e-01 -1.24675939e-03 1.85235072e+02] [-1.69305774e-01 9.85563555e-01 1.86679212e-04 -2.17631266e+01] [ 1.26036650e-03 2.70994823e-05 9.99999205e-01 -2.03391771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52576923100003 meters Centerline goodness [0,1] 0.9999155940071746 Centerline is valid? [True, True] Translation: X:185.27, Y:-21.76, Z:-2.03 [[ 9.85161174e-01 1.71628975e-01 -9.77455809e-04 1.85266189e+02] [-1.71628914e-01 9.85161659e-01 1.46610834e-04 -2.17620584e+01] [ 9.88114654e-04 2.33243772e-05 9.99999512e-01 -2.03469810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.555769231 meters Centerline goodness [0,1] 0.999957296893349 Centerline is valid? [True, True] Translation: X:185.30, Y:-21.76, Z:-2.03 [[ 9.84752006e-01 1.73964037e-01 1.51962261e-05 1.85298113e+02] [-1.73964037e-01 9.84752006e-01 -2.08924596e-06 -2.17646781e+01] [-1.53279678e-05 -5.86207678e-07 1.00000000e+00 -2.03326422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.585769231 meters Centerline goodness [0,1] 0.9999572886857728 Centerline is valid? [True, True] Translation: X:185.33, Y:-21.76, Z:-2.03 [[ 9.84401816e-01 1.75930841e-01 1.18472384e-03 1.85329662e+02] [-1.75930756e-01 9.84402528e-01 -1.76957420e-04 -2.17644791e+01] [-1.19737741e-03 -3.42321551e-05 9.99999283e-01 -2.03172507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.615769231 meters Centerline goodness [0,1] 0.9998947058080276 Centerline is valid? [True, True] Translation: X:185.36, Y:-21.77, Z:-2.03 [[ 9.84064255e-01 1.77800909e-01 2.09273763e-03 1.85362311e+02] [-1.77800644e-01 9.84066478e-01 -3.13554954e-04 -2.17654591e+01] [-2.11514330e-03 -6.35318748e-05 9.99997761e-01 -2.02952434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.645769231 meters Centerline goodness [0,1] 0.9998733723065234 Centerline is valid? [True, True] Translation: X:185.39, Y:-21.77, Z:-2.03 [[ 9.83917067e-01 1.78617081e-01 1.77278301e-03 1.85393281e+02] [-1.78616893e-01 9.83918663e-01 -2.65453855e-04 -2.17664197e+01] [-1.79168888e-03 -5.54644133e-05 9.99998393e-01 -2.03041760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.675769231 meters Centerline goodness [0,1] 0.9998720791403718 Centerline is valid? [True, True] Translation: X:185.43, Y:-21.76, Z:-2.03 [[ 9.83586554e-01 1.80426403e-01 1.95053157e-03 1.85425143e+02] [-1.80426177e-01 9.83588486e-01 -2.92687049e-04 -2.17620132e+01] [-1.97132886e-03 -6.40439070e-05 9.99998055e-01 -2.03106924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.705769231 meters Centerline goodness [0,1] 0.9998303575215234 Centerline is valid? [True, True] Translation: X:185.46, Y:-21.76, Z:-2.03 [[ 9.83296771e-01 1.81995129e-01 2.28746383e-03 1.85456788e+02] [-1.81994822e-01 9.83299429e-01 -3.43260173e-04 -2.17632090e+01] [-2.31173355e-03 -7.87799525e-05 9.99997325e-01 -2.02962089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.735769231 meters Centerline goodness [0,1] 0.9997029429862717 Centerline is valid? [True, True] Translation: X:185.49, Y:-21.76, Z:-2.03 [[ 9.82964327e-01 1.83786381e-01 1.92324746e-03 1.85488100e+02] [-1.83786167e-01 9.82966206e-01 -2.88600314e-04 -2.17588055e+01] [-1.94352807e-03 -6.97824660e-05 9.99998109e-01 -2.02997859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.765769231 meters Centerline goodness [0,1] 0.999806426635695 Centerline is valid? [True, True] Translation: X:185.52, Y:-21.76, Z:-2.03 [[ 9.82542165e-01 1.86039374e-01 4.95606248e-04 1.85518697e+02] [-1.86039360e-01 9.82542290e-01 -7.44519885e-05 -2.17574011e+01] [-5.00805099e-04 -1.90500511e-05 9.99999874e-01 -2.03241798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.795769231 meters Centerline goodness [0,1] 0.9995155855096883 Centerline is valid? [True, True] Translation: X:185.55, Y:-21.75, Z:-2.03 [[ 9.82506841e-01 1.86226487e-01 4.87424945e-05 1.85548525e+02] [-1.86226487e-01 9.82506842e-01 -7.45357160e-06 -2.17539171e+01] [-4.92778869e-05 -1.75395843e-06 9.99999999e-01 -2.03432210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.825769231 meters Centerline goodness [0,1] 0.9997850109644408 Centerline is valid? [True, True] Translation: X:185.58, Y:-21.76, Z:-2.03 [[ 9.82560484e-01 1.85942998e-01 -3.10563615e-04 1.85577184e+02] [-1.85942992e-01 9.82560533e-01 4.65144003e-05 -2.17627188e+01] [ 3.13796578e-04 1.20439161e-05 9.99999951e-01 -2.03397507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.855769231 meters Centerline goodness [0,1] 0.9994072694172188 Centerline is valid? [True, True] Translation: X:185.61, Y:-21.76, Z:-2.04 [[ 9.82827941e-01 1.84522448e-01 -8.39406732e-04 1.85606984e+02] [-1.84522407e-01 9.82828299e-01 1.25859216e-04 -2.17610110e+01] [ 8.48216542e-04 3.11913970e-05 9.99999640e-01 -2.03545582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.885769231 meters Centerline goodness [0,1] 0.9998929702885521 Centerline is valid? [True, True] Translation: X:185.64, Y:-21.77, Z:-2.03 [[ 9.83066629e-01 1.83247970e-01 -4.28720611e-04 1.85636112e+02] [-1.83247960e-01 9.83066723e-01 6.43286480e-05 -2.17724359e+01] [ 4.33249060e-04 1.53228301e-05 9.99999906e-01 -2.03354908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.915769231 meters Centerline goodness [0,1] 0.9999147357875215 Centerline is valid? [True, True] Translation: X:185.67, Y:-21.77, Z:-2.03 [[ 9.83392162e-01 1.81483514e-01 1.89469560e-03 1.85665775e+02] [-1.81483303e-01 9.83393985e-01 -2.84342899e-04 -2.17723181e+01] [-1.91483581e-03 -6.42350375e-05 9.99998165e-01 -2.02768881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.945769231 meters Centerline goodness [0,1] 0.999893592117304 Centerline is valid? [True, True] Translation: X:185.70, Y:-21.77, Z:-2.03 [[ 9.83309479e-01 1.81919644e-01 2.77690318e-03 1.85695719e+02] [-1.81919192e-01 9.83313396e-01 -4.16627200e-04 -2.17738953e+01] [-2.80635877e-03 -9.54985084e-05 9.99996058e-01 -2.02528605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97576923100002 meters Centerline goodness [0,1] 0.9998292058070025 Centerline is valid? [True, True] Translation: X:185.73, Y:-21.77, Z:-2.03 [[ 9.83068801e-01 1.83213215e-01 2.94127907e-03 1.85725220e+02] [-1.83212714e-01 9.83073195e-01 -4.41225156e-04 -2.17732706e+01] [-2.97233089e-03 -1.05125036e-04 9.99995577e-01 -2.02552607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00576923100002 meters Centerline goodness [0,1] 0.9996389278280446 Centerline is valid? [True, True] Translation: X:185.76, Y:-21.77, Z:-2.03 [[ 9.82533550e-01 1.86064902e-01 2.77054656e-03 1.85756418e+02] [-1.86064469e-01 9.82537450e-01 -4.15498209e-04 -2.17696230e+01] [-2.79947539e-03 -1.07259344e-04 9.99996076e-01 -2.02730687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03576923100002 meters Centerline goodness [0,1] 0.9995351196010481 Centerline is valid? [True, True] Translation: X:185.79, Y:-21.77, Z:-2.03 [[ 9.82427878e-01 1.86623163e-01 2.69426058e-03 1.85785327e+02] [-1.86622756e-01 9.82431567e-01 -4.04068601e-04 -2.17714006e+01] [-2.72233520e-03 -1.05842077e-04 9.99996289e-01 -2.02754401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06576923100002 meters Centerline goodness [0,1] 0.9995561661206805 Centerline is valid? [True, True] Translation: X:185.81, Y:-21.77, Z:-2.03 [[ 9.82691719e-01 1.85227359e-01 2.79481577e-03 1.85813813e+02] [-1.85226915e-01 9.82695688e-01 -4.19011274e-04 -2.17715773e+01] [-2.82406575e-03 -1.05916194e-04 9.99996007e-01 -2.02803887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09576923100002 meters Centerline goodness [0,1] 0.999702393605714 Centerline is valid? [True, True] Translation: X:185.84, Y:-21.78, Z:-2.03 [[ 9.82893853e-01 1.84162351e-01 1.97558737e-03 1.85842442e+02] [-1.84162127e-01 9.82895835e-01 -2.96150521e-04 -2.17765700e+01] [-1.99633637e-03 -7.27438464e-05 9.99998005e-01 -2.02937405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12576923100002 meters Centerline goodness [0,1] 0.99966034050864 Centerline is valid? [True, True] Translation: X:185.87, Y:-21.77, Z:-2.03 [[ 9.83066888e-01 1.83246403e-01 4.98678186e-04 1.85871174e+02] [-1.83246389e-01 9.83067015e-01 -7.49066874e-05 -2.17749780e+01] [-5.03960457e-04 -1.77426926e-05 9.99999873e-01 -2.03213007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15576923100002 meters Centerline goodness [0,1] 0.999786470789204 Centerline is valid? [True, True] Translation: X:185.90, Y:-21.78, Z:-2.04 [[ 9.83153612e-01 1.82776098e-01 -1.36875341e-03 1.85899884e+02] [-1.82775990e-01 9.83154563e-01 2.04731410e-04 -2.17782418e+01] [ 1.38311617e-03 4.88928343e-05 9.99999042e-01 -2.03501728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18576923100002 meters Centerline goodness [0,1] 0.9997635069765441 Centerline is valid? [True, True] Translation: X:185.93, Y:-21.78, Z:-2.03 [[ 9.83059983e-01 1.83281618e-01 -9.58462369e-04 1.85928993e+02] [-1.83281566e-01 9.83060449e-01 1.43263823e-04 -2.17771736e+01] [ 9.68484073e-04 3.48315518e-05 9.99999530e-01 -2.03453179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21576923100002 meters Centerline goodness [0,1] 0.9994719834414008 Centerline is valid? [True, True] Translation: X:185.96, Y:-21.76, Z:-2.03 [[ 9.82460869e-01 1.86460983e-01 1.71527611e-03 1.85960337e+02] [-1.86460819e-01 9.82462364e-01 -2.56722959e-04 -2.17634090e+01] [-1.73306304e-03 -6.76115273e-05 9.99998496e-01 -2.03124558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24576923100003 meters Centerline goodness [0,1] 0.9988345235320294 Centerline is valid? [True, True] Translation: X:185.99, Y:-21.76, Z:-2.03 [[ 9.82139868e-01 1.88136221e-01 2.45815256e-03 1.85990428e+02] [-1.88135888e-01 9.82142939e-01 -3.67919975e-04 -2.17604029e+01] [-2.48347625e-03 -1.01117839e-04 9.99996911e-01 -2.03012581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27576923100003 meters Centerline goodness [0,1] 0.9985974456510189 Centerline is valid? [True, True] Translation: X:186.02, Y:-21.76, Z:-2.03 [[ 9.82007992e-01 1.88824183e-01 2.39401462e-03 1.86020130e+02] [-1.88823870e-01 9.82010905e-01 -3.58259127e-04 -2.17590788e+01] [-2.41859645e-03 -1.00233778e-04 9.99997070e-01 -2.03016704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.305769231 meters Centerline goodness [0,1] 0.9994441712807577 Centerline is valid? [True, True] Translation: X:186.05, Y:-21.76, Z:-2.03 [[ 9.82463219e-01 1.86447086e-01 1.87297175e-03 1.86049986e+02] [-1.86446890e-01 9.82465001e-01 -2.80196331e-04 -2.17602020e+01] [-1.89237098e-03 -7.39271683e-05 9.99998207e-01 -2.03112310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.335769231 meters Centerline goodness [0,1] 0.9994441712807577 Centerline is valid? [True, True] Translation: X:186.08, Y:-21.76, Z:-2.03 [[ 9.82475981e-01 1.86379822e-01 1.87296448e-03 1.86077220e+02] [-1.86379626e-01 9.82477764e-01 -2.80244996e-04 -2.17641393e+01] [-1.89237796e-03 -7.37484421e-05 9.99998207e-01 -2.03123075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.365769231 meters Centerline goodness [0,1] 0.9994316985897705 Centerline is valid? [True, True] Translation: X:186.11, Y:-21.76, Z:-2.03 [[ 9.82920517e-01 1.84022116e-01 1.76563051e-03 1.86106199e+02] [-1.84021939e-01 9.82922101e-01 -2.63980507e-04 -2.17622950e+01] [-1.78405550e-03 -6.54428923e-05 9.99998406e-01 -2.03215057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.395769231 meters Centerline goodness [0,1] 0.999764902006882 Centerline is valid? [True, True] Translation: X:186.14, Y:-21.77, Z:-2.03 [[ 9.83482281e-01 1.80991961e-01 2.12423826e-03 1.86135104e+02] [-1.80991697e-01 9.83484573e-01 -3.17524043e-04 -2.17687003e+01] [-2.14662486e-03 -7.21902175e-05 9.99997693e-01 -2.03161639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.425769231 meters Centerline goodness [0,1] 0.9998929657062122 Centerline is valid? [True, True] Translation: X:186.16, Y:-21.77, Z:-2.03 [[ 9.84766454e-01 1.73838390e-01 3.90453596e-03 1.86164922e+02] [-1.73837442e-01 9.84774189e-01 -5.83473112e-04 -2.17741460e+01] [-3.94651626e-03 -1.04169797e-04 9.99992207e-01 -2.02891004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.455769231 meters Centerline goodness [0,1] 0.9999364958404775 Centerline is valid? [True, True] Translation: X:186.19, Y:-21.78, Z:-2.03 [[ 9.85445577e-01 1.69921248e-01 4.87688385e-03 1.86193274e+02] [-1.69919721e-01 9.85457638e-01 -7.28783977e-04 -2.17783798e+01] [-4.92979833e-03 -1.10501799e-04 9.99987842e-01 -2.02670151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.485769231 meters Centerline goodness [0,1] 0.999978784342845 Centerline is valid? [True, True] Translation: X:186.22, Y:-21.79, Z:-2.03 [[ 9.86555162e-01 1.63378310e-01 4.05463326e-03 1.86222676e+02] [-1.63377199e-01 9.86563492e-01 -6.05798140e-04 -2.17874914e+01] [-4.09912743e-03 -6.47813451e-05 9.99991596e-01 -2.02745563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.515769231 meters Centerline goodness [0,1] 0.9999788806758184 Centerline is valid? [True, True] Translation: X:186.25, Y:-21.79, Z:-2.03 [[ 9.87062638e-01 1.60315779e-01 2.49009367e-03 1.86250242e+02] [-1.60315350e-01 9.87065778e-01 -3.72124094e-04 -2.17920271e+01] [-2.51754361e-03 -3.18904492e-05 9.99996830e-01 -2.03026482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.28, Y:-21.80, Z:-2.03 [[ 9.87614970e-01 1.56882923e-01 2.10206574e-03 1.86278242e+02] [-1.56882610e-01 9.87617207e-01 -3.14007012e-04 -2.18017676e+01] [-2.12529863e-03 -1.96595330e-05 9.99997741e-01 -2.03103971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.31, Y:-21.82, Z:-2.03 [[ 9.88802731e-01 1.49187468e-01 3.50127030e-03 1.86305605e+02] [-1.49186552e-01 9.88808930e-01 -5.22793099e-04 -2.18161657e+01] [-3.54008152e-03 -5.40320053e-06 9.99993734e-01 -2.02837493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.33, Y:-21.83, Z:-2.03 [[ 9.89432786e-01 1.44912962e-01 4.79531722e-03 1.86333476e+02] [-1.44911195e-01 9.89444406e-01 -7.15862365e-04 -2.18285695e+01] [-4.84843753e-03 1.34025458e-05 9.99988246e-01 -2.02613275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.635769231 meters Centerline goodness [0,1] 0.999957457670382 Centerline is valid? [True, True] Translation: X:186.36, Y:-21.85, Z:-2.02 [[ 9.90660569e-01 1.36228126e-01 5.79092374e-03 1.86361670e+02] [-1.36225400e-01 9.90677492e-01 -8.64424393e-04 -2.18524848e+01] [-5.85469673e-03 6.74802558e-05 9.99982859e-01 -2.02438028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.665769231 meters Centerline goodness [0,1] 0.9998528948197961 Centerline is valid? [True, True] Translation: X:186.39, Y:-21.87, Z:-2.03 [[ 9.91172766e-01 1.32502538e-01 4.43006328e-03 1.86390689e+02] [-1.32500904e-01 9.91182664e-01 -6.61442217e-04 -2.18692629e+01] [-4.47864470e-03 6.86161205e-05 9.99989968e-01 -2.02686707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.695769231 meters Centerline goodness [0,1] 0.9998713798795258 Centerline is valid? [True, True] Translation: X:186.42, Y:-21.88, Z:-2.03 [[ 9.91625277e-01 1.29127980e-01 2.29656182e-03 1.86421366e+02] [-1.29127532e-01 9.91627936e-01 -3.42952785e-04 -2.18775156e+01] [-2.32161966e-03 4.35312913e-05 9.99997304e-01 -2.03081172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72576923100002 meters Centerline goodness [0,1] 0.9996581415721214 Centerline is valid? [True, True] Translation: X:186.45, Y:-21.90, Z:-2.04 [[ 9.92222165e-01 1.24479554e-01 -1.22397903e-04 1.86448488e+02] [-1.24479553e-01 9.92222173e-01 1.83589991e-05 -2.19022346e+01] [ 1.23731233e-04 -2.98016955e-06 9.99999992e-01 -2.03614298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75576923100002 meters Centerline goodness [0,1] 0.9997848722140952 Centerline is valid? [True, True] Translation: X:186.48, Y:-21.91, Z:-2.03 [[ 9.92295594e-01 1.23892903e-01 -5.44489829e-05 1.86480171e+02] [-1.23892902e-01 9.92295595e-01 8.77612409e-06 -2.19108128e+01] [ 5.51167854e-05 -1.96266675e-06 9.99999998e-01 -2.03418072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78576923100002 meters Centerline goodness [0,1] 0.9999148936170212 Centerline is valid? [True, True] Translation: X:186.51, Y:-21.92, Z:-2.03 [[ 9.92207867e-01 1.24592009e-01 6.16280459e-04 1.86511176e+02] [-1.24591976e-01 9.92208058e-01 -9.17783131e-05 -2.19188401e+01] [-6.22913282e-04 1.42795643e-05 9.99999806e-01 -2.03160789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81576923100002 meters Centerline goodness [0,1] 0.9999144915453515 Centerline is valid? [True, True] Translation: X:186.54, Y:-21.92, Z:-2.03 [[ 9.91851688e-01 1.27397918e-01 1.80106275e-05 1.86542876e+02] [-1.27397918e-01 9.91851688e-01 -2.05302472e-06 -2.19231726e+01] [-1.81254223e-05 -2.58220402e-07 1.00000000e+00 -2.03192159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84576923100002 meters Centerline goodness [0,1] 0.999914889995319 Centerline is valid? [True, True] Translation: X:186.57, Y:-21.93, Z:-2.03 [[ 9.91585670e-01 1.29450306e-01 -6.90101616e-04 1.86573417e+02] [-1.29450265e-01 9.91585911e-01 1.04298534e-04 -2.19298518e+01] [ 6.97796516e-04 -1.40870948e-05 9.99999756e-01 -2.03437370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.60, Y:-21.93, Z:-2.04 [[ 9.91031956e-01 1.33621199e-01 -1.01864988e-03 1.86603981e+02] [-1.33621112e-01 9.91032479e-01 1.53174204e-04 -2.19329165e+01] [ 1.02998244e-03 -1.56874012e-05 9.99999469e-01 -2.03623127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90576923100002 meters Centerline goodness [0,1] 0.9999786470789204 Centerline is valid? [True, True] Translation: X:186.64, Y:-21.94, Z:-2.04 [[ 9.90730455e-01 1.35840997e-01 -6.23628892e-04 1.86635795e+02] [-1.35840965e-01 9.90730651e-01 9.39830716e-05 -2.19350872e+01] [ 6.30615013e-04 -8.39754098e-06 9.99999801e-01 -2.03555996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93576923100002 meters Centerline goodness [0,1] 0.9999789982148483 Centerline is valid? [True, True] Translation: X:186.67, Y:-21.94, Z:-2.03 [[ 9.90411190e-01 1.38150845e-01 -1.38510256e-04 1.86666992e+02] [-1.38150843e-01 9.90411199e-01 2.14338074e-05 -2.19383715e+01] [ 1.40143207e-04 -2.09297404e-06 9.99999990e-01 -2.03463483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.70, Y:-21.94, Z:-2.03 [[ 9.90131670e-01 1.40140101e-01 1.64909087e-04 1.86698978e+02] [-1.40140099e-01 9.90131684e-01 -2.42038464e-05 -2.19390664e+01] [-1.66673641e-04 8.54619076e-07 9.99999986e-01 -2.03400619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.73, Y:-21.94, Z:-2.03 [[ 9.89595484e-01 1.43867419e-01 1.71552845e-03 1.86729669e+02] [-1.43867187e-01 9.89596971e-01 -2.58432583e-04 -2.19376580e+01] [-1.73486179e-03 8.93546316e-06 9.99998495e-01 -2.03148842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.76, Y:-21.94, Z:-2.03 [[ 9.89298914e-01 1.45883471e-01 2.38166345e-03 1.86760332e+02] [-1.45883030e-01 9.89301780e-01 -3.58827560e-04 -2.19376295e+01] [-2.40853090e-03 7.54343475e-06 9.99997099e-01 -2.03033967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.055769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.79, Y:-21.93, Z:-2.03 [[ 9.88593930e-01 1.50574371e-01 3.06583214e-03 1.86791958e+02] [-1.50573663e-01 9.88598684e-01 -4.61982052e-04 -2.19296145e+01] [-3.10044027e-03 -4.92092139e-06 9.99995194e-01 -2.03003500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.82, Y:-21.93, Z:-2.03 [[ 9.88252430e-01 1.52805352e-01 2.76743649e-03 1.86821962e+02] [-1.52804783e-01 9.88256305e-01 -4.16949230e-04 -2.19276368e+01] [-2.79864864e-03 -1.08264443e-05 9.99996084e-01 -2.03148590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.85, Y:-21.93, Z:-2.03 [[ 9.87930832e-01 1.54886313e-01 1.70336777e-03 1.86852125e+02] [-1.54886101e-01 9.87932300e-01 -2.56656486e-04 -2.19258800e+01] [-1.72256462e-03 -1.02691374e-05 9.99998516e-01 -2.03407544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.88, Y:-21.93, Z:-2.04 [[ 9.88071008e-01 1.53992491e-01 1.41308576e-03 1.86880652e+02] [-1.53992344e-01 9.88072018e-01 -2.12928281e-04 -2.19306617e+01] [-1.42901986e-03 -7.21612747e-06 9.99998979e-01 -2.03552136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.91, Y:-21.94, Z:-2.04 [[ 9.88318802e-01 1.52394445e-01 1.37037681e-03 1.86909315e+02] [-1.52394305e-01 9.88319752e-01 -2.06422205e-04 -2.19375272e+01] [-1.38582806e-03 -4.82667491e-06 9.99999040e-01 -2.03553140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.94, Y:-21.95, Z:-2.03 [[ 9.88953324e-01 1.48203617e-01 2.64762910e-03 1.86938229e+02] [-1.48203081e-01 9.88956869e-01 -3.98641566e-04 -2.19468667e+01] [-2.67747111e-03 1.85111205e-06 9.99996416e-01 -2.03394806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.97, Y:-21.95, Z:-2.03 [[ 9.89240917e-01 1.46273328e-01 2.55362681e-03 1.86968133e+02] [-1.46272822e-01 9.89244213e-01 -3.84488066e-04 -2.19537688e+01] [-2.58240090e-03 6.82512552e-06 9.99996666e-01 -2.03394622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.265769231 meters Centerline goodness [0,1] 0.9999366567428897 Centerline is valid? [True, True] Translation: X:187.00, Y:-21.96, Z:-2.04 [[ 9.89652084e-01 1.43487552e-01 2.72209832e-04 1.86997771e+02] [-1.43487546e-01 9.89652122e-01 -4.09434204e-05 -2.19609607e+01] [-2.75267909e-04 1.46102050e-06 9.99999962e-01 -2.03911420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.03, Y:-21.97, Z:-2.04 [[ 9.89757654e-01 1.42753215e-01 -1.14290802e-03 1.87028050e+02] [-1.42753112e-01 9.89758314e-01 1.72095846e-04 -2.19660002e+01] [ 1.15576995e-03 -7.17950486e-06 9.99999332e-01 -2.04181605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.325769231 meters Centerline goodness [0,1] 0.999957728319912 Centerline is valid? [True, True] Translation: X:187.06, Y:-21.97, Z:-2.04 [[ 9.89812213e-01 1.42373032e-01 -1.30459901e-03 1.87057590e+02] [-1.42372897e-01 9.89813073e-01 1.96322722e-04 -2.19711326e+01] [ 1.31926022e-03 -8.58308772e-06 9.99999130e-01 -2.04239808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.09, Y:-21.98, Z:-2.04 [[ 9.90004327e-01 1.41035555e-01 6.36665727e-04 1.87085995e+02] [-1.41035523e-01 9.90004531e-01 -9.58163903e-05 -2.19795065e+01] [-6.43815472e-04 5.06615734e-06 9.99999793e-01 -2.03835603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.12, Y:-21.99, Z:-2.04 [[ 9.90155288e-01 1.39968546e-01 1.14513787e-03 1.87116621e+02] [-1.39968440e-01 9.90155950e-01 -1.72353770e-04 -2.19865057e+01] [-1.15798918e-03 1.03738359e-05 9.99999329e-01 -2.03663264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.415769231 meters Centerline goodness [0,1] 0.99997884403825 Centerline is valid? [True, True] Translation: X:187.15, Y:-22.00, Z:-2.04 [[ 9.90500282e-01 1.37510030e-01 4.28183653e-04 1.87146692e+02] [-1.37510015e-01 9.90500374e-01 -6.39545652e-05 -2.19980397e+01] [-4.32910463e-04 4.46747427e-06 9.99999906e-01 -2.03742611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.445769231 meters Centerline goodness [0,1] 0.9999364312503973 Centerline is valid? [True, True] Translation: X:187.18, Y:-22.01, Z:-2.04 [[ 9.90682215e-01 1.36193687e-01 -1.65923650e-04 1.87177968e+02] [-1.36193685e-01 9.90682229e-01 2.56675117e-05 -2.20063012e+01] [ 1.67873365e-04 -2.83059403e-06 9.99999986e-01 -2.03841279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47576923100002 meters Centerline goodness [0,1] 0.9999788672865596 Centerline is valid? [True, True] Translation: X:187.21, Y:-22.02, Z:-2.04 [[ 9.90903033e-01 1.34577642e-01 -1.94326489e-04 1.87207520e+02] [-1.34577639e-01 9.90903052e-01 2.94187954e-05 -2.20159661e+01] [ 1.96517823e-04 -2.99917362e-06 9.99999981e-01 -2.03854746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50576923100002 meters Centerline goodness [0,1] 0.9999785204914512 Centerline is valid? [True, True] Translation: X:187.24, Y:-22.02, Z:-2.04 [[ 9.91060525e-01 1.33413022e-01 3.81981601e-05 1.87238642e+02] [-1.33413022e-01 9.91060526e-01 -5.11994878e-06 -2.20234876e+01] [-3.85397565e-05 -2.19528387e-08 9.99999999e-01 -2.03780838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.27, Y:-22.04, Z:-2.04 [[ 9.91216504e-01 1.32247713e-01 -6.20552001e-04 1.87268753e+02] [-1.32247680e-01 9.91216698e-01 9.44587616e-05 -2.20351229e+01] [ 6.27593460e-04 -1.15625213e-05 9.99999803e-01 -2.03853295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56576923100002 meters Centerline goodness [0,1] 0.9999786315654515 Centerline is valid? [True, True] Translation: X:187.30, Y:-22.04, Z:-2.04 [[ 9.91076713e-01 1.33287353e-01 -1.19571540e-03 1.87300131e+02] [-1.33287232e-01 9.91077434e-01 1.81160587e-04 -2.20431172e+01] [ 1.20919296e-03 -2.01704440e-05 9.99999269e-01 -2.03906748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59576923100002 meters Centerline goodness [0,1] 0.9999364393313418 Centerline is valid? [True, True] Translation: X:187.33, Y:-22.05, Z:-2.04 [[ 9.90882811e-01 1.34723421e-01 -9.24853773e-04 1.87330517e+02] [-1.34723348e-01 9.90883242e-01 1.40698145e-04 -2.20496020e+01] [ 9.35377440e-04 -1.48159767e-05 9.99999562e-01 -2.03849393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62576923100002 meters Centerline goodness [0,1] 0.9999788426954406 Centerline is valid? [True, True] Translation: X:187.36, Y:-22.05, Z:-2.04 [[ 9.90592446e-01 1.36845049e-01 -1.95183977e-04 1.87362294e+02] [-1.36845046e-01 9.90592465e-01 3.02334246e-05 -2.20530250e+01] [ 1.97485072e-04 -3.23904163e-06 9.99999980e-01 -2.03671010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65576923100002 meters Centerline goodness [0,1] 0.9999787649706957 Centerline is valid? [True, True] Translation: X:187.40, Y:-22.05, Z:-2.03 [[ 9.89904499e-01 1.41732238e-01 1.02763957e-03 1.87395176e+02] [-1.41732154e-01 9.89905032e-01 -1.55339711e-04 -2.20513050e+01] [-1.03928222e-03 8.12191012e-06 9.99999460e-01 -2.03449983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68576923100002 meters Centerline goodness [0,1] 0.9999787532401309 Centerline is valid? [True, True] Translation: X:187.43, Y:-22.05, Z:-2.03 [[ 9.89621014e-01 1.43696464e-01 1.25502863e-03 1.87427671e+02] [-1.43696338e-01 9.89621810e-01 -1.90360722e-04 -2.20547289e+01] [-1.26935787e-03 8.04195274e-06 9.99999194e-01 -2.03432644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.46, Y:-22.06, Z:-2.04 [[ 9.89460581e-01 1.44798410e-01 1.08567901e-03 1.87459660e+02] [-1.44798317e-01 9.89461177e-01 -1.64373393e-04 -2.20600860e+01] [-1.09803823e-03 5.43650082e-06 9.99999397e-01 -2.03567925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.49, Y:-22.07, Z:-2.04 [[ 9.89562937e-01 1.44100756e-01 4.08191813e-04 1.87490973e+02] [-1.44100743e-01 9.89563021e-01 -6.14452258e-05 -2.20699679e+01] [-4.12785827e-04 1.98317446e-06 9.99999915e-01 -2.03785546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.52, Y:-22.08, Z:-2.04 [[ 9.89758865e-01 1.42749363e-01 9.23943808e-05 1.87521908e+02] [-1.42749363e-01 9.89758869e-01 -1.34275025e-05 -2.20778976e+01] [-9.33649253e-05 1.00750675e-07 9.99999996e-01 -2.03912546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.805769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.55, Y:-22.09, Z:-2.04 [[ 9.90202322e-01 1.39640113e-01 -2.42613087e-05 1.87551290e+02] [-1.39640113e-01 9.90202322e-01 3.79101427e-06 -2.20891479e+01] [ 2.45529818e-05 -3.66019236e-07 1.00000000e+00 -2.04124394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.58, Y:-22.10, Z:-2.04 [[ 9.90330370e-01 1.38728889e-01 2.31733146e-04 1.87582564e+02] [-1.38728885e-01 9.90330397e-01 -3.47091686e-05 -2.20974879e+01] [-2.34307542e-04 2.22546289e-06 9.99999973e-01 -2.04029778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.61, Y:-22.10, Z:-2.04 [[ 9.90306319e-01 1.38896597e-01 1.06249273e-03 1.87613593e+02] [-1.38896504e-01 9.90306889e-01 -1.61619713e-04 -2.21049900e+01] [-1.07464230e-03 1.24764975e-05 9.99999422e-01 -2.03880182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.65, Y:-22.11, Z:-2.04 [[ 9.89873206e-01 1.41951588e-01 8.84222866e-04 1.87645426e+02] [-1.41951524e-01 9.89873601e-01 -1.34584299e-04 -2.21081180e+01] [-8.94373328e-04 7.70460826e-06 9.99999600e-01 -2.03914006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.68, Y:-22.11, Z:-2.04 [[ 9.89537351e-01 1.44276865e-01 1.34176333e-04 1.87677486e+02] [-1.44276863e-01 9.89537360e-01 -1.99039899e-05 -2.21103090e+01] [-1.35644180e-04 3.37200905e-07 9.99999991e-01 -2.04151472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.71, Y:-22.11, Z:-2.04 [[ 9.88817315e-01 1.49126535e-01 -1.26283408e-03 1.87709073e+02] [-1.49126408e-01 9.88818121e-01 1.94116619e-04 -2.21092733e+01] [ 1.27766116e-03 -3.62396298e-06 9.99999184e-01 -2.04499106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.74, Y:-22.11, Z:-2.05 [[ 9.88517443e-01 1.51100666e-01 -1.36151694e-03 1.87740165e+02] [-1.51100522e-01 9.88518381e-01 2.08773496e-04 -2.21114779e+01] [ 1.37743033e-03 -6.50323174e-07 9.99999051e-01 -2.04549419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.77, Y:-22.12, Z:-2.04 [[ 9.88316047e-01 1.52411802e-01 -1.42648278e-03 1.87771688e+02] [-1.52411645e-01 9.88317076e-01 2.18763861e-04 -2.21154077e+01] [ 1.44315949e-03 1.20475345e-06 9.99998959e-01 -2.04492029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.80, Y:-22.12, Z:-2.04 [[ 9.88182091e-01 1.53284470e-01 -1.65485128e-04 1.87801791e+02] [-1.53284467e-01 9.88182104e-01 2.59728784e-05 -2.21218511e+01] [ 1.67510680e-04 -2.99633665e-07 9.99999986e-01 -2.04268507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.83, Y:-22.13, Z:-2.04 [[ 9.88208573e-01 1.53110716e-01 9.61368370e-04 1.87832917e+02] [-1.53110645e-01 9.88209041e-01 -1.47050921e-04 -2.21292425e+01] [-9.72547987e-04 -1.87875103e-06 9.99999527e-01 -2.04062293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.86, Y:-22.14, Z:-2.04 [[ 9.88443430e-01 1.51560458e-01 3.00234339e-03 1.87864908e+02] [-1.51559756e-01 9.88447989e-01 -4.61010484e-04 -2.21405707e+01] [-3.03753124e-03 6.48351123e-07 9.99995387e-01 -2.03631511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.90, Y:-22.15, Z:-2.04 [[ 9.88609859e-01 1.50458650e-01 3.56937976e-03 1.87895711e+02] [-1.50457648e-01 9.88616303e-01 -5.48926222e-04 -2.21497007e+01] [-3.61133772e-03 5.63339039e-06 9.99993479e-01 -2.03532284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.93, Y:-22.16, Z:-2.04 [[ 9.88817375e-01 1.49091825e-01 3.43886885e-03 1.87927656e+02] [-1.49090886e-01 9.88823355e-01 -5.29461685e-04 -2.21596674e+01] [-3.47937224e-03 1.08369106e-05 9.99993947e-01 -2.03524250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.96, Y:-22.17, Z:-2.04 [[ 9.89002737e-01 1.47877870e-01 2.39209801e-03 1.87958543e+02] [-1.47877411e-01 9.89005630e-01 -3.68535887e-04 -2.21718157e+01] [-2.42029670e-03 1.07457384e-05 9.99997071e-01 -2.03647700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.99, Y:-22.18, Z:-2.04 [[ 9.88877349e-01 1.48719418e-01 2.03082303e-03 1.87990750e+02] [-1.48719089e-01 9.88879434e-01 -3.13078115e-04 -2.21765005e+01] [-2.05479993e-03 7.57370515e-06 9.99997889e-01 -2.03679193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.02, Y:-22.18, Z:-2.04 [[ 9.88569182e-01 1.50760236e-01 1.52451134e-03 1.88022504e+02] [-1.50760053e-01 9.88570357e-01 -2.35164065e-04 -2.21799154e+01] [-1.54254011e-03 2.64053724e-06 9.99998810e-01 -2.03845098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.05, Y:-22.19, Z:-2.04 [[ 9.88542804e-01 1.50933102e-01 1.52446917e-03 1.88054582e+02] [-1.50932919e-01 9.88543979e-01 -2.35436885e-04 -2.21850985e+01] [-1.54254004e-03 2.64685683e-06 9.99998810e-01 -2.03857819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.09, Y:-22.18, Z:-2.04 [[ 9.87641915e-01 1.56727265e-01 1.12656596e-04 1.88086683e+02] [-1.56727264e-01 9.87641921e-01 -1.69066869e-05 -2.21791582e+01] [-1.13914116e-04 -9.58607480e-07 9.99999994e-01 -2.03979217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.12, Y:-22.18, Z:-2.04 [[ 9.87131156e-01 1.59912651e-01 1.57268946e-04 1.88118267e+02] [-1.59912649e-01 9.87131169e-01 -2.43006311e-05 -2.21776769e+01] [-1.59131057e-04 -1.16138374e-06 9.99999987e-01 -2.03969894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.15, Y:-22.18, Z:-2.04 [[ 9.86390507e-01 1.64414263e-01 1.31081172e-03 1.88150166e+02] [-1.64414138e-01 9.86391378e-01 -2.03193594e-04 -2.21766836e+01] [-1.32638131e-03 -1.50877470e-05 9.99999120e-01 -2.03664615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40576923100002 meters Centerline goodness [0,1] 0.9999786438868126 Centerline is valid? [True, True] Translation: X:188.18, Y:-22.18, Z:-2.04 [[ 9.86284418e-01 1.65045907e-01 1.70179645e-03 1.88181028e+02] [-1.65045698e-01 9.86285886e-01 -2.63590514e-04 -2.21807736e+01] [-1.72196235e-03 -2.08989665e-05 9.99998517e-01 -2.03645707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.21, Y:-22.18, Z:-2.04 [[ 9.86351336e-01 1.64644484e-01 1.79866363e-03 1.88211873e+02] [-1.64644249e-01 9.86352976e-01 -2.78902943e-04 -2.21842038e+01] [-1.82003706e-03 -2.10433321e-05 9.99998344e-01 -2.03722054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.24, Y:-22.19, Z:-2.04 [[ 9.86911254e-01 1.61253854e-01 1.83608379e-03 1.88241023e+02] [-1.61253603e-01 9.86912962e-01 -2.85280638e-04 -2.21936568e+01] [-1.85805750e-03 -1.45284542e-05 9.99998274e-01 -2.03835111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.27, Y:-22.20, Z:-2.04 [[ 9.87187849e-01 1.59549372e-01 2.03707386e-03 1.88271185e+02] [-1.59549059e-01 9.87189950e-01 -3.16516264e-04 -2.22006403e+01] [-2.06147881e-03 -1.25522068e-05 9.99997875e-01 -2.03854466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.30, Y:-22.21, Z:-2.04 [[ 9.87570682e-01 1.57171136e-01 1.17604638e-03 1.88301512e+02] [-1.57171030e-01 9.87571382e-01 -1.82405053e-04 -2.22073155e+01] [-1.19009855e-03 -4.70253751e-06 9.99999292e-01 -2.03967895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.555769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.33, Y:-22.21, Z:-2.04 [[ 9.87693458e-01 1.56402141e-01 -6.07321294e-05 1.88331814e+02] [-1.56402141e-01 9.87693460e-01 9.64116999e-06 -2.22118103e+01] [ 6.14926266e-05 -2.38854438e-08 9.99999998e-01 -2.04274173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.36, Y:-22.22, Z:-2.04 [[ 9.87740097e-01 1.56100873e-01 -1.42054430e-03 1.88364643e+02] [-1.56100715e-01 9.87741119e-01 2.22089868e-04 -2.22171486e+01] [ 1.43779844e-03 2.38091323e-06 9.99998966e-01 -2.04448827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.40, Y:-22.22, Z:-2.05 [[ 9.87677386e-01 1.56466218e-01 -3.42109032e-03 1.88396195e+02] [-1.56465308e-01 9.87683311e-01 5.33726720e-04 -2.22192017e+01] [ 3.46246401e-03 8.13213845e-06 9.99994006e-01 -2.05068064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.43, Y:-22.23, Z:-2.05 [[ 9.87743350e-01 1.56062157e-01 -2.77089041e-03 1.88427860e+02] [-1.56061556e-01 9.87747237e-01 4.33100903e-04 -2.22251241e+01] [ 2.80453000e-03 4.63693071e-06 9.99996067e-01 -2.04966464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.46, Y:-22.23, Z:-2.05 [[ 9.88164334e-01 1.53398443e-01 -4.09053348e-04 1.88459046e+02] [-1.53398429e-01 9.88164418e-01 6.45585350e-05 -2.22334855e+01] [ 4.14115142e-04 -1.04630064e-06 9.99999914e-01 -2.04504393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.49, Y:-22.24, Z:-2.04 [[ 9.88395293e-01 1.51903727e-01 -4.03800602e-05 1.88490723e+02] [-1.51903727e-01 9.88395294e-01 7.00962875e-06 -2.22411382e+01] [ 4.09762502e-05 -7.94402427e-07 9.99999999e-01 -2.04432342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.52, Y:-22.25, Z:-2.05 [[ 9.88539807e-01 1.50959928e-01 -3.87759999e-04 1.88523170e+02] [-1.50959915e-01 9.88539883e-01 6.14883269e-05 -2.22475821e+01] [ 3.92598497e-04 -2.24744232e-06 9.99999923e-01 -2.04520909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.55, Y:-22.25, Z:-2.05 [[ 9.88532715e-01 1.50987905e-01 -2.39231923e-03 1.88554257e+02] [-1.50987438e-01 9.88535610e-01 3.75666212e-04 -2.22504739e+01] [ 2.42161380e-03 -1.01481898e-05 9.99997068e-01 -2.04946677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.795769231 meters Centerline goodness [0,1] 0.9999572375454351 Centerline is valid? [True, True] Translation: X:188.59, Y:-22.25, Z:-2.05 [[ 9.88439140e-01 1.51602522e-01 -2.17776341e-03 1.88586314e+02] [-1.51602136e-01 9.88441539e-01 3.42511053e-04 -2.22537926e+01] [ 2.20451735e-03 -8.39774689e-06 9.99997570e-01 -2.05042920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.825769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.62, Y:-22.26, Z:-2.05 [[ 9.88296077e-01 1.52547124e-01 -4.88521190e-04 1.88618800e+02] [-1.52547104e-01 9.88296198e-01 7.74198660e-05 -2.22571124e+01] [ 4.94613812e-04 -1.99125708e-06 9.99999878e-01 -2.04665026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.65, Y:-22.26, Z:-2.05 [[ 9.88195896e-01 1.53195456e-01 1.51016311e-04 1.88651182e+02] [-1.53195454e-01 9.88195908e-01 -2.30045289e-05 -2.22629112e+01] [-1.52757889e-04 -4.02031257e-07 9.99999988e-01 -2.04505129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.68, Y:-22.27, Z:-2.04 [[ 9.88057912e-01 1.54082824e-01 2.16488117e-04 1.88682334e+02] [-1.54082820e-01 9.88057935e-01 -3.33964266e-05 -2.22679790e+01] [-2.19048618e-04 -3.59496156e-07 9.99999976e-01 -2.04449767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.72, Y:-22.27, Z:-2.04 [[ 9.87786088e-01 1.55813375e-01 9.14294315e-04 1.88715746e+02] [-1.55813309e-01 9.87786511e-01 -1.43423761e-04 -2.22702466e+01] [-9.25474932e-04 -7.87226188e-07 9.99999572e-01 -2.04243681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.75, Y:-22.27, Z:-2.04 [[ 9.87575706e-01 1.57136769e-01 1.50320519e-03 1.88748842e+02] [-1.57136591e-01 9.87576851e-01 -2.36576549e-04 -2.22728365e+01] [-1.52170552e-03 -2.57128744e-06 9.99998842e-01 -2.04118518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.78, Y:-22.27, Z:-2.04 [[ 9.87120485e-01 1.59968215e-01 1.82174486e-03 1.88780792e+02] [-1.59967957e-01 9.87122166e-01 -2.87454567e-04 -2.22712442e+01] [-1.84426833e-03 -7.66851131e-06 9.99998299e-01 -2.04069339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00576923100002 meters Centerline goodness [0,1] 0.9999140875018794 Centerline is valid? [True, True] Translation: X:188.81, Y:-22.28, Z:-2.04 [[ 9.86981189e-01 1.60821090e-01 2.17036435e-03 1.88813840e+02] [-1.60820725e-01 9.86983575e-01 -3.42572250e-04 -2.22755781e+01] [-2.19720681e-03 -1.09272026e-05 9.99997586e-01 -2.03562592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.85, Y:-22.28, Z:-2.04 [[ 9.86828184e-01 1.61747409e-01 2.81246572e-03 1.88845477e+02] [-1.61746799e-01 9.86832192e-01 -4.44749853e-04 -2.22770770e+01] [-2.84736885e-03 -1.60156360e-05 9.99995946e-01 -2.03874205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.88, Y:-22.28, Z:-2.04 [[ 9.87039993e-01 1.60451717e-01 2.70158567e-03 1.88876263e+02] [-1.60451147e-01 9.87043690e-01 -4.27785171e-04 -2.22832038e+01] [-2.73522196e-03 -1.12314483e-05 9.99996259e-01 -2.03821589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.91, Y:-22.29, Z:-2.04 [[ 9.87406641e-01 1.58194878e-01 1.58280233e-03 1.88907922e+02] [-1.58194681e-01 9.87407910e-01 -2.50239947e-04 -2.22931506e+01] [-1.60245822e-03 -3.30232344e-06 9.99998716e-01 -2.04002738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.94, Y:-22.31, Z:-2.04 [[ 9.88327492e-01 1.52341779e-01 -8.66270965e-04 1.88937930e+02] [-1.52341717e-01 9.88327872e-01 1.37799465e-04 -2.23088119e+01] [ 8.77152355e-04 -4.22179343e-06 9.99999615e-01 -2.04456983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.97, Y:-22.32, Z:-2.05 [[ 9.88645022e-01 1.50267558e-01 -8.25906904e-04 1.88968508e+02] [-1.50267500e-01 9.88645367e-01 1.31785717e-04 -2.23180256e+01] [ 8.36332152e-04 -6.18232753e-06 9.99999650e-01 -2.04513161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.00, Y:-22.33, Z:-2.04 [[ 9.89143279e-01 1.46954296e-01 8.63927058e-05 1.88999177e+02] [-1.46954296e-01 9.89143283e-01 -1.30673844e-05 -2.23311469e+01] [-8.73750730e-05 2.29736161e-07 9.99999996e-01 -2.04319598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.03, Y:-22.34, Z:-2.04 [[ 9.89236794e-01 1.46319660e-01 1.05966131e-03 1.89031217e+02] [-1.46319565e-01 9.89237361e-01 -1.67922425e-04 -2.23385448e+01] [-1.07282691e-03 1.10658596e-05 9.99999424e-01 -2.04124847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24576923100003 meters Centerline goodness [0,1] 0.9999786748555222 Centerline is valid? [True, True] Translation: X:189.06, Y:-22.34, Z:-2.04 [[ 9.89205589e-01 1.46527362e-01 1.42680748e-03 1.89063043e+02] [-1.46527187e-01 9.89206617e-01 -2.26839518e-04 -2.23448783e+01] [-1.44464560e-03 1.53248327e-05 9.99998956e-01 -2.04063777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.10, Y:-22.35, Z:-2.04 [[ 9.88802761e-01 1.49228347e-01 -1.31110399e-05 1.89095518e+02] [-1.49228347e-01 9.88802761e-01 2.75784692e-06 -2.23480221e+01] [ 1.33757814e-05 -7.70427837e-07 1.00000000e+00 -2.04324518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.305769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.13, Y:-22.35, Z:-2.05 [[ 9.88612388e-01 1.50473603e-01 -1.80034963e-03 1.89126595e+02] [-1.50473327e-01 9.88614027e-01 2.88185215e-04 -2.23537973e+01] [ 1.82321516e-03 -1.39988748e-05 9.99998338e-01 -2.04691859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.16, Y:-22.36, Z:-2.05 [[ 9.88567992e-01 1.50739951e-01 -3.28526446e-03 1.89156349e+02] [-1.50739038e-01 9.88573450e-01 5.25191192e-04 -2.23619899e+01] [ 3.32689252e-03 -2.39695964e-05 9.99994466e-01 -2.05068457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.19, Y:-22.37, Z:-2.05 [[ 9.88656338e-01 1.50173253e-01 -2.57655316e-03 1.89188292e+02] [-1.50172687e-01 9.88659696e-01 4.12887536e-04 -2.23696665e+01] [ 2.60933892e-03 -2.12759684e-05 9.99996595e-01 -2.05063149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.22, Y:-22.38, Z:-2.05 [[ 9.88772887e-01 1.49418727e-01 -1.49054644e-03 1.89220114e+02] [-1.49418536e-01 9.88774010e-01 2.39504580e-04 -2.23773668e+01] [ 1.50960005e-03 -1.41003692e-05 9.99998860e-01 -2.04898447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.25, Y:-22.39, Z:-2.05 [[ 9.89043226e-01 1.47625847e-01 3.26988272e-04 1.89249412e+02] [-1.47625838e-01 9.89043280e-01 -5.17925821e-05 -2.23936697e+01] [-3.31051476e-04 2.95318480e-06 9.99999945e-01 -2.04712579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.28, Y:-22.40, Z:-2.05 [[ 9.89171058e-01 1.46766833e-01 3.39084465e-04 1.89279326e+02] [-1.46766823e-01 9.89171116e-01 -5.38156566e-05 -2.24039200e+01] [-3.43310912e-04 3.46654039e-06 9.99999941e-01 -2.04736225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.31, Y:-22.41, Z:-2.05 [[ 9.89342712e-01 1.45603505e-01 -7.86079516e-04 1.89309633e+02] [-1.45603451e-01 9.89343024e-01 1.26564995e-04 -2.24148308e+01] [ 7.96130592e-04 -1.07602651e-05 9.99999683e-01 -2.04944429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.515769231 meters Centerline goodness [0,1] 0.9999361484760769 Centerline is valid? [True, True] Translation: X:189.34, Y:-22.42, Z:-2.05 [[ 9.89281231e-01 1.46016550e-01 -1.34671434e-03 1.89340742e+02] [-1.46016390e-01 9.89282147e-01 2.16853128e-04 -2.24221842e+01] [ 1.36394460e-03 -1.78863631e-05 9.99999070e-01 -2.05124838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.37, Y:-22.43, Z:-2.05 [[ 9.89081885e-01 1.47364763e-01 -8.07028087e-04 1.89372382e+02] [-1.47364706e-01 9.89082214e-01 1.30446937e-04 -2.24306676e+01] [ 8.17440409e-04 -1.00952458e-05 9.99999666e-01 -2.05055074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.575769231 meters Centerline goodness [0,1] 0.9999364447174968 Centerline is valid? [True, True] Translation: X:189.40, Y:-22.44, Z:-2.05 [[ 9.89061117e-01 1.47505736e-01 4.06201930e-04 1.89404909e+02] [-1.47505722e-01 9.89061200e-01 -6.46906016e-05 -2.24388201e+01] [-4.11300803e-04 4.06584954e-06 9.99999915e-01 -2.04846255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.605769231 meters Centerline goodness [0,1] 0.9999786247141056 Centerline is valid? [True, True] Translation: X:189.44, Y:-22.45, Z:-2.04 [[ 9.89090657e-01 1.47294567e-01 1.99575676e-03 1.89437524e+02] [-1.47294219e-01 9.89092670e-01 -3.21022627e-04 -2.24460416e+01] [-2.02127327e-03 2.35570473e-05 9.99997957e-01 -2.04463880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.47, Y:-22.46, Z:-2.04 [[ 9.89158887e-01 1.46786361e-01 4.29654909e-03 1.89467245e+02] [-1.46784736e-01 9.89168217e-01 -6.92830896e-04 -2.24615721e+01] [-4.35170793e-03 5.46520142e-05 9.99990530e-01 -2.03962347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.665769231 meters Centerline goodness [0,1] 0.9999786734911496 Centerline is valid? [True, True] Translation: X:189.50, Y:-22.47, Z:-2.04 [[ 9.89106531e-01 1.47147056e-01 4.00173833e-03 1.89499363e+02] [-1.47145646e-01 9.89114625e-01 -6.45977938e-04 -2.24691695e+01] [-4.05323166e-03 5.01026240e-05 9.99991784e-01 -2.03972286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.695769231 meters Centerline goodness [0,1] 0.9999789606564276 Centerline is valid? [True, True] Translation: X:189.53, Y:-22.47, Z:-2.04 [[ 9.88689318e-01 1.49966917e-01 1.83186050e-03 1.89531088e+02] [-1.49966627e-01 9.88691015e-01 -2.95704951e-04 -2.24717194e+01] [-1.85548998e-03 1.76423859e-05 9.99998278e-01 -2.04375096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.56, Y:-22.47, Z:-2.04 [[ 9.88334265e-01 1.52294335e-01 1.34762407e-03 1.89563885e+02] [-1.52294179e-01 9.88335184e-01 -2.17846045e-04 -2.24735804e+01] [-1.36508100e-03 1.00694102e-05 9.99999068e-01 -2.04374730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.60, Y:-22.48, Z:-2.04 [[ 9.87928184e-01 1.54908695e-01 1.09528441e-03 1.89596102e+02] [-1.54908594e-01 9.87928791e-01 -1.76769750e-04 -2.24777126e+01] [-1.10944617e-03 4.96685077e-06 9.99999385e-01 -2.04368887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.63, Y:-22.48, Z:-2.04 [[ 9.87220376e-01 1.59351533e-01 1.73727509e-03 1.89627308e+02] [-1.59351285e-01 9.87221905e-01 -2.81226769e-04 -2.24818856e+01] [-1.75988994e-03 7.95778105e-07 9.99998451e-01 -2.04101971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.66, Y:-22.49, Z:-2.04 [[ 9.86819918e-01 1.61804515e-01 2.39777683e-03 1.89659988e+02] [-1.61804048e-01 9.86822831e-01 -3.88385604e-04 -2.24853498e+01] [-2.42902346e-03 -4.70334824e-06 9.99997050e-01 -2.03941590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.69, Y:-22.49, Z:-2.04 [[ 9.86050712e-01 1.66429302e-01 2.29780279e-03 1.89691579e+02] [-1.66428885e-01 9.86053390e-01 -3.72665278e-04 -2.24852337e+01] [-2.32777865e-03 -1.49538941e-05 9.99997291e-01 -2.04014615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.72, Y:-22.49, Z:-2.04 [[ 9.85681662e-01 1.68613972e-01 9.95072564e-04 1.89722570e+02] [-1.68613895e-01 9.85682164e-01 -1.61200271e-04 -2.24883789e+01] [-1.00800590e-03 -8.89091049e-06 9.99999492e-01 -2.04189626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.75, Y:-22.49, Z:-2.04 [[ 9.85296642e-01 1.70852299e-01 -1.41425523e-04 1.89754329e+02] [-1.70852297e-01 9.85296652e-01 2.36596417e-05 -2.24910231e+01] [ 1.43388399e-04 8.51110114e-07 9.99999990e-01 -2.04413033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.79, Y:-22.49, Z:-2.05 [[ 9.84400231e-01 1.75934757e-01 -1.77366027e-03 1.89786312e+02] [-1.75934521e-01 9.84401829e-01 2.89159591e-04 -2.24863936e+01] [ 1.79686764e-03 2.73993031e-05 9.99998385e-01 -2.04673164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.82, Y:-22.49, Z:-2.05 [[ 9.83915377e-01 1.78627090e-01 -1.70127049e-03 1.89818833e+02] [-1.78626876e-01 9.83916847e-01 2.77965036e-04 -2.24858126e+01] [ 1.72356078e-03 3.03985596e-05 9.99998514e-01 -2.04662260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99576923100003 meters Centerline goodness [0,1] 0.9999574413754947 Centerline is valid? [True, True] Translation: X:189.85, Y:-22.48, Z:-2.04 [[ 9.83095297e-01 1.83094561e-01 -1.35208738e-04 1.89850685e+02] [-1.83094560e-01 9.83095307e-01 2.20874855e-05 -2.24797184e+01] [ 1.36967174e-04 3.04188123e-06 9.99999991e-01 -2.04465209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02576923100003 meters Centerline goodness [0,1] 0.9998725004781233 Centerline is valid? [True, True] Translation: X:189.88, Y:-22.48, Z:-2.04 [[ 9.82858758e-01 1.84358743e-01 7.17956665e-04 1.89882006e+02] [-1.84358707e-01 9.82859020e-01 -1.16755698e-04 -2.24810245e+01] [-7.27175118e-04 -1.76072023e-05 9.99999735e-01 -2.04353043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.055769231 meters Centerline goodness [0,1] 0.9999368301362364 Centerline is valid? [True, True] Translation: X:189.92, Y:-22.49, Z:-2.04 [[ 9.82806223e-01 1.84635147e-01 1.33805434e-03 1.89915002e+02] [-1.84635022e-01 9.82807133e-01 -2.17793964e-04 -2.24855397e+01] [-1.35526177e-03 -3.30024282e-05 9.99999081e-01 -2.04346845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.085769231 meters Centerline goodness [0,1] 0.9999787613626709 Centerline is valid? [True, True] Translation: X:189.95, Y:-22.50, Z:-2.05 [[ 9.83348381e-01 1.81727933e-01 9.59131598e-04 1.89945275e+02] [-1.81727867e-01 9.83348849e-01 -1.56559363e-04 -2.24960409e+01] [-9.71612162e-04 -2.03485432e-05 9.99999528e-01 -2.04514708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.115769231 meters Centerline goodness [0,1] 0.9999579142291991 Centerline is valid? [True, True] Translation: X:189.97, Y:-22.51, Z:-2.05 [[ 9.84458129e-01 1.75619443e-01 -5.07810782e-05 1.89973570e+02] [-1.75619443e-01 9.84458131e-01 8.29390632e-06 -2.25083341e+01] [ 5.14484165e-05 7.53141149e-07 9.99999999e-01 -2.04861155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.145769231 meters Centerline goodness [0,1] 0.9999579142291991 Centerline is valid? [True, True] Translation: X:190.01, Y:-22.51, Z:-2.05 [[ 9.84426718e-01 1.75795435e-01 -5.06668014e-05 1.90005608e+02] [-1.75795434e-01 9.84426719e-01 8.99319562e-06 -2.25137707e+01] [ 5.14587158e-05 5.38503105e-08 9.99999999e-01 -2.04873868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.04, Y:-22.53, Z:-2.05 [[ 9.85004552e-01 1.72528337e-01 -7.30941241e-05 1.90036361e+02] [-1.72528337e-01 9.85004555e-01 1.25878143e-05 -2.25255176e+01] [ 7.41697998e-05 2.11753227e-07 9.99999997e-01 -2.04864994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.07, Y:-22.54, Z:-2.05 [[ 9.85520283e-01 1.69557444e-01 -2.10001374e-04 1.90066727e+02] [-1.69557440e-01 9.85520306e-01 3.50459087e-05 -2.25369698e+01] [ 2.12902913e-04 1.06884161e-06 9.99999977e-01 -2.04870683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.10, Y:-22.55, Z:-2.05 [[ 9.86092100e-01 1.66199708e-01 -1.64581962e-04 1.90097072e+02] [-1.66199706e-01 9.86092114e-01 2.76332628e-05 -2.25499189e+01] [ 1.66885615e-04 1.04531518e-07 9.99999986e-01 -2.04957412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.13, Y:-22.56, Z:-2.05 [[ 9.86151402e-01 1.65847542e-01 6.59473451e-05 1.90129336e+02] [-1.65847541e-01 9.86151405e-01 -1.00757586e-05 -2.25571292e+01] [-6.67051068e-05 -1.00098155e-06 9.99999998e-01 -2.04912630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.16, Y:-22.56, Z:-2.05 [[ 9.85938203e-01 1.67109508e-01 5.21808112e-04 1.90160917e+02] [-1.67109486e-01 9.85938341e-01 -8.50734308e-05 -2.25607960e+01] [-5.28687204e-04 -3.32194005e-06 9.99999860e-01 -2.04851914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.19, Y:-22.56, Z:-2.05 [[ 9.85644238e-01 1.68832966e-01 9.30785553e-04 1.90193944e+02] [-1.68832897e-01 9.85644677e-01 -1.52438841e-04 -2.25645612e+01] [-9.43160528e-04 -6.89675607e-06 9.99999555e-01 -2.04699063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.23, Y:-22.57, Z:-2.05 [[ 9.85249660e-01 1.71113255e-01 1.83352551e-03 1.90225256e+02] [-1.71112990e-01 9.85251366e-01 -3.01434267e-04 -2.25666685e+01] [-1.85806291e-03 -1.67520246e-05 9.99998274e-01 -2.04538391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.26, Y:-22.57, Z:-2.04 [[ 9.84516856e-01 1.75259164e-01 3.28426775e-03 1.90257031e+02] [-1.75258334e-01 9.84522333e-01 -5.40961530e-04 -2.25681668e+01] [-3.32824341e-03 -4.30095495e-05 9.99994460e-01 -2.04146993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.29, Y:-22.57, Z:-2.04 [[ 9.84119160e-01 1.77474599e-01 3.49946165e-03 1.90288816e+02] [-1.77473671e-01 9.84125380e-01 -5.76713449e-04 -2.25687926e+01] [-3.54626102e-03 -5.35075492e-05 9.99993711e-01 -2.04132384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.32, Y:-22.56, Z:-2.04 [[ 9.83143612e-01 1.82801719e-01 3.48851541e-03 1.90319666e+02] [-1.82800827e-01 9.83149799e-01 -5.75489363e-04 -2.25637606e+01] [-3.53493367e-03 -7.19148136e-05 9.99993750e-01 -2.04130117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47576923100002 meters Centerline goodness [0,1] 0.9999789060687241 Centerline is valid? [True, True] Translation: X:190.35, Y:-22.57, Z:-2.04 [[ 9.82573497e-01 1.85852164e-01 2.88033474e-03 1.90351902e+02] [-1.85851569e-01 9.82577716e-01 -4.75287262e-04 -2.25651530e+01] [-2.91848589e-03 -6.83100629e-05 9.99995739e-01 -2.04217669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50576923100002 meters Centerline goodness [0,1] 0.9999571367338191 Centerline is valid? [True, True] Translation: X:190.38, Y:-22.57, Z:-2.04 [[ 9.82119372e-01 1.88245710e-01 2.25655580e-03 1.90384235e+02] [-1.88245351e-01 9.82121962e-01 -3.72421950e-04 -2.25666432e+01] [-2.28631984e-03 -5.90233263e-05 9.99997385e-01 -2.04319951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53576923100002 meters Centerline goodness [0,1] 0.9998931692412879 Centerline is valid? [True, True] Translation: X:190.42, Y:-22.56, Z:-2.05 [[ 9.81567848e-01 1.91108571e-01 1.44010408e-03 1.90416165e+02] [-1.91108428e-01 9.81568904e-01 -2.37591730e-04 -2.25612388e+01] [-1.45896720e-03 -4.20036234e-05 9.99998935e-01 -2.04526399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56576923100002 meters Centerline goodness [0,1] 0.9998088279026297 Centerline is valid? [True, True] Translation: X:190.45, Y:-22.56, Z:-2.05 [[ 9.81536710e-01 1.91268201e-01 1.47069348e-03 1.90447460e+02] [-1.91268052e-01 9.81537810e-01 -2.42912392e-04 -2.25645508e+01] [-1.49000268e-03 -4.28692476e-05 9.99998889e-01 -2.04539669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59576923100002 meters Centerline goodness [0,1] 0.9999571063975808 Centerline is valid? [True, True] Translation: X:190.48, Y:-22.57, Z:-2.05 [[ 9.81865717e-01 1.89576933e-01 5.48638875e-04 1.90478370e+02] [-1.89576912e-01 9.81865870e-01 -9.00817267e-05 -2.25746233e+01] [-5.55767203e-04 -1.55611044e-05 9.99999845e-01 -2.04538856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62576923100002 meters Centerline goodness [0,1] 0.999936175644626 Centerline is valid? [True, True] Translation: X:190.51, Y:-22.58, Z:-2.05 [[ 9.82077714e-01 1.88476386e-01 1.27402285e-04 1.90509872e+02] [-1.88476385e-01 9.82077722e-01 -2.04797711e-05 -2.25774634e+01] [-1.28978899e-04 -3.89959528e-06 9.99999992e-01 -2.04637087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.54, Y:-22.58, Z:-2.05 [[ 9.82654716e-01 1.85444625e-01 -2.75382186e-06 1.90541165e+02] [-1.85444625e-01 9.82654716e-01 5.92429881e-07 -2.25833004e+01] [ 2.81591896e-06 -7.14725529e-08 1.00000000e+00 -2.04719132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68576923100002 meters Centerline goodness [0,1] 0.9999365495653645 Centerline is valid? [True, True] Translation: X:190.57, Y:-22.59, Z:-2.05 [[ 9.82851821e-01 1.84396823e-01 3.31503118e-04 1.90573102e+02] [-1.84396815e-01 9.82851877e-01 -5.43129210e-05 -2.25879247e+01] [-3.35833591e-04 -7.74656573e-06 9.99999944e-01 -2.04710068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71576923100002 meters Centerline goodness [0,1] 0.9999789593283818 Centerline is valid? [True, True] Translation: X:190.60, Y:-22.59, Z:-2.05 [[ 9.82934783e-01 1.83953941e-01 3.99946839e-04 1.90604900e+02] [-1.83953930e-01 9.82934864e-01 -6.61736694e-05 -2.25907830e+01] [-4.05294599e-04 -8.52739123e-06 9.99999918e-01 -2.04642862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.64, Y:-22.59, Z:-2.05 [[ 9.82648153e-01 1.85479386e-01 -6.75500503e-05 1.90636371e+02] [-1.85479386e-01 9.82648155e-01 1.13922010e-05 -2.25893670e+01] [ 6.84909508e-05 1.33461660e-06 9.99999998e-01 -2.04693835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77576923100003 meters Centerline goodness [0,1] 0.9999574105621806 Centerline is valid? [True, True] Translation: X:190.67, Y:-22.59, Z:-2.05 [[ 9.82430534e-01 1.86627865e-01 -5.35493233e-04 1.90667861e+02] [-1.86627844e-01 9.82430679e-01 8.88093337e-05 -2.25874894e+01] [ 5.42659277e-04 1.26889467e-05 9.99999853e-01 -2.04873835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80576923100003 meters Centerline goodness [0,1] 0.9999158249158249 Centerline is valid? [True, True] Translation: X:190.70, Y:-22.59, Z:-2.05 [[ 9.82484185e-01 1.86345943e-01 -1.23272112e-04 1.90697784e+02] [-1.86345942e-01 9.82484193e-01 2.03968410e-05 -2.25891537e+01] [ 1.24913770e-04 2.93168407e-06 9.99999992e-01 -2.04849671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.73, Y:-22.60, Z:-2.05 [[ 9.82637610e-01 1.85534176e-01 6.30492463e-04 1.90727249e+02] [-1.85534147e-01 9.82637812e-01 -1.04557070e-04 -2.25982152e+01] [-6.38944644e-04 -1.42361722e-05 9.99999796e-01 -2.04675625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.865769231 meters Centerline goodness [0,1] 0.9999574920297556 Centerline is valid? [True, True] Translation: X:190.76, Y:-22.61, Z:-2.05 [[ 9.83004551e-01 1.83575357e-01 1.46304343e-03 1.90757448e+02] [-1.83575199e-01 9.83005640e-01 -2.42564843e-04 -2.26062446e+01] [-1.48270887e-03 -3.01361438e-05 9.99998900e-01 -2.04594386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.895769231 meters Centerline goodness [0,1] 0.9999361973628244 Centerline is valid? [True, True] Translation: X:190.79, Y:-22.61, Z:-2.05 [[ 9.83152718e-01 1.82774272e-01 2.07338308e-03 1.90788722e+02] [-1.82773953e-01 9.83154903e-01 -3.43582918e-04 -2.26142801e+01] [-2.10125486e-03 -4.11659432e-05 9.99997792e-01 -2.04576003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.925769231 meters Centerline goodness [0,1] 0.9999787342633549 Centerline is valid? [True, True] Translation: X:190.82, Y:-22.62, Z:-2.04 [[ 9.83089629e-01 1.83081492e-01 3.99355686e-03 1.90820335e+02] [-1.83080308e-01 9.83097737e-01 -6.63064431e-04 -2.26172219e+01] [-4.04745154e-03 -7.92898552e-05 9.99991806e-01 -2.04323859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.955769231 meters Centerline goodness [0,1] 0.9999577158079452 Centerline is valid? [True, True] Translation: X:190.85, Y:-22.62, Z:-2.04 [[ 9.82816710e-01 1.84524894e-01 4.67736658e-03 1.90851943e+02] [-1.84523282e-01 9.82827835e-01 -7.77447024e-04 -2.26242996e+01] [-4.74050440e-03 -9.89951085e-05 9.99988759e-01 -2.04138570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.88, Y:-22.63, Z:-2.04 [[ 9.82571642e-01 1.85819526e-01 4.90634650e-03 1.90883023e+02] [-1.85817766e-01 9.82583885e-01 -8.16206052e-04 -2.26277178e+01] [-4.97256403e-03 -1.09705424e-04 9.99987631e-01 -2.04083337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.015769231 meters Centerline goodness [0,1] 0.999957538958006 Centerline is valid? [True, True] Translation: X:190.91, Y:-22.63, Z:-2.04 [[ 9.81992505e-01 1.88884340e-01 3.66418913e-03 1.90913971e+02] [-1.88883379e-01 9.81999337e-01 -6.09630357e-04 -2.26293055e+01] [-3.71338092e-03 -9.34519840e-05 9.99993101e-01 -2.04358971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.045769231 meters Centerline goodness [0,1] 0.9999356361295859 Centerline is valid? [True, True] Translation: X:190.94, Y:-22.63, Z:-2.05 [[ 9.81579519e-01 1.91034571e-01 2.72790207e-03 1.90944570e+02] [-1.91034047e-01 9.81583306e-01 -4.53839289e-04 -2.26332280e+01] [-2.76436212e-03 -7.56428198e-05 9.99996176e-01 -2.04588644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.075769231 meters Centerline goodness [0,1] 0.9999575686856901 Centerline is valid? [True, True] Translation: X:190.97, Y:-22.64, Z:-2.05 [[ 9.81427279e-01 1.91815008e-01 2.73856158e-03 1.90973731e+02] [-1.91814482e-01 9.81431096e-01 -4.55797465e-04 -2.26351906e+01] [-2.77513829e-03 -7.79637047e-05 9.99996146e-01 -2.04584875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.105769231 meters Centerline goodness [0,1] 0.9998725546421972 Centerline is valid? [True, True] Translation: X:191.00, Y:-22.64, Z:-2.05 [[ 9.81268289e-01 1.92626880e-01 2.72571109e-03 1.91003242e+02] [-1.92626362e-01 9.81272072e-01 -4.53640032e-04 -2.26388566e+01] [-2.76204743e-03 -7.99012327e-05 9.99996182e-01 -2.04544073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.135769231 meters Centerline goodness [0,1] 0.999893750398436 Centerline is valid? [True, True] Translation: X:191.03, Y:-22.64, Z:-2.05 [[ 9.80971907e-01 1.94138708e-01 2.06849074e-03 1.91032377e+02] [-1.94138414e-01 9.80974086e-01 -3.44252704e-04 -2.26373352e+01] [-2.09596859e-03 -6.38712795e-05 9.99997801e-01 -2.04581610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.165769231 meters Centerline goodness [0,1] 0.9998524358623015 Centerline is valid? [True, True] Translation: X:191.06, Y:-22.64, Z:-2.05 [[ 9.80951190e-01 1.94247345e-01 1.65290120e-03 1.91061751e+02] [-1.94247157e-01 9.80952581e-01 -2.75031089e-04 -2.26416551e+01] [-1.67484176e-03 -5.12792861e-05 9.99998596e-01 -2.04653481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.195769231 meters Centerline goodness [0,1] 0.9998736709127276 Centerline is valid? [True, True] Translation: X:191.09, Y:-22.65, Z:-2.05 [[ 9.81371303e-01 1.92114743e-01 1.51364313e-03 1.91089399e+02] [-1.92114582e-01 9.81372469e-01 -2.51858647e-04 -2.26489959e+01] [-1.53383346e-03 -4.36260694e-05 9.99998823e-01 -2.04713643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22576923100002 meters Centerline goodness [0,1] 0.9998936554863135 Centerline is valid? [True, True] Translation: X:191.12, Y:-22.66, Z:-2.05 [[ 9.81725138e-01 1.90298828e-01 1.45226833e-03 1.91118600e+02] [-1.90298679e-01 9.81726212e-01 -2.41460945e-04 -2.26614835e+01] [-1.47167962e-03 -3.93164658e-05 9.99998916e-01 -2.04704264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25576923100002 meters Centerline goodness [0,1] 0.9999573087431693 Centerline is valid? [True, True] Translation: X:191.15, Y:-22.67, Z:-2.05 [[ 9.81969384e-01 1.89035857e-01 1.25463169e-03 1.91148964e+02] [-1.89035745e-01 9.81970185e-01 -2.08583891e-04 -2.26723260e+01] [-1.27144075e-03 -3.23472420e-05 9.99999191e-01 -2.04715309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28576923100002 meters Centerline goodness [0,1] 0.9999155066432902 Centerline is valid? [True, True] Translation: X:191.18, Y:-22.68, Z:-2.05 [[ 9.82206968e-01 1.87800122e-01 7.65373829e-04 1.91179474e+02] [-1.87800080e-01 9.82207266e-01 -1.26841365e-04 -2.26772616e+01] [-7.75576560e-04 -1.91527938e-05 9.99999699e-01 -2.04838539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31576923100002 meters Centerline goodness [0,1] 0.9999786425184742 Centerline is valid? [True, True] Translation: X:191.21, Y:-22.68, Z:-2.05 [[ 9.81499888e-01 1.91462358e-01 3.66558322e-04 1.91210328e+02] [-1.91462349e-01 9.81499957e-01 -6.09561718e-05 -2.26821826e+01] [-3.71447790e-04 -1.03536414e-05 9.99999931e-01 -2.04663975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34576923100002 meters Centerline goodness [0,1] 0.9998519333276927 Centerline is valid? [True, True] Translation: X:191.24, Y:-22.68, Z:-2.05 [[ 9.80823491e-01 1.94897529e-01 4.82839332e-04 1.91240287e+02] [-1.94897513e-01 9.80823609e-01 -8.03662977e-05 -2.26803448e+01] [-4.89243409e-04 -1.52790325e-05 9.99999880e-01 -2.04634907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37576923100002 meters Centerline goodness [0,1] 0.9999147630412547 Centerline is valid? [True, True] Translation: X:191.27, Y:-22.68, Z:-2.05 [[ 9.80090586e-01 1.98550699e-01 2.53303355e-04 1.91270846e+02] [-1.98550695e-01 9.80090618e-01 -4.22346907e-05 -2.26818897e+01] [-2.56645969e-04 -8.89973440e-06 9.99999967e-01 -2.04681171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40576923100002 meters Centerline goodness [0,1] 0.9982401831905691 Centerline is valid? [True, True] Translation: X:191.30, Y:-22.67, Z:-2.05 [[ 9.78601553e-01 2.05764063e-01 -3.89069765e-04 1.91302989e+02] [-2.05764053e-01 9.78601630e-01 6.48081741e-05 -2.26668397e+01] [ 3.94079499e-04 1.66351922e-05 9.99999922e-01 -2.04895303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43576923100002 meters Centerline goodness [0,1] 0.9953259221829207 Centerline is valid? [True, True] Translation: X:191.33, Y:-22.66, Z:-2.05 [[ 9.77995196e-01 2.08627331e-01 -1.80381627e-04 1.91333139e+02] [-2.08627329e-01 9.77995213e-01 2.99491487e-05 -2.26622466e+01] [ 1.82660578e-04 8.34241346e-06 9.99999983e-01 -2.04921728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46576923100002 meters Centerline goodness [0,1] 0.9961343784037759 Centerline is valid? [True, True] Translation: X:191.36, Y:-22.66, Z:-2.05 [[ 9.77500984e-01 2.10924801e-01 1.59812572e-03 1.91363524e+02] [-2.10924647e-01 9.77502288e-01 -2.66212290e-04 -2.26581837e+01] [-1.61832233e-03 -7.68613285e-05 9.99998688e-01 -2.04665269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49576923100003 meters Centerline goodness [0,1] 0.9934471970914011 Centerline is valid? [True, True] Translation: X:191.39, Y:-22.65, Z:-2.05 [[ 9.77684145e-01 2.10069291e-01 2.14627373e-03 1.91392291e+02] [-2.10069011e-01 9.77686495e-01 -3.57441410e-04 -2.26545119e+01] [-2.17347030e-03 -1.01400800e-04 9.99997633e-01 -2.04583484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52576923100003 meters Centerline goodness [0,1] 0.9991880515373603 Centerline is valid? [True, True] Translation: X:191.42, Y:-22.66, Z:-2.05 [[ 9.78764805e-01 2.04966374e-01 2.87082630e-03 1.91421243e+02] [-2.04965852e-01 9.78769008e-01 -4.77823895e-04 -2.26613879e+01] [-2.90781364e-03 -1.20744148e-04 9.99995765e-01 -2.04622107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55576923100003 meters Centerline goodness [0,1] 0.999187982135607 Centerline is valid? [True, True] Translation: X:191.45, Y:-22.67, Z:-2.05 [[ 9.79461468e-01 2.01607612e-01 3.09884014e-03 1.91450796e+02] [-2.01606988e-01 9.79466363e-01 -5.15701904e-04 -2.26652119e+01] [-3.13917911e-03 -1.19637682e-04 9.99995066e-01 -2.04647819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.585769231 meters Centerline goodness [0,1] 0.9997003360517135 Centerline is valid? [True, True] Translation: X:191.48, Y:-22.67, Z:-2.05 [[ 9.80228668e-01 1.97843872e-01 3.09189032e-03 1.91479812e+02] [-1.97843232e-01 9.80233539e-01 -5.14563787e-04 -2.26689790e+01] [-3.13257788e-03 -1.07319398e-04 9.99995088e-01 -2.04619520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.51, Y:-22.68, Z:-2.05 [[ 9.82067433e-01 1.88513575e-01 2.48764013e-03 1.91508234e+02] [-1.88513131e-01 9.82070582e-01 -4.13922430e-04 -2.26836487e+01] [-2.52106819e-03 -6.24530918e-05 9.99996820e-01 -2.04847896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.54, Y:-22.69, Z:-2.05 [[ 9.83027986e-01 1.83442395e-01 2.20593011e-03 1.91536113e+02] [-1.83442033e-01 9.83030460e-01 -3.67101220e-04 -2.26915567e+01] [-2.23583842e-03 -4.37895309e-05 9.99997500e-01 -2.05064267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.56, Y:-22.71, Z:-2.05 [[ 9.84685375e-01 1.74319042e-01 2.75387635e-03 1.91564123e+02] [-1.74318443e-01 9.84689225e-01 -4.58181574e-04 -2.27079988e+01] [-2.79158215e-03 -2.88867419e-05 9.99996103e-01 -2.05079734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.59, Y:-22.72, Z:-2.05 [[ 9.85303775e-01 1.70789615e-01 2.71617218e-03 1.91593509e+02] [-1.70789019e-01 9.85307519e-01 -4.51871307e-04 -2.27189091e+01] [-2.75343980e-03 -1.86618760e-05 9.99996209e-01 -2.05035459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.62, Y:-22.73, Z:-2.05 [[ 9.86050859e-01 1.66443141e-01 6.20117034e-04 1.91622956e+02] [-1.66443109e-01 9.86051054e-01 -1.03085537e-04 -2.27320577e+01] [-6.28624936e-04 -1.56662464e-06 9.99999802e-01 -2.05271826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.65, Y:-22.74, Z:-2.05 [[ 9.86175222e-01 1.65705782e-01 -1.57478137e-04 1.91652759e+02] [-1.65705780e-01 9.86175235e-01 2.62512263e-05 -2.27395083e+01] [ 1.59651019e-04 2.06728679e-07 9.99999987e-01 -2.05465198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.68, Y:-22.75, Z:-2.05 [[ 9.86179028e-01 1.65683190e-01 6.58363701e-05 1.91682556e+02] [-1.65683190e-01 9.86179031e-01 -1.09551634e-05 -2.27463734e+01] [-6.67415341e-05 -1.04227378e-07 9.99999998e-01 -2.05465393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.825769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.71, Y:-22.75, Z:-2.05 [[ 9.85953021e-01 1.67021644e-01 6.41527202e-04 1.91711670e+02] [-1.67021610e-01 9.85953229e-01 -1.06789043e-04 -2.27518667e+01] [-6.50351898e-04 -1.85992602e-06 9.99999789e-01 -2.05359831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.74, Y:-22.76, Z:-2.05 [[ 9.85904003e-01 1.67307546e-01 1.21747851e-03 1.91741693e+02] [-1.67307423e-01 9.85904755e-01 -2.02573509e-04 -2.27577029e+01] [-1.23420993e-03 -3.97515940e-06 9.99999238e-01 -2.05255943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.77, Y:-22.77, Z:-2.05 [[ 9.85850610e-01 1.67622231e-01 1.16702397e-03 1.91771291e+02] [-1.67622118e-01 9.85851301e-01 -1.94145726e-04 -2.27651576e+01] [-1.18305524e-03 -4.22034759e-06 9.99999300e-01 -2.05193424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.80, Y:-22.77, Z:-2.05 [[ 9.85813358e-01 1.67844374e-01 5.38084698e-04 1.91801077e+02] [-1.67844350e-01 9.85813505e-01 -8.94971819e-05 -2.27714156e+01] [-5.45472761e-04 -2.08695921e-06 9.99999851e-01 -2.05273806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.83, Y:-22.78, Z:-2.05 [[ 9.85734664e-01 1.68306749e-01 9.83858662e-05 1.91830661e+02] [-1.68306749e-01 9.85734669e-01 -1.63725874e-05 -2.27791654e+01] [-9.97379763e-05 -4.19978282e-07 9.99999995e-01 -2.05327313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.86, Y:-22.79, Z:-2.05 [[ 9.85693208e-01 1.68547755e-01 7.44430816e-04 1.91860008e+02] [-1.68547710e-01 9.85693489e-01 -1.23918925e-04 -2.27852576e+01] [-7.54666865e-04 -3.32606626e-06 9.99999715e-01 -2.05179836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.89, Y:-22.80, Z:-2.05 [[ 9.85755095e-01 1.68154437e-01 3.31321503e-03 1.91890711e+02] [-1.68153534e-01 9.85760663e-01 -5.51224423e-04 -2.27959052e+01] [-3.35872787e-03 -1.37565329e-05 9.99994359e-01 -2.04714877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.92, Y:-22.80, Z:-2.05 [[ 9.85804345e-01 1.67853767e-01 3.86087873e-03 1.91922504e+02] [-1.67852536e-01 9.85811905e-01 -6.43124984e-04 -2.28032224e+01] [-3.91405117e-03 -1.40628810e-05 9.99992340e-01 -2.04619562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.95, Y:-22.81, Z:-2.05 [[ 9.85813646e-01 1.67803701e-01 3.65687689e-03 1.91953812e+02] [-1.67802593e-01 9.85820429e-01 -6.09829179e-04 -2.28113810e+01] [-3.70735554e-03 -1.24554987e-05 9.99993128e-01 -2.04643013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.99, Y:-22.82, Z:-2.05 [[ 9.85781572e-01 1.67992025e-01 3.65676743e-03 1.91985831e+02] [-1.67990916e-01 9.85788354e-01 -6.10484810e-04 -2.28169238e+01] [-3.70735533e-03 -1.24990363e-05 9.99993128e-01 -2.04655733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.02, Y:-22.82, Z:-2.05 [[ 9.85696141e-01 1.68490476e-01 3.75198657e-03 1.92018039e+02] [-1.68489309e-01 9.85703282e-01 -6.27137879e-04 -2.28229713e+01] [-3.80401224e-03 -1.40022387e-05 9.99992765e-01 -2.04650798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.05, Y:-22.83, Z:-2.05 [[ 9.85375814e-01 1.70370965e-01 2.87058413e-03 1.92048819e+02] [-1.70370289e-01 9.85379995e-01 -4.80235221e-04 -2.28255476e+01] [-2.91043431e-03 -1.58500763e-05 9.99995765e-01 -2.04873915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.08, Y:-22.83, Z:-2.05 [[ 9.85185439e-01 1.71482800e-01 1.81645792e-03 1.92080391e+02] [-1.71482531e-01 9.85187114e-01 -3.03926320e-04 -2.28290355e+01] [-1.84166907e-03 -1.20670171e-05 9.99998304e-01 -2.05147573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.11, Y:-22.83, Z:-2.05 [[ 9.85012002e-01 1.72481689e-01 1.19314160e-03 1.92111493e+02] [-1.72481573e-01 9.85012724e-01 -1.99646686e-04 -2.28322758e+01] [-1.20969506e-03 -9.14055963e-06 9.99999268e-01 -2.05376273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.14, Y:-22.83, Z:-2.05 [[ 9.84755084e-01 1.73932648e-01 2.20423065e-03 1.92142497e+02] [-1.73932256e-01 9.84757551e-01 -3.69943735e-04 -2.28347056e+01] [-2.23497807e-03 -1.90828370e-05 9.99997502e-01 -2.05230552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.17, Y:-22.84, Z:-2.05 [[ 9.84614284e-01 1.74719040e-01 2.82304217e-03 1.92173141e+02] [-1.74718400e-01 9.84618330e-01 -4.73788771e-04 -2.28377130e+01] [-2.86239899e-03 -2.67382185e-05 9.99995903e-01 -2.05142880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.20, Y:-22.84, Z:-2.05 [[ 9.84291353e-01 1.76530491e-01 2.74199644e-03 1.92204276e+02] [-1.76529894e-01 9.84295172e-01 -4.60231333e-04 -2.28388550e+01] [-2.78017872e-03 -3.10426175e-05 9.99996135e-01 -2.05239704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.24, Y:-22.84, Z:-2.05 [[ 9.84160476e-01 1.77266928e-01 2.14314872e-03 1.92235156e+02] [-1.77266565e-01 9.84162809e-01 -3.59674083e-04 -2.28439798e+01] [-2.17296558e-03 -2.59315950e-05 9.99997639e-01 -2.05370047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.27, Y:-22.84, Z:-2.06 [[ 9.83690961e-01 1.79866689e-01 2.61673143e-04 1.92266031e+02] [-1.79866683e-01 9.83690995e-01 -4.39113204e-05 -2.28390054e+01] [-2.65303698e-04 -3.87111132e-06 9.99999965e-01 -2.05790603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.30, Y:-22.84, Z:-2.06 [[ 9.83376882e-01 1.81575231e-01 -5.86758967e-04 1.92295328e+02] [-1.81575205e-01 9.83377057e-01 9.83733820e-05 -2.28380300e+01] [ 5.94867475e-04 9.80277007e-06 9.99999823e-01 -2.06038830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.32, Y:-22.84, Z:-2.06 [[ 9.83084449e-01 1.83150501e-01 -9.27115318e-04 1.92324098e+02] [-1.83150436e-01 9.83084886e-01 1.55470238e-04 -2.28374557e+01] [ 9.39907509e-04 1.69612018e-05 9.99999558e-01 -2.06138156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.455769231 meters Centerline goodness [0,1] 0.9999785389303802 Centerline is valid? [True, True] Translation: X:192.35, Y:-22.84, Z:-2.06 [[ 9.82833428e-01 1.84494735e-01 3.81993918e-04 1.92353156e+02] [-1.84494724e-01 9.82833502e-01 -6.42350795e-05 -2.28405391e+01] [-3.87287454e-04 -7.34347926e-06 9.99999925e-01 -2.05837075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.38, Y:-22.84, Z:-2.06 [[ 9.83157158e-01 1.82761971e-01 2.55358796e-04 1.92382596e+02] [-1.82761966e-01 9.83157191e-01 -4.29783983e-05 -2.28398051e+01] [-2.58912654e-04 -4.41535571e-06 9.99999966e-01 -2.05939839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.515769231 meters Centerline goodness [0,1] 0.9999787838927313 Centerline is valid? [True, True] Translation: X:192.41, Y:-22.85, Z:-2.06 [[ 9.83502385e-01 1.80895157e-01 -2.74793157e-05 1.92411245e+02] [-1.80895157e-01 9.83502385e-01 4.47478912e-06 -2.28466582e+01] [ 2.78354402e-05 5.69909339e-07 1.00000000e+00 -2.05994842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.44, Y:-22.86, Z:-2.06 [[ 9.83935269e-01 1.78525569e-01 8.32951830e-05 1.92440098e+02] [-1.78525569e-01 9.83935273e-01 -1.40157104e-05 -2.28565039e+01] [-8.44592313e-05 -1.07976815e-06 9.99999996e-01 -2.05864529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.47, Y:-22.87, Z:-2.05 [[ 9.84944288e-01 1.72859822e-01 2.05722772e-03 1.92468028e+02] [-1.72859478e-01 9.84946436e-01 -3.44925629e-04 -2.28666243e+01] [-2.08588290e-03 -1.58787832e-05 9.99997824e-01 -2.05370172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.50, Y:-22.87, Z:-2.05 [[ 9.85384528e-01 1.70300889e-01 3.86523665e-03 1.92497986e+02] [-1.70299656e-01 9.85392108e-01 -6.48308342e-04 -2.28745245e+01] [-3.91918118e-03 -1.94154623e-05 9.99992320e-01 -2.04988499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.53, Y:-22.89, Z:-2.04 [[ 9.86351724e-01 1.64529326e-01 6.35429232e-03 1.92528714e+02] [-1.64525871e-01 9.86372192e-01 -1.06622130e-03 -2.28886370e+01] [-6.44312191e-03 6.22374141e-06 9.99979243e-01 -2.04496382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.56, Y:-22.90, Z:-2.04 [[ 9.86750561e-01 1.62109886e-01 6.61175050e-03 1.92559336e+02] [-1.62106084e-01 9.86772711e-01 -1.11061733e-03 -2.28990000e+01] [-6.70433702e-03 2.40972977e-05 9.99977525e-01 -2.04423501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.695769231 meters Centerline goodness [0,1] 0.9999788346350033 Centerline is valid? [True, True] Translation: X:192.59, Y:-22.91, Z:-2.05 [[ 9.87172144e-01 1.59601709e-01 4.29566917e-03 1.92590123e+02] [-1.59600078e-01 9.87181490e-01 -7.22105998e-04 -2.29077868e+01] [-4.35585444e-03 2.72537920e-05 9.99990513e-01 -2.04998536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.62, Y:-22.91, Z:-2.05 [[ 9.87104522e-01 1.60062640e-01 2.14793666e-03 1.92621118e+02] [-1.60062233e-01 9.87106859e-01 -3.61087664e-04 -2.29138995e+01] [-2.17803965e-03 1.26277274e-05 9.99997628e-01 -2.05369376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.65, Y:-22.92, Z:-2.06 [[ 9.86886782e-01 1.61411848e-01 8.33184212e-04 1.92653406e+02] [-1.61411788e-01 9.86887134e-01 -1.39817327e-04 -2.29181523e+01] [-8.44826952e-04 3.49811823e-06 9.99999643e-01 -2.05547433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.68, Y:-22.92, Z:-2.06 [[ 9.86164786e-01 1.65767664e-01 -3.11986587e-04 1.92683627e+02] [-1.65767655e-01 9.86164835e-01 5.26543840e-05 -2.29191587e+01] [ 3.16398595e-04 -2.08614201e-07 9.99999950e-01 -2.05583898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.71, Y:-22.92, Z:-2.05 [[ 9.85785992e-01 1.68005640e-01 2.88111478e-04 1.92713466e+02] [-1.68005633e-01 9.85786034e-01 -4.85381148e-05 -2.29214338e+01] [-2.92170949e-04 -5.56157535e-07 9.99999957e-01 -2.05484145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.74, Y:-22.92, Z:-2.05 [[ 9.85060853e-01 1.72185619e-01 2.68867308e-03 1.92744425e+02] [-1.72185023e-01 9.85064522e-01 -4.53397109e-04 -2.29212827e+01] [-2.72658493e-03 -1.63254923e-05 9.99996283e-01 -2.05151209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.78, Y:-22.92, Z:-2.05 [[ 9.84674627e-01 1.74349044e-01 4.27658151e-03 1.92775307e+02] [-1.74347556e-01 9.84683914e-01 -7.21169750e-04 -2.29231730e+01] [-4.33681628e-03 -3.54939800e-05 9.99990595e-01 -2.04989732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90576923100002 meters Centerline goodness [0,1] 0.9999788458283974 Centerline is valid? [True, True] Translation: X:192.81, Y:-22.92, Z:-2.05 [[ 9.83943427e-01 1.78372432e-01 6.21354778e-03 1.92805978e+02] [-1.78369371e-01 9.83963043e-01 -1.04781249e-03 -2.29209769e+01] [-6.30080225e-03 -7.73183959e-05 9.99980147e-01 -2.04719244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.84, Y:-22.92, Z:-2.05 [[ 9.83657571e-01 1.79939693e-01 6.28408987e-03 1.92835037e+02] [-1.79936595e-01 9.83677640e-01 -1.05963361e-03 -2.29204306e+01] [-6.37218883e-03 -8.84211076e-05 9.99979693e-01 -2.04657741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.86, Y:-22.92, Z:-2.05 [[ 9.83421960e-01 1.81250375e-01 5.43605121e-03 1.92864967e+02] [-1.81248077e-01 9.83436980e-01 -9.16478366e-04 -2.29240164e+01] [-5.51212583e-03 -8.39888775e-05 9.99984805e-01 -2.04828487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99576923100003 meters Centerline goodness [0,1] 0.9999577059719168 Centerline is valid? [True, True] Translation: X:192.89, Y:-22.92, Z:-2.06 [[ 9.83264516e-01 1.82178374e-01 1.39006415e-03 1.92893622e+02] [-1.82178225e-01 9.83265498e-01 -2.34492849e-04 -2.29219815e+01] [-1.40952164e-03 -2.26709211e-05 9.99999006e-01 -2.05663743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.92, Y:-22.93, Z:-2.06 [[ 9.83325110e-01 1.81855911e-01 -3.94563167e-04 1.92921821e+02] [-1.81855899e-01 9.83325189e-01 6.62841818e-05 -2.29252810e+01] [ 4.00038071e-04 6.57473903e-06 9.99999920e-01 -2.06047770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.95, Y:-22.92, Z:-2.06 [[ 9.83589285e-01 1.80421815e-01 2.95667572e-04 1.92951733e+02] [-1.80421808e-01 9.83589329e-01 -4.99371320e-05 -2.29245114e+01] [-2.99825217e-04 -4.22725006e-06 9.99999955e-01 -2.06004101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.98, Y:-22.93, Z:-2.06 [[ 9.83766273e-01 1.79439655e-01 2.30884255e-03 1.92979389e+02] [-1.79439236e-01 9.83768982e-01 -3.88962734e-04 -2.29257046e+01] [-2.34116302e-03 -3.16485231e-05 9.99997259e-01 -2.05587430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.115769231 meters Centerline goodness [0,1] 0.9999786753102743 Centerline is valid? [True, True] Translation: X:193.01, Y:-22.93, Z:-2.05 [[ 9.84434744e-01 1.75729766e-01 2.69895240e-03 1.93008054e+02] [-1.75729180e-01 9.84438443e-01 -4.54468737e-04 -2.29305814e+01] [-2.73681619e-03 -2.68898783e-05 9.99996255e-01 -2.05490787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.04, Y:-22.94, Z:-2.06 [[ 9.84994458e-01 1.72576919e-01 1.76767138e-03 1.93037363e+02] [-1.72576663e-01 9.84996044e-01 -2.97584455e-04 -2.29375405e+01] [-1.79250553e-03 -1.19397892e-05 9.99998393e-01 -2.05631420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.07, Y:-22.95, Z:-2.06 [[ 9.86409246e-01 1.64294842e-01 2.00104437e-03 1.93066693e+02] [-1.64294497e-01 9.86411276e-01 -3.36763353e-04 -2.29492092e+01] [-2.02918121e-03 3.42590633e-06 9.99997941e-01 -2.05732020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.205769231 meters Centerline goodness [0,1] 0.9999784774982244 Centerline is valid? [True, True] Translation: X:193.10, Y:-22.96, Z:-2.06 [[ 9.87159285e-01 1.59722890e-01 2.26808875e-03 1.93095697e+02] [-1.59722435e-01 9.87161891e-01 -3.81705265e-04 -2.29593622e+01] [-2.29993785e-03 1.45392394e-05 9.99997355e-01 -2.05708280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.12, Y:-22.97, Z:-2.06 [[ 9.87863533e-01 1.55311921e-01 1.96130968e-03 1.93124113e+02] [-1.55311571e-01 9.87865480e-01 -3.30052408e-04 -2.29720255e+01] [-1.98877121e-03 2.14326487e-05 9.99998022e-01 -2.05791607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.265769231 meters Centerline goodness [0,1] 0.9999360695563227 Centerline is valid? [True, True] Translation: X:193.15, Y:-22.99, Z:-2.06 [[ 9.89079376e-01 1.47380205e-01 1.03133372e-03 1.93153530e+02] [-1.47380105e-01 9.89079913e-01 -1.73511451e-04 -2.29866071e+01] [-1.04564362e-03 1.96185266e-05 9.99999453e-01 -2.05925092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.295769231 meters Centerline goodness [0,1] 0.9998722371278906 Centerline is valid? [True, True] Translation: X:193.18, Y:-23.00, Z:-2.06 [[ 9.89804074e-01 1.42434447e-01 5.69214522e-04 1.93182685e+02] [-1.42434415e-01 9.89804237e-01 -9.57126305e-05 -2.29981684e+01] [-5.77043721e-04 1.36610141e-05 9.99999833e-01 -2.05795484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.325769231 meters Centerline goodness [0,1] 0.9997684405523746 Centerline is valid? [True, True] Translation: X:193.21, Y:-23.01, Z:-2.06 [[ 9.89904475e-01 1.41730081e-01 1.30951136e-03 1.93212030e+02] [-1.41729913e-01 9.89905341e-01 -2.20064754e-04 -2.30108014e+01] [-1.32748208e-03 3.22461535e-05 9.99999118e-01 -2.05628077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.355769231 meters Centerline goodness [0,1] 0.9997663898740629 Centerline is valid? [True, True] Translation: X:193.24, Y:-23.01, Z:-2.05 [[ 9.89943513e-01 1.41443651e-01 2.35273614e-03 1.93243636e+02] [-1.41443108e-01 9.89946307e-01 -3.96346798e-04 -2.30138548e+01] [-2.38514319e-03 5.95826302e-05 9.99997154e-01 -2.05391807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.385769231 meters Centerline goodness [0,1] 0.99966034050864 Centerline is valid? [True, True] Translation: X:193.27, Y:-23.02, Z:-2.05 [[ 9.89850331e-01 1.42087943e-01 2.70881277e-03 1.93273821e+02] [-1.42087225e-01 9.89854036e-01 -4.56567553e-04 -2.30224627e+01] [-2.74620200e-03 6.70458528e-05 9.99996227e-01 -2.05486631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.415769231 meters Centerline goodness [0,1] 0.9998062265857124 Centerline is valid? [True, True] Translation: X:193.31, Y:-23.02, Z:-2.06 [[ 9.89500254e-01 1.44519918e-01 1.80022070e-03 1.93306693e+02] [-1.44519605e-01 9.89501891e-01 -3.03478344e-04 -2.30212527e+01] [-1.82518046e-03 4.01247145e-05 9.99998334e-01 -2.05632840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.445769231 meters Centerline goodness [0,1] 0.9999785508987173 Centerline is valid? [True, True] Translation: X:193.34, Y:-23.03, Z:-2.05 [[ 9.89336282e-01 1.45632667e-01 2.20148516e-03 1.93338696e+02] [-1.45632200e-01 9.89338731e-01 -3.71645668e-04 -2.30263902e+01] [-2.23213828e-03 4.70754168e-05 9.99997508e-01 -2.05486005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47576923100002 meters Centerline goodness [0,1] 0.9998946991554872 Centerline is valid? [True, True] Translation: X:193.37, Y:-23.03, Z:-2.05 [[ 9.89224748e-01 1.46379973e-01 2.70211451e-03 1.93369450e+02] [-1.46379271e-01 9.89228437e-01 -4.56783162e-04 -2.30326266e+01] [-2.73987242e-03 5.63276564e-05 9.99996245e-01 -2.05426782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50576923100002 meters Centerline goodness [0,1] 0.9998925147254826 Centerline is valid? [True, True] Translation: X:193.40, Y:-23.04, Z:-2.06 [[ 9.89124915e-01 1.47069259e-01 1.59251223e-03 1.93401050e+02] [-1.47069016e-01 9.89126196e-01 -2.69172034e-04 -2.30370543e+01] [-1.61478250e-03 3.20355580e-05 9.99998696e-01 -2.05733973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53576923100002 meters Centerline goodness [0,1] 0.9999576118517263 Centerline is valid? [True, True] Translation: X:193.43, Y:-23.04, Z:-2.06 [[ 9.89068658e-01 1.47455706e-01 -7.49179787e-05 1.93430913e+02] [-1.47455705e-01 9.89068660e-01 1.33231732e-05 -2.30447335e+01] [ 7.60636027e-05 -2.13044965e-06 9.99999997e-01 -2.06161413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56576923100002 meters Centerline goodness [0,1] 0.9999362109291942 Centerline is valid? [True, True] Translation: X:193.46, Y:-23.05, Z:-2.07 [[ 9.88770383e-01 1.49431838e-01 -1.80418292e-03 1.93460669e+02] [-1.49431528e-01 9.88772029e-01 3.06063319e-04 -2.30502785e+01] [ 1.82966121e-03 -3.30245350e-05 9.99998326e-01 -2.06592114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.49, Y:-23.05, Z:-2.06 [[ 9.88451202e-01 1.51535668e-01 -1.07855185e-03 1.93491268e+02] [-1.51535558e-01 9.88451790e-01 1.82938854e-04 -2.30529017e+01] [ 1.09381827e-03 -1.73871740e-05 9.99999402e-01 -2.06388531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.52, Y:-23.05, Z:-2.06 [[ 9.87807160e-01 1.55679362e-01 9.75145500e-04 1.93522600e+02] [-1.55679274e-01 9.87807641e-01 -1.65399559e-04 -2.30518774e+01] [-9.89005474e-04 1.15729254e-05 9.99999511e-01 -2.06057567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.55, Y:-23.05, Z:-2.06 [[ 9.87571258e-01 1.57168239e-01 1.07492058e-03 1.93551580e+02] [-1.57168134e-01 9.87571843e-01 -1.82356652e-04 -2.30547427e+01] [-1.09022198e-03 1.11469260e-05 9.99999406e-01 -2.06157921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68576923100002 meters Centerline goodness [0,1] 0.9999786662115459 Centerline is valid? [True, True] Translation: X:193.58, Y:-23.06, Z:-2.06 [[ 9.87466227e-01 1.57827930e-01 8.91455328e-04 1.93582696e+02] [-1.57827858e-01 9.87466629e-01 -1.51119085e-04 -2.30581201e+01] [-9.04133200e-04 8.52850764e-06 9.99999591e-01 -2.06254360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71576923100002 meters Centerline goodness [0,1] 0.9999786511816571 Centerline is valid? [True, True] Translation: X:193.61, Y:-23.07, Z:-2.06 [[ 9.87712164e-01 1.56283059e-01 5.35486477e-04 1.93611925e+02] [-1.56283033e-01 9.87712309e-01 -9.02921190e-05 -2.30697644e+01] [-5.43017713e-04 5.49517333e-06 9.99999853e-01 -2.06363093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74576923100003 meters Centerline goodness [0,1] 0.9999574295991996 Centerline is valid? [True, True] Translation: X:193.64, Y:-23.08, Z:-2.06 [[ 9.87958725e-01 1.54715132e-01 8.86092774e-04 1.93641661e+02] [-1.54715060e-01 9.87959123e-01 -1.49977509e-04 -2.30802848e+01] [-8.98627230e-04 1.10796917e-05 9.99999596e-01 -2.06281771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.67, Y:-23.09, Z:-2.06 [[ 9.88483125e-01 1.51324530e-01 1.41346379e-03 1.93672167e+02] [-1.51324342e-01 9.88484135e-01 -2.39812164e-04 -2.30924875e+01] [-1.43347600e-03 2.31587995e-05 9.99998972e-01 -2.06137184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.70, Y:-23.10, Z:-2.06 [[ 9.88650992e-01 1.50221810e-01 1.61994801e-03 1.93701865e+02] [-1.50221561e-01 9.88652319e-01 -2.75278573e-04 -2.31007703e+01] [-1.64291820e-03 2.88033158e-05 9.99998650e-01 -2.06193316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.835769231 meters Centerline goodness [0,1] 0.9999784445594068 Centerline is valid? [True, True] Translation: X:193.73, Y:-23.11, Z:-2.06 [[ 9.88727145e-01 1.49720758e-01 1.52528501e-03 1.93733166e+02] [-1.49720536e-01 9.88728322e-01 -2.59270361e-04 -2.31075687e+01] [-1.54691064e-03 2.79811542e-05 9.99998803e-01 -2.06242201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.76, Y:-23.12, Z:-2.06 [[ 9.88610289e-01 1.50493575e-01 1.17492874e-03 1.93763475e+02] [-1.50493444e-01 9.88610987e-01 -1.99803741e-04 -2.31161052e+01] [-1.19161664e-03 2.07089615e-05 9.99999290e-01 -2.06260497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.895769231 meters Centerline goodness [0,1] 0.9999786921224777 Centerline is valid? [True, True] Translation: X:193.80, Y:-23.12, Z:-2.06 [[ 9.88469240e-01 1.51418903e-01 9.36513671e-04 1.93795440e+02] [-1.51418820e-01 9.88469684e-01 -1.59262696e-04 -2.31216545e+01] [-9.49830755e-04 1.56204813e-05 9.99999549e-01 -2.06236811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.83, Y:-23.13, Z:-2.06 [[ 9.87969674e-01 1.54642477e-01 1.27572445e-03 1.93826439e+02] [-1.54642325e-01 9.87970498e-01 -2.17439317e-04 -2.31265594e+01] [-1.29400347e-03 1.75424558e-05 9.99999163e-01 -2.06096507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.86, Y:-23.13, Z:-2.06 [[ 9.87581286e-01 1.57097733e-01 1.87253820e-03 1.93857229e+02] [-1.57097409e-01 9.87583061e-01 -3.19749536e-04 -2.31318146e+01] [-1.89951893e-03 2.16077593e-05 9.99998196e-01 -2.05997770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.89, Y:-23.14, Z:-2.06 [[ 9.87555979e-01 1.57256743e-01 1.87249230e-03 1.93888415e+02] [-1.57256418e-01 9.87557753e-01 -3.20017970e-04 -2.31373092e+01] [-1.89951927e-03 2.15742273e-05 9.99998196e-01 -2.06010165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.92, Y:-23.14, Z:-2.06 [[ 9.86807585e-01 1.61877134e-01 2.56600347e-03 1.93920560e+02] [-1.61876538e-01 9.86810921e-01 -4.39351833e-04 -2.31387832e+01] [-2.60328126e-03 1.81799623e-05 9.99996611e-01 -2.05885191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.95, Y:-23.14, Z:-2.06 [[ 9.86472299e-01 1.63905659e-01 2.70908939e-03 1.93951524e+02] [-1.63905003e-01 9.86476018e-01 -4.63879115e-04 -2.31432935e+01] [-2.74848413e-03 1.35705934e-05 9.99996223e-01 -2.05849334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.98, Y:-23.15, Z:-2.06 [[ 9.85763122e-01 1.68095159e-01 3.88396354e-03 1.93982582e+02] [-1.68093840e-01 9.85770773e-01 -6.65927174e-04 -2.31450880e+01] [-3.94063688e-03 3.57610559e-06 9.99992236e-01 -2.05521346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.01, Y:-23.15, Z:-2.05 [[ 9.85287007e-01 1.70838966e-01 4.85409938e-03 1.94013193e+02] [-1.70836938e-01 9.85298964e-01 -8.32392165e-04 -2.31472487e+01] [-4.92494411e-03 -9.11429111e-06 9.99987872e-01 -2.05342299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.135769231 meters Centerline goodness [0,1] 0.999978926516764 Centerline is valid? [True, True] Translation: X:194.04, Y:-23.14, Z:-2.06 [[ 9.84299981e-01 1.76464660e-01 3.71081831e-03 1.94044029e+02] [-1.76463515e-01 9.84306976e-01 -6.36374529e-04 -2.31413824e+01] [-3.76488196e-03 -2.84406061e-05 9.99992912e-01 -2.05655093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.07, Y:-23.14, Z:-2.06 [[ 9.83940326e-01 1.78493760e-01 1.18848631e-03 1.94073293e+02] [-1.78493644e-01 9.83941044e-01 -2.03885662e-04 -2.31436132e+01] [-1.20579278e-03 -1.15259284e-05 9.99999273e-01 -2.06173193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.10, Y:-23.15, Z:-2.07 [[ 9.83789810e-01 1.79321973e-01 -1.11382043e-03 1.94102506e+02] [-1.79321872e-01 9.83790440e-01 1.90873242e-04 -2.31477714e+01] [ 1.12999366e-03 1.19532144e-05 9.99999361e-01 -2.06675244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.13, Y:-23.16, Z:-2.07 [[ 9.84194074e-01 1.77089176e-01 -1.20386270e-03 1.94129858e+02] [-1.77089056e-01 9.84194810e-01 2.06222377e-04 -2.31562954e+01] [ 1.22135517e-03 1.02280676e-05 9.99999254e-01 -2.06765056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.16, Y:-23.16, Z:-2.07 [[ 9.84592840e-01 1.74862609e-01 8.58740377e-05 1.94157705e+02] [-1.74862608e-01 9.84592844e-01 -1.47946736e-05 -2.31646341e+01] [-8.71379982e-05 -4.49428449e-07 9.99999996e-01 -2.06533071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.19, Y:-23.18, Z:-2.06 [[ 9.85619225e-01 1.68979753e-01 7.65727710e-04 1.94186435e+02] [-1.68979702e-01 9.85619522e-01 -1.31167868e-04 -2.31815450e+01] [-7.76880894e-04 -1.10868197e-07 9.99999698e-01 -2.06390322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.22, Y:-23.19, Z:-2.07 [[ 9.86063898e-01 1.66366639e-01 -3.59824343e-04 1.94216224e+02] [-1.66366628e-01 9.86063964e-01 6.23369809e-05 -2.31928178e+01] [ 3.65180612e-04 -1.60548392e-06 9.99999933e-01 -2.06709063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.25, Y:-23.21, Z:-2.07 [[ 9.86836816e-01 1.61711381e-01 -1.58980714e-03 1.94246337e+02] [-1.61711150e-01 9.86838097e-01 2.73695239e-04 -2.32087224e+01] [ 1.61314189e-03 -1.30029968e-05 9.99998699e-01 -2.07023159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.28, Y:-23.22, Z:-2.07 [[ 9.86923092e-01 1.61191659e-01 -2.45379233e-04 1.94277225e+02] [-1.61191653e-01 9.86923122e-01 4.28890276e-05 -2.32179501e+01] [ 2.49083792e-04 -2.77508740e-06 9.99999969e-01 -2.06788275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.31, Y:-23.23, Z:-2.06 [[ 9.86897423e-01 1.61339491e-01 1.74497470e-03 1.94308533e+02] [-1.61339213e-01 9.86898966e-01 -2.99653152e-04 -2.32251736e+01] [-1.77045961e-03 1.41940789e-05 9.99998433e-01 -2.06353488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.34, Y:-23.24, Z:-2.06 [[ 9.86939063e-01 1.61049360e-01 3.79329366e-03 1.94340309e+02] [-1.61048041e-01 9.86946352e-01 -6.52793801e-04 -2.32354951e+01] [-3.84890936e-03 3.33651898e-05 9.99992592e-01 -2.05944001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.37, Y:-23.24, Z:-2.06 [[ 9.86970511e-01 1.60855031e-01 3.85607487e-03 1.94372241e+02] [-1.60853663e-01 9.86978043e-01 -6.64355047e-04 -2.32436033e+01] [-3.91272608e-03 3.54350713e-05 9.99992345e-01 -2.05942930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.40, Y:-23.25, Z:-2.06 [[ 9.86985549e-01 1.60781283e-01 2.98418165e-03 1.94402654e+02] [-1.60780462e-01 9.86990060e-01 -5.14563214e-04 -2.32549086e+01] [-3.02808976e-03 2.80683502e-05 9.99995415e-01 -2.06166560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.43, Y:-23.26, Z:-2.06 [[ 9.86967937e-01 1.60897041e-01 2.53644212e-03 1.94433941e+02] [-1.60896448e-01 9.86971196e-01 -4.37723284e-04 -2.32631669e+01] [-2.57382369e-03 2.39143199e-05 9.99996687e-01 -2.06247611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.47, Y:-23.27, Z:-2.06 [[ 9.86913062e-01 1.61236995e-01 2.28908169e-03 1.94466401e+02] [-1.61236512e-01 9.86915716e-01 -3.95358944e-04 -2.32697284e+01] [-2.32287719e-03 2.11013578e-05 9.99997302e-01 -2.06235950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.50, Y:-23.27, Z:-2.06 [[ 9.86585187e-01 1.63208226e-01 3.56978080e-03 1.94496955e+02] [-1.63207060e-01 9.86591645e-01 -6.17624580e-04 -2.32742358e+01] [-3.62271733e-03 2.67258330e-05 9.99993438e-01 -2.05966534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.53, Y:-23.28, Z:-2.06 [[ 9.86056964e-01 1.66365318e-01 3.77413344e-03 1.94529242e+02] [-1.66364035e-01 9.86064187e-01 -6.53573942e-04 -2.32769954e+01] [-3.83026986e-03 1.65810704e-05 9.99992664e-01 -2.05845891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.56, Y:-23.28, Z:-2.06 [[ 9.85716508e-01 1.68390872e-01 2.73497108e-03 1.94559829e+02] [-1.68390205e-01 9.85720302e-01 -4.73923367e-04 -2.32813890e+01] [-2.77572089e-03 6.61174605e-06 9.99996148e-01 -2.06026264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.59, Y:-23.29, Z:-2.06 [[ 9.85456349e-01 1.69919997e-01 1.72605223e-03 1.94592586e+02] [-1.69919734e-01 9.85457860e-01 -2.99071643e-04 -2.32855791e+01] [-1.75176999e-03 1.43171339e-06 9.99998466e-01 -2.06207068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.63, Y:-23.29, Z:-2.06 [[ 9.85109796e-01 1.71910094e-01 2.36824837e-03 1.94625021e+02] [-1.71909602e-01 9.85112643e-01 -4.11079224e-04 -2.32894271e+01] [-2.40366008e-03 -2.16646440e-06 9.99997111e-01 -2.06107791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.66, Y:-23.30, Z:-2.06 [[ 9.85048848e-01 1.72219487e-01 4.38344134e-03 1.94657643e+02] [-1.72217799e-01 9.85058602e-01 -7.62351359e-04 -2.32960375e+01] [-4.44923836e-03 -3.95329392e-06 9.99990102e-01 -2.05699790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.69, Y:-23.30, Z:-2.06 [[ 9.85091533e-01 1.71986324e-01 3.92127468e-03 1.94689358e+02] [-1.71984970e-01 9.85099337e-01 -6.82650941e-04 -2.33024295e+01] [-3.98025172e-03 -1.92664540e-06 9.99992079e-01 -2.05862581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.72, Y:-23.31, Z:-2.06 [[ 9.85121562e-01 1.71842645e-01 2.36927478e-03 1.94721645e+02] [-1.71842150e-01 9.85124411e-01 -4.12461118e-04 -2.33092999e+01] [-2.40490883e-03 -8.16930104e-07 9.99997108e-01 -2.06191356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.825769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.75, Y:-23.32, Z:-2.07 [[ 9.85365369e-01 1.70454981e-01 -4.35098038e-04 1.94751375e+02] [-1.70454964e-01 9.85365465e-01 7.62710923e-05 -2.33187641e+01] [ 4.41731368e-04 -9.90272451e-07 9.99999902e-01 -2.06777712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.78, Y:-23.33, Z:-2.07 [[ 9.85466227e-01 1.69870973e-01 -4.09944322e-04 1.94783723e+02] [-1.69870957e-01 9.85466312e-01 7.23348047e-05 -2.33276666e+01] [ 4.16273903e-04 -1.64587254e-06 9.99999913e-01 -2.06760555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.82, Y:-23.34, Z:-2.07 [[ 9.85551483e-01 1.69375383e-01 5.02870467e-04 1.94815688e+02] [-1.69375361e-01 9.85551612e-01 -8.72144729e-05 -2.33381423e+01] [-5.10376784e-04 7.80486173e-07 9.99999870e-01 -2.06733498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.85, Y:-23.34, Z:-2.07 [[ 9.85448257e-01 1.69970803e-01 1.28778805e-03 1.94848525e+02] [-1.69970655e-01 9.85449099e-01 -2.24710931e-04 -2.33445709e+01] [-1.30724387e-03 2.55481650e-06 9.99999146e-01 -2.06621107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.88, Y:-23.35, Z:-2.07 [[ 9.85179520e-01 1.71516125e-01 1.87942876e-03 1.94881526e+02] [-1.71515810e-01 9.85181313e-01 -3.28632771e-04 -2.33494545e+01] [-1.90794391e-03 1.41052918e-06 9.99998180e-01 -2.06580208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.91, Y:-23.35, Z:-2.07 [[ 9.84371385e-01 1.76104674e-01 3.45920649e-04 1.94914696e+02] [-1.76104664e-01 9.84371446e-01 -6.00479201e-05 -2.33489481e+01] [-3.51089129e-04 -1.80878534e-06 9.99999938e-01 -2.06922342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.95, Y:-23.35, Z:-2.07 [[ 9.83917959e-01 1.78619170e-01 -8.01362627e-04 1.94947038e+02] [-1.78619114e-01 9.83918285e-01 1.41359980e-04 -2.33521867e+01] [ 8.13724944e-04 4.05205898e-06 9.99999669e-01 -2.07113505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.98, Y:-23.35, Z:-2.07 [[ 9.83209039e-01 1.82482048e-01 -5.37105225e-04 1.94979652e+02] [-1.82482024e-01 9.83209185e-01 9.50528271e-05 -2.33537437e+01] [ 5.45432225e-04 4.55524953e-06 9.99999851e-01 -2.06975808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.01, Y:-23.36, Z:-2.07 [[ 9.82899252e-01 1.84143142e-01 6.03271111e-04 1.95010576e+02] [-1.84143112e-01 9.82899437e-01 -1.05509709e-04 -2.33568350e+01] [-6.12383725e-04 -7.38280592e-06 9.99999812e-01 -2.06762040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.04, Y:-23.36, Z:-2.07 [[ 9.82574673e-01 1.85857336e-01 2.01553037e-03 1.95042308e+02] [-1.85857000e-01 9.82576740e-01 -3.54250015e-04 -2.33570980e+01] [-2.04625323e-03 -2.65233358e-05 9.99997906e-01 -2.06519080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12576923100002 meters Centerline goodness [0,1] 0.9999576988155668 Centerline is valid? [True, True] Translation: X:195.07, Y:-23.36, Z:-2.06 [[ 9.82105007e-01 1.88286063e-01 4.25595758e-03 1.95073642e+02] [-1.88284583e-01 9.82114227e-01 -7.49313419e-04 -2.33599761e+01] [-4.32092176e-03 -6.54267371e-05 9.99990663e-01 -2.06176422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.10, Y:-23.36, Z:-2.06 [[ 9.81969977e-01 1.88986624e-01 4.36130654e-03 1.95104961e+02] [-1.88985076e-01 9.81979659e-01 -7.68039369e-04 -2.33648814e+01] [-4.42786348e-03 -7.00302484e-05 9.99990195e-01 -2.06198862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18576923100002 meters Centerline goodness [0,1] 0.9999789331760344 Centerline is valid? [True, True] Translation: X:195.14, Y:-23.36, Z:-2.06 [[ 9.81703805e-01 1.90394051e-01 2.78282150e-03 1.95136327e+02] [-1.90393425e-01 9.81707748e-01 -4.90447322e-04 -2.33636651e+01] [-2.82529568e-03 -4.83569162e-05 9.99996008e-01 -2.06427149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21576923100002 meters Centerline goodness [0,1] 0.9999787392367386 Centerline is valid? [True, True] Translation: X:195.17, Y:-23.37, Z:-2.06 [[ 9.81454729e-01 1.91685184e-01 1.84547855e-03 1.95166574e+02] [-1.91684911e-01 9.81456463e-01 -3.25262007e-04 -2.33704672e+01] [-1.87360476e-03 -3.45204558e-05 9.99998244e-01 -2.06464483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.20, Y:-23.37, Z:-2.07 [[ 9.81107706e-01 1.93457863e-01 1.31300011e-03 1.95197432e+02] [-1.93457726e-01 9.81108585e-01 -2.31448970e-04 -2.33722670e+01] [-1.33297130e-03 -2.69336468e-05 9.99999111e-01 -2.06517924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27576923100003 meters Centerline goodness [0,1] 0.9999155298390844 Centerline is valid? [True, True] Translation: X:195.23, Y:-23.37, Z:-2.06 [[ 9.80289806e-01 1.97555207e-01 1.95870704e-03 1.95228100e+02] [-1.97554911e-01 9.80291762e-01 -3.45360970e-04 -2.33674419e+01] [-1.98833223e-03 -4.83983568e-05 9.99998022e-01 -2.06356060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30576923100003 meters Centerline goodness [0,1] 0.9999362583660895 Centerline is valid? [True, True] Translation: X:195.26, Y:-23.37, Z:-2.06 [[ 9.79897660e-01 1.99472720e-01 3.34828154e-03 1.95258569e+02] [-1.99471866e-01 9.79903376e-01 -5.90306657e-04 -2.33672717e+01] [-3.39874245e-03 -8.94478549e-05 9.99994220e-01 -2.06121101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.335769231 meters Centerline goodness [0,1] 0.9997669047064058 Centerline is valid? [True, True] Translation: X:195.29, Y:-23.36, Z:-2.06 [[ 9.79021101e-01 2.03706935e-01 4.60094370e-03 1.95289954e+02] [-2.03705371e-01 9.79031901e-01 -8.11020916e-04 -2.33597903e+01] [-4.66968125e-03 -1.43230355e-04 9.99989087e-01 -2.05859783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.365769231 meters Centerline goodness [0,1] 0.999421829161224 Centerline is valid? [True, True] Translation: X:195.32, Y:-23.36, Z:-2.06 [[ 9.78677732e-01 2.05363444e-01 3.96894109e-03 1.95320605e+02] [-2.05362294e-01 9.78685771e-01 -6.99575072e-04 -2.33587060e+01] [-4.02801332e-03 -1.30412301e-04 9.99991879e-01 -2.05948307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.395769231 meters Centerline goodness [0,1] 0.9996363947469735 Centerline is valid? [True, True] Translation: X:195.35, Y:-23.36, Z:-2.06 [[ 9.78437935e-01 2.06522250e-01 2.78718638e-03 1.95349563e+02] [-2.06521687e-01 9.78441900e-01 -4.91263777e-04 -2.33593764e+01] [-2.82855684e-03 -9.49433191e-05 9.99995995e-01 -2.06205646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.425769231 meters Centerline goodness [0,1] 0.9993644202453338 Centerline is valid? [True, True] Translation: X:195.38, Y:-23.35, Z:-2.07 [[ 9.78315772e-01 2.07114461e-01 1.36026457e-03 1.95379228e+02] [-2.07114327e-01 9.78316717e-01 -2.39814307e-04 -2.33535155e+01] [-1.38043858e-03 -4.71161630e-05 9.99999046e-01 -2.06567556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.455769231 meters Centerline goodness [0,1] 0.999597261377366 Centerline is valid? [True, True] Translation: X:195.41, Y:-23.36, Z:-2.07 [[ 9.78642975e-01 2.05562985e-01 1.33669496e-03 1.95406873e+02] [-2.05562855e-01 9.78643887e-01 -2.35560238e-04 -2.33630272e+01] [-1.35657082e-03 -4.42454596e-05 9.99999079e-01 -2.06617517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.485769231 meters Centerline goodness [0,1] 0.999723686447883 Centerline is valid? [True, True] Translation: X:195.43, Y:-23.37, Z:-2.07 [[ 9.79000953e-01 2.03853645e-01 9.08917524e-04 1.95434738e+02] [-2.03853584e-01 9.79001374e-01 -1.60224111e-04 -2.33665823e+01] [-9.22493774e-04 -2.84265383e-05 9.99999574e-01 -2.06667117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.515769231 meters Centerline goodness [0,1] 0.9998716165614636 Centerline is valid? [True, True] Translation: X:195.46, Y:-23.37, Z:-2.07 [[ 9.79347234e-01 2.02183954e-01 8.02267282e-04 1.95462437e+02] [-2.02183906e-01 9.79347562e-01 -1.41368303e-04 -2.33737515e+01] [-8.14280910e-04 -2.37568765e-05 9.99999668e-01 -2.06676659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.545769231 meters Centerline goodness [0,1] 0.9998509052183173 Centerline is valid? [True, True] Translation: X:195.49, Y:-23.38, Z:-2.07 [[ 9.79634946e-01 2.00786461e-01 4.11164607e-04 1.95490726e+02] [-2.00786448e-01 9.79635032e-01 -7.25215049e-05 -2.33766685e+01] [-4.17352589e-04 -1.15116806e-05 9.99999913e-01 -2.06767306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.52, Y:-23.38, Z:-2.07 [[ 9.80062510e-01 1.98689071e-01 3.60518032e-04 1.95518914e+02] [-1.98689062e-01 9.80062576e-01 -6.35929385e-05 -2.33809974e+01] [-3.65965453e-04 -9.30593464e-06 9.99999933e-01 -2.06871344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.605769231 meters Centerline goodness [0,1] 0.9998932923575986 Centerline is valid? [True, True] Translation: X:195.55, Y:-23.39, Z:-2.07 [[ 9.80388487e-01 1.97074636e-01 4.92066385e-05 1.95546680e+02] [-1.97074636e-01 9.80388488e-01 -8.87964204e-06 -2.33854255e+01] [-4.99915741e-05 -9.91881539e-07 9.99999999e-01 -2.07002508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.635769231 meters Centerline goodness [0,1] 0.9999578725645076 Centerline is valid? [True, True] Translation: X:195.57, Y:-23.39, Z:-2.07 [[ 9.80614928e-01 1.95944700e-01 1.93307244e-04 1.95574655e+02] [-1.95944697e-01 9.80614947e-01 -3.41593836e-05 -2.33898042e+01] [-1.96253323e-04 -4.38032788e-06 9.99999981e-01 -2.07041087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.665769231 meters Centerline goodness [0,1] 0.9999578690147669 Centerline is valid? [True, True] Translation: X:195.60, Y:-23.39, Z:-2.07 [[ 9.80751063e-01 1.95260740e-01 7.71485575e-04 1.95602787e+02] [-1.95260694e-01 9.80751367e-01 -1.35754553e-04 -2.33932576e+01] [-7.83143066e-04 -1.74993860e-05 9.99999693e-01 -2.06954073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.63, Y:-23.40, Z:-2.07 [[ 9.80847810e-01 1.94766664e-01 1.87629487e-03 1.95631449e+02] [-1.94766389e-01 9.80849604e-01 -3.29819092e-04 -2.33980621e+01] [-1.90460085e-03 -4.19368432e-05 9.99998185e-01 -2.06790327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72576923100002 meters Centerline goodness [0,1] 0.9999786971155894 Centerline is valid? [True, True] Translation: X:195.66, Y:-23.40, Z:-2.07 [[ 9.80893661e-01 1.94533428e-01 2.09069240e-03 1.95659962e+02] [-1.94533087e-01 9.80895888e-01 -3.67388571e-04 -2.34032560e+01] [-2.12222093e-03 -4.63397258e-05 9.99997747e-01 -2.06747836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75576923100002 meters Centerline goodness [0,1] 0.9999787852430151 Centerline is valid? [True, True] Translation: X:195.69, Y:-23.41, Z:-2.07 [[ 9.81258086e-01 1.92691814e-01 1.56021861e-03 1.95687201e+02] [-1.92691621e-01 9.81259326e-01 -2.74169680e-04 -2.34073862e+01] [-1.58380932e-03 -3.16098387e-05 9.99998745e-01 -2.06884802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78576923100002 meters Centerline goodness [0,1] 0.9999786228863379 Centerline is valid? [True, True] Translation: X:195.72, Y:-23.41, Z:-2.07 [[ 9.81471102e-01 1.91609876e-01 3.61940263e-04 1.95715439e+02] [-1.91609865e-01 9.81471169e-01 -6.37109664e-05 -2.34121099e+01] [-3.67441583e-04 -6.82085252e-06 9.99999932e-01 -2.07100342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.74, Y:-23.42, Z:-2.07 [[ 9.81687951e-01 1.90493762e-01 -9.45177986e-04 1.95743746e+02] [-1.90493690e-01 9.81688406e-01 1.65690991e-04 -2.34180717e+01] [ 9.59433370e-04 1.73935932e-05 9.99999540e-01 -2.07391975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.77, Y:-23.43, Z:-2.07 [[ 9.81925935e-01 1.89261629e-01 -1.22245490e-03 1.95771075e+02] [-1.89261509e-01 9.81926696e-01 2.14236662e-04 -2.34250315e+01] [ 1.24090788e-03 2.09991247e-05 9.99999230e-01 -2.07435909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.80, Y:-23.43, Z:-2.07 [[ 9.81880847e-01 1.89498763e-01 -4.71136499e-04 1.95799389e+02] [-1.89498745e-01 9.81880960e-01 8.24461472e-05 -2.34309349e+01] [ 4.78223401e-04 8.32748251e-06 9.99999886e-01 -2.07227712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.83, Y:-23.44, Z:-2.07 [[ 9.81889641e-01 1.89453191e-01 -4.71140423e-04 1.95827316e+02] [-1.89453173e-01 9.81889754e-01 8.24237463e-05 -2.34357408e+01] [ 4.78223396e-04 8.32802528e-06 9.99999886e-01 -2.07238796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93576923100002 meters Centerline goodness [0,1] 0.9999787197820905 Centerline is valid? [True, True] Translation: X:195.86, Y:-23.43, Z:-2.07 [[ 9.81455968e-01 1.91687223e-01 4.38033406e-04 1.95856219e+02] [-1.91687207e-01 9.81456066e-01 -7.70068407e-05 -2.34349958e+01] [-4.44671771e-04 -8.38657705e-06 9.99999901e-01 -2.06900883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96576923100002 meters Centerline goodness [0,1] 0.9999786766744141 Centerline is valid? [True, True] Translation: X:195.88, Y:-23.44, Z:-2.07 [[ 9.81145557e-01 1.93266887e-01 1.14269167e-03 1.95884990e+02] [-1.93266784e-01 9.81146222e-01 -2.00416749e-04 -2.34363654e+01] [-1.15988154e-03 -2.42063411e-05 9.99999327e-01 -2.06689810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99576923100003 meters Centerline goodness [0,1] 0.999851038474634 Centerline is valid? [True, True] Translation: X:195.92, Y:-23.43, Z:-2.06 [[ 9.80309603e-01 1.97442065e-01 3.11654087e-03 1.95916129e+02] [-1.97441326e-01 9.80314554e-01 -5.46134796e-04 -2.34258334e+01] [-3.16302035e-03 -7.99527756e-05 9.99994994e-01 -2.06285839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02576923100003 meters Centerline goodness [0,1] 0.9997669195236683 Centerline is valid? [True, True] Translation: X:195.95, Y:-23.42, Z:-2.06 [[ 9.79832971e-01 1.99791547e-01 3.26919272e-03 1.95945721e+02] [-1.99790747e-01 9.79838420e-01 -5.72767247e-04 -2.34202003e+01] [-3.31771468e-03 -9.19382210e-05 9.99994492e-01 -2.06262168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05576923100003 meters Centerline goodness [0,1] 0.9995341055886152 Centerline is valid? [True, True] Translation: X:195.98, Y:-23.42, Z:-2.06 [[ 9.79291052e-01 2.02443693e-01 2.36338785e-03 1.95976236e+02] [-2.02443283e-01 9.79293902e-01 -4.13978090e-04 -2.34182612e+01] [-2.39825856e-03 -7.30469566e-05 9.99997122e-01 -2.06495854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.085769231 meters Centerline goodness [0,1] 0.9982163332908651 Centerline is valid? [True, True] Translation: X:196.01, Y:-23.41, Z:-2.07 [[ 9.78330969e-01 2.07039774e-01 -1.74569057e-03 1.96008066e+02] [-2.07039557e-01 9.78332524e-01 3.05643021e-04 -2.34053963e+01] [ 1.77114613e-03 6.24069712e-05 9.99998430e-01 -2.07301222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.115769231 meters Centerline goodness [0,1] 0.9977674774621534 Centerline is valid? [True, True] Translation: X:196.04, Y:-23.40, Z:-2.07 [[ 9.78128719e-01 2.07984288e-01 -2.59721677e-03 1.96037584e+02] [-2.07983814e-01 9.78132162e-01 4.54524408e-04 -2.34035780e+01] [ 2.63495519e-03 9.55956715e-05 9.99996524e-01 -2.07439683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.145769231 meters Centerline goodness [0,1] 0.9983232516183805 Centerline is valid? [True, True] Translation: X:196.07, Y:-23.40, Z:-2.07 [[ 9.78141997e-01 2.07936834e-01 7.12222022e-04 1.96067089e+02] [-2.07936798e-01 9.78142256e-01 -1.24859647e-04 -2.33952180e+01] [-7.22617375e-04 -2.59667021e-05 9.99999739e-01 -2.06713350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.175769231 meters Centerline goodness [0,1] 0.9983391180290867 Centerline is valid? [True, True] Translation: X:196.10, Y:-23.40, Z:-2.06 [[ 9.78272964e-01 2.07301915e-01 2.81481402e-03 1.96096111e+02] [-2.07301355e-01 9.78277009e-01 -4.92679978e-04 -2.33954763e+01] [-2.85580134e-03 -1.01539258e-04 9.99995917e-01 -2.06311551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.205769231 meters Centerline goodness [0,1] 0.998676220293753 Centerline is valid? [True, True] Translation: X:196.12, Y:-23.39, Z:-2.06 [[ 9.78671667e-01 2.05409305e-01 2.96408146e-03 1.96124381e+02] [-2.05408675e-01 9.78676150e-01 -5.18678395e-04 -2.33940609e+01] [-3.00741720e-03 -1.01232196e-04 9.99995473e-01 -2.06405056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.235769231 meters Centerline goodness [0,1] 0.998812124811743 Centerline is valid? [True, True] Translation: X:196.15, Y:-23.40, Z:-2.07 [[ 9.78944063e-01 2.04115279e-01 2.33953684e-03 1.96153418e+02] [-2.04114883e-01 9.78946856e-01 -4.09454173e-04 -2.33955962e+01] [-2.37385809e-03 -7.67015562e-05 9.99997179e-01 -2.06627978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.265769231 meters Centerline goodness [0,1] 0.9993388641259144 Centerline is valid? [True, True] Translation: X:196.18, Y:-23.40, Z:-2.07 [[ 9.79255483e-01 2.02618975e-01 2.06153411e-03 1.96182379e+02] [-2.02618664e-01 9.79257651e-01 -3.60553749e-04 -2.33970292e+01] [-2.09182808e-03 -6.46310511e-05 9.99997810e-01 -2.06703819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.295769231 meters Centerline goodness [0,1] 0.9995113556693365 Centerline is valid? [True, True] Translation: X:196.21, Y:-23.40, Z:-2.07 [[ 9.79826385e-01 1.99841022e-01 1.95463393e-03 1.96212649e+02] [-1.99840739e-01 9.79828333e-01 -3.41336647e-04 -2.33979820e+01] [-1.98341877e-03 -5.61648360e-05 9.99998031e-01 -2.06733611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.325769231 meters Centerline goodness [0,1] 0.9999567361772086 Centerline is valid? [True, True] Translation: X:196.24, Y:-23.42, Z:-2.07 [[ 9.80207051e-01 1.97966468e-01 1.84818302e-03 1.96238758e+02] [-1.97966211e-01 9.80208792e-01 -3.22809361e-04 -2.34151019e+01] [-1.87551067e-03 -4.94577775e-05 9.99998240e-01 -2.06677015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.355769231 meters Centerline goodness [0,1] 0.9998943944578211 Centerline is valid? [True, True] Translation: X:196.27, Y:-23.41, Z:-2.07 [[ 9.81053000e-01 1.93738216e-01 7.17139607e-04 1.96268687e+02] [-1.93738176e-01 9.81053262e-01 -1.25300639e-04 -2.34098476e+01] [-7.27827673e-04 -1.60107516e-05 9.99999735e-01 -2.07151517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.30, Y:-23.42, Z:-2.07 [[ 9.81580217e-01 1.91050115e-01 3.61171317e-04 1.96296894e+02] [-1.91050104e-01 9.81580284e-01 -6.35180504e-05 -2.34177379e+01] [-3.66653775e-04 -6.65375609e-06 9.99999933e-01 -2.07281523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.415769231 meters Centerline goodness [0,1] 0.9999150328185739 Centerline is valid? [True, True] Translation: X:196.32, Y:-23.43, Z:-2.07 [[ 9.82335171e-01 1.87125070e-01 1.34934652e-03 1.96324960e+02] [-1.87124922e-01 9.82336097e-01 -2.35648409e-04 -2.34275502e+01] [-1.36960752e-03 -2.10106434e-05 9.99999062e-01 -2.07089960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.445769231 meters Centerline goodness [0,1] 0.9999789331760344 Centerline is valid? [True, True] Translation: X:196.35, Y:-23.44, Z:-2.07 [[ 9.82608518e-01 1.85677986e-01 2.04574953e-03 1.96352874e+02] [-1.85677646e-01 9.82610648e-01 -3.56532498e-04 -2.34351706e+01] [-2.07637551e-03 -2.95180868e-05 9.99997844e-01 -2.06927827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.38, Y:-23.45, Z:-2.07 [[ 9.82855709e-01 1.84356906e-01 2.68073843e-03 1.96379382e+02] [-1.84356318e-01 9.82859364e-01 -4.67041087e-04 -2.34490870e+01] [-2.72089112e-03 -3.51770678e-05 9.99996298e-01 -2.06672237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.41, Y:-23.45, Z:-2.07 [[ 9.83152564e-01 1.82760862e-01 3.08267964e-03 1.96406875e+02] [-1.82760076e-01 9.83157396e-01 -5.36911657e-04 -2.34525854e+01] [-3.12888573e-03 -3.55246949e-05 9.99995104e-01 -2.06595479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.43, Y:-23.46, Z:-2.07 [[ 9.83252495e-01 1.82224631e-01 2.95218748e-03 1.96433922e+02] [-1.82223909e-01 9.83256926e-01 -5.13901321e-04 -2.34584971e+01] [-2.99640427e-03 -3.26643867e-05 9.99995510e-01 -2.06586179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.46, Y:-23.47, Z:-2.07 [[ 9.83539673e-01 1.80672561e-01 2.67146635e-03 1.96461340e+02] [-1.80671965e-01 9.83543301e-01 -4.64890882e-04 -2.34698407e+01] [-2.71149586e-03 -2.54204496e-05 9.99996324e-01 -2.06629729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.49, Y:-23.48, Z:-2.07 [[ 9.83720481e-01 1.79691505e-01 2.23137806e-03 1.96488502e+02] [-1.79691087e-01 9.83723011e-01 -3.88247150e-04 -2.34761633e+01] [-2.26482266e-03 -1.90320773e-05 9.99997435e-01 -2.06747399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.52, Y:-23.49, Z:-2.07 [[ 9.84035386e-01 1.77967100e-01 1.43892443e-03 1.96516234e+02] [-1.77966924e-01 9.84036438e-01 -2.50327224e-04 -2.34859561e+01] [-1.46050408e-03 -9.75010897e-06 9.99998933e-01 -2.06874961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.54, Y:-23.49, Z:-2.07 [[ 9.84178387e-01 1.77174825e-01 1.40871965e-03 1.96543683e+02] [-1.77174656e-01 9.84179395e-01 -2.45011158e-04 -2.34937296e+01] [-1.42984266e-03 -8.45473291e-06 9.99998978e-01 -2.06882780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.57, Y:-23.50, Z:-2.07 [[ 9.84395880e-01 1.75960817e-01 1.59439998e-03 1.96571630e+02] [-1.75960599e-01 9.84397171e-01 -2.77204577e-04 -2.35021463e+01] [-1.61829997e-03 -7.67253133e-06 9.99998691e-01 -2.06811778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.60, Y:-23.51, Z:-2.07 [[ 9.84583594e-01 1.74901538e-01 2.14445159e-03 1.96599102e+02] [-1.74901141e-01 9.84585929e-01 -3.72706849e-04 -2.35089044e+01] [-2.17658386e-03 -8.10598025e-06 9.99997631e-01 -2.06770393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.63, Y:-23.52, Z:-2.07 [[ 9.84820893e-01 1.73557971e-01 2.33226867e-03 1.96626400e+02] [-1.73557498e-01 9.84823655e-01 -4.05118369e-04 -2.35183208e+01] [-2.36718488e-03 -5.81368148e-06 9.99997198e-01 -2.06681263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.65, Y:-23.52, Z:-2.07 [[ 9.84684575e-01 1.74343150e-01 8.68865086e-04 1.96653430e+02] [-1.74343084e-01 9.84684958e-01 -1.51080298e-04 -2.35227769e+01] [-8.81898196e-04 -2.71418000e-06 9.99999611e-01 -2.06990500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.68, Y:-23.53, Z:-2.07 [[ 9.84459069e-01 1.75614039e-01 2.27285776e-04 1.96681566e+02] [-1.75614034e-01 9.84459095e-01 -3.96202791e-05 -2.35266988e+01] [-2.30711427e-04 -9.10029054e-07 9.99999973e-01 -2.07138717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.71, Y:-23.53, Z:-2.07 [[ 9.84177131e-01 1.77185915e-01 -7.25890526e-04 1.96709805e+02] [-1.77185870e-01 9.84177398e-01 1.25658672e-04 -2.35297661e+01] [ 7.36669996e-04 4.94715311e-06 9.99999729e-01 -2.07363746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.74, Y:-23.53, Z:-2.08 [[ 9.83619700e-01 1.80249147e-01 -1.59082052e-03 1.96739203e+02] [-1.80248937e-01 9.83620986e-01 2.75635492e-04 -2.35295058e+01] [ 1.61444751e-03 1.56232067e-05 9.99998697e-01 -2.07587487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.77, Y:-23.53, Z:-2.08 [[ 9.83375489e-01 1.81576683e-01 -1.59840947e-03 1.96768051e+02] [-1.81576473e-01 9.83376788e-01 2.76864873e-04 -2.35328943e+01] [ 1.62211098e-03 1.79714243e-05 9.99998684e-01 -2.07588773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.80, Y:-23.53, Z:-2.07 [[ 9.82802943e-01 1.84653961e-01 -1.13562899e-03 1.96796581e+02] [-1.84653858e-01 9.82803599e-01 1.96530887e-04 -2.35310729e+01] [ 1.15239047e-03 1.65471397e-05 9.99999336e-01 -2.07402004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.955769231 meters Centerline goodness [0,1] 0.9999787816418766 Centerline is valid? [True, True] Translation: X:196.82, Y:-23.53, Z:-2.07 [[ 9.82516587e-01 1.86174931e-01 -2.28494096e-04 1.96824962e+02] [-1.86174927e-01 9.82516613e-01 3.93446756e-05 -2.35317783e+01] [ 2.31824238e-04 3.88307518e-06 9.99999973e-01 -2.07239066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.85, Y:-23.53, Z:-2.07 [[ 9.82196631e-01 1.87852007e-01 1.18361737e-03 1.96853252e+02] [-1.87851896e-01 9.82197344e-01 -2.05174235e-04 -2.35302975e+01] [-1.20108823e-03 -2.08233251e-05 9.99999278e-01 -2.06995791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.015769231 meters Centerline goodness [0,1] 0.9999787798408488 Centerline is valid? [True, True] Translation: X:196.88, Y:-23.53, Z:-2.07 [[ 9.81601906e-01 1.90912636e-01 3.17228426e-03 1.96883968e+02] [-1.90911857e-01 9.81607030e-01 -5.49301397e-04 -2.35273805e+01] [-3.21880511e-03 -6.64313810e-05 9.99994817e-01 -2.06689662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.91, Y:-23.53, Z:-2.07 [[ 9.81567499e-01 1.91084501e-01 3.45804342e-03 1.96913099e+02] [-1.91083577e-01 9.81573588e-01 -5.98700045e-04 -2.35300539e+01] [-3.50872639e-03 -7.31108002e-05 9.99993842e-01 -2.06647680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.94, Y:-23.53, Z:-2.07 [[ 9.81711821e-01 1.90355761e-01 2.56626512e-03 1.96941507e+02] [-1.90355249e-01 9.81715173e-01 -4.44242296e-04 -2.35276969e+01] [-2.60390549e-03 -5.23841233e-05 9.99996608e-01 -2.06759867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.97, Y:-23.53, Z:-2.07 [[ 9.81916217e-01 1.89309744e-01 1.53720433e-03 1.96969762e+02] [-1.89309560e-01 9.81917420e-01 -2.66073717e-04 -2.35284035e+01] [-1.55977806e-03 -2.97453768e-05 9.99998783e-01 -2.06982331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.00, Y:-23.53, Z:-2.07 [[ 9.82244173e-01 1.87604937e-01 8.79211861e-04 1.96998417e+02] [-1.87604876e-01 9.82244566e-01 -1.52220422e-04 -2.35330079e+01] [-8.92158376e-04 -1.54268088e-05 9.99999602e-01 -2.07088277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.03, Y:-23.54, Z:-2.07 [[ 9.82991316e-01 1.83648328e-01 1.16823843e-03 1.97026155e+02] [-1.83648218e-01 9.82992010e-01 -2.02141696e-04 -2.35378800e+01] [-1.18549203e-03 -1.58413752e-05 9.99999297e-01 -2.07092848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.05, Y:-23.54, Z:-2.07 [[ 9.83433714e-01 1.81261473e-01 1.55162567e-03 1.97054636e+02] [-1.81261275e-01 9.83434938e-01 -2.68343717e-04 -2.35441405e+01] [-1.57456327e-03 -1.73513887e-05 9.99998760e-01 -2.07047392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.08, Y:-23.55, Z:-2.07 [[ 9.84445632e-01 1.75680395e-01 1.78812987e-03 1.97081388e+02] [-1.75680123e-01 9.84447256e-01 -3.09155118e-04 -2.35526283e+01] [-1.81463204e-03 -9.79247028e-06 9.99998354e-01 -2.06981376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.11, Y:-23.56, Z:-2.07 [[ 9.84989400e-01 1.72606243e-01 1.72220493e-03 1.97109358e+02] [-1.72605986e-01 9.84990906e-01 -2.97635523e-04 -2.35607314e+01] [-1.74772994e-03 -4.09504446e-06 9.99998473e-01 -2.06970041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.13, Y:-23.57, Z:-2.07 [[ 9.85587071e-01 1.69165406e-01 1.09153548e-03 1.97134787e+02] [-1.69165301e-01 9.85587675e-01 -1.88755660e-04 -2.35693181e+01] [-1.10773484e-03 1.38521069e-06 9.99999386e-01 -2.07043649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.16, Y:-23.58, Z:-2.07 [[ 9.86720618e-01 1.62426607e-01 1.37988817e-04 1.97161703e+02] [-1.62426605e-01 9.86720628e-01 -2.39963023e-05 -2.35846229e+01] [-1.40054051e-04 1.26459101e-06 9.99999990e-01 -2.07286963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.19, Y:-23.60, Z:-2.07 [[ 9.87238395e-01 1.59248544e-01 5.03416112e-04 1.97188758e+02] [-1.59248520e-01 9.87238523e-01 -8.70382948e-05 -2.35959347e+01] [-5.10852500e-04 5.75927556e-06 9.99999869e-01 -2.07228819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37576923100002 meters Centerline goodness [0,1] 0.9999787933411091 Centerline is valid? [True, True] Translation: X:197.21, Y:-23.61, Z:-2.07 [[ 9.88101368e-01 1.53789482e-01 2.11698223e-03 1.97214361e+02] [-1.53789052e-01 9.88103635e-01 -3.65339285e-04 -2.36140869e+01] [-2.14798318e-03 3.54235565e-05 9.99997692e-01 -2.06842058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40576923100002 meters Centerline goodness [0,1] 0.9999362651370299 Centerline is valid? [True, True] Translation: X:197.24, Y:-23.62, Z:-2.07 [[ 9.88444202e-01 1.51566875e-01 2.35428514e-03 1.97241251e+02] [-1.51566337e-01 9.88447004e-01 -4.06192889e-04 -2.36244961e+01] [-2.38865148e-03 4.46686305e-05 9.99997146e-01 -2.06767843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43576923100002 meters Centerline goodness [0,1] 0.9999575055773929 Centerline is valid? [True, True] Translation: X:197.27, Y:-23.63, Z:-2.07 [[ 9.88681505e-01 1.50009083e-01 2.48142956e-03 1.97268997e+02] [-1.50008481e-01 9.88684617e-01 -4.27921305e-04 -2.36345457e+01] [-2.51754331e-03 5.08424008e-05 9.99996830e-01 -2.06776645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.30, Y:-23.65, Z:-2.07 [[ 9.88850165e-01 1.48883321e-01 3.01787683e-03 1.97295175e+02] [-1.48882426e-01 9.88854768e-01 -5.20264693e-04 -2.36475438e+01] [-3.06170063e-03 6.51550020e-05 9.99995311e-01 -2.06774059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.32, Y:-23.66, Z:-2.07 [[ 9.88819774e-01 1.49097596e-01 2.31565422e-03 1.97323388e+02] [-1.49097070e-01 9.88822484e-01 -3.99106416e-04 -2.36558719e+01] [-2.34927677e-03 4.93870564e-05 9.99997239e-01 -2.06873138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.35, Y:-23.67, Z:-2.08 [[ 9.88703040e-01 1.49884433e-01 -9.77678320e-04 1.97349844e+02] [-1.49884340e-01 9.88703523e-01 1.68157425e-04 -2.36652561e+01] [ 9.91838180e-04 -1.97190875e-05 9.99999508e-01 -2.07507177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.38, Y:-23.67, Z:-2.08 [[ 9.88541040e-01 1.50938172e-01 -2.06869349e-03 1.97378288e+02] [-1.50937758e-01 9.88543204e-01 3.56001416e-04 -2.36708064e+01] [ 2.09872709e-03 -3.96780535e-05 9.99997797e-01 -2.07719595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.41, Y:-23.67, Z:-2.08 [[ 9.88261484e-01 1.52760142e-01 -1.89155693e-03 1.97405479e+02] [-1.52759799e-01 9.88263294e-01 3.25354422e-04 -2.36749122e+01] [ 1.91905747e-03 -3.25813860e-05 9.99998158e-01 -2.07683252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.44, Y:-23.67, Z:-2.07 [[ 9.87397133e-01 1.58262088e-01 1.14778603e-04 1.97436400e+02] [-1.58262087e-01 9.87397140e-01 -1.97973152e-05 -2.36729306e+01] [-1.16465229e-04 1.38271097e-06 9.99999993e-01 -2.07254621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.47, Y:-23.67, Z:-2.07 [[ 9.86932611e-01 1.61133092e-01 3.85281361e-04 1.97465704e+02] [-1.61133079e-01 9.86932686e-01 -6.64646158e-05 -2.36730025e+01] [-3.90956418e-04 3.51452498e-06 9.99999924e-01 -2.07197527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.49, Y:-23.67, Z:-2.07 [[ 9.86271981e-01 1.65125366e-01 1.09220578e-03 1.97494034e+02] [-1.65125259e-01 9.86272586e-01 -1.88080790e-04 -2.36717678e+01] [-1.10826953e-03 5.14805073e-06 9.99999386e-01 -2.07171857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.52, Y:-23.68, Z:-2.07 [[ 9.86186762e-01 1.65628294e-01 1.71432970e-03 1.97522604e+02] [-1.65628031e-01 9.86188252e-01 -2.95059772e-04 -2.36761186e+01] [-1.73952206e-03 7.04298813e-06 9.99998487e-01 -2.07116748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.55, Y:-23.68, Z:-2.07 [[ 9.86182329e-01 1.65652003e-01 1.95655953e-03 1.97550111e+02] [-1.65651661e-01 9.86184270e-01 -3.36498129e-04 -2.36813306e+01] [-1.98526982e-03 7.74117134e-06 9.99998029e-01 -2.07052610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.58, Y:-23.69, Z:-2.07 [[ 9.86439956e-01 1.64119497e-01 1.00181236e-03 1.97578369e+02] [-1.64119407e-01 9.86440465e-01 -1.72292210e-04 -2.36897965e+01] [-1.01650476e-03 5.53907047e-06 9.99999483e-01 -2.07296936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.61, Y:-23.69, Z:-2.07 [[ 9.86450484e-01 1.64056210e-01 1.00180923e-03 1.97605493e+02] [-1.64056119e-01 9.86450992e-01 -1.72310434e-04 -2.36943087e+01] [-1.01650431e-03 5.62277627e-06 9.99999483e-01 -2.07307692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.825769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.63, Y:-23.70, Z:-2.07 [[ 9.86819990e-01 1.61819474e-01 8.74292338e-04 1.97633471e+02] [-1.61819404e-01 9.86820378e-01 -1.50307244e-04 -2.37036742e+01] [-8.87092134e-04 6.84872842e-06 9.99999607e-01 -2.07168213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.66, Y:-23.71, Z:-2.07 [[ 9.87009573e-01 1.60650610e-01 1.86680230e-03 1.97660031e+02] [-1.60650291e-01 9.87011338e-01 -3.20644777e-04 -2.37138119e+01] [-1.89406682e-03 1.65771308e-05 9.99998206e-01 -2.06998926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.69, Y:-23.72, Z:-2.07 [[ 9.87177120e-01 1.59604912e-01 2.75770932e-03 1.97688170e+02] [-1.59604212e-01 9.87180972e-01 -4.73361849e-04 -2.37220891e+01] [-2.79790905e-03 2.71499641e-05 9.99996085e-01 -2.06792807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.71, Y:-23.73, Z:-2.07 [[ 9.87278537e-01 1.58984150e-01 2.26517043e-03 1.97714566e+02] [-1.58983677e-01 9.87281135e-01 -3.88767842e-04 -2.37337628e+01] [-2.29816795e-03 2.36970236e-05 9.99997359e-01 -2.06892033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.74, Y:-23.74, Z:-2.07 [[ 9.87251373e-01 1.59164616e-01 1.16214911e-03 1.97742483e+02] [-1.59164492e-01 9.87252057e-01 -1.99456408e-04 -2.37405594e+01] [-1.17908050e-03 1.19407404e-05 9.99999305e-01 -2.07154779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.77, Y:-23.75, Z:-2.07 [[ 9.86959004e-01 1.60971085e-01 -4.83237746e-04 1.97770251e+02] [-1.60971064e-01 9.86959123e-01 8.26494068e-05 -2.37490764e+01] [ 4.90240067e-04 -3.78428219e-06 9.99999880e-01 -2.07424101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.80, Y:-23.75, Z:-2.07 [[ 9.86668147e-01 1.62743598e-01 -6.99493630e-04 1.97798676e+02] [-1.62743554e-01 9.86668395e-01 1.19685511e-04 -2.37540063e+01] [ 7.09646308e-04 -4.25180229e-06 9.99999748e-01 -2.07411156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.83, Y:-23.76, Z:-2.07 [[ 9.86364072e-01 1.64577111e-01 -5.39927014e-04 1.97825715e+02] [-1.64577085e-01 9.86364220e-01 9.22614651e-05 -2.37585865e+01] [ 5.47748814e-04 -2.14378039e-06 9.99999850e-01 -2.07405068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.85, Y:-23.76, Z:-2.07 [[ 9.85747012e-01 1.68234423e-01 8.43195730e-05 1.97853891e+02] [-1.68234422e-01 9.85747016e-01 -1.46296396e-05 -2.37627845e+01] [-8.55789764e-05 2.35668903e-07 9.99999996e-01 -2.07246233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.88, Y:-23.77, Z:-2.07 [[ 9.85375480e-01 1.70397033e-01 1.16025237e-04 1.97882896e+02] [-1.70397032e-01 9.85375487e-01 -2.00548879e-05 -2.37654844e+01] [-1.17745718e-04 -8.76121867e-09 9.99999993e-01 -2.07243341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.91, Y:-23.76, Z:-2.08 [[ 9.84530537e-01 1.75211625e-01 -7.13403253e-04 1.97911543e+02] [-1.75211582e-01 9.84530795e-01 1.21862307e-04 -2.37636194e+01] [ 7.23719165e-04 5.01935032e-06 9.99999738e-01 -2.07505163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.94, Y:-23.77, Z:-2.08 [[ 9.84144692e-01 1.77364155e-01 -1.08721827e-03 1.97939883e+02] [-1.77364058e-01 9.84145292e-01 1.85839183e-04 -2.37666363e+01] [ 1.10294195e-03 9.94079781e-06 9.99999392e-01 -2.07588927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.97, Y:-23.77, Z:-2.08 [[ 9.83893181e-01 1.78752239e-01 -1.35849229e-03 1.97968240e+02] [-1.78752089e-01 9.83894119e-01 2.32185939e-04 -2.37706127e+01] [ 1.37811633e-03 1.43871719e-05 9.99999050e-01 -2.07693853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.00, Y:-23.77, Z:-2.08 [[ 9.83749869e-01 1.79538566e-01 -1.44869401e-03 1.97995262e+02] [-1.79538397e-01 9.83750935e-01 2.47570019e-04 -2.37746906e+01] [ 1.46960246e-03 1.65492262e-05 9.99998920e-01 -2.07879821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.02, Y:-23.78, Z:-2.08 [[ 9.83776516e-01 1.79392299e-01 -1.47280815e-03 1.98022756e+02] [-1.79392124e-01 9.83777619e-01 2.51487907e-04 -2.37799650e+01] [ 1.49403068e-03 1.68022838e-05 9.99998884e-01 -2.07953725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.05, Y:-23.79, Z:-2.08 [[ 9.83899100e-01 1.78704090e-01 -2.72211918e-03 1.98049556e+02] [-1.78703487e-01 9.83902865e-01 4.64923381e-04 -2.37884107e+01] [ 2.76138457e-03 2.90144932e-05 9.99996187e-01 -2.08161993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.08, Y:-23.79, Z:-2.08 [[ 9.83918225e-01 1.78594265e-01 -3.00238070e-03 1.98077191e+02] [-1.78593532e-01 9.83922806e-01 5.12548791e-04 -2.37947501e+01] [ 3.04564912e-03 3.18996784e-05 9.99995361e-01 -2.08146898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.11, Y:-23.80, Z:-2.08 [[ 9.83830101e-01 1.79092635e-01 -2.03973187e-03 1.98106059e+02] [-1.79092298e-01 9.83832215e-01 3.48113737e-04 -2.37994646e+01] [ 2.06909853e-03 2.28154943e-05 9.99997859e-01 -2.07917749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.14, Y:-23.80, Z:-2.08 [[ 9.83260347e-01 1.82206045e-01 -2.18539203e-04 1.98135208e+02] [-1.82206041e-01 9.83260371e-01 3.70701223e-05 -2.37972477e+01] [ 2.21635338e-04 3.36958172e-06 9.99999975e-01 -2.07529704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.16, Y:-23.80, Z:-2.07 [[ 9.82829630e-01 1.84514678e-01 5.01575696e-04 1.98163644e+02] [-1.84514658e-01 9.82829758e-01 -8.58198281e-05 -2.37970343e+01] [-5.08798538e-04 -8.20179832e-06 9.99999871e-01 -2.07415649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.425769231 meters Centerline goodness [0,1] 0.9999575236274822 Centerline is valid? [True, True] Translation: X:198.19, Y:-23.79, Z:-2.07 [[ 9.82333594e-01 1.87123135e-01 2.37543444e-03 1.98192469e+02] [-1.87122702e-01 9.82336465e-01 -4.05426024e-04 -2.37945791e+01] [-2.40934046e-03 -4.62341076e-05 9.99997096e-01 -2.07069336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.22, Y:-23.80, Z:-2.07 [[ 9.82254578e-01 1.87511202e-01 3.93618809e-03 1.98221570e+02] [-1.87510016e-01 9.82262461e-01 -6.71422181e-04 -2.37969714e+01] [-3.99226898e-03 -7.85671830e-05 9.99992028e-01 -2.06835517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.485769231 meters Centerline goodness [0,1] 0.9999575236274822 Centerline is valid? [True, True] Translation: X:198.25, Y:-23.80, Z:-2.07 [[ 9.82240756e-01 1.87570653e-01 4.51090294e-03 1.98250534e+02] [-1.87569097e-01 9.82251109e-01 -7.69211795e-04 -2.38010293e+01] [-4.57512098e-03 -9.05548186e-05 9.99989530e-01 -2.06737604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.28, Y:-23.80, Z:-2.07 [[ 9.82545626e-01 1.86006273e-01 2.39981285e-03 1.98278332e+02] [-1.86005828e-01 9.82548556e-01 -4.09210933e-04 -2.38030450e+01] [-2.43404845e-03 -4.43107624e-05 9.99997037e-01 -2.07165436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.31, Y:-23.81, Z:-2.07 [[ 9.82980798e-01 1.83704349e-01 1.20978078e-03 1.98306854e+02] [-1.83704234e-01 9.82981542e-01 -2.06263700e-04 -2.38106480e+01] [-1.22708371e-03 -1.94885950e-05 9.99999247e-01 -2.07429636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.33, Y:-23.83, Z:-2.07 [[ 9.84175615e-01 1.77194989e-01 5.42556022e-04 1.98334604e+02] [-1.77194965e-01 9.84175765e-01 -9.24833432e-05 -2.38272017e+01] [-5.50358073e-04 -5.11834400e-06 9.99999849e-01 -2.07457659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.36, Y:-23.84, Z:-2.07 [[ 9.84858344e-01 1.73353477e-01 1.61704467e-03 1.98361102e+02] [-1.73353258e-01 9.84859671e-01 -2.75635580e-04 -2.38378956e+01] [-1.64034447e-03 -8.85796090e-06 9.99998655e-01 -2.07320561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.39, Y:-23.85, Z:-2.07 [[ 9.85543960e-01 1.69402671e-01 2.41618347e-03 1.98388058e+02] [-1.69402171e-01 9.85546922e-01 -4.11576038e-04 -2.38505070e+01] [-2.45098426e-03 -3.68044603e-06 9.99996996e-01 -2.07193554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.41, Y:-23.87, Z:-2.07 [[ 9.86398287e-01 1.64367306e-01 1.34472082e-03 1.98414402e+02] [-1.64367147e-01 9.86399203e-01 -2.29048601e-04 -2.38664615e+01] [-1.36407964e-03 4.90522422e-06 9.99999070e-01 -2.07412239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.44, Y:-23.87, Z:-2.08 [[ 9.86497005e-01 1.63779299e-01 1.03799081e-06 1.98442127e+02] [-1.63779299e-01 9.86497005e-01 -3.16317498e-07 -2.38739602e+01] [-1.07578110e-06 1.42044859e-07 1.00000000e+00 -2.07677828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.47, Y:-23.88, Z:-2.08 [[ 9.86248503e-01 1.65256472e-01 -2.04662180e-03 1.98471205e+02] [-1.65256106e-01 9.86250627e-01 3.48030930e-04 -2.38759971e+01] [ 2.07599640e-03 -5.02823429e-06 9.99997845e-01 -2.07976972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.50, Y:-23.88, Z:-2.08 [[ 9.85923742e-01 1.67181732e-01 -2.15467474e-03 1.98500153e+02] [-1.67181331e-01 9.85926097e-01 3.66309390e-04 -2.38777702e+01] [ 2.18559030e-03 -9.31734071e-07 9.99997612e-01 -2.07963615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.53, Y:-23.87, Z:-2.08 [[ 9.85124142e-01 1.71836730e-01 -1.60093616e-03 1.98528831e+02] [-1.71836515e-01 9.85125443e-01 2.71979476e-04 -2.38734773e+01] [ 1.62385900e-03 7.16574205e-06 9.99998682e-01 -2.07957173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81576923100002 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:198.56, Y:-23.87, Z:-2.08 [[ 9.84709578e-01 1.74196489e-01 -1.62201426e-03 1.98557982e+02] [-1.74196272e-01 9.84710913e-01 2.75523418e-04 -2.38735278e+01] [ 1.64521036e-03 1.12382887e-05 9.99998647e-01 -2.07906249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.59, Y:-23.87, Z:-2.08 [[ 9.84304850e-01 1.76466155e-01 -1.91269043e-03 1.98585918e+02] [-1.76465858e-01 9.84306708e-01 3.24695827e-04 -2.38723805e+01] [ 1.93997185e-03 1.79248806e-05 9.99998118e-01 -2.07970598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87576923100002 meters Centerline goodness [0,1] 0.9999787834425986 Centerline is valid? [True, True] Translation: X:198.61, Y:-23.87, Z:-2.08 [[ 9.83924106e-01 1.78568670e-01 -2.56590493e-03 1.98614280e+02] [-1.78568141e-01 9.83927451e-01 4.35575618e-04 -2.38692213e+01] [ 2.60244445e-03 2.96155216e-05 9.99996613e-01 -2.08204781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.64, Y:-23.87, Z:-2.08 [[ 9.83343510e-01 1.81738320e-01 -2.59307892e-03 1.98643684e+02] [-1.81737791e-01 9.83346928e-01 4.40036135e-04 -2.38656479e+01] [ 2.62986762e-03 3.85537582e-05 9.99996541e-01 -2.08120461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93576923100002 meters Centerline goodness [0,1] 0.9999788252233939 Centerline is valid? [True, True] Translation: X:198.67, Y:-23.87, Z:-2.08 [[ 9.83155098e-01 1.82769229e-01 -1.20897408e-03 1.98673107e+02] [-1.82769115e-01 9.83155841e-01 2.05021612e-04 -2.38665084e+01] [ 1.22608157e-03 1.93950795e-05 9.99999248e-01 -2.07937914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.70, Y:-23.86, Z:-2.07 [[ 9.83040231e-01 1.83381722e-01 1.74618251e-03 1.98701559e+02] [-1.83381485e-01 9.83041781e-01 -2.96547123e-04 -2.38641468e+01] [-1.77095169e-03 -2.86997892e-05 9.99998431e-01 -2.07458675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.73, Y:-23.87, Z:-2.08 [[ 9.83142687e-01 1.82831737e-01 1.73608264e-03 1.98729874e+02] [-1.82831501e-01 9.83144219e-01 -2.94655740e-04 -2.38664534e+01] [-1.76069203e-03 -2.77219590e-05 9.99998450e-01 -2.07526410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.76, Y:-23.87, Z:-2.08 [[ 9.83299927e-01 1.81991221e-01 6.69707838e-04 1.98758903e+02] [-1.81991185e-01 9.83300155e-01 -1.13709854e-04 -2.38705618e+01] [-6.79218017e-04 -1.00700325e-05 9.99999769e-01 -2.07752079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.79, Y:-23.87, Z:-2.08 [[ 9.83665606e-01 1.80002533e-01 -1.03116774e-03 1.98786546e+02] [-1.80002449e-01 9.83666147e-01 1.74571233e-04 -2.38737615e+01] [ 1.04574806e-03 1.38930005e-05 9.99999453e-01 -2.08026019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.81, Y:-23.88, Z:-2.08 [[ 9.83842224e-01 1.79036435e-01 -6.58544843e-04 1.98813611e+02] [-1.79036401e-01 9.83842444e-01 1.11251841e-04 -2.38778331e+01] [ 6.67822501e-04 8.44923989e-06 9.99999777e-01 -2.07930309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.84, Y:-23.88, Z:-2.07 [[ 9.84157470e-01 1.77286222e-01 1.91565089e-03 1.98842144e+02] [-1.77285926e-01 9.84159334e-01 -3.24671510e-04 -2.38840270e+01] [-1.94286549e-03 -2.00900497e-05 9.99998112e-01 -2.07445525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.87, Y:-23.89, Z:-2.07 [[ 9.84345678e-01 1.76229379e-01 2.60629891e-03 1.98870635e+02] [-1.76228827e-01 9.84349128e-01 -4.41534224e-04 -2.38902872e+01] [-2.64331936e-03 -2.46826955e-05 9.99996506e-01 -2.07320258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.90, Y:-23.90, Z:-2.07 [[ 9.84495749e-01 1.75390382e-01 2.51670908e-03 1.98898258e+02] [-1.75389865e-01 9.84498966e-01 -4.26243385e-04 -2.38970396e+01] [-2.55245648e-03 -2.17704660e-05 9.99996742e-01 -2.07351415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.93, Y:-23.90, Z:-2.08 [[ 9.84729359e-01 1.74091174e-01 5.94593697e-04 1.98925621e+02] [-1.74091144e-01 9.84729538e-01 -1.00854466e-04 -2.39048244e+01] [-6.03071849e-04 -4.19914368e-06 9.99999818e-01 -2.07728220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.95, Y:-23.91, Z:-2.08 [[ 9.84804140e-01 1.73668664e-01 2.04625956e-06 1.98952359e+02] [-1.73668664e-01 9.84804140e-01 -6.64260569e-07 -2.39105636e+01] [-2.13052615e-06 2.98795394e-07 1.00000000e+00 -2.07822982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.98, Y:-23.92, Z:-2.08 [[ 9.84952900e-01 1.72822606e-01 3.62711070e-04 1.98979966e+02] [-1.72822595e-01 9.84952967e-01 -6.15209453e-05 -2.39190588e+01] [-3.67885555e-04 -2.08943502e-06 9.99999932e-01 -2.07695482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.01, Y:-23.93, Z:-2.08 [[ 9.85108352e-01 1.71933336e-01 6.79596706e-04 1.99007953e+02] [-1.71933298e-01 9.85108587e-01 -1.15074294e-04 -2.39265154e+01] [-6.89261657e-04 -3.48465470e-06 9.99999762e-01 -2.07618942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.04, Y:-23.93, Z:-2.08 [[ 9.85267118e-01 1.71017927e-01 1.25501625e-03 1.99035009e+02] [-1.71017795e-01 9.85267917e-01 -2.12320626e-04 -2.39334736e+01] [-1.27283788e-03 -5.43758099e-06 9.99999190e-01 -2.07576789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.06, Y:-23.94, Z:-2.07 [[ 9.85398271e-01 1.70258504e-01 1.51286356e-03 1.99062842e+02] [-1.70258312e-01 9.85399433e-01 -2.55776514e-04 -2.39422375e+01] [-1.53432302e-03 -5.53586062e-06 9.99998823e-01 -2.07488141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.09, Y:-23.95, Z:-2.08 [[ 9.85300928e-01 1.70825458e-01 8.62908598e-04 1.99090791e+02] [-1.70825395e-01 9.85301306e-01 -1.45930932e-04 -2.39471159e+01] [-8.75153687e-04 -3.62081931e-06 9.99999617e-01 -2.07585116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.12, Y:-23.95, Z:-2.08 [[ 9.84910568e-01 1.73063627e-01 -3.92076738e-04 1.99118685e+02] [-1.73063615e-01 9.84910646e-01 6.59617402e-05 -2.39483684e+01] [ 3.97576131e-04 2.88780240e-06 9.99999921e-01 -2.07890736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.15, Y:-23.95, Z:-2.08 [[ 9.84643194e-01 1.74578025e-01 -5.41778699e-04 1.99147063e+02] [-1.74578001e-01 9.84643343e-01 9.11410750e-05 -2.39503543e+01] [ 5.49370018e-04 4.84120320e-06 9.99999849e-01 -2.07924970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.18, Y:-23.95, Z:-2.08 [[ 9.84278279e-01 1.76623827e-01 -5.40856918e-04 1.99175312e+02] [-1.76623804e-01 9.84278428e-01 9.09088762e-05 -2.39496091e+01] [ 5.48410471e-04 6.04857392e-06 9.99999850e-01 -2.08033391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.21, Y:-23.95, Z:-2.08 [[ 9.83426540e-01 1.81300536e-01 -1.53501011e-03 1.99205869e+02] [-1.81300353e-01 9.83427738e-01 2.58785420e-04 -2.39468000e+01] [ 1.55648945e-03 2.38014239e-05 9.99998788e-01 -2.08111677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53576923100002 meters Centerline goodness [0,1] 0.9998944680132548 Centerline is valid? [True, True] Translation: X:199.24, Y:-23.94, Z:-2.09 [[ 9.82920491e-01 1.84016111e-01 -2.31934697e-03 1.99235311e+02] [-1.84015702e-01 9.82923226e-01 3.90698328e-04 -2.39363945e+01] [ 2.35163480e-03 4.27708686e-05 9.99997234e-01 -2.08535535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56576923100002 meters Centerline goodness [0,1] 0.9999785720407989 Centerline is valid? [True, True] Translation: X:199.26, Y:-23.94, Z:-2.08 [[ 9.82950274e-01 1.83858254e-01 -2.21389457e-03 1.99263517e+02] [-1.83857880e-01 9.82952766e-01 3.72908354e-04 -2.39444156e+01] [ 2.24471607e-03 4.04915938e-05 9.99997480e-01 -2.08385710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59576923100002 meters Centerline goodness [0,1] 0.9999787784898774 Centerline is valid? [True, True] Translation: X:199.29, Y:-23.95, Z:-2.08 [[ 9.83225517e-01 1.82385599e-01 -1.75396992e-03 1.99291373e+02] [-1.82385362e-01 9.83227081e-01 2.95241866e-04 -2.39477825e+01] [ 1.77839859e-03 2.96091039e-05 9.99998418e-01 -2.08405040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.32, Y:-23.96, Z:-2.08 [[ 9.83663657e-01 1.80013573e-01 -9.61359835e-04 1.99319681e+02] [-1.80013500e-01 9.83664126e-01 1.61776930e-04 -2.39557544e+01] [ 9.74777225e-04 1.39236629e-05 9.99999525e-01 -2.08273928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.35, Y:-23.97, Z:-2.08 [[ 9.84867904e-01 1.73306507e-01 2.58972981e-04 1.99345528e+02] [-1.73306501e-01 9.84867938e-01 -4.38374601e-05 -2.39684280e+01] [-2.62651503e-04 -1.70759389e-06 9.99999966e-01 -2.08151498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.37, Y:-23.98, Z:-2.08 [[ 9.85496054e-01 1.69697557e-01 5.17084470e-04 1.99373542e+02] [-1.69697534e-01 9.85496189e-01 -8.72249605e-05 -2.39778859e+01] [-5.24386637e-04 -1.78810521e-06 9.99999863e-01 -2.08186722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.40, Y:-23.98, Z:-2.08 [[ 9.85508297e-01 1.69626443e-01 5.17075111e-04 1.99400679e+02] [-1.69626420e-01 9.85508432e-01 -8.72806140e-05 -2.39823149e+01] [-5.24386982e-04 -1.69383083e-06 9.99999863e-01 -2.08197478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.43, Y:-24.00, Z:-2.08 [[ 9.86426448e-01 1.64197826e-01 1.39136685e-03 1.99427602e+02] [-1.64197659e-01 9.86427430e-01 -2.34210304e-04 -2.39957389e+01] [-1.41093925e-03 2.57205869e-06 9.99999005e-01 -2.08012361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.45, Y:-24.00, Z:-2.08 [[ 9.86662381e-01 1.62774371e-01 1.36000210e-03 1.99454508e+02] [-1.62774210e-01 9.86663319e-01 -2.28897021e-04 -2.40046309e+01] [-1.37912276e-03 4.47081137e-06 9.99999049e-01 -2.07931283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.48, Y:-24.01, Z:-2.08 [[ 9.86844087e-01 1.61670551e-01 1.17487060e-03 1.99481652e+02] [-1.61670431e-01 9.86844787e-01 -1.97696122e-04 -2.40136684e+01] [-1.19137656e-03 5.15341341e-06 9.99999290e-01 -2.07946335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.51, Y:-24.03, Z:-2.08 [[ 9.87142920e-01 1.59840090e-01 -1.61334133e-05 1.99507609e+02] [-1.59840090e-01 9.87142921e-01 2.47921832e-06 -2.40256317e+01] [ 1.63222632e-05 1.31423430e-07 1.00000000e+00 -2.08151455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.54, Y:-24.03, Z:-2.08 [[ 9.87182577e-01 1.59594914e-01 -1.54703813e-04 1.99535291e+02] [-1.59594912e-01 9.87182589e-01 2.57979566e-05 -2.40326839e+01] [ 1.56838133e-04 -7.77351859e-07 9.99999988e-01 -2.08190233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.56, Y:-24.04, Z:-2.08 [[ 9.86981176e-01 1.60835740e-01 -1.48234387e-04 1.99563310e+02] [-1.60835738e-01 9.86981188e-01 2.47018866e-05 -2.40403323e+01] [ 1.50277498e-04 -5.38910019e-07 9.99999989e-01 -2.08167515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.59, Y:-24.05, Z:-2.08 [[ 9.86780284e-01 1.62063577e-01 2.61521296e-04 1.99590868e+02] [-1.62063571e-01 9.86780319e-01 -4.41455176e-05 -2.40452326e+01] [-2.65218448e-04 1.17885127e-06 9.99999965e-01 -2.08149730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.62, Y:-24.05, Z:-2.08 [[ 9.86496721e-01 1.63777600e-01 1.05741618e-03 1.99619871e+02] [-1.63777503e-01 9.86497287e-01 -1.77619293e-04 -2.40482871e+01] [-1.07222825e-03 2.03986792e-06 9.99999425e-01 -2.07938515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.65, Y:-24.05, Z:-2.08 [[ 9.85878490e-01 1.67443565e-01 2.50101864e-03 1.99649579e+02] [-1.67443039e-01 9.85881663e-01 -4.19743063e-04 -2.40467135e+01] [-2.53599169e-03 -4.96250416e-06 9.99996784e-01 -2.07655248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.68, Y:-24.05, Z:-2.08 [[ 9.85647136e-01 1.68811138e-01 1.58828277e-03 1.99677527e+02] [-1.68810927e-01 9.85648416e-01 -2.66577858e-04 -2.40480339e+01] [-1.61048971e-03 -5.36778425e-06 9.99998703e-01 -2.07857062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.71, Y:-24.05, Z:-2.08 [[ 9.85422775e-01 1.70123265e-01 -1.68280689e-04 1.99706508e+02] [-1.70123263e-01 9.85422790e-01 2.80240951e-05 -2.40504732e+01] [ 1.70595177e-04 1.01287826e-06 9.99999985e-01 -2.08151064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.73, Y:-24.05, Z:-2.08 [[ 9.85413889e-01 1.70174791e-01 8.90050116e-05 1.99734511e+02] [-1.70174790e-01 9.85413893e-01 -1.51655768e-05 -2.40540904e+01] [-9.02875739e-05 -2.02039183e-07 9.99999996e-01 -2.08166383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.76, Y:-24.06, Z:-2.08 [[ 9.85471897e-01 1.69835349e-01 1.04589762e-03 1.99763318e+02] [-1.69835258e-01 9.85472452e-01 -1.75403555e-04 -2.40585054e+01] [-1.06049302e-03 -4.77501847e-06 9.99999438e-01 -2.08021154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.79, Y:-24.06, Z:-2.08 [[ 9.85579988e-01 1.69202657e-01 1.59608859e-03 1.99792212e+02] [-1.69202445e-01 9.85581281e-01 -2.67506644e-04 -2.40632945e+01] [-1.61833787e-03 -6.41289729e-06 9.99998690e-01 -2.07962343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.82, Y:-24.07, Z:-2.08 [[ 9.85701448e-01 1.68490675e-01 1.88343368e-03 1.99820671e+02] [-1.68490380e-01 9.85703248e-01 -3.15541121e-04 -2.40682093e+01] [-1.90967243e-03 -6.31111527e-06 9.99998177e-01 -2.07932352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.85, Y:-24.08, Z:-2.08 [[ 9.86024037e-01 1.66595108e-01 1.63347731e-03 1.99848844e+02] [-1.66594884e-01 9.86025390e-01 -2.73610820e-04 -2.40762415e+01] [-1.65623233e-03 -2.34211769e-06 9.99998628e-01 -2.08118336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.88, Y:-24.08, Z:-2.08 [[ 9.86251533e-01 1.65249861e-01 6.29614797e-04 1.99876881e+02] [-1.65249827e-01 9.86251734e-01 -1.05546262e-04 -2.40839250e+01] [-6.38400191e-04 5.14267416e-08 9.99999796e-01 -2.08343693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.90, Y:-24.09, Z:-2.09 [[ 9.86454236e-01 1.64036035e-01 -4.67908029e-04 1.99904175e+02] [-1.64036016e-01 9.86454347e-01 7.80369647e-05 -2.40914079e+01] [ 4.74370783e-04 -2.26125263e-07 9.99999887e-01 -2.08601987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.93, Y:-24.10, Z:-2.09 [[ 9.86660627e-01 1.62784407e-01 -1.42962585e-03 1.99932366e+02] [-1.62784232e-01 9.86661663e-01 2.38889590e-04 -2.41002215e+01] [ 1.44944452e-03 -2.98240603e-06 9.99998950e-01 -2.08753551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.96, Y:-24.11, Z:-2.09 [[ 9.86598018e-01 1.63166174e-01 -1.07303780e-03 1.99960879e+02] [-1.63166076e-01 9.86598601e-01 1.79205028e-04 -2.41053415e+01] [ 1.08789780e-03 -1.71995793e-06 9.99999408e-01 -2.08577237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.99, Y:-24.11, Z:-2.08 [[ 9.86324841e-01 1.64812937e-01 6.23410584e-05 1.99989274e+02] [-1.64812937e-01 9.86324843e-01 -1.06655295e-05 -2.41069413e+01] [-6.32463519e-05 2.45063734e-07 9.99999998e-01 -2.08321896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.02, Y:-24.11, Z:-2.08 [[ 9.86112798e-01 1.66076836e-01 1.82052276e-04 2.00018150e+02] [-1.66076834e-01 9.86112815e-01 -3.05997340e-05 -2.41086722e+01] [-1.84605989e-04 -5.98762044e-08 9.99999983e-01 -2.08297133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.05, Y:-24.11, Z:-2.08 [[ 9.85905305e-01 1.67303910e-01 3.63724926e-04 2.00047287e+02] [-1.67303899e-01 9.85905372e-01 -6.09341924e-05 -2.41104103e+01] [-3.68792887e-04 -7.77254781e-07 9.99999932e-01 -2.08314315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.08, Y:-24.11, Z:-2.08 [[ 9.85637062e-01 1.68877297e-01 2.03890341e-04 2.00076377e+02] [-1.68877293e-01 9.85637083e-01 -3.42324668e-05 -2.41127139e+01] [-2.06742968e-04 -6.91660925e-07 9.99999979e-01 -2.08325699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.10, Y:-24.12, Z:-2.08 [[ 9.85709621e-01 1.68453361e-01 -9.46765376e-05 2.00104743e+02] [-1.68453360e-01 9.85709625e-01 1.56153536e-05 -2.41183565e+01] [ 9.59540332e-05 5.56376643e-07 9.99999995e-01 -2.08345568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.13, Y:-24.13, Z:-2.08 [[ 9.85871458e-01 1.67502362e-01 -6.52639416e-04 2.00132364e+02] [-1.67502327e-01 9.85871674e-01 1.08719803e-04 -2.41250376e+01] [ 6.61629538e-04 2.13487035e-06 9.99999781e-01 -2.08400684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.16, Y:-24.13, Z:-2.08 [[ 9.86244030e-01 1.65295769e-01 1.50204799e-04 2.00160301e+02] [-1.65295767e-01 9.86244041e-01 -2.52511751e-05 -2.41340578e+01] [-1.52312501e-04 7.56032900e-08 9.99999988e-01 -2.08149651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.19, Y:-24.14, Z:-2.08 [[ 9.86334890e-01 1.64745725e-01 1.52646745e-03 2.00188053e+02] [-1.64745528e-01 9.86336072e-01 -2.54797590e-04 -2.41396274e+01] [-1.54758672e-03 -1.62932645e-07 9.99998802e-01 -2.07966541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.22, Y:-24.14, Z:-2.08 [[ 9.86332351e-01 1.64737811e-01 3.15400758e-03 2.00216259e+02] [-1.64736971e-01 9.86337393e-01 -5.26002694e-04 -2.41442238e+01] [-3.19756815e-03 -7.68182805e-07 9.99994888e-01 -2.07656009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.24, Y:-24.15, Z:-2.08 [[ 9.86167849e-01 1.65732397e-01 2.39724604e-03 2.00244854e+02] [-1.65731915e-01 9.86170762e-01 -3.99728879e-04 -2.41472814e+01] [-2.43034198e-03 -3.10040938e-06 9.99997047e-01 -2.07803361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.27, Y:-24.15, Z:-2.08 [[ 9.85829163e-01 1.67751859e-01 -4.17826443e-04 2.00273329e+02] [-1.67751845e-01 9.85829252e-01 6.94272697e-05 -2.41499931e+01] [ 4.23552083e-04 1.64772922e-06 9.99999910e-01 -2.08405705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.30, Y:-24.15, Z:-2.09 [[ 9.85708666e-01 1.68454260e-01 -1.25985141e-03 2.00301280e+02] [-1.68454129e-01 9.85709472e-01 2.09600859e-04 -2.41544154e+01] [ 1.27715563e-03 5.62178980e-06 9.99999184e-01 -2.08540108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.33, Y:-24.16, Z:-2.09 [[ 9.85609516e-01 1.69034992e-01 -1.02670373e-03 2.00329354e+02] [-1.69034906e-01 9.85610050e-01 1.70768614e-04 -2.41593237e+01] [ 1.04079538e-03 5.23759676e-06 9.99999458e-01 -2.08550604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.735769231 meters Centerline goodness [0,1] 0.99997883373902 Centerline is valid? [True, True] Translation: X:200.36, Y:-24.17, Z:-2.08 [[ 9.85569527e-01 1.69269616e-01 7.10709837e-04 2.00357616e+02] [-1.69269575e-01 9.85569783e-01 -1.18490965e-04 -2.41652686e+01] [-7.20511060e-04 -3.52046748e-06 9.99999740e-01 -2.08279008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.39, Y:-24.17, Z:-2.08 [[ 9.85570116e-01 1.69261935e-01 1.39409112e-03 2.00385569e+02] [-1.69261776e-01 9.85571102e-01 -2.32179874e-04 -2.41706164e+01] [-1.41327514e-03 -7.13679285e-06 9.99999001e-01 -2.08181234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.41, Y:-24.17, Z:-2.08 [[ 9.85291863e-01 1.70872719e-01 1.56786098e-03 2.00413657e+02] [-1.70872520e-01 9.85293111e-01 -2.61048143e-04 -2.41722643e+01] [-1.58940862e-03 -1.06957446e-05 9.99998737e-01 -2.08235704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.825769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.44, Y:-24.18, Z:-2.08 [[ 9.85082494e-01 1.72072939e-01 1.83927639e-03 2.00442688e+02] [-1.72072667e-01 9.85084211e-01 -3.06068376e-04 -2.41752339e+01] [-1.86450822e-03 -1.49865951e-05 9.99998262e-01 -2.08245735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.47, Y:-24.18, Z:-2.08 [[ 9.84912780e-01 1.73042532e-01 1.76021603e-03 2.00471315e+02] [-1.73042285e-01 9.84914353e-01 -2.92857394e-04 -2.41754066e+01] [-1.78433882e-03 -1.61528142e-05 9.99998408e-01 -2.08272319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.50, Y:-24.18, Z:-2.08 [[ 9.84686239e-01 1.74318910e-01 2.43497732e-03 2.00500806e+02] [-1.74318442e-01 9.84689249e-01 -4.04858170e-04 -2.41761462e+01] [-2.46827043e-03 -2.58031839e-05 9.99996953e-01 -2.08223981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.915769231 meters Centerline goodness [0,1] 0.9999785006342313 Centerline is valid? [True, True] Translation: X:200.53, Y:-24.18, Z:-2.08 [[ 9.84661548e-01 1.74459880e-01 2.32073269e-03 2.00529108e+02] [-1.74459455e-01 9.84664283e-01 -3.85759319e-04 -2.41795590e+01] [-2.35244212e-03 -2.50313939e-05 9.99997233e-01 -2.08268121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.56, Y:-24.18, Z:-2.08 [[ 9.84695612e-01 1.74273818e-01 1.78575499e-03 2.00557241e+02] [-1.74273566e-01 9.84697231e-01 -2.96813588e-04 -2.41791511e+01] [-1.81015483e-03 -1.89388537e-05 9.99998361e-01 -2.08357862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97576923100002 meters Centerline goodness [0,1] 0.9999786748555222 Centerline is valid? [True, True] Translation: X:200.58, Y:-24.18, Z:-2.08 [[ 9.84703128e-01 1.74229809e-01 1.92942612e-03 2.00584392e+02] [-1.74229515e-01 9.84705018e-01 -3.20595424e-04 -2.41786750e+01] [-1.95577287e-03 -2.04716614e-05 9.99998087e-01 -2.08358015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00576923100002 meters Centerline goodness [0,1] 0.9999787879430668 Centerline is valid? [True, True] Translation: X:200.61, Y:-24.18, Z:-2.08 [[ 9.84687146e-01 1.74322765e-01 1.67296558e-03 2.00613504e+02] [-1.74322545e-01 9.84688567e-01 -2.77802883e-04 -2.41796376e+01] [-1.69577744e-03 -1.80866883e-05 9.99998562e-01 -2.08372083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.64, Y:-24.18, Z:-2.08 [[ 9.84532322e-01 1.75178321e-01 2.94323709e-03 2.00643026e+02] [-1.75177644e-01 9.84536721e-01 -4.88466415e-04 -2.41778363e+01] [-2.98329372e-03 -3.46783656e-05 9.99995549e-01 -2.08154702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.67, Y:-24.18, Z:-2.08 [[ 9.84511177e-01 1.75284882e-01 3.59895662e-03 2.00671221e+02] [-1.75283870e-01 9.84517754e-01 -5.97081551e-04 -2.41788541e+01] [-3.64789606e-03 -4.30055851e-05 9.99993345e-01 -2.08010578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.70, Y:-24.18, Z:-2.08 [[ 9.84768974e-01 1.73817243e-01 4.19931951e-03 2.00699883e+02] [-1.73815854e-01 9.84777926e-01 -6.96336853e-04 -2.41769853e+01] [-4.25643251e-03 -4.41773801e-05 9.99990940e-01 -2.07944128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.73, Y:-24.18, Z:-2.08 [[ 9.85020934e-01 1.72398603e-01 3.53296791e-03 2.00727471e+02] [-1.72397611e-01 9.85027269e-01 -5.85664870e-04 -2.41800847e+01] [-3.58103754e-03 -3.21830693e-05 9.99993588e-01 -2.08109088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.76, Y:-24.19, Z:-2.08 [[ 9.85334509e-01 1.70613656e-01 2.62413478e-03 2.00756018e+02] [-1.70613103e-01 9.85338003e-01 -4.34900061e-04 -2.41861923e+01] [-2.65985962e-03 -1.91897401e-05 9.99996462e-01 -2.08289881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.78, Y:-24.19, Z:-2.08 [[ 9.86036628e-01 1.66522343e-01 1.44152770e-03 2.00783700e+02] [-1.66522172e-01 9.86037681e-01 -2.38949433e-04 -2.41918066e+01] [-1.46119105e-03 -4.43342979e-06 9.99998932e-01 -2.08471599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.81, Y:-24.20, Z:-2.08 [[ 9.86345955e-01 1.64672740e-01 2.13210850e-03 2.00811000e+02] [-1.64672361e-01 9.86348259e-01 -3.53177858e-04 -2.41963803e+01] [-2.16116027e-03 -2.74378966e-06 9.99997665e-01 -2.08319826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24576923100003 meters Centerline goodness [0,1] 0.9999365723709248 Centerline is valid? [True, True] Translation: X:200.84, Y:-24.20, Z:-2.08 [[ 9.86902824e-01 1.61264407e-01 4.07519597e-03 2.00838442e+02] [-1.61262996e-01 9.86911238e-01 -6.74581705e-04 -2.42019444e+01] [-4.13064272e-03 8.56827630e-06 9.99991469e-01 -2.07980698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.87, Y:-24.21, Z:-2.08 [[ 9.87216374e-01 1.59325593e-01 4.38023271e-03 2.00865852e+02] [-1.59323945e-01 9.87226091e-01 -7.24741706e-04 -2.42076143e+01] [-4.43974992e-03 1.76009227e-05 9.99990144e-01 -2.08001772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30576923100003 meters Centerline goodness [0,1] 0.999978650270074 Centerline is valid? [True, True] Translation: X:200.89, Y:-24.21, Z:-2.08 [[ 9.87564796e-01 1.57154219e-01 4.28084041e-03 2.00893826e+02] [-1.57152627e-01 9.87574073e-01 -7.08005194e-04 -2.42126555e+01] [-4.33891300e-03 2.64556897e-05 9.99990587e-01 -2.08089130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.335769231 meters Centerline goodness [0,1] 0.9999576844955992 Centerline is valid? [True, True] Translation: X:200.92, Y:-24.22, Z:-2.08 [[ 9.88239329e-01 1.52859322e-01 4.12994895e-03 2.00920609e+02] [-1.52857803e-01 9.88247958e-01 -6.82849472e-04 -2.42225595e+01] [-4.18579352e-03 4.35237796e-05 9.99991239e-01 -2.08214369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.365769231 meters Centerline goodness [0,1] 0.9999360136504213 Centerline is valid? [True, True] Translation: X:200.95, Y:-24.23, Z:-2.08 [[ 9.88504870e-01 1.51136770e-01 3.97488606e-03 2.00948844e+02] [-1.51135350e-01 9.88512860e-01 -6.56978102e-04 -2.42286950e+01] [-4.02851953e-03 4.86802588e-05 9.99991884e-01 -2.08270016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.395769231 meters Centerline goodness [0,1] 0.9999574504297507 Centerline is valid? [True, True] Translation: X:200.98, Y:-24.24, Z:-2.08 [[ 9.88784529e-01 1.49285622e-01 4.35413741e-03 2.00975490e+02] [-1.49283902e-01 9.88794114e-01 -7.19419054e-04 -2.42372865e+01] [-4.41274436e-03 6.13478103e-05 9.99990262e-01 -2.08171549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.425769231 meters Centerline goodness [0,1] 0.9998928349443813 Centerline is valid? [True, True] Translation: X:201.00, Y:-24.25, Z:-2.08 [[ 9.89409448e-01 1.45034032e-01 5.83733255e-03 2.01002332e+02] [-1.45030867e-01 9.89426661e-01 -9.64050224e-04 -2.42497664e+01] [-5.91543255e-03 1.07246997e-04 9.99982498e-01 -2.07929159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.455769231 meters Centerline goodness [0,1] 0.9997230684021047 Centerline is valid? [True, True] Translation: X:201.03, Y:-24.26, Z:-2.08 [[ 9.89742157e-01 1.42725434e-01 6.31775333e-03 2.01030354e+02] [-1.42721681e-01 9.89762312e-01 -1.04315960e-03 -2.42592589e+01] [-6.40195954e-03 1.30778654e-04 9.99979499e-01 -2.07903150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.485769231 meters Centerline goodness [0,1] 0.9995477159656264 Centerline is valid? [True, True] Translation: X:201.06, Y:-24.27, Z:-2.08 [[ 9.90358746e-01 1.38368092e-01 6.62010744e-03 2.01057266e+02] [-1.38363875e-01 9.90380858e-01 -1.09297930e-03 -2.42749882e+01] [-6.70766114e-03 1.66457889e-04 9.99977490e-01 -2.07996919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.515769231 meters Centerline goodness [0,1] 0.999104878412651 Centerline is valid? [True, True] Translation: X:201.09, Y:-24.29, Z:-2.08 [[ 9.90647434e-01 1.36290688e-01 6.52000087e-03 2.01086364e+02] [-1.36286553e-01 9.90668873e-01 -1.07650245e-03 -2.42852824e+01] [-6.60587918e-03 1.77845943e-04 9.99978165e-01 -2.08094298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.545769231 meters Centerline goodness [0,1] 0.9993780160857909 Centerline is valid? [True, True] Translation: X:201.12, Y:-24.29, Z:-2.08 [[ 9.90821847e-01 1.34999143e-01 6.87737695e-03 2.01116895e+02] [-1.34994510e-01 9.90845696e-01 -1.13550799e-03 -2.42899948e+01] [-6.96771196e-03 1.96677993e-04 9.99975706e-01 -2.08136289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.575769231 meters Centerline goodness [0,1] 0.9984874307626758 Centerline is valid? [True, True] Translation: X:201.15, Y:-24.31, Z:-2.08 [[ 9.91021802e-01 1.33509505e-01 7.14150570e-03 2.01145085e+02] [-1.33504467e-01 9.91047509e-01 -1.17963752e-03 -2.43109529e+01] [-7.23506425e-03 2.15623586e-04 9.99973803e-01 -2.07978034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.605769231 meters Centerline goodness [0,1] 0.9984874307626758 Centerline is valid? [True, True] Translation: X:201.17, Y:-24.32, Z:-2.08 [[ 9.91021802e-01 1.33509507e-01 7.14140734e-03 2.01174697e+02] [-1.33504465e-01 9.91047509e-01 -1.18023264e-03 -2.43158464e+01] [-7.23504623e-03 2.16226513e-04 9.99973803e-01 -2.07989779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.635769231 meters Centerline goodness [0,1] 0.9984074404382723 Centerline is valid? [True, True] Translation: X:201.21, Y:-24.33, Z:-2.08 [[ 9.91043392e-01 1.33361746e-01 6.90209938e-03 2.01205035e+02] [-1.33357033e-01 9.91067405e-01 -1.14075133e-03 -2.43253137e+01] [-6.99257831e-03 2.10090577e-04 9.99975530e-01 -2.07978877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.665769231 meters Centerline goodness [0,1] 0.9993396809167785 Centerline is valid? [True, True] Translation: X:201.24, Y:-24.33, Z:-2.08 [[ 9.90820756e-01 1.35092205e-01 4.93214780e-03 2.01235196e+02] [-1.35089819e-01 9.90833021e-01 -8.15235910e-04 -2.43317244e+01] [-4.99706692e-03 1.41469707e-04 9.99987505e-01 -2.08248514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.695769231 meters Centerline goodness [0,1] 0.999405696820478 Centerline is valid? [True, True] Translation: X:201.26, Y:-24.34, Z:-2.08 [[ 9.90588433e-01 1.36805914e-01 4.32422595e-03 2.01264232e+02] [-1.36804096e-01 9.90597864e-01 -7.14773908e-04 -2.43361365e+01] [-4.38135429e-03 1.16474942e-04 9.99990395e-01 -2.08374717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72576923100002 meters Centerline goodness [0,1] 0.9995965515776957 Centerline is valid? [True, True] Translation: X:201.29, Y:-24.34, Z:-2.08 [[ 9.90012461e-01 1.40881225e-01 5.27333885e-03 2.01293334e+02] [-1.40878580e-01 9.90026498e-01 -8.71573802e-04 -2.43396377e+01] [-5.34353357e-03 1.19968435e-04 9.99985716e-01 -2.08183815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75576923100002 meters Centerline goodness [0,1] 0.99991508512716 Centerline is valid? [True, True] Translation: X:201.32, Y:-24.34, Z:-2.08 [[ 9.89813348e-01 1.42251837e-01 5.82667695e-03 2.01324034e+02] [-1.42248632e-01 9.89830490e-01 -9.62934550e-04 -2.43408921e+01] [-5.90440171e-03 1.24288645e-04 9.99982561e-01 -2.08083264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78576923100002 meters Centerline goodness [0,1] 0.9999356140275572 Centerline is valid? [True, True] Translation: X:201.35, Y:-24.34, Z:-2.08 [[ 9.89428066e-01 1.44925783e-01 5.34977528e-03 2.01354840e+02] [-1.44923121e-01 9.89442524e-01 -8.84138594e-04 -2.43420074e+01] [-5.42142963e-03 9.94854112e-05 9.99985299e-01 -2.08086478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81576923100002 meters Centerline goodness [0,1] 0.9999362691989039 Centerline is valid? [True, True] Translation: X:201.38, Y:-24.35, Z:-2.08 [[ 9.89115810e-01 1.47052885e-01 5.03619313e-03 2.01384299e+02] [-1.47050552e-01 9.89128628e-01 -8.32344104e-04 -2.43455100e+01] [-5.10384141e-03 8.27097298e-05 9.99986972e-01 -2.08098654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84576923100002 meters Centerline goodness [0,1] 0.9999575461685417 Centerline is valid? [True, True] Translation: X:201.41, Y:-24.35, Z:-2.08 [[ 9.88635944e-01 1.50234440e-01 5.34632316e-03 2.01414679e+02] [-1.50231858e-01 9.88650397e-01 -8.83531698e-04 -2.43458334e+01] [-5.41838141e-03 7.03031304e-05 9.99985318e-01 -2.08073781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.44, Y:-24.35, Z:-2.08 [[ 9.88047664e-01 1.54049186e-01 5.53737032e-03 2.01444032e+02] [-1.54046477e-01 9.88063179e-01 -9.14994695e-04 -2.43455396e+01] [-5.61222591e-03 5.10459795e-05 9.99984250e-01 -2.08036764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.47, Y:-24.34, Z:-2.08 [[ 9.86839571e-01 1.61616370e-01 5.27347558e-03 2.01474702e+02] [-1.61614022e-01 9.86853661e-01 -8.71186867e-04 -2.43365198e+01] [-5.34494674e-03 7.45407713e-06 9.99985716e-01 -2.08052844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.50, Y:-24.33, Z:-2.08 [[ 9.86300174e-01 1.64880117e-01 5.14908143e-03 2.01502907e+02] [-1.64877924e-01 9.86313615e-01 -8.50375811e-04 -2.43343800e+01] [-5.21881918e-03 -1.02440473e-05 9.99986382e-01 -2.08049043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.53, Y:-24.33, Z:-2.08 [[ 9.85359249e-01 1.70431557e-01 4.49835360e-03 2.01533096e+02] [-1.70429942e-01 9.85369516e-01 -7.42673068e-04 -2.43269591e+01] [-4.55911543e-03 -3.48543665e-05 9.99989607e-01 -2.08284303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.56, Y:-24.33, Z:-2.08 [[ 9.84943946e-01 1.72825474e-01 4.09621372e-03 2.01561532e+02] [-1.72824157e-01 9.84952463e-01 -6.76099027e-04 -2.43255742e+01] [-4.15142292e-03 -4.20050390e-05 9.99991382e-01 -2.08370404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.59, Y:-24.32, Z:-2.08 [[ 9.84456936e-01 1.75573631e-01 4.29423406e-03 2.01590812e+02] [-1.75572210e-01 9.84466301e-01 -7.08522893e-04 -2.43235435e+01] [-4.35192666e-03 -5.64378898e-05 9.99990529e-01 -2.08415278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05576923100003 meters Centerline goodness [0,1] 0.9999788989470575 Centerline is valid? [True, True] Translation: X:201.62, Y:-24.33, Z:-2.08 [[ 9.84417797e-01 1.75780159e-01 4.78918660e-03 2.01619077e+02] [-1.75778395e-01 9.84429445e-01 -7.89943428e-04 -2.43273522e+01] [-4.85347269e-03 -6.42011665e-05 9.99988220e-01 -2.08416111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.085769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.65, Y:-24.33, Z:-2.08 [[ 9.84616653e-01 1.74636711e-01 5.66259811e-03 2.01647630e+02] [-1.74634229e-01 9.84632934e-01 -9.33711064e-04 -2.43333973e+01] [-5.73864082e-03 -6.95359897e-05 9.99983531e-01 -2.08309951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.67, Y:-24.35, Z:-2.08 [[ 9.85466554e-01 1.69748446e-01 6.41372331e-03 2.01674215e+02] [-1.69745160e-01 9.85487424e-01 -1.05724484e-03 -2.43471637e+01] [-6.50010933e-03 -4.68190605e-05 9.99978873e-01 -2.08244936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.70, Y:-24.36, Z:-2.08 [[ 9.85931795e-01 1.67028537e-01 6.32161548e-03 2.01702094e+02] [-1.67025290e-01 9.85952061e-01 -1.04177164e-03 -2.43577974e+01] [-6.40681540e-03 -2.87538812e-05 9.99979476e-01 -2.08268822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.73, Y:-24.37, Z:-2.09 [[ 9.86761563e-01 1.62094245e-01 5.20318936e-03 2.01727915e+02] [-1.62091978e-01 9.86775281e-01 -8.57231442e-04 -2.43747993e+01] [-5.27333093e-03 2.48778317e-06 9.99986096e-01 -2.08518841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.76, Y:-24.38, Z:-2.09 [[ 9.87076885e-01 1.60158093e-01 5.34867171e-03 2.01755098e+02] [-1.60155671e-01 9.87091376e-01 -8.80884561e-04 -2.43846535e+01] [-5.42070851e-03 1.28806847e-05 9.99985308e-01 -2.08581904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.78, Y:-24.39, Z:-2.09 [[ 9.87292327e-01 1.58822421e-01 5.41288617e-03 2.01781303e+02] [-1.58819922e-01 9.87307165e-01 -8.91167801e-04 -2.43940117e+01] [-5.48571872e-03 2.01689707e-05 9.99984953e-01 -2.08523225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.81, Y:-24.40, Z:-2.08 [[ 9.87269517e-01 1.58932265e-01 6.27987410e-03 2.01808612e+02] [-1.58928906e-01 9.87289489e-01 -1.03351151e-03 -2.44046320e+01] [-6.36431201e-03 2.23008923e-05 9.99979747e-01 -2.08234472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.84, Y:-24.41, Z:-2.08 [[ 9.87164670e-01 1.59557583e-01 6.87693451e-03 2.01835892e+02] [-1.59553573e-01 9.87188623e-01 -1.13138797e-03 -2.44115593e+01] [-6.96935304e-03 1.96267570e-05 9.99975714e-01 -2.08026293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.86, Y:-24.42, Z:-2.08 [[ 9.86726005e-01 1.62154718e-01 8.81123603e-03 2.01863918e+02] [-1.62148242e-01 9.86765346e-01 -1.44913574e-03 -2.44180493e+01] [-8.92960657e-03 1.17348547e-06 9.99960130e-01 -2.07758121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.355769231 meters Centerline goodness [0,1] 0.9999788252233939 Centerline is valid? [True, True] Translation: X:201.89, Y:-24.42, Z:-2.08 [[ 9.86437708e-01 1.63872408e-01 9.29961276e-03 2.01892617e+02] [-1.63865275e-01 9.86481542e-01 -1.52910077e-03 -2.44217083e+01] [-9.42447376e-03 -1.55209426e-05 9.99955589e-01 -2.07512362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.385769231 meters Centerline goodness [0,1] 0.9999787847929396 Centerline is valid? [True, True] Translation: X:201.92, Y:-24.43, Z:-2.08 [[ 9.86148690e-01 1.65607658e-01 9.21217324e-03 2.01920765e+02] [-1.65600738e-01 9.86191717e-01 -1.51431877e-03 -2.44254366e+01] [-9.33575173e-03 -3.21992080e-05 9.99956420e-01 -2.07708470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.95, Y:-24.42, Z:-2.08 [[ 9.85413915e-01 1.70028417e-01 7.05360672e-03 2.01949070e+02] [-1.70024475e-01 9.85439158e-01 -1.15915011e-03 -2.44236758e+01] [-7.14798872e-03 -5.70431360e-05 9.99974451e-01 -2.08092092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.98, Y:-24.42, Z:-2.08 [[ 9.85047110e-01 1.72198107e-01 5.47747417e-03 2.01977959e+02] [-1.72195765e-01 9.85062337e-01 -8.99877089e-04 -2.44248130e+01] [-5.55061064e-03 -5.67765300e-05 9.99984594e-01 -2.08391451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.01, Y:-24.42, Z:-2.09 [[ 9.84531407e-01 1.75156865e-01 4.24051010e-03 2.02007163e+02] [-1.75155490e-01 9.84540537e-01 -6.96497133e-04 -2.44247959e+01] [-4.29695035e-03 -5.70253205e-05 9.99990766e-01 -2.08643985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.03, Y:-24.43, Z:-2.09 [[ 9.84457548e-01 1.75559949e-01 4.69474310e-03 2.02034411e+02] [-1.75558268e-01 9.84468740e-01 -7.70862044e-04 -2.44274818e+01] [-4.75716032e-03 -6.53200117e-05 9.99988683e-01 -2.08520866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.06, Y:-24.43, Z:-2.09 [[ 9.84455903e-01 1.75558910e-01 5.06405199e-03 2.02062571e+02] [-1.75556956e-01 9.84468925e-01 -8.31265810e-04 -2.44318778e+01] [-5.13133794e-03 -7.06850183e-05 9.99986832e-01 -2.08508662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.09, Y:-24.44, Z:-2.09 [[ 9.84542866e-01 1.75076724e-01 4.84621883e-03 2.02091085e+02] [-1.75074930e-01 9.84554791e-01 -7.95275255e-04 -2.44351913e+01] [-4.91060215e-03 -6.54688431e-05 9.99987941e-01 -2.08572490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59576923100002 meters Centerline goodness [0,1] 0.9999788041289557 Centerline is valid? [True, True] Translation: X:202.12, Y:-24.44, Z:-2.09 [[ 9.84800352e-01 1.73629202e-01 4.60079762e-03 2.02118619e+02] [-1.73627570e-01 9.84811097e-01 -7.54772823e-04 -2.44367448e+01] [-4.66196715e-03 -5.55247697e-05 9.99989131e-01 -2.08718383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.15, Y:-24.44, Z:-2.09 [[ 9.84911370e-01 1.72980332e-01 5.23430416e-03 2.02146567e+02] [-1.72978212e-01 9.84925277e-01 -8.58363746e-04 -2.44433978e+01] [-5.30387852e-03 -6.00083630e-05 9.99985933e-01 -2.08635936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.18, Y:-24.45, Z:-2.09 [[ 9.85068525e-01 1.72072471e-01 5.57373107e-03 2.02175530e+02] [-1.72070055e-01 9.85084292e-01 -9.13765441e-04 -2.44479222e+01] [-5.64782880e-03 -5.89506342e-05 9.99984049e-01 -2.08590144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68576923100002 meters Centerline goodness [0,1] 0.9999788663933387 Centerline is valid? [True, True] Translation: X:202.20, Y:-24.45, Z:-2.09 [[ 9.85075792e-01 1.72056320e-01 4.72307907e-03 2.02203651e+02] [-1.72054586e-01 9.85087113e-01 -7.74135395e-04 -2.44484649e+01] [-4.78583922e-03 -5.00453755e-05 9.99988547e-01 -2.08715425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.23, Y:-24.45, Z:-2.09 [[ 9.84897175e-01 1.73103264e-01 3.57981680e-03 2.02232794e+02] [-1.73102275e-01 9.84903680e-01 -5.86584045e-04 -2.44507086e+01] [-3.62731435e-03 -4.19494626e-05 9.99993420e-01 -2.08989057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.26, Y:-24.45, Z:-2.09 [[ 9.84841206e-01 1.73425535e-01 3.37371563e-03 2.02260979e+02] [-1.73424659e-01 9.84846984e-01 -5.52665089e-04 -2.44527359e+01] [-3.41843990e-03 -4.07981289e-05 9.99994156e-01 -2.09029032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.29, Y:-24.46, Z:-2.09 [[ 9.84792878e-01 1.73692853e-01 3.71222952e-03 2.02288290e+02] [-1.73691795e-01 9.84799874e-01 -6.07870129e-04 -2.44557123e+01] [-3.76138586e-03 -4.61576353e-05 9.99992925e-01 -2.08956665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.32, Y:-24.46, Z:-2.09 [[ 9.84802767e-01 1.73593330e-01 5.37279254e-03 2.02316113e+02] [-1.73591115e-01 9.84817420e-01 -8.79355833e-04 -2.44599598e+01] [-5.44387000e-03 -6.66769918e-05 9.99985180e-01 -2.08693672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.835769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.34, Y:-24.46, Z:-2.09 [[ 9.84860455e-01 1.73238217e-01 6.19706115e-03 2.02344177e+02] [-1.73235267e-01 9.84879949e-01 -1.01377477e-03 -2.44648196e+01] [-6.27898581e-03 -7.51228594e-05 9.99980284e-01 -2.08587322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.37, Y:-24.47, Z:-2.09 [[ 9.85154235e-01 1.71578025e-01 5.66704500e-03 2.02371492e+02] [-1.71575532e-01 9.85170532e-01 -9.26727047e-04 -2.44737514e+01] [-5.74201173e-03 -5.93571881e-05 9.99983513e-01 -2.08637181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.40, Y:-24.48, Z:-2.09 [[ 9.85433327e-01 1.69998919e-01 4.63952037e-03 2.02398804e+02] [-1.69997232e-01 9.85444248e-01 -7.58492483e-04 -2.44793307e+01] [-4.70093157e-03 -4.12618480e-05 9.99988950e-01 -2.08840314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.43, Y:-24.49, Z:-2.09 [[ 9.86039076e-01 1.66453095e-01 4.50643681e-03 2.02426732e+02] [-1.66451468e-01 9.86049373e-01 -7.36466669e-04 -2.44891773e+01] [-4.56615634e-03 -2.39181072e-05 9.99989575e-01 -2.08884201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.955769231 meters Centerline goodness [0,1] 0.99993564993565 Centerline is valid? [True, True] Translation: X:202.45, Y:-24.50, Z:-2.09 [[ 9.86326200e-01 1.64702795e-01 5.79793782e-03 2.02454886e+02] [-1.64700072e-01 9.86343241e-01 -9.47203909e-04 -2.44982377e+01] [-5.87476391e-03 -2.06687464e-05 9.99982743e-01 -2.08688481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.985769231 meters Centerline goodness [0,1] 0.9999786980231765 Centerline is valid? [True, True] Translation: X:202.48, Y:-24.51, Z:-2.08 [[ 9.86565914e-01 1.63218723e-01 6.88085729e-03 2.02483096e+02] [-1.63214855e-01 9.86589909e-01 -1.12375053e-03 -2.45072842e+01] [-6.97200149e-03 -1.44041587e-05 9.99975695e-01 -2.08450141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.51, Y:-24.52, Z:-2.08 [[ 9.86877533e-01 1.61325891e-01 6.83309278e-03 2.02511528e+02] [-1.61322033e-01 9.86901189e-01 -1.11569203e-03 -2.45202037e+01] [-6.92357740e-03 -1.27702707e-06 9.99976032e-01 -2.08320800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.045769231 meters Centerline goodness [0,1] 0.9999788771070086 Centerline is valid? [True, True] Translation: X:202.54, Y:-24.53, Z:-2.09 [[ 9.86943133e-01 1.60973898e-01 5.53672796e-03 2.02540907e+02] [-1.60971360e-01 9.86958664e-01 -9.03907700e-04 -2.45267888e+01] [-5.61002718e-03 8.50864751e-07 9.99984264e-01 -2.08536538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.57, Y:-24.53, Z:-2.09 [[ 9.86900648e-01 1.61269355e-01 4.39389631e-03 2.02568988e+02] [-1.61267760e-01 9.86910429e-01 -7.17231749e-04 -2.45320969e+01] [-4.45204959e-03 -7.57336980e-07 9.99990090e-01 -2.08772228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.60, Y:-24.54, Z:-2.09 [[ 9.86695569e-01 1.62528697e-01 4.03452072e-03 2.02596215e+02] [-1.62527364e-01 9.86703817e-01 -6.58385326e-04 -2.45390377e+01] [-4.08788351e-03 -6.09413415e-06 9.99991645e-01 -2.08936666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.62, Y:-24.55, Z:-2.09 [[ 9.86603410e-01 1.63068044e-01 4.74605446e-03 2.02624281e+02] [-1.63066207e-01 9.86614825e-01 -7.74180119e-04 -2.45458837e+01] [-4.80877173e-03 -1.01123540e-05 9.99988438e-01 -2.08849480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.65, Y:-24.56, Z:-2.09 [[ 9.86451183e-01 1.63960648e-01 5.56497415e-03 2.02652679e+02] [-1.63958138e-01 9.86466880e-01 -9.07506288e-04 -2.45553308e+01] [-5.63845801e-03 -1.72121458e-05 9.99984104e-01 -2.08724190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.68, Y:-24.56, Z:-2.09 [[ 9.86400753e-01 1.64276967e-01 5.16059508e-03 2.02680514e+02] [-1.64274813e-01 9.86414253e-01 -8.41422429e-04 -2.45608218e+01] [-5.22871087e-03 -1.77760764e-05 9.99986330e-01 -2.08775990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.71, Y:-24.57, Z:-2.09 [[ 9.86311085e-01 1.64843627e-01 4.12568081e-03 2.02708655e+02] [-1.64842256e-01 9.86319714e-01 -6.72559191e-04 -2.45703327e+01] [-4.18010741e-03 -1.67339480e-05 9.99991263e-01 -2.08981696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.74, Y:-24.58, Z:-2.09 [[ 9.86290959e-01 1.64974937e-01 3.66261827e-03 2.02736522e+02] [-1.64973858e-01 9.86297759e-01 -5.96995008e-04 -2.45765113e+01] [-3.71092141e-03 -1.54254866e-05 9.99993114e-01 -2.09102767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.77, Y:-24.58, Z:-2.09 [[ 9.86176917e-01 1.65663373e-01 3.27638018e-03 2.02765532e+02] [-1.65662513e-01 9.86182360e-01 -5.33927169e-04 -2.45826449e+01] [-3.31956051e-03 -1.62267237e-05 9.99994490e-01 -2.09163985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.79, Y:-24.59, Z:-2.09 [[ 9.85860077e-01 1.67531021e-01 3.64222726e-03 2.02794439e+02] [-1.67529972e-01 9.85866805e-01 -5.93447346e-04 -2.45887585e+01] [-3.69017179e-03 -2.51261828e-05 9.99993191e-01 -2.09151939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.82, Y:-24.59, Z:-2.09 [[ 9.85672542e-01 1.68621378e-01 4.05835411e-03 2.02823128e+02] [-1.68620085e-01 9.85680897e-01 -6.61134717e-04 -2.45934907e+01] [-4.11172356e-03 -3.26576784e-05 9.99991546e-01 -2.09078239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.85, Y:-24.60, Z:-2.09 [[ 9.85363075e-01 1.70423296e-01 3.93836295e-03 2.02851029e+02] [-1.70422093e-01 9.85370945e-01 -6.41445717e-04 -2.45984601e+01] [-3.99006571e-03 -3.91271324e-05 9.99992039e-01 -2.09147595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.88, Y:-24.60, Z:-2.09 [[ 9.85261311e-01 1.71015352e-01 3.72813852e-03 2.02880455e+02] [-1.71014279e-01 9.85268363e-01 -6.07076023e-04 -2.46041232e+01] [-3.77703626e-03 -3.94364038e-05 9.99992866e-01 -2.09169570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43576923100002 meters Centerline goodness [0,1] 0.9999788583509513 Centerline is valid? [True, True] Translation: X:202.91, Y:-24.61, Z:-2.09 [[ 9.85152139e-01 1.71640030e-01 3.86811394e-03 2.02909306e+02] [-1.71638881e-01 9.85159732e-01 -6.29772469e-04 -2.46088444e+01] [-3.91880426e-03 -4.34970517e-05 9.99992321e-01 -2.09170494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.94, Y:-24.61, Z:-2.09 [[ 9.84540259e-01 1.75125340e-01 3.40504770e-03 2.02939467e+02] [-1.75124470e-01 9.84546146e-01 -5.54309215e-04 -2.46087279e+01] [-3.44950018e-03 -5.05674381e-05 9.99994049e-01 -2.09165228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.97, Y:-24.61, Z:-2.09 [[ 9.84053377e-01 1.77840502e-01 3.42166649e-03 2.02968130e+02] [-1.77839640e-01 9.84059324e-01 -5.56947693e-04 -2.46074571e+01] [-3.46617067e-03 -6.04416781e-05 9.99993991e-01 -2.09115189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.00, Y:-24.61, Z:-2.09 [[ 9.84061622e-01 1.77794872e-01 3.42169975e-03 2.02996113e+02] [-1.77794010e-01 9.84067569e-01 -5.56743266e-04 -2.46119185e+01] [-3.46616985e-03 -6.04880394e-05 9.99993991e-01 -2.09126273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55576923100003 meters Centerline goodness [0,1] 0.9999786943923641 Centerline is valid? [True, True] Translation: X:203.03, Y:-24.60, Z:-2.09 [[ 9.82950232e-01 1.83818213e-01 4.43912209e-03 2.03027471e+02] [-1.83816826e-01 9.82960250e-01 -7.22040539e-04 -2.46035249e+01] [-4.49620476e-03 -1.06255415e-04 9.99989886e-01 -2.08983325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.585769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.06, Y:-24.60, Z:-2.09 [[ 9.82562952e-01 1.85879192e-01 4.35550946e-03 2.03056845e+02] [-1.85877877e-01 9.82572599e-01 -7.08361154e-04 -2.46026107e+01] [-4.41127385e-03 -1.13583423e-04 9.99990264e-01 -2.08964083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.615769231 meters Centerline goodness [0,1] 0.999831472508953 Centerline is valid? [True, True] Translation: X:203.09, Y:-24.60, Z:-2.09 [[ 9.82335870e-01 1.87080693e-01 4.12956766e-03 2.03086516e+02] [-1.87079522e-01 9.82344543e-01 -6.71433669e-04 -2.46023177e+01] [-4.18227054e-03 -1.12984168e-04 9.99991248e-01 -2.09002148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.645769231 meters Centerline goodness [0,1] 0.9999145426966052 Centerline is valid? [True, True] Translation: X:203.12, Y:-24.60, Z:-2.09 [[ 9.82395473e-01 1.86779397e-01 3.54860995e-03 2.03115893e+02] [-1.86778531e-01 9.82401877e-01 -5.76835158e-04 -2.46011621e+01] [-3.59390200e-03 -9.61239048e-05 9.99993537e-01 -2.09186701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.14, Y:-24.61, Z:-2.09 [[ 9.82732945e-01 1.84999366e-01 3.34555587e-03 2.03143484e+02] [-1.84998587e-01 9.82738636e-01 -5.43688785e-04 -2.46051993e+01] [-3.38838909e-03 -8.46222266e-05 9.99994256e-01 -2.09275944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.17, Y:-24.62, Z:-2.09 [[ 9.83908393e-01 1.78630294e-01 3.93593121e-03 2.03171400e+02] [-1.78629166e-01 9.83916263e-01 -6.39368007e-04 -2.46194512e+01] [-3.98683722e-03 -7.39925592e-05 9.99992050e-01 -2.09181583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.20, Y:-24.63, Z:-2.09 [[ 9.84662026e-01 1.74414658e-01 4.49694644e-03 2.03198956e+02] [-1.74413141e-01 9.84672292e-01 -7.30418732e-04 -2.46271462e+01] [-4.55541429e-03 -6.51109647e-05 9.99989622e-01 -2.09117267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.23, Y:-24.64, Z:-2.09 [[ 9.85400742e-01 1.70193797e-01 4.41012960e-03 2.03227052e+02] [-1.70192297e-01 9.85410609e-01 -7.16118940e-04 -2.46371817e+01] [-4.46766750e-03 -4.49059508e-05 9.99990019e-01 -2.09114654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.25, Y:-24.65, Z:-2.09 [[ 9.86523231e-01 1.63585817e-01 3.40523052e-03 2.03253612e+02] [-1.63584883e-01 9.86529108e-01 -5.52856014e-04 -2.46520192e+01] [-3.44979843e-03 -1.16389345e-05 9.99994049e-01 -2.09451097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.825769231 meters Centerline goodness [0,1] 0.9999787834425986 Centerline is valid? [True, True] Translation: X:203.28, Y:-24.66, Z:-2.10 [[ 9.86965250e-01 1.60909741e-01 2.76596351e-03 2.03281996e+02] [-1.60909115e-01 9.86969126e-01 -4.48986580e-04 -2.46614421e+01] [-2.80216690e-03 -1.93458775e-06 9.99996074e-01 -2.09560486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.31, Y:-24.67, Z:-2.10 [[ 9.87246511e-01 1.59192200e-01 1.47330419e-03 2.03309773e+02] [-1.59192021e-01 9.87247610e-01 -2.39191337e-04 -2.46686681e+01] [-1.49259343e-03 1.60254219e-06 9.99998886e-01 -2.09798139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.34, Y:-24.67, Z:-2.10 [[ 9.87146614e-01 1.59815069e-01 8.40028947e-04 2.03339044e+02] [-1.59815011e-01 9.87146972e-01 -1.36372764e-04 -2.46717064e+01] [-8.51026454e-04 3.70676760e-07 9.99999638e-01 -2.09773915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.37, Y:-24.67, Z:-2.10 [[ 9.86849502e-01 1.61633300e-01 1.65429703e-03 2.03367112e+02] [-1.61633077e-01 9.86850889e-01 -2.68512510e-04 -2.46727338e+01] [-1.67594505e-03 -2.40768186e-06 9.99998596e-01 -2.09734161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.40, Y:-24.68, Z:-2.10 [[ 9.86782197e-01 1.62038788e-01 2.07993452e-03 2.03395770e+02] [-1.62038436e-01 9.86784389e-01 -3.37387201e-04 -2.46764354e+01] [-2.10711673e-03 -4.10165347e-06 9.99997780e-01 -2.09767141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.42, Y:-24.68, Z:-2.10 [[ 9.86812274e-01 1.61859015e-01 1.78735387e-03 2.03423885e+02] [-1.61858756e-01 9.86813893e-01 -2.89871449e-04 -2.46810850e+01] [-1.81070394e-03 -3.25016993e-06 9.99998361e-01 -2.09841585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.45, Y:-24.69, Z:-2.10 [[ 9.87030357e-01 1.60519516e-01 2.13538980e-03 2.03450661e+02] [-1.60519143e-01 9.87032667e-01 -3.46206484e-04 -2.46899770e+01] [-2.16327239e-03 -1.05463061e-06 9.99997660e-01 -2.09866557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.48, Y:-24.70, Z:-2.10 [[ 9.87217043e-01 1.59367443e-01 2.12779156e-03 2.03479174e+02] [-1.59367070e-01 9.87219336e-01 -3.44804312e-04 -2.46977947e+01] [-2.15554756e-03 1.29678743e-06 9.99997677e-01 -2.09715524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.51, Y:-24.71, Z:-2.09 [[ 9.87473000e-01 1.57764864e-01 2.70608473e-03 2.03508325e+02] [-1.57764255e-01 9.87476707e-01 -4.38396907e-04 -2.47071583e+01] [-2.74135927e-03 5.98166723e-06 9.99996242e-01 -2.09466653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09576923100002 meters Centerline goodness [0,1] 0.9999784997097461 Centerline is valid? [True, True] Translation: X:203.54, Y:-24.71, Z:-2.09 [[ 9.87476724e-01 1.57744569e-01 2.52418569e-03 2.03538094e+02] [-1.57744039e-01 9.87479950e-01 -4.08928511e-04 -2.47132511e+01] [-2.55708901e-03 5.63214004e-06 9.99996731e-01 -2.09444841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12576923100002 meters Centerline goodness [0,1] 0.99997883373902 Centerline is valid? [True, True] Translation: X:203.57, Y:-24.72, Z:-2.09 [[ 9.87399540e-01 1.58218551e-01 3.00628164e-03 2.03567038e+02] [-1.58217801e-01 9.87404117e-01 -4.87040500e-04 -2.47190193e+01] [-3.04547371e-03 5.25629540e-06 9.99995363e-01 -2.09396815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.60, Y:-24.72, Z:-2.09 [[ 9.87018973e-01 1.60534966e-01 4.69807190e-03 2.03596697e+02] [-1.60533162e-01 9.87030154e-01 -7.61029183e-04 -2.47211626e+01] [-4.75931042e-03 -3.04609413e-06 9.99988674e-01 -2.09076824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.63, Y:-24.72, Z:-2.09 [[ 9.86717805e-01 1.62343072e-01 5.71834755e-03 2.03625462e+02] [-1.62340431e-01 9.86734375e-01 -9.26118546e-04 -2.47229834e+01] [-5.79283903e-03 -1.45013453e-05 9.99983221e-01 -2.08886170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.65, Y:-24.73, Z:-2.09 [[ 9.86404571e-01 1.64194145e-01 6.80485139e-03 2.03654654e+02] [-1.64190450e-01 9.86428042e-01 -1.10194566e-03 -2.47251061e+01] [-6.89342925e-03 -3.03273749e-05 9.99976240e-01 -2.08611086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.68, Y:-24.73, Z:-2.09 [[ 9.86019525e-01 1.66483419e-01 6.98332699e-03 2.03684606e+02] [-1.66479585e-01 9.86044253e-01 -1.13088638e-03 -2.47303975e+01] [-7.07414328e-03 -4.75053216e-05 9.99974977e-01 -2.08531707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.71, Y:-24.73, Z:-2.09 [[ 9.85994500e-01 1.66666536e-01 6.09194707e-03 2.03713784e+02] [-1.66663622e-01 9.86013318e-01 -9.86508787e-04 -2.47345983e+01] [-6.17115895e-03 -4.26137228e-05 9.99980957e-01 -2.08639746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.74, Y:-24.74, Z:-2.09 [[ 9.85987758e-01 1.66753750e-01 4.61816001e-03 2.03743064e+02] [-1.66752077e-01 9.85998573e-01 -7.47796019e-04 -2.47397190e+01] [-4.67819697e-03 -3.27700515e-05 9.99989057e-01 -2.08996321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.335769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.77, Y:-24.75, Z:-2.09 [[ 9.85972427e-01 1.66845620e-01 4.57304340e-03 2.03772125e+02] [-1.66843981e-01 9.85983031e-01 -7.40383529e-04 -2.47455544e+01] [-4.63247294e-03 -3.29870194e-05 9.99989269e-01 -2.09060782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.365769231 meters Centerline goodness [0,1] 0.9999788726442999 Centerline is valid? [True, True] Translation: X:203.80, Y:-24.75, Z:-2.09 [[ 9.85911798e-01 1.67188477e-01 5.09319092e-03 2.03801034e+02] [-1.67186448e-01 9.85924952e-01 -8.24476670e-04 -2.47508105e+01] [-5.15934702e-03 -3.86512250e-05 9.99986690e-01 -2.09052561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.83, Y:-24.76, Z:-2.09 [[ 9.85831879e-01 1.67663765e-01 4.93647129e-03 2.03829118e+02] [-1.67661866e-01 9.85844237e-01 -7.99035128e-04 -2.47556241e+01] [-5.00056102e-03 -3.99436859e-05 9.99987496e-01 -2.09062606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.86, Y:-24.76, Z:-2.09 [[ 9.85855689e-01 1.67533040e-01 4.60875636e-03 2.03857337e+02] [-1.67531384e-01 9.85866461e-01 -7.45874214e-04 -2.47599758e+01] [-4.66857690e-03 -3.67869951e-05 9.99989101e-01 -2.09147645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.89, Y:-24.77, Z:-2.09 [[ 9.85812050e-01 1.67821073e-01 3.26935417e-03 2.03885077e+02] [-1.67820241e-01 9.85817471e-01 -5.29031936e-04 -2.47650095e+01] [-3.31176917e-03 -2.71377476e-05 9.99994516e-01 -2.09375863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.91, Y:-24.77, Z:-2.10 [[ 9.85767975e-01 1.68087825e-01 2.82531525e-03 2.03914122e+02] [-1.68087206e-01 9.85772024e-01 -4.57088675e-04 -2.47709009e+01] [-2.86194777e-03 -2.43159684e-05 9.99995904e-01 -2.09525867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.94, Y:-24.78, Z:-2.10 [[ 9.85707972e-01 1.68455380e-01 1.60559658e-03 2.03943386e+02] [-1.68455180e-01 9.85709280e-01 -2.59760476e-04 -2.47752369e+01] [-1.62640950e-03 -1.44230884e-05 9.99998677e-01 -2.09854574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.97, Y:-24.78, Z:-2.10 [[ 9.85640070e-01 1.68855573e-01 1.20346866e-03 2.03972443e+02] [-1.68855461e-01 9.85640804e-01 -1.94728268e-04 -2.47777496e+01] [-1.21906877e-03 -1.12802717e-05 9.99999257e-01 -2.09943323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.00, Y:-24.78, Z:-2.10 [[ 9.85597585e-01 1.69104395e-01 1.05034001e-03 2.04001167e+02] [-1.69104310e-01 9.85598145e-01 -1.69898066e-04 -2.47833351e+01] [-1.06394367e-03 -1.01658989e-05 9.99999434e-01 -2.09870885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.03, Y:-24.79, Z:-2.10 [[ 9.85641486e-01 1.68849943e-01 7.46431588e-04 2.04029193e+02] [-1.68849900e-01 9.85641769e-01 -1.20785564e-04 -2.47878994e+01] [-7.56108786e-04 -6.98363637e-06 9.99999714e-01 -2.09836130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.06, Y:-24.79, Z:-2.10 [[ 9.85633385e-01 1.68894899e-01 1.15883036e-03 2.04058791e+02] [-1.68894796e-01 9.85634066e-01 -1.87367248e-04 -2.47921018e+01] [-1.17382805e-03 -1.10450016e-05 9.99999311e-01 -2.09776275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.09, Y:-24.80, Z:-2.09 [[ 9.85520048e-01 1.69523006e-01 3.49069233e-03 2.04087706e+02] [-1.69522071e-01 9.85526230e-01 -5.64133340e-04 -2.47951829e+01] [-3.53580243e-03 -3.57846763e-05 9.99993748e-01 -2.09363937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.12, Y:-24.80, Z:-2.09 [[ 9.85486731e-01 1.69696877e-01 4.34436611e-03 2.04116983e+02] [-1.69695432e-01 9.85496305e-01 -7.01912785e-04 -2.47991976e+01] [-4.40046916e-03 -4.54933466e-05 9.99990317e-01 -2.09172006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.15, Y:-24.80, Z:-2.09 [[ 9.85537300e-01 1.69389155e-01 4.85232555e-03 2.04145373e+02] [-1.69387349e-01 9.85549244e-01 -7.83842934e-04 -2.48024173e+01] [-4.91498026e-03 -4.94161124e-05 9.99987920e-01 -2.09066751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.17, Y:-24.81, Z:-2.09 [[ 9.85894262e-01 1.67322224e-01 3.97201807e-03 2.04174958e+02] [-1.67320998e-01 9.85902263e-01 -6.41521620e-04 -2.48076232e+01] [-4.02336243e-03 -3.21295418e-05 9.99991906e-01 -2.09220271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.20, Y:-24.82, Z:-2.09 [[ 9.86317335e-01 1.64839890e-01 2.43427909e-03 2.04204122e+02] [-1.64839422e-01 9.86320339e-01 -3.93139004e-04 -2.48150500e+01] [-2.46578397e-03 -1.35053429e-05 9.99996960e-01 -2.09467830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.23, Y:-24.82, Z:-2.09 [[ 9.86601527e-01 1.63129772e-01 2.47092196e-03 2.04232950e+02] [-1.63129284e-01 9.86604621e-01 -3.98996046e-04 -2.48212543e+01] [-2.50291115e-03 -9.42962091e-06 9.99996868e-01 -2.09423719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.26, Y:-24.83, Z:-2.09 [[ 9.86812351e-01 1.61844340e-01 2.79157786e-03 2.04261495e+02] [-1.61843712e-01 9.86816300e-01 -4.50681544e-04 -2.48265991e+01] [-2.82771479e-03 -7.06120942e-06 9.99996002e-01 -2.09386151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.29, Y:-24.84, Z:-2.09 [[ 9.87380259e-01 1.58339449e-01 2.97387029e-03 2.04291264e+02] [-1.58338721e-01 9.87384737e-01 -4.80039679e-04 -2.48387921e+01] [-3.01236335e-03 3.10288375e-06 9.99995463e-01 -2.09377515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.32, Y:-24.85, Z:-2.09 [[ 9.87735870e-01 1.56106115e-01 2.95492638e-03 2.04320414e+02] [-1.56105386e-01 9.87740290e-01 -4.77065840e-04 -2.48489297e+01] [-2.99317273e-03 9.93511858e-06 9.99995520e-01 -2.09431016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.35, Y:-24.86, Z:-2.09 [[ 9.88444290e-01 1.51538574e-01 3.73433801e-03 2.04350298e+02] [-1.51537378e-01 9.88451344e-01 -6.02939980e-04 -2.48628338e+01] [-3.78258009e-03 3.00807908e-05 9.99992846e-01 -2.09291164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.38, Y:-24.87, Z:-2.09 [[ 9.88650826e-01 1.50171527e-01 4.24938802e-03 2.04381849e+02] [-1.50169961e-01 9.88659957e-01 -6.86867956e-04 -2.48714127e+01] [-4.30434779e-03 4.09421371e-05 9.99990735e-01 -2.09274654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.41, Y:-24.88, Z:-2.09 [[ 9.88822255e-01 1.49034283e-01 4.39656454e-03 2.04411594e+02] [-1.49032593e-01 9.88832028e-01 -7.11393704e-04 -2.48812388e+01] [-4.45348588e-03 4.82105141e-05 9.99990082e-01 -2.09263068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.44, Y:-24.89, Z:-2.10 [[ 9.89048151e-01 1.47557551e-01 3.24402757e-03 2.04441598e+02] [-1.47556622e-01 9.89053471e-01 -5.25078712e-04 -2.48932535e+01] [-3.28599606e-03 4.06503784e-05 9.99994600e-01 -2.09502641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.47, Y:-24.90, Z:-2.10 [[ 9.89136488e-01 1.46968696e-01 3.03483918e-03 2.04472986e+02] [-1.46967879e-01 9.89141143e-01 -4.91622140e-04 -2.48985553e+01] [-3.07413736e-03 4.02575207e-05 9.99995274e-01 -2.09576782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.50, Y:-24.91, Z:-2.09 [[ 9.89144010e-01 1.46911777e-01 3.32531171e-03 2.04503689e+02] [-1.46910794e-01 9.89149598e-01 -5.39298757e-04 -2.49065406e+01] [-3.36846009e-03 4.49199522e-05 9.99994326e-01 -2.09498637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.53, Y:-24.91, Z:-2.09 [[ 9.88980062e-01 1.47995809e-01 3.95957386e-03 2.04534277e+02] [-1.47994420e-01 9.88987987e-01 -6.43012496e-04 -2.49121602e+01] [-4.01113414e-03 4.99316985e-05 9.99991954e-01 -2.09389291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.57, Y:-24.92, Z:-2.09 [[ 9.88731567e-01 1.49632401e-01 4.47589529e-03 2.04566099e+02] [-1.49630640e-01 9.88741696e-01 -7.27637101e-04 -2.49164405e+01] [-4.53438239e-03 4.97066940e-05 9.99989718e-01 -2.09335765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.60, Y:-24.92, Z:-2.09 [[ 9.88150224e-01 1.53419001e-01 4.66312603e-03 2.04597763e+02] [-1.53417128e-01 9.88161226e-01 -7.58870982e-04 -2.49168190e+01] [-4.72434557e-03 3.44751260e-05 9.99988840e-01 -2.09380877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.63, Y:-24.92, Z:-2.09 [[ 9.87823659e-01 1.55519699e-01 4.24749020e-03 2.04630428e+02] [-1.55518162e-01 9.87832791e-01 -6.91838939e-04 -2.49185180e+01] [-4.30340469e-03 2.28530040e-05 9.99990740e-01 -2.09482733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.66, Y:-24.92, Z:-2.10 [[ 9.87342552e-01 1.58579645e-01 2.67963423e-03 2.04660812e+02] [-1.58579043e-01 9.87346189e-01 -4.36856087e-04 -2.49182588e+01] [-2.71500313e-03 6.39277052e-06 9.99996314e-01 -2.09811751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.69, Y:-24.92, Z:-2.10 [[ 9.87221986e-01 1.59338746e-01 1.97852548e-03 2.04691499e+02] [-1.59338420e-01 9.87223968e-01 -3.22544490e-04 -2.49218973e+01] [-2.00464161e-03 3.16788744e-06 9.99997991e-01 -2.09884883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.72, Y:-24.93, Z:-2.10 [[ 9.87213728e-01 1.59400336e-01 7.67221256e-04 2.04721484e+02] [-1.59400287e-01 9.87214026e-01 -1.25073404e-04 -2.49256767e+01] [-7.77348327e-04 1.17889361e-06 9.99999698e-01 -2.10094631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:-24.93, Z:-2.10 [[ 9.87336035e-01 1.58640844e-01 7.98091301e-04 2.04751294e+02] [-1.58640790e-01 9.87336357e-01 -1.30153503e-04 -2.49306781e+01] [-8.08632220e-04 1.89540862e-06 9.99999673e-01 -2.10118231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.78, Y:-24.94, Z:-2.10 [[ 9.87395990e-01 1.58263569e-01 1.34253741e-03 2.04781425e+02] [-1.58263418e-01 9.87396902e-01 -2.18942303e-04 -2.49362294e+01] [-1.36026787e-03 3.70819211e-06 9.99999075e-01 -2.09991788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.81, Y:-24.94, Z:-2.10 [[ 9.87329318e-01 1.58649090e-01 3.35915627e-03 2.04811302e+02] [-1.58648144e-01 9.87335032e-01 -5.47814459e-04 -2.49403856e+01] [-3.40352293e-03 7.94936806e-06 9.99994208e-01 -2.09535983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.84, Y:-24.95, Z:-2.10 [[ 9.87329318e-01 1.58649090e-01 3.35915627e-03 2.04840911e+02] [-1.58648144e-01 9.87335032e-01 -5.47814459e-04 -2.49452142e+01] [-3.40352293e-03 7.94936808e-06 9.99994208e-01 -2.09547719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.87, Y:-24.95, Z:-2.09 [[ 9.87271381e-01 1.58990923e-01 4.13603074e-03 2.04871982e+02] [-1.58989493e-01 9.87280044e-01 -6.74514753e-04 -2.49479981e+01] [-4.19066234e-03 8.34368329e-06 9.99991219e-01 -2.09420700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.90, Y:-24.95, Z:-2.09 [[ 9.87061181e-01 1.60286003e-01 4.31539870e-03 2.04902153e+02] [-1.60284457e-01 9.87070614e-01 -7.03872575e-04 -2.49488675e+01] [-4.37242416e-03 3.07395694e-06 9.99990441e-01 -2.09410589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.93, Y:-24.95, Z:-2.10 [[ 9.86997300e-01 1.60694224e-01 3.70075841e-03 2.04932288e+02] [-1.60693090e-01 9.87004238e-01 -6.03661537e-04 -2.49529463e+01] [-3.74966916e-03 1.12600292e-06 9.99992970e-01 -2.09550336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:-24.96, Z:-2.10 [[ 9.87024353e-01 1.60540361e-01 3.11755056e-03 2.04960885e+02] [-1.60539556e-01 9.87029276e-01 -5.08538249e-04 -2.49583548e+01] [-3.15875459e-03 1.44945394e-06 9.99995011e-01 -2.09708273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.99, Y:-24.96, Z:-2.10 [[ 9.87146684e-01 1.59798480e-01 2.42296702e-03 2.04990832e+02] [-1.59797992e-01 9.87149657e-01 -3.95202295e-04 -2.49638205e+01] [-2.45498379e-03 2.93737047e-06 9.99996987e-01 -2.09847181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.02, Y:-24.97, Z:-2.10 [[ 9.87105093e-01 1.60052905e-01 2.56960141e-03 2.05019944e+02] [-1.60052356e-01 9.87108438e-01 -4.19104314e-04 -2.49679753e+01] [-2.60355410e-03 2.42924235e-06 9.99996611e-01 -2.09852973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.05, Y:-24.97, Z:-2.10 [[ 9.87043096e-01 1.60428801e-01 2.91991610e-03 2.05049408e+02] [-1.60428094e-01 9.87047415e-01 -4.76302768e-04 -2.49724200e+01] [-2.95850832e-03 1.69478303e-06 9.99995624e-01 -2.09856401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.08, Y:-24.98, Z:-2.10 [[ 9.86915255e-01 1.61218371e-01 2.62977862e-03 2.05079055e+02] [-1.61217801e-01 9.86918759e-01 -4.28935355e-04 -2.49776871e+01] [-2.66453011e-03 -6.44278962e-07 9.99996450e-01 -2.09877825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.11, Y:-24.98, Z:-2.10 [[ 9.86817612e-01 1.61810292e-01 2.90334387e-03 2.05109282e+02] [-1.61809599e-01 9.86821883e-01 -4.73555769e-04 -2.49820523e+01] [-2.94170947e-03 -2.47573393e-06 9.99995673e-01 -2.09911044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.14, Y:-24.98, Z:-2.10 [[ 9.86557183e-01 1.63369019e-01 3.93563306e-03 2.05139666e+02] [-1.63367758e-01 9.86565033e-01 -6.41929383e-04 -2.49846483e+01] [-3.98762933e-03 -9.65550632e-06 9.99992049e-01 -2.09794372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.17, Y:-24.99, Z:-2.10 [[ 9.86383631e-01 1.64411627e-01 4.01853708e-03 2.05169065e+02] [-1.64410322e-01 9.86391817e-01 -6.55449742e-04 -2.49877084e+01] [-4.07161565e-03 -1.41640762e-05 9.99991711e-01 -2.09773544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.20, Y:-24.99, Z:-2.10 [[ 9.86235125e-01 1.65311102e-01 3.53796203e-03 2.05198683e+02] [-1.65310096e-01 9.86241471e-01 -5.77031726e-04 -2.49919705e+01] [-3.58467463e-03 -1.57718866e-05 9.99993575e-01 -2.09869140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.23, Y:-25.00, Z:-2.10 [[ 9.85977563e-01 1.66873332e-01 1.23913746e-03 2.05227858e+02] [-1.66873210e-01 9.85978342e-01 -2.02128749e-04 -2.49962059e+01] [-1.25549260e-03 -7.48443377e-06 9.99999212e-01 -2.10317387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.26, Y:-25.00, Z:-2.10 [[ 9.85621239e-01 1.68966927e-01 9.75268481e-04 2.05255854e+02] [-1.68966852e-01 9.85621721e-01 -1.59179856e-04 -2.49989094e+01] [-9.88141930e-04 -7.89699759e-06 9.99999512e-01 -2.10443554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.29, Y:-25.00, Z:-2.10 [[ 9.85428100e-01 1.70079986e-01 2.06353838e-03 2.05285284e+02] [-1.70079654e-01 9.85430260e-01 -3.36386015e-04 -2.50030953e+01] [-2.09068569e-03 -1.94816624e-05 9.99997814e-01 -2.10221444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.31, Y:-25.00, Z:-2.10 [[ 9.85140632e-01 1.71722498e-01 3.05273721e-03 2.05313421e+02] [-1.71721780e-01 9.85145361e-01 -4.97553924e-04 -2.50015968e+01] [-3.09283110e-03 -3.40608812e-05 9.99995217e-01 -2.10013489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.925769231 meters Centerline goodness [0,1] 0.9999789509135304 Centerline is valid? [True, True] Translation: X:205.34, Y:-25.00, Z:-2.10 [[ 9.84753372e-01 1.73910414e-01 3.99543941e-03 2.05341997e+02] [-1.73909204e-01 9.84761476e-01 -6.50905461e-04 -2.50049404e+01] [-4.04775405e-03 -5.38623396e-05 9.99991806e-01 -2.09719586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.37, Y:-25.00, Z:-2.10 [[ 9.83795779e-01 1.79239361e-01 4.37215556e-03 2.05372247e+02] [-1.79237966e-01 9.83805491e-01 -7.12064474e-04 -2.50002630e+01] [-4.42898063e-03 -8.31302453e-05 9.99990189e-01 -2.09635564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.985769231 meters Centerline goodness [0,1] 0.9999788989470575 Centerline is valid? [True, True] Translation: X:205.40, Y:-25.00, Z:-2.10 [[ 9.82865648e-01 1.84309744e-01 2.24414137e-03 2.05402006e+02] [-1.84309390e-01 9.82868208e-01 -3.65429738e-04 -2.49973138e+01] [-2.27304747e-03 -5.44479893e-05 9.99997415e-01 -2.10140212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.015769231 meters Centerline goodness [0,1] 0.9999368314663523 Centerline is valid? [True, True] Translation: X:205.43, Y:-25.00, Z:-2.10 [[ 9.82444069e-01 1.86547640e-01 1.90507326e-03 2.05431400e+02] [-1.86547389e-01 9.82445915e-01 -3.10282450e-04 -2.49972449e+01] [-1.92951390e-03 -5.05512889e-05 9.99998137e-01 -2.10263474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.045769231 meters Centerline goodness [0,1] 0.9998942917547569 Centerline is valid? [True, True] Translation: X:205.46, Y:-25.00, Z:-2.10 [[ 9.82076812e-01 1.88471116e-01 1.94248482e-03 2.05461478e+02] [-1.88470858e-01 9.82078732e-01 -3.16248460e-04 -2.49991799e+01] [-1.96727673e-03 -5.55215019e-05 9.99998063e-01 -2.10265758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.075769231 meters Centerline goodness [0,1] 0.9995582109647831 Centerline is valid? [True, True] Translation: X:205.49, Y:-24.99, Z:-2.10 [[ 9.81395970e-01 1.91977467e-01 2.56951079e-03 2.05492082e+02] [-1.91977029e-01 9.81399330e-01 -4.18230804e-04 -2.49948947e+01] [-2.60200706e-03 -8.28370226e-05 9.99996611e-01 -2.10130774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.105769231 meters Centerline goodness [0,1] 0.9997869484628331 Centerline is valid? [True, True] Translation: X:205.52, Y:-25.00, Z:-2.10 [[ 9.81133403e-01 1.93306190e-01 3.15628738e-03 2.05520473e+02] [-1.93305536e-01 9.81138474e-01 -5.13717452e-04 -2.49999214e+01] [-3.19605975e-03 -1.06102473e-04 9.99994887e-01 -2.10020018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.135769231 meters Centerline goodness [0,1] 0.9992605894158656 Centerline is valid? [True, True] Translation: X:205.55, Y:-25.00, Z:-2.10 [[ 9.80859644e-01 1.94686740e-01 3.38125179e-03 2.05548882e+02] [-1.94685999e-01 9.80865464e-01 -5.50175687e-04 -2.49961913e+01] [-3.42366502e-03 -1.18637253e-04 9.99994132e-01 -2.10027211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.165769231 meters Centerline goodness [0,1] 0.9997661763455489 Centerline is valid? [True, True] Translation: X:205.58, Y:-25.00, Z:-2.10 [[ 9.80277443e-01 1.97591092e-01 3.72773974e-03 2.05577087e+02] [-1.97590213e-01 9.80284520e-01 -6.06268009e-04 -2.50040193e+01] [-3.77403872e-03 -1.42254035e-04 9.99992868e-01 -2.10013239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.195769231 meters Centerline goodness [0,1] 0.9993808842680557 Centerline is valid? [True, True] Translation: X:205.61, Y:-25.00, Z:-2.10 [[ 9.79988175e-01 1.99022500e-01 3.63613396e-03 2.05607346e+02] [-1.99021674e-01 9.79994910e-01 -5.91238967e-04 -2.50048567e+01] [-3.68106263e-03 -1.44262273e-04 9.99993214e-01 -2.10052822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22576923100002 meters Centerline goodness [0,1] 0.9976520309931909 Centerline is valid? [True, True] Translation: X:205.64, Y:-25.00, Z:-2.10 [[ 9.79836001e-01 1.99768090e-01 3.75775656e-03 2.05637151e+02] [-1.99767214e-01 9.79843195e-01 -6.10924136e-04 -2.49965731e+01] [-3.80405534e-03 -1.52071094e-04 9.99992753e-01 -2.10110996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25576923100002 meters Centerline goodness [0,1] 0.9980984174607535 Centerline is valid? [True, True] Translation: X:205.67, Y:-25.00, Z:-2.10 [[ 9.79993432e-01 1.99008200e-01 2.93429202e-03 2.05666139e+02] [-1.99007663e-01 9.79997818e-01 -4.76896127e-04 -2.50008553e+01] [-2.97050601e-03 -1.16591524e-04 9.99995581e-01 -2.10249961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28576923100002 meters Centerline goodness [0,1] 0.9995914505655185 Centerline is valid? [True, True] Translation: X:205.69, Y:-25.01, Z:-2.10 [[ 9.80256167e-01 1.97723104e-01 1.84988128e-03 2.05692745e+02] [-1.97722888e-01 9.80257909e-01 -3.00667481e-04 -2.50149517e+01] [-1.87280966e-03 -7.10327164e-05 9.99998244e-01 -2.10445412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31576923100002 meters Centerline goodness [0,1] 0.9990780841301831 Centerline is valid? [True, True] Translation: X:205.72, Y:-25.01, Z:-2.11 [[ 9.80796650e-01 1.95033148e-01 4.58709435e-05 2.05721659e+02] [-1.95033148e-01 9.80796651e-01 -7.58742385e-06 -2.50147774e+01] [-4.64698670e-05 -1.50463463e-06 9.99999999e-01 -2.10928246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34576923100002 meters Centerline goodness [0,1] 0.9985974456510189 Centerline is valid? [True, True] Translation: X:205.75, Y:-25.02, Z:-2.11 [[ 9.81084094e-01 1.93581756e-01 -3.22688329e-04 2.05749466e+02] [-1.93581750e-01 9.81084147e-01 5.21745055e-05 -2.50171191e+01] [ 3.26684436e-04 1.12789938e-05 9.99999947e-01 -2.11059418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37576923100002 meters Centerline goodness [0,1] 0.9994077708919393 Centerline is valid? [True, True] Translation: X:205.78, Y:-25.02, Z:-2.11 [[ 9.81584302e-01 1.91026076e-01 1.13870225e-03 2.05778486e+02] [-1.91025990e-01 9.81584962e-01 -1.84918435e-04 -2.50242057e+01] [-1.15305724e-03 -3.60086907e-05 9.99999335e-01 -2.10699299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40576923100002 meters Centerline goodness [0,1] 0.9999789624268944 Centerline is valid? [True, True] Translation: X:205.81, Y:-25.04, Z:-2.10 [[ 9.81695265e-01 1.90452598e-01 1.48786679e-03 2.05806121e+02] [-1.90452451e-01 9.81696392e-01 -2.41596937e-04 -2.50371502e+01] [-1.50664622e-03 -4.61933065e-05 9.99998864e-01 -2.10485460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43576923100002 meters Centerline goodness [0,1] 0.999830866807611 Centerline is valid? [True, True] Translation: X:205.83, Y:-25.04, Z:-2.11 [[ 9.81631262e-01 1.90783698e-01 1.28331599e-03 2.05834143e+02] [-1.90783589e-01 9.81632100e-01 -2.08415537e-04 -2.50385429e+01] [-1.29950645e-03 -4.02484225e-05 9.99999155e-01 -2.10530107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46576923100002 meters Centerline goodness [0,1] 0.9998091238786028 Centerline is valid? [True, True] Translation: X:205.86, Y:-25.04, Z:-2.11 [[ 9.81226450e-01 1.92859099e-01 -1.44923689e-04 2.05863961e+02] [-1.92859098e-01 9.81226461e-01 2.34172728e-05 -2.50383797e+01] [ 1.46719193e-04 4.97220446e-06 9.99999989e-01 -2.10803154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49576923100003 meters Centerline goodness [0,1] 0.9996376966028728 Centerline is valid? [True, True] Translation: X:205.89, Y:-25.04, Z:-2.11 [[ 9.81060393e-01 1.93700583e-01 7.68218690e-04 2.05892283e+02] [-1.93700545e-01 9.81060693e-01 -1.24787351e-04 -2.50380953e+01] [-7.77840543e-04 -2.63804513e-05 9.99999697e-01 -2.10645203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52576923100003 meters Centerline goodness [0,1] 0.9996173876076098 Centerline is valid? [True, True] Translation: X:205.92, Y:-25.04, Z:-2.10 [[ 9.81098345e-01 1.93502206e-01 1.71284315e-03 2.05920055e+02] [-1.93502015e-01 9.81099838e-01 -2.77854590e-04 -2.50413142e+01] [-1.73423562e-03 -5.88359229e-05 9.99998494e-01 -2.10462062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55576923100003 meters Centerline goodness [0,1] 0.9997023239990644 Centerline is valid? [True, True] Translation: X:205.95, Y:-25.05, Z:-2.10 [[ 9.81086173e-01 1.93560271e-01 2.08369682e-03 2.05948590e+02] [-1.93559989e-01 9.81088384e-01 -3.37825943e-04 -2.50458235e+01] [-2.10968043e-03 -7.18839735e-05 9.99997772e-01 -2.10354236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58576923100003 meters Centerline goodness [0,1] 0.9996395097332372 Centerline is valid? [True, True] Translation: X:205.98, Y:-25.05, Z:-2.10 [[ 9.81138299e-01 1.93292671e-01 2.36264568e-03 2.05977465e+02] [-1.93292309e-01 9.81141140e-01 -3.82919111e-04 -2.50495374e+01] [-2.39210434e-03 -8.09846342e-05 9.99997136e-01 -2.10309917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.615769231 meters Centerline goodness [0,1] 0.9996383132632654 Centerline is valid? [True, True] Translation: X:206.01, Y:-25.05, Z:-2.10 [[ 9.81198274e-01 1.92994157e-01 1.78979056e-03 2.06005387e+02] [-1.92993949e-01 9.81199904e-01 -2.90059606e-04 -2.50503025e+01] [-1.81212213e-03 -6.08127628e-05 9.99998356e-01 -2.10453624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.645769231 meters Centerline goodness [0,1] 0.9995760646077538 Centerline is valid? [True, True] Translation: X:206.03, Y:-25.05, Z:-2.11 [[ 9.81230103e-01 1.92839142e-01 7.42119048e-04 2.06032511e+02] [-1.92839106e-01 9.81230383e-01 -1.20425838e-04 -2.50495780e+01] [-7.51412573e-04 -2.49441163e-05 9.99999717e-01 -2.10749502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.675769231 meters Centerline goodness [0,1] 0.9995556025817374 Centerline is valid? [True, True] Translation: X:206.06, Y:-25.05, Z:-2.11 [[ 9.81356599e-01 1.92191726e-01 1.25163746e-03 2.06060719e+02] [-1.92191623e-01 9.81357396e-01 -2.02709930e-04 -2.50539518e+01] [-1.26726285e-03 -4.16235076e-05 9.99999196e-01 -2.10622313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.705769231 meters Centerline goodness [0,1] 0.9996820956256358 Centerline is valid? [True, True] Translation: X:206.09, Y:-25.06, Z:-2.10 [[ 9.81535702e-01 1.91261946e-01 2.55593170e-03 2.06088398e+02] [-1.91261517e-01 9.81539027e-01 -4.13697282e-04 -2.50568321e+01] [-2.58787126e-03 -8.27927209e-05 9.99996648e-01 -2.10379892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.735769231 meters Centerline goodness [0,1] 0.9997863293519369 Centerline is valid? [True, True] Translation: X:206.12, Y:-25.07, Z:-2.10 [[ 9.81651841e-01 1.90648758e-01 3.56566228e-03 2.06115733e+02] [-1.90647919e-01 9.81658310e-01 -5.76706525e-04 -2.50680683e+01] [-3.61021039e-03 -1.13661073e-04 9.99993477e-01 -2.10193450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.765769231 meters Centerline goodness [0,1] 0.9998519270635021 Centerline is valid? [True, True] Translation: X:206.14, Y:-25.07, Z:-2.10 [[ 9.81994312e-01 1.88867950e-01 4.00860201e-03 2.06143817e+02] [-1.88866877e-01 9.82002486e-01 -6.48132447e-04 -2.50746339e+01] [-4.05886859e-03 -1.20629765e-04 9.99991755e-01 -2.10180585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.795769231 meters Centerline goodness [0,1] 0.9999140598143692 Centerline is valid? [True, True] Translation: X:206.17, Y:-25.08, Z:-2.10 [[ 9.82274855e-01 1.87404889e-01 3.93914229e-03 2.06172194e+02] [-1.87403842e-01 9.82282747e-01 -6.36715678e-04 -2.50819989e+01] [-3.98867514e-03 -1.12780599e-04 9.99992039e-01 -2.10325467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.825769231 meters Centerline goodness [0,1] 0.9999571862824849 Centerline is valid? [True, True] Translation: X:206.20, Y:-25.09, Z:-2.11 [[ 9.82359314e-01 1.86980290e-01 2.92384127e-03 2.06199366e+02] [-1.86979711e-01 9.82363662e-01 -4.72521933e-04 -2.50857895e+01] [-2.96062771e-03 -8.25126760e-05 9.99995614e-01 -2.10527684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.855769231 meters Centerline goodness [0,1] 0.9999569253300596 Centerline is valid? [True, True] Translation: X:206.23, Y:-25.09, Z:-2.11 [[ 9.82382977e-01 1.86868453e-01 1.96658413e-03 2.06226508e+02] [-1.86868191e-01 9.82384944e-01 -3.17803618e-04 -2.50940612e+01] [-1.99133011e-03 -5.52871547e-05 9.99998016e-01 -2.10667530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.885769231 meters Centerline goodness [0,1] 0.9997663303239511 Centerline is valid? [True, True] Translation: X:206.25, Y:-25.10, Z:-2.11 [[ 9.82377476e-01 1.86906106e-01 7.75927055e-04 2.06254087e+02] [-1.86906065e-01 9.82377782e-01 -1.25508200e-04 -2.50972130e+01] [-7.85711748e-04 -2.17290441e-05 9.99999691e-01 -2.10831572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.915769231 meters Centerline goodness [0,1] 0.9999151445724347 Centerline is valid? [True, True] Translation: X:206.28, Y:-25.10, Z:-2.11 [[ 9.82304389e-01 1.87289906e-01 7.61051949e-04 2.06282829e+02] [-1.87289867e-01 9.82304683e-01 -1.22965211e-04 -2.51025774e+01] [-7.70615037e-04 -2.17480521e-05 9.99999703e-01 -2.10805099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.945769231 meters Centerline goodness [0,1] 0.9998932581870971 Centerline is valid? [True, True] Translation: X:206.31, Y:-25.11, Z:-2.11 [[ 9.81857568e-01 1.89619610e-01 -3.44593718e-04 2.06311992e+02] [-1.89619603e-01 9.81857629e-01 5.54953171e-05 -2.51070761e+01] [ 3.48864972e-04 1.08532268e-05 9.99999939e-01 -2.10950221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97576923100002 meters Centerline goodness [0,1] 0.9998296603853933 Centerline is valid? [True, True] Translation: X:206.34, Y:-25.11, Z:-2.11 [[ 9.81520665e-01 1.91355674e-01 -4.37166974e-04 2.06341143e+02] [-1.91355662e-01 9.81520762e-01 7.03665739e-05 -2.51097762e+01] [ 4.42553505e-04 1.45881292e-05 9.99999902e-01 -2.10968763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00576923100002 meters Centerline goodness [0,1] 0.9995973893880319 Centerline is valid? [True, True] Translation: X:206.37, Y:-25.11, Z:-2.11 [[ 9.81118647e-01 1.93406795e-01 1.12425525e-04 2.06370134e+02] [-1.93406795e-01 9.81118653e-01 -1.83196267e-05 -2.51098288e+01] [-1.13845920e-04 -3.77013310e-06 9.99999994e-01 -2.10848357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03576923100002 meters Centerline goodness [0,1] 0.9963346042847212 Centerline is valid? [True, True] Translation: X:206.40, Y:-25.10, Z:-2.11 [[ 9.80379431e-01 1.97112633e-01 1.66792019e-03 2.06402312e+02] [-1.97112460e-01 9.80380847e-01 -2.68936987e-04 -2.50966447e+01] [-1.68820789e-03 -6.51075618e-05 9.99998573e-01 -2.10583900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06576923100002 meters Centerline goodness [0,1] 0.9954377625938972 Centerline is valid? [True, True] Translation: X:206.43, Y:-25.10, Z:-2.11 [[ 9.80111906e-01 1.98437167e-01 1.82844648e-03 2.06432430e+02] [-1.98436962e-01 9.80113608e-01 -2.94814152e-04 -2.50979803e+01] [-1.85058737e-03 -7.38805056e-05 9.99998285e-01 -2.10620262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09576923100002 meters Centerline goodness [0,1] 0.9985387342860212 Centerline is valid? [True, True] Translation: X:206.46, Y:-25.11, Z:-2.11 [[ 9.79714936e-01 2.00391468e-01 1.37957628e-03 2.06461121e+02] [-2.00391353e-01 9.79715906e-01 -2.22434995e-04 -2.51079908e+01] [-1.39616690e-03 -5.85322705e-05 9.99999024e-01 -2.10616651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12576923100002 meters Centerline goodness [0,1] 0.9980301618232653 Centerline is valid? [True, True] Translation: X:206.49, Y:-25.11, Z:-2.11 [[ 9.79477463e-01 2.01551029e-01 1.04004904e-03 2.06490684e+02] [-2.01550964e-01 9.79478014e-01 -1.67721411e-04 -2.51087724e+01] [-1.05250959e-03 -4.53435447e-05 9.99999445e-01 -2.10694257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15576923100002 meters Centerline goodness [0,1] 0.996802405607437 Centerline is valid? [True, True] Translation: X:206.52, Y:-25.11, Z:-2.11 [[ 9.79122147e-01 2.03272028e-01 5.50672834e-04 2.06520784e+02] [-2.03272010e-01 9.79122302e-01 -8.88463700e-05 -2.51070169e+01] [-5.57236035e-04 -2.49449254e-05 9.99999844e-01 -2.10690378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18576923100002 meters Centerline goodness [0,1] 0.9959549509271678 Centerline is valid? [True, True] Translation: X:206.55, Y:-25.11, Z:-2.11 [[ 9.79021604e-01 2.03755395e-01 6.62164039e-04 2.06549216e+02] [-2.03755369e-01 9.79021827e-01 -1.06857440e-04 -2.51084092e+01] [-6.70045827e-04 -3.03037358e-05 9.99999775e-01 -2.10685052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21576923100002 meters Centerline goodness [0,1] 0.9983533990548082 Centerline is valid? [True, True] Translation: X:206.58, Y:-25.11, Z:-2.11 [[ 9.78993309e-01 2.03891854e-01 4.60893906e-04 2.06577718e+02] [-2.03891842e-01 9.78993417e-01 -7.43839632e-05 -2.51147394e+01] [-4.66378384e-04 -2.11511050e-05 9.99999891e-01 -2.10722142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24576923100003 meters Centerline goodness [0,1] 0.999423532677157 Centerline is valid? [True, True] Translation: X:206.61, Y:-25.12, Z:-2.11 [[ 9.79070451e-01 2.03515733e-01 1.54847281e-03 2.06605055e+02] [-2.03515592e-01 9.79071673e-01 -2.49414764e-04 -2.51245468e+01] [-1.56682569e-03 -7.09437350e-05 9.99998770e-01 -2.10520391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27576923100003 meters Centerline goodness [0,1] 0.9945034036615787 Centerline is valid? [True, True] Translation: X:206.63, Y:-25.12, Z:-2.10 [[ 9.79170018e-01 2.03017241e-01 3.17431727e-03 2.06634537e+02] [-2.03016650e-01 9.79175152e-01 -5.10944153e-04 -2.51157922e+01] [-3.21194307e-03 -1.44138062e-04 9.99994831e-01 -2.10254222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30576923100003 meters Centerline goodness [0,1] 0.9972145439081438 Centerline is valid? [True, True] Translation: X:206.66, Y:-25.12, Z:-2.10 [[ 9.79329293e-01 2.02225004e-01 4.37981282e-03 2.06662271e+02] [-2.02223871e-01 9.79339068e-01 -7.04633566e-04 -2.51227665e+01] [-4.43181633e-03 -1.95634411e-04 9.99990160e-01 -2.10108915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33576923100003 meters Centerline goodness [0,1] 0.9972145439081438 Centerline is valid? [True, True] Translation: X:206.69, Y:-25.13, Z:-2.10 [[ 9.79342872e-01 2.02159234e-01 4.37984625e-03 2.06689463e+02] [-2.02158101e-01 9.79352646e-01 -7.04425734e-04 -2.51270042e+01] [-4.43182018e-03 -1.95547079e-04 9.99990160e-01 -2.10119681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.365769231 meters Centerline goodness [0,1] 0.9972529227624097 Centerline is valid? [True, True] Translation: X:206.72, Y:-25.13, Z:-2.10 [[ 9.79457265e-01 2.01618386e-01 3.67329297e-03 2.06717545e+02] [-2.01617586e-01 9.79464139e-01 -5.90575976e-04 -2.51291411e+01] [-3.71692971e-03 -1.62156532e-04 9.99993079e-01 -2.10354754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.395769231 meters Centerline goodness [0,1] 0.9990588637919233 Centerline is valid? [True, True] Translation: X:206.75, Y:-25.14, Z:-2.11 [[ 9.79551503e-01 2.01174590e-01 2.76349366e-03 2.06745368e+02] [-2.01174136e-01 9.79555394e-01 -4.44188899e-04 -2.51384789e+01] [-2.79635464e-03 -1.20837546e-04 9.99996083e-01 -2.10543435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.425769231 meters Centerline goodness [0,1] 0.9967827161546001 Centerline is valid? [True, True] Translation: X:206.77, Y:-25.13, Z:-2.11 [[ 9.79394293e-01 2.01942675e-01 2.44424270e-03 2.06774902e+02] [-2.01942322e-01 9.79397337e-01 -3.92795307e-04 -2.51308115e+01] [-2.47320693e-03 -1.08894564e-04 9.99996936e-01 -2.10548926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.455769231 meters Centerline goodness [0,1] 0.9986377761695968 Centerline is valid? [True, True] Translation: X:206.80, Y:-25.14, Z:-2.10 [[ 9.79280259e-01 2.02485203e-01 3.14924811e-03 2.06803145e+02] [-2.02484621e-01 9.79285312e-01 -5.05915806e-04 -2.51375725e+01] [-3.18645288e-03 -1.42240947e-04 9.99994913e-01 -2.10398688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.485769231 meters Centerline goodness [0,1] 0.9906532219017746 Centerline is valid? [True, True] Translation: X:206.83, Y:-25.12, Z:-2.10 [[ 9.79411039e-01 2.01844739e-01 3.56614220e-03 2.06833920e+02] [-2.01843991e-01 9.79417519e-01 -5.72169127e-04 -2.51226442e+01] [-3.60823148e-03 -1.59415615e-04 9.99993478e-01 -2.10390430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.515769231 meters Centerline goodness [0,1] 0.9992925590070101 Centerline is valid? [True, True] Translation: X:206.86, Y:-25.14, Z:-2.11 [[ 9.79819881e-01 1.99869238e-01 2.29970525e-03 2.06861161e+02] [-1.99868921e-01 9.79822575e-01 -3.68846120e-04 -2.51436726e+01] [-2.32702411e-03 -9.82368461e-05 9.99997288e-01 -2.10636437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.545769231 meters Centerline goodness [0,1] 0.9995670620832973 Centerline is valid? [True, True] Translation: X:206.89, Y:-25.15, Z:-2.11 [[ 9.80437199e-01 1.96831274e-01 5.91130219e-04 2.06890164e+02] [-1.96831252e-01 9.80437376e-01 -9.48782463e-05 -2.51485872e+01] [-5.98241167e-04 -2.33307392e-05 9.99999821e-01 -2.10945802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.575769231 meters Centerline goodness [0,1] 0.9999361076798569 Centerline is valid? [True, True] Translation: X:206.92, Y:-25.16, Z:-2.11 [[ 9.82035068e-01 1.88697984e-01 -4.43073007e-04 2.06917604e+02] [-1.88697971e-01 9.82035168e-01 7.09013968e-05 -2.51579121e+01] [ 4.48492226e-04 1.39793196e-05 9.99999899e-01 -2.11138536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.605769231 meters Centerline goodness [0,1] 0.9999148483235764 Centerline is valid? [True, True] Translation: X:206.95, Y:-25.17, Z:-2.11 [[ 9.82912641e-01 1.84070531e-01 8.82944302e-04 2.06946094e+02] [-1.84070478e-01 9.82913037e-01 -1.41616777e-04 -2.51676970e+01] [-8.93924942e-04 -2.33270592e-05 9.99999600e-01 -2.10877948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.97, Y:-25.18, Z:-2.10 [[ 9.84473389e-01 1.75501058e-01 3.39492673e-03 2.06974694e+02] [-1.75500225e-01 9.84479241e-01 -5.44155308e-04 -2.51822704e+01] [-3.43773472e-03 -6.01039841e-05 9.99994089e-01 -2.10466498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.00, Y:-25.19, Z:-2.11 [[ 9.85118163e-01 1.71847833e-01 3.24449535e-03 2.07002259e+02] [-1.71847052e-01 9.85123505e-01 -5.20110776e-04 -2.51909851e+01] [-3.28560854e-03 -4.51863880e-05 9.99994601e-01 -2.10523153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.03, Y:-25.20, Z:-2.11 [[ 9.85951446e-01 1.67029185e-01 9.99039685e-04 2.07029382e+02] [-1.67029108e-01 9.85951952e-01 -1.60233174e-04 -2.52015403e+01] [-1.01176874e-03 -8.88657749e-06 9.99999488e-01 -2.10846470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.06, Y:-25.21, Z:-2.11 [[ 9.86214058e-01 1.65473958e-01 4.47810251e-04 2.07056028e+02] [-1.65473943e-01 9.86214160e-01 -7.19870801e-05 -2.52083397e+01] [-4.53548797e-04 -3.10625731e-06 9.99999897e-01 -2.10947305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.08, Y:-25.22, Z:-2.11 [[ 9.86461685e-01 1.63990938e-01 5.62072238e-04 2.07084367e+02] [-1.63990913e-01 9.86461845e-01 -9.01628803e-05 -2.52161025e+01] [-5.69248713e-04 -3.23251292e-06 9.99999838e-01 -2.10858578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.11, Y:-25.23, Z:-2.10 [[ 9.86964208e-01 1.60912539e-01 2.96752559e-03 2.07110725e+02] [-1.60911838e-01 9.86968670e-01 -4.75089957e-04 -2.52253303e+01] [-3.00530271e-03 -8.61321314e-06 9.99995484e-01 -2.10410122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.14, Y:-25.23, Z:-2.10 [[ 9.87163966e-01 1.59665845e-01 3.75783686e-03 2.07139273e+02] [-1.59664713e-01 9.87171119e-01 -6.01325774e-04 -2.52322338e+01] [-3.80563920e-03 -6.38680803e-06 9.99992759e-01 -2.10318510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.17, Y:-25.24, Z:-2.10 [[ 9.87331121e-01 1.58621830e-01 4.04620404e-03 2.07165966e+02] [-1.58620510e-01 9.87339412e-01 -6.47248242e-04 -2.52400141e+01] [-4.09764442e-03 -2.76261413e-06 9.99991605e-01 -2.10388151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.19, Y:-25.25, Z:-2.10 [[ 9.87313962e-01 1.58726154e-01 4.14118376e-03 2.07194363e+02] [-1.58724773e-01 9.87322646e-01 -6.62179934e-04 -2.52452437e+01] [-4.19378978e-03 -3.52895833e-06 9.99991206e-01 -2.10306952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.22, Y:-25.25, Z:-2.10 [[ 9.87292723e-01 1.58851690e-01 4.38391751e-03 2.07222390e+02] [-1.58850145e-01 9.87302456e-01 -7.00762894e-04 -2.52489931e+01] [-4.43956990e-03 -4.52782558e-06 9.99990145e-01 -2.10233761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.25, Y:-25.25, Z:-2.10 [[ 9.86952879e-01 1.60977385e-01 3.20870472e-03 2.07251084e+02] [-1.60976568e-01 9.86958095e-01 -5.12767433e-04 -2.52493022e+01] [-3.24940106e-03 -1.04489800e-05 9.99994721e-01 -2.10411086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.28, Y:-25.25, Z:-2.11 [[ 9.86712701e-01 1.62458821e-01 2.27530480e-03 2.07278551e+02] [-1.62458414e-01 9.86715324e-01 -3.63567795e-04 -2.52509386e+01] [-2.30414291e-03 -1.09054487e-05 9.99997345e-01 -2.10647072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.31, Y:-25.25, Z:-2.11 [[ 9.86303648e-01 1.64934916e-01 1.25957605e-03 2.07307560e+02] [-1.64934794e-01 9.86304453e-01 -2.01260283e-04 -2.52503998e+01] [-1.27552031e-03 -9.24416376e-06 9.99999186e-01 -2.10833077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02576923100003 meters Centerline goodness [0,1] 0.9999787559483345 Centerline is valid? [True, True] Translation: X:207.34, Y:-25.25, Z:-2.11 [[ 9.86221493e-01 1.65427355e-01 9.78035243e-04 2.07335949e+02] [-1.65427281e-01 9.86221978e-01 -1.56269091e-04 -2.52528131e+01] [-9.90411034e-04 -7.67777519e-06 9.99999510e-01 -2.10908532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.36, Y:-25.26, Z:-2.11 [[ 9.86209040e-01 1.65501202e-01 1.04028861e-03 2.07363541e+02] [-1.65501119e-01 9.86209588e-01 -1.66231504e-04 -2.52564560e+01] [-1.05345412e-03 -8.22991720e-06 9.99999445e-01 -2.10924939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.39, Y:-25.26, Z:-2.11 [[ 9.86416327e-01 1.64255875e-01 1.68460470e-03 2.07391638e+02] [-1.64255655e-01 9.86417765e-01 -2.68852364e-04 -2.52595751e+01] [-1.70588459e-03 -1.15054881e-05 9.99998545e-01 -2.10875271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.42, Y:-25.26, Z:-2.11 [[ 9.86539507e-01 1.63511170e-01 1.97452299e-03 2.07419610e+02] [-1.63510867e-01 9.86541483e-01 -3.14928402e-04 -2.52645536e+01] [-1.99944315e-03 -1.21666554e-05 9.99998001e-01 -2.10830802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.45, Y:-25.27, Z:-2.11 [[ 9.86780357e-01 1.62062444e-01 5.38970011e-04 2.07447829e+02] [-1.62062421e-01 9.86780505e-01 -8.60767514e-05 -2.52718774e+01] [-5.45794908e-04 -2.40793707e-06 9.99999851e-01 -2.11068752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.47, Y:-25.28, Z:-2.11 [[ 9.86887492e-01 1.61409417e-01 2.79195186e-04 2.07474326e+02] [-1.61409411e-01 9.86887532e-01 -4.47976386e-05 -2.52773864e+01] [-2.82765009e-04 -8.54501367e-07 9.99999960e-01 -2.11130291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.50, Y:-25.28, Z:-2.11 [[ 9.87016200e-01 1.60618629e-01 8.22252150e-04 2.07502388e+02] [-1.60618575e-01 9.87016543e-01 -1.31106358e-04 -2.52830918e+01] [-8.32634598e-04 -2.66486902e-06 9.99999653e-01 -2.11038674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.53, Y:-25.29, Z:-2.11 [[ 9.87174883e-01 1.59625582e-01 2.32895646e-03 2.07530122e+02] [-1.59625151e-01 9.87177630e-01 -3.70907397e-04 -2.52872865e+01] [-2.35830003e-03 -5.60956021e-06 9.99997219e-01 -2.10775723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.56, Y:-25.29, Z:-2.11 [[ 9.87175744e-01 1.59608911e-01 3.00747519e-03 2.07558118e+02] [-1.59608194e-01 9.87180326e-01 -4.78706319e-04 -2.52916721e+01] [-3.04532613e-03 -7.45041548e-06 9.99995363e-01 -2.10686693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.59, Y:-25.30, Z:-2.11 [[ 9.87234068e-01 1.59244516e-01 3.17477208e-03 2.07586606e+02] [-1.59243715e-01 9.87239173e-01 -5.05172069e-04 -2.52985726e+01] [-3.21470524e-03 -6.83942436e-06 9.99994833e-01 -2.10583120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.61, Y:-25.30, Z:-2.11 [[ 9.87352141e-01 1.58506554e-01 3.37951512e-03 2.07613748e+02] [-1.58505643e-01 9.87357925e-01 -5.37578849e-04 -2.53038478e+01] [-3.42200081e-03 -4.89258818e-06 9.99994145e-01 -2.10549885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.64, Y:-25.31, Z:-2.10 [[ 9.87478525e-01 1.57706776e-01 3.83870983e-03 2.07642507e+02] [-1.57705595e-01 9.87485986e-01 -6.10357517e-04 -2.53091901e+01] [-3.88692968e-03 -2.67107817e-06 9.99992446e-01 -2.10493145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.67, Y:-25.31, Z:-2.10 [[ 9.87577135e-01 1.57037032e-01 5.54731821e-03 2.07670460e+02] [-1.57034557e-01 9.87592715e-01 -8.81673021e-04 -2.53141678e+01] [-5.61694636e-03 -4.00542694e-07 9.99984225e-01 -2.10244172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.70, Y:-25.32, Z:-2.10 [[ 9.87576885e-01 1.57055914e-01 5.03353063e-03 2.07697621e+02] [-1.57053878e-01 9.87589712e-01 -7.99771487e-04 -2.53177704e+01] [-5.09667191e-03 -6.99672761e-07 9.99987012e-01 -2.10348013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.73, Y:-25.32, Z:-2.11 [[ 9.87581985e-01 1.57068713e-01 3.35287330e-03 2.07725449e+02] [-1.57067810e-01 9.87587677e-01 -5.32608304e-04 -2.53202012e+01] [-3.39491245e-03 -6.34098776e-07 9.99994237e-01 -2.10710024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.75, Y:-25.32, Z:-2.11 [[ 9.87589919e-01 1.57030476e-01 2.75333519e-03 2.07753361e+02] [-1.57029867e-01 9.87593757e-01 -4.37246177e-04 -2.53248523e+01] [-2.78783763e-03 -5.35942240e-07 9.99996114e-01 -2.10893581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.78, Y:-25.33, Z:-2.11 [[ 9.87651040e-01 1.56651604e-01 2.38691664e-03 2.07780919e+02] [-1.56651145e-01 9.87653925e-01 -3.78942244e-04 -2.53306447e+01] [-2.41680950e-03 3.49476036e-07 9.99997080e-01 -2.11047033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.81, Y:-25.34, Z:-2.11 [[ 9.87825247e-01 1.55557921e-01 1.73629259e-03 2.07809222e+02] [-1.55557677e-01 9.87826773e-01 -2.75590597e-04 -2.53391541e+01] [-1.75802661e-03 2.14170700e-06 9.99998455e-01 -2.11113836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.84, Y:-25.34, Z:-2.11 [[ 9.87878041e-01 1.55226688e-01 1.28530656e-03 2.07837469e+02] [-1.55226554e-01 9.87878877e-01 -2.03994799e-04 -2.53442582e+01] [-1.30139264e-03 2.00827424e-06 9.99999153e-01 -2.11183033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.87, Y:-25.35, Z:-2.11 [[ 9.87758082e-01 1.55991623e-01 7.65124192e-04 2.07866343e+02] [-1.55991575e-01 9.87758378e-01 -1.21475518e-04 -2.53462487e+01] [-7.74706994e-04 6.35496214e-07 9.99999700e-01 -2.11189336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.89, Y:-25.35, Z:-2.11 [[ 9.87573706e-01 1.57152146e-01 1.17441288e-03 2.07894694e+02] [-1.57152035e-01 9.87574404e-01 -1.86349135e-04 -2.53480643e+01] [-1.18910526e-03 -5.27868201e-07 9.99999293e-01 -2.11198577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.92, Y:-25.35, Z:-2.11 [[ 9.87028799e-01 1.60514996e-01 3.01421917e-03 2.07924140e+02] [-1.60514286e-01 9.87033402e-01 -4.77644852e-04 -2.53484526e+01] [-3.05180416e-03 -1.23760137e-05 9.99995343e-01 -2.11004264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.95, Y:-25.35, Z:-2.11 [[ 9.86760517e-01 1.62148036e-01 3.41990127e-03 2.07952515e+02] [-1.62147133e-01 9.86766443e-01 -5.41741334e-04 -2.53513150e+01] [-3.46248610e-03 -1.99582254e-05 9.99994005e-01 -2.10925467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.98, Y:-25.35, Z:-2.11 [[ 9.86616643e-01 1.63026082e-01 3.17745081e-03 2.07979932e+02] [-1.63025307e-01 9.86621759e-01 -5.03203723e-04 -2.53538499e+01] [-3.21697744e-03 -2.15357267e-05 9.99994825e-01 -2.10892003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.01, Y:-25.36, Z:-2.11 [[ 9.86520884e-01 1.63615452e-01 2.55510862e-03 2.08008988e+02] [-1.63614953e-01 9.86524193e-01 -4.04522276e-04 -2.53561452e+01] [-2.58686257e-03 -1.89843039e-05 9.99996654e-01 -2.10943632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.04, Y:-25.36, Z:-2.11 [[ 9.86566290e-01 1.63344341e-01 2.36273018e-03 2.08036553e+02] [-1.63343914e-01 9.86569119e-01 -3.74002235e-04 -2.53589722e+01] [-2.39208778e-03 -1.69595972e-05 9.99997139e-01 -2.10962956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.06, Y:-25.36, Z:-2.11 [[ 9.86563663e-01 1.63354014e-01 2.75785864e-03 2.08064668e+02] [-1.63353432e-01 9.86567517e-01 -4.36301283e-04 -2.53600075e+01] [-2.79208532e-03 -2.00666835e-05 9.99996102e-01 -2.10998407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.09, Y:-25.36, Z:-2.11 [[ 9.86591950e-01 1.63189027e-01 2.38029653e-03 2.08091740e+02] [-1.63188593e-01 9.86594821e-01 -3.76452245e-04 -2.53623088e+01] [-2.40982111e-03 -1.70324885e-05 9.99997096e-01 -2.11068819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.12, Y:-25.37, Z:-2.11 [[ 9.86678579e-01 1.62671450e-01 1.83849248e-03 2.08118881e+02] [-1.62671191e-01 9.86680292e-01 -2.90655810e-04 -2.53670118e+01] [-1.86128570e-03 -1.22858990e-05 9.99998268e-01 -2.11136364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.15, Y:-25.37, Z:-2.11 [[ 9.86778764e-01 1.62068368e-01 1.23112158e-03 2.08146263e+02] [-1.62068251e-01 9.86779532e-01 -1.94637265e-04 -2.53708933e+01] [-1.24639012e-03 -7.46180247e-06 9.99999223e-01 -2.11149023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.18, Y:-25.38, Z:-2.11 [[ 9.86890182e-01 1.61369176e-01 2.78538867e-03 2.08175044e+02] [-1.61368578e-01 9.86894112e-01 -4.39788576e-04 -2.53750248e+01] [-2.81985200e-03 -1.54511803e-05 9.99996024e-01 -2.10856581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.20, Y:-25.38, Z:-2.11 [[ 9.86979360e-01 1.60806903e-01 3.58922498e-03 2.08203173e+02] [-1.60805906e-01 9.86985886e-01 -5.66478962e-04 -2.53782873e+01] [-3.63360812e-03 -1.80655313e-05 9.99993398e-01 -2.10778276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.23, Y:-25.39, Z:-2.11 [[ 9.87341826e-01 1.58542955e-01 4.49997361e-03 2.08231580e+02] [-1.58541366e-01 9.87352081e-01 -7.09893084e-04 -2.53854389e+01] [-4.55560686e-03 -1.25248274e-05 9.99989623e-01 -2.10671808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.26, Y:-25.39, Z:-2.11 [[ 9.87520802e-01 1.57417973e-01 4.71676623e-03 2.08258928e+02] [-1.57416216e-01 9.87532066e-01 -7.43831055e-04 -2.53906016e+01] [-4.77505027e-03 -7.94685142e-06 9.99988599e-01 -2.10633540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.29, Y:-25.40, Z:-2.11 [[ 9.87631736e-01 1.56725299e-01 4.55356463e-03 2.08287563e+02] [-1.56723655e-01 9.87642233e-01 -7.17799884e-04 -2.53964696e+01] [-4.60979014e-03 -4.72934733e-06 9.99989375e-01 -2.10716452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.31, Y:-25.40, Z:-2.11 [[ 9.87766619e-01 1.55912948e-01 2.87390124e-03 2.08314838e+02] [-1.55912290e-01 9.87770800e-01 -4.52967952e-04 -2.54030760e+01] [-2.90937930e-03 -6.49901936e-07 9.99995768e-01 -2.11090867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.34, Y:-25.41, Z:-2.11 [[ 9.87819116e-01 1.55594509e-01 1.93485790e-03 2.08342728e+02] [-1.55594211e-01 9.87821010e-01 -3.04946608e-04 -2.54079192e+01] [-1.95874130e-03 1.79400426e-07 9.99998082e-01 -2.11205757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.37, Y:-25.41, Z:-2.11 [[ 9.87789039e-01 1.55771276e-01 2.85043466e-03 2.08369438e+02] [-1.55770629e-01 9.87793151e-01 -4.48916848e-04 -2.54119674e+01] [-2.88556819e-03 -5.78858474e-07 9.99995837e-01 -2.11146275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.40, Y:-25.42, Z:-2.11 [[ 9.87812281e-01 1.55607472e-01 3.63483202e-03 2.08395842e+02] [-1.55606420e-01 9.87818969e-01 -5.72059056e-04 -2.54166494e+01] [-3.67957268e-03 -5.16237862e-07 9.99993230e-01 -2.11040713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.42, Y:-25.42, Z:-2.11 [[ 9.87840852e-01 1.55425386e-01 3.66052547e-03 2.08423731e+02] [-1.55424320e-01 9.87847635e-01 -5.75692385e-04 -2.54243269e+01] [-3.70551864e-03 -2.42225944e-07 9.99993135e-01 -2.10962395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.45, Y:-25.43, Z:-2.11 [[ 9.87848052e-01 1.55379621e-01 3.66055220e-03 2.08451731e+02] [-1.55378555e-01 9.87854834e-01 -5.75522360e-04 -2.54286366e+01] [-3.70551863e-03 -2.42670412e-07 9.99993135e-01 -2.10973477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.48, Y:-25.43, Z:-2.11 [[ 9.87806230e-01 1.55646400e-01 3.61255144e-03 2.08480476e+02] [-1.55645364e-01 9.87812836e-01 -5.67803652e-04 -2.54339105e+01] [-3.65690128e-03 -1.39689970e-06 9.99993314e-01 -2.10923667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.51, Y:-25.44, Z:-2.11 [[ 9.87718194e-01 1.56209384e-01 3.37594822e-03 2.08508181e+02] [-1.56208483e-01 9.87723964e-01 -5.30513813e-04 -2.54383375e+01] [-3.41737619e-03 -3.35360407e-06 9.99994161e-01 -2.10964979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.54, Y:-25.44, Z:-2.11 [[ 9.87389552e-01 1.58270967e-01 3.48904014e-03 2.08536945e+02] [-1.58270018e-01 9.87395717e-01 -5.48061445e-04 -2.54396940e+01] [-3.53180551e-03 -1.10603025e-05 9.99993763e-01 -2.10958530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.57, Y:-25.44, Z:-2.11 [[ 9.87130717e-01 1.59870409e-01 3.79464197e-03 2.08565018e+02] [-1.59869300e-01 9.87138011e-01 -5.95869737e-04 -2.54403512e+01] [-3.84109727e-03 -1.84454333e-05 9.99992623e-01 -2.10907759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.59, Y:-25.44, Z:-2.11 [[ 9.86481998e-01 1.63821851e-01 3.95846816e-03 2.08594308e+02] [-1.63820676e-01 9.86489939e-01 -6.21349946e-04 -2.54361836e+01] [-4.00677971e-03 -3.55283942e-05 9.99991972e-01 -2.10797633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.62, Y:-25.44, Z:-2.11 [[ 9.86086909e-01 1.66200062e-01 3.18549419e-03 2.08623336e+02] [-1.66199314e-01 9.86092054e-01 -4.99864146e-04 -2.54350450e+01] [-3.22426795e-03 -3.65174572e-05 9.99994801e-01 -2.10878287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.65, Y:-25.43, Z:-2.11 [[ 9.85390199e-01 1.70310756e-01 6.33876005e-04 2.08653138e+02] [-1.70310727e-01 9.85390403e-01 -9.95849063e-05 -2.54266634e+01] [-6.41575712e-04 -9.82589260e-06 9.99999794e-01 -2.11316150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46576923100002 meters Centerline goodness [0,1] 0.9999786100832068 Centerline is valid? [True, True] Translation: X:208.68, Y:-25.42, Z:-2.11 [[ 9.85116667e-01 1.71886894e-01 -2.19748336e-04 2.08682309e+02] [-1.71886891e-01 9.85116691e-01 3.42155990e-05 -2.54239349e+01] [ 2.22358967e-04 4.06550139e-06 9.99999975e-01 -2.11483699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49576923100003 meters Centerline goodness [0,1] 0.9999788211872842 Centerline is valid? [True, True] Translation: X:208.71, Y:-25.42, Z:-2.12 [[ 9.84869272e-01 1.73297984e-01 -5.70325881e-04 2.08711266e+02] [-1.73297961e-01 9.84869437e-01 8.91347549e-05 -2.54219987e+01] [ 5.77143403e-04 1.10502314e-05 9.99999833e-01 -2.11534475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.74, Y:-25.42, Z:-2.11 [[ 9.84992122e-01 1.72595179e-01 1.19329450e-03 2.08740645e+02] [-1.72595079e-01 9.84992844e-01 -1.87139475e-04 -2.54167270e+01] [-1.20768591e-03 -2.16258495e-05 9.99999271e-01 -2.11326198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.77, Y:-25.42, Z:-2.11 [[ 9.85364398e-01 1.70436675e-01 2.88840544e-03 2.08769562e+02] [-1.70436080e-01 9.85368630e-01 -4.52574527e-04 -2.54208200e+01] [-2.92327941e-03 -4.63376762e-05 9.99995726e-01 -2.11040657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.80, Y:-25.43, Z:-2.11 [[ 9.86307859e-01 1.64829035e-01 5.31008230e-03 2.08797818e+02] [-1.64826951e-01 9.86322151e-01 -8.30830296e-04 -2.54263638e+01] [-5.37439675e-03 -5.57902221e-05 9.99985556e-01 -2.10670261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.83, Y:-25.43, Z:-2.11 [[ 9.86869256e-01 1.61434727e-01 5.28214080e-03 2.08825277e+02] [-1.61432617e-01 9.86883391e-01 -8.26149558e-04 -2.54319678e+01] [-5.34622626e-03 -3.74082133e-05 9.99985708e-01 -2.10734745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.85, Y:-25.45, Z:-2.11 [[ 9.88070771e-01 1.53970292e-01 3.04961289e-03 2.08851915e+02] [-1.53969554e-01 9.88075478e-01 -4.76820984e-04 -2.54453837e+01] [-3.08666397e-03 1.58534265e-06 9.99995236e-01 -2.11110108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.88, Y:-25.45, Z:-2.11 [[ 9.88491321e-01 1.51266743e-01 1.81112215e-03 2.08879335e+02] [-1.51266478e-01 9.88492980e-01 -2.83189414e-04 -2.54526655e+01] [-1.83311867e-03 5.96820939e-06 9.99998320e-01 -2.11387932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.91, Y:-25.46, Z:-2.11 [[ 9.88849846e-01 1.48909864e-01 1.35419788e-03 2.08906458e+02] [-1.48909713e-01 9.88850774e-01 -2.11714087e-04 -2.54592596e+01] [-1.37062594e-03 7.70022448e-06 9.99999061e-01 -2.11488879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.93, Y:-25.46, Z:-2.11 [[ 9.89128814e-01 1.47045020e-01 1.39677087e-03 2.08934808e+02] [-1.47044858e-01 9.89129800e-01 -2.18259741e-04 -2.54639705e+01] [-1.41368170e-03 1.04990250e-05 9.99999001e-01 -2.11450904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.765769231 meters Centerline goodness [0,1] 0.9999786566495208 Centerline is valid? [True, True] Translation: X:208.96, Y:-25.47, Z:-2.11 [[ 9.89493896e-01 1.44560448e-01 2.02669411e-03 2.08963287e+02] [-1.44560103e-01 9.89495971e-01 -3.16511647e-04 -2.54701154e+01] [-2.05116072e-03 2.02072335e-05 9.99997896e-01 -2.11375773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.795769231 meters Centerline goodness [0,1] 0.9999786333917354 Centerline is valid? [True, True] Translation: X:208.99, Y:-25.48, Z:-2.11 [[ 9.89641597e-01 1.43542085e-01 2.27591673e-03 2.08990831e+02] [-1.43541647e-01 9.89644213e-01 -3.55320617e-04 -2.54758590e+01] [-2.30335129e-03 2.49512255e-05 9.99997347e-01 -2.11322031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.825769231 meters Centerline goodness [0,1] 0.9999156776356009 Centerline is valid? [True, True] Translation: X:209.02, Y:-25.49, Z:-2.11 [[ 9.90042495e-01 1.40750529e-01 2.26867116e-03 2.09016832e+02] [-1.40750087e-01 9.90045094e-01 -3.54074204e-04 -2.54861609e+01] [-2.29592289e-03 3.12328453e-05 9.99997364e-01 -2.11364016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.855769231 meters Centerline goodness [0,1] 0.9999573169430395 Centerline is valid? [True, True] Translation: X:209.04, Y:-25.49, Z:-2.11 [[ 9.90336886e-01 1.38660987e-01 2.44585362e-03 2.09044300e+02] [-1.38660468e-01 9.90339906e-01 -3.81501224e-04 -2.54947432e+01] [-2.47512578e-03 3.86715273e-05 9.99996936e-01 -2.11388860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.885769231 meters Centerline goodness [0,1] 0.9998706840812104 Centerline is valid? [True, True] Translation: X:209.07, Y:-25.50, Z:-2.11 [[ 9.90618337e-01 1.36636982e-01 2.37623590e-03 2.09071978e+02] [-1.36636486e-01 9.90621186e-01 -3.70537307e-04 -2.55030209e+01] [-2.40457873e-03 4.23805261e-05 9.99997108e-01 -2.11384550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.915769231 meters Centerline goodness [0,1] 0.9998937729715949 Centerline is valid? [True, True] Translation: X:209.10, Y:-25.51, Z:-2.12 [[ 9.91119741e-01 1.32972125e-01 2.70170679e-04 2.09098568e+02] [-1.32972119e-01 9.91119778e-01 -4.22324434e-05 -2.55146107e+01] [-2.73387241e-04 5.93224077e-06 9.99999963e-01 -2.11748648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.945769231 meters Centerline goodness [0,1] 0.9998299319727891 Centerline is valid? [True, True] Translation: X:209.13, Y:-25.52, Z:-2.12 [[ 9.91275614e-01 1.31805316e-01 -1.23614689e-04 2.09126672e+02] [-1.31805315e-01 9.91275622e-01 1.90790968e-05 -2.55212614e+01] [ 1.25050954e-04 -2.61957041e-06 9.99999992e-01 -2.11785387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97576923100002 meters Centerline goodness [0,1] 0.9995965001698947 Centerline is valid? [True, True] Translation: X:209.15, Y:-25.53, Z:-2.11 [[ 9.91479641e-01 1.30249353e-01 1.79651272e-03 2.09153116e+02] [-1.30249059e-01 9.91481268e-01 -2.79976174e-04 -2.55303361e+01] [-1.81767542e-03 4.35965849e-05 9.99998347e-01 -2.11392129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00576923100002 meters Centerline goodness [0,1] 0.9997651579846285 Centerline is valid? [True, True] Translation: X:209.18, Y:-25.53, Z:-2.11 [[ 9.91595921e-01 1.29347678e-01 2.59003126e-03 2.09181292e+02] [-1.29347066e-01 9.91599301e-01 -4.03385860e-04 -2.55347545e+01] [-2.62045021e-03 6.49828294e-05 9.99996565e-01 -2.11220345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03576923100002 meters Centerline goodness [0,1] 0.9992783308216416 Centerline is valid? [True, True] Translation: X:209.21, Y:-25.55, Z:-2.11 [[ 9.91722338e-01 1.28368565e-01 2.88386056e-03 2.09207078e+02] [-1.28367802e-01 9.91726528e-01 -4.49001030e-04 -2.55476487e+01] [-2.91763864e-03 7.50895084e-05 9.99995741e-01 -2.11231887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06576923100002 meters Centerline goodness [0,1] 0.9989195373077412 Centerline is valid? [True, True] Translation: X:209.23, Y:-25.56, Z:-2.12 [[ 9.91970990e-01 1.26451241e-01 1.90730937e-03 2.09234504e+02] [-1.26450904e-01 9.91972823e-01 -2.96848719e-04 -2.55637079e+01] [-1.92953595e-03 5.32843236e-05 9.99998137e-01 -2.11531772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09576923100002 meters Centerline goodness [0,1] 0.999485254691689 Centerline is valid? [True, True] Translation: X:209.26, Y:-25.57, Z:-2.12 [[ 9.92021509e-01 1.26054950e-01 1.86398956e-03 2.09264161e+02] [-1.26054627e-01 9.92023259e-01 -2.90069240e-04 -2.55687048e+01] [-1.88568567e-03 5.27904155e-05 9.99998221e-01 -2.11544357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12576923100002 meters Centerline goodness [0,1] 0.9993353059736695 Centerline is valid? [True, True] Translation: X:209.29, Y:-25.58, Z:-2.11 [[ 9.92002576e-01 1.26192223e-01 2.53211945e-03 2.09292549e+02] [-1.26191628e-01 9.92005805e-01 -3.93981077e-04 -2.55759185e+01] [-2.56159454e-03 7.12979694e-05 9.99996717e-01 -2.11358521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15576923100002 meters Centerline goodness [0,1] 0.9993999399939995 Centerline is valid? [True, True] Translation: X:209.32, Y:-25.58, Z:-2.11 [[ 9.91776896e-01 1.27940087e-01 3.14989428e-03 2.09320052e+02] [-1.27939176e-01 9.91781895e-01 -4.89901043e-04 -2.55842156e+01] [-3.18668610e-03 8.28776588e-05 9.99994919e-01 -2.11269942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18576923100002 meters Centerline goodness [0,1] 0.9996391194514616 Centerline is valid? [True, True] Translation: X:209.35, Y:-25.59, Z:-2.11 [[ 9.91607101e-01 1.29268055e-01 2.26420015e-03 2.09349514e+02] [-1.29267588e-01 9.91609685e-01 -3.52089525e-04 -2.55898684e+01] [-2.29071672e-03 5.64467822e-05 9.99997375e-01 -2.11482864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21576923100002 meters Centerline goodness [0,1] 0.9999139710942877 Centerline is valid? [True, True] Translation: X:209.38, Y:-25.60, Z:-2.12 [[ 9.91147272e-01 1.32766716e-01 2.88943538e-04 2.09377942e+02] [-1.32766709e-01 9.91147314e-01 -4.50030249e-05 -2.55953483e+01] [-2.92360515e-04 6.24254273e-06 9.99999957e-01 -2.11946129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24576923100003 meters Centerline goodness [0,1] 0.9999575127992693 Centerline is valid? [True, True] Translation: X:209.41, Y:-25.60, Z:-2.12 [[ 9.90830841e-01 1.35108110e-01 2.06101197e-04 2.09405048e+02] [-1.35108106e-01 9.90830863e-01 -3.22475775e-05 -2.55997695e+01] [-2.08568336e-04 4.10595202e-06 9.99999978e-01 -2.11944145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27576923100003 meters Centerline goodness [0,1] 0.9999785292538915 Centerline is valid? [True, True] Translation: X:209.43, Y:-25.60, Z:-2.12 [[ 9.90242976e-01 1.39335784e-01 2.09448314e-03 2.09434512e+02] [-1.39335407e-01 9.90245191e-01 -3.25485830e-04 -2.56028976e+01] [-2.11940368e-03 3.04743965e-05 9.99997754e-01 -2.11527904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30576923100003 meters Centerline goodness [0,1] 0.9999356651154812 Centerline is valid? [True, True] Translation: X:209.46, Y:-25.61, Z:-2.11 [[ 9.89989861e-01 1.41109672e-01 2.85237183e-03 2.09462725e+02] [-1.41108981e-01 9.89993969e-01 -4.43187953e-04 -2.56061424e+01] [-2.88636902e-03 3.62562986e-05 9.99995834e-01 -2.11392949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33576923100003 meters Centerline goodness [0,1] 0.9999364931518449 Centerline is valid? [True, True] Translation: X:209.49, Y:-25.61, Z:-2.11 [[ 9.89710019e-01 1.43055121e-01 3.05137826e-03 2.09490439e+02] [-1.43054339e-01 9.89714722e-01 -4.73964663e-04 -2.56100167e+01] [-3.08779706e-03 3.25746754e-05 9.99995232e-01 -2.11428390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.52, Y:-25.61, Z:-2.12 [[ 9.89303224e-01 1.45873331e-01 3.19711496e-04 2.09519170e+02] [-1.45873322e-01 9.89303276e-01 -4.97980069e-05 -2.56105622e+01] [-3.23555831e-04 2.62795076e-06 9.99999948e-01 -2.12008260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.55, Y:-25.61, Z:-2.12 [[ 9.89214134e-01 1.46473600e-01 -9.39000250e-04 2.09547779e+02] [-1.46473528e-01 9.89214580e-01 1.45524878e-04 -2.56148678e+01] [ 9.50188291e-04 -6.41658708e-06 9.99999549e-01 -2.12258675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.425769231 meters Centerline goodness [0,1] 0.9999788297061564 Centerline is valid? [True, True] Translation: X:209.58, Y:-25.62, Z:-2.12 [[ 9.89180645e-01 1.46701695e-01 -5.14042498e-04 2.09576527e+02] [-1.46701674e-01 9.89180779e-01 7.96077009e-05 -2.56196445e+01] [ 5.20159543e-04 -3.33550223e-06 9.99999865e-01 -2.12116040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.60, Y:-25.62, Z:-2.12 [[ 9.89249146e-01 1.46237689e-01 8.16285321e-04 2.09604512e+02] [-1.46237634e-01 9.89249482e-01 -1.26779239e-04 -2.56248749e+01] [-8.26049734e-04 6.04462028e-06 9.99999659e-01 -2.11838339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.63, Y:-25.63, Z:-2.11 [[ 9.89409372e-01 1.45111572e-01 3.42441524e-03 2.09631333e+02] [-1.45110603e-01 9.89415298e-01 -5.31092334e-04 -2.56338397e+01] [-3.46523647e-03 2.85487731e-05 9.99993996e-01 -2.11380706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.515769231 meters Centerline goodness [0,1] 0.9999788944935734 Centerline is valid? [True, True] Translation: X:209.66, Y:-25.64, Z:-2.11 [[ 9.89488717e-01 1.44565143e-01 3.60523097e-03 2.09659567e+02] [-1.44564066e-01 9.89495285e-01 -5.58879463e-04 -2.56403960e+01] [-3.64815353e-03 3.18180744e-05 9.99993345e-01 -2.11383226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.545769231 meters Centerline goodness [0,1] 0.9999788713051195 Centerline is valid? [True, True] Translation: X:209.69, Y:-25.65, Z:-2.12 [[ 9.89624199e-01 1.43651009e-01 2.88652156e-03 2.09688343e+02] [-1.43650316e-01 9.89628408e-01 -4.47346403e-04 -2.56469710e+01] [-2.92084550e-03 2.80550923e-05 9.99995734e-01 -2.11538938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.575769231 meters Centerline goodness [0,1] 0.9999367101959874 Centerline is valid? [True, True] Translation: X:209.71, Y:-25.66, Z:-2.12 [[ 9.90029597e-01 1.40850746e-01 1.56956604e-03 2.09714593e+02] [-1.40850538e-01 9.90030841e-01 -2.43306763e-04 -2.56613291e+01] [-1.58818873e-03 1.98066765e-05 9.99998739e-01 -2.11883476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.74, Y:-25.67, Z:-2.12 [[ 9.90250581e-01 1.39290835e-01 1.35986671e-03 2.09743013e+02] [-1.39290677e-01 9.90251515e-01 -2.10700150e-04 -2.56711941e+01] [-1.37595867e-03 1.92291909e-05 9.99999053e-01 -2.11898564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.635769231 meters Centerline goodness [0,1] 0.9999787089081928 Centerline is valid? [True, True] Translation: X:209.77, Y:-25.69, Z:-2.12 [[ 9.90674783e-01 1.36245773e-01 7.51335476e-04 2.09771247e+02] [-1.36245724e-01 9.90675067e-01 -1.16362642e-04 -2.56877879e+01] [-7.60183242e-04 1.29112890e-05 9.99999711e-01 -2.11942542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.665769231 meters Centerline goodness [0,1] 0.9999573360638252 Centerline is valid? [True, True] Translation: X:209.80, Y:-25.70, Z:-2.12 [[ 9.90790620e-01 1.35402127e-01 4.59713867e-04 2.09800871e+02] [-1.35402108e-01 9.90790727e-01 -7.11979161e-05 -2.56974503e+01] [-4.65120586e-04 8.29600070e-06 9.99999892e-01 -2.11990986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.695769231 meters Centerline goodness [0,1] 0.9999783816503448 Centerline is valid? [True, True] Translation: X:209.83, Y:-25.70, Z:-2.12 [[ 9.90823993e-01 1.35158087e-01 3.27306060e-04 2.09830627e+02] [-1.35158077e-01 9.90824047e-01 -5.06913345e-05 -2.57031616e+01] [-3.31154059e-04 5.98813270e-06 9.99999945e-01 -2.11939429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72576923100002 meters Centerline goodness [0,1] 0.9999366152545954 Centerline is valid? [True, True] Translation: X:209.86, Y:-25.71, Z:-2.12 [[ 9.90513805e-01 1.37402842e-01 1.69173380e-03 2.09859622e+02] [-1.37402595e-01 9.90515249e-01 -2.61979379e-04 -2.57134013e+01] [-1.71168484e-03 2.70455772e-05 9.99998535e-01 -2.11821852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75576923100002 meters Centerline goodness [0,1] 0.9999785665294925 Centerline is valid? [True, True] Translation: X:209.89, Y:-25.72, Z:-2.12 [[ 9.90241675e-01 1.39336021e-01 2.62647776e-03 2.09890010e+02] [-1.39335432e-01 9.90245157e-01 -4.06806706e-04 -2.57179812e+01] [-2.65753971e-03 3.68755399e-05 9.99996468e-01 -2.11702008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:-25.72, Z:-2.12 [[ 9.89827384e-01 1.42242374e-01 2.97598492e-03 2.09920564e+02] [-1.42241631e-01 9.89831857e-01 -4.60940748e-04 -2.57220701e+01] [-3.01128999e-03 3.29428251e-05 9.99995466e-01 -2.11673554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81576923100002 meters Centerline goodness [0,1] 0.9999789624268944 Centerline is valid? [True, True] Translation: X:209.95, Y:-25.73, Z:-2.12 [[ 9.89723323e-01 1.42979264e-01 2.16192759e-03 2.09950290e+02] [-1.42978874e-01 9.89725684e-01 -3.34834027e-04 -2.57273095e+01] [-2.18758958e-03 2.22830745e-05 9.99997607e-01 -2.11886465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84576923100002 meters Centerline goodness [0,1] 0.9999788762146177 Centerline is valid? [True, True] Translation: X:209.98, Y:-25.73, Z:-2.12 [[ 9.89654240e-01 1.43469650e-01 9.71536476e-04 2.09981748e+02] [-1.43469572e-01 9.89654717e-01 -1.50420212e-04 -2.57319315e+01] [-9.83066391e-04 9.47807887e-06 9.99999517e-01 -2.12156435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87576923100002 meters Centerline goodness [0,1] 0.999978727477717 Centerline is valid? [True, True] Translation: X:210.01, Y:-25.74, Z:-2.13 [[ 9.89797241e-01 1.42479276e-01 -1.03858456e-03 2.10011739e+02] [-1.42479185e-01 9.89797785e-01 1.61017651e-04 -2.57417704e+01] [ 1.05093038e-03 -1.13981451e-05 9.99999448e-01 -2.12532420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.04, Y:-25.75, Z:-2.13 [[ 9.89981075e-01 1.41196771e-01 -9.70922646e-04 2.10042194e+02] [-1.41196692e-01 9.89981551e-01 1.50561292e-04 -2.57487998e+01] [ 9.82454275e-04 -1.19617643e-05 9.99999517e-01 -2.12527751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.07, Y:-25.76, Z:-2.12 [[ 9.90144564e-01 1.40044769e-01 1.09769795e-03 2.10071966e+02] [-1.40044667e-01 9.90145172e-01 -1.69667773e-04 -2.57601461e+01] [-1.11064141e-03 1.42688793e-05 9.99999383e-01 -2.12204585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.10, Y:-25.76, Z:-2.12 [[ 9.90006914e-01 1.41003737e-01 2.06324405e-03 2.10103046e+02] [-1.41003377e-01 9.90009063e-01 -3.20030578e-04 -2.57618779e+01] [-2.08775581e-03 2.59081076e-05 9.99997820e-01 -2.12004877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.13, Y:-25.76, Z:-2.12 [[ 9.89743944e-01 1.42832655e-01 2.39951435e-03 2.10134921e+02] [-1.42832172e-01 9.89746853e-01 -3.72245865e-04 -2.57642465e+01] [-2.42808064e-03 2.57002448e-05 9.99997052e-01 -2.11952792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.17, Y:-25.77, Z:-2.12 [[ 9.89404069e-01 1.45168983e-01 2.35697754e-03 2.10165270e+02] [-1.45168524e-01 9.89406876e-01 -3.65766899e-04 -2.57665497e+01] [-2.38510780e-03 1.97323071e-05 9.99997155e-01 -2.11957658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.20, Y:-25.76, Z:-2.12 [[ 9.88762864e-01 1.49475566e-01 2.24797704e-03 2.10197285e+02] [-1.49475159e-01 9.88765420e-01 -3.48876868e-04 -2.57622195e+01] [-2.27487053e-03 8.93976557e-06 9.99997412e-01 -2.11908154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.23, Y:-25.76, Z:-2.12 [[ 9.88356166e-01 1.52147443e-01 1.80130542e-03 2.10226028e+02] [-1.52147186e-01 9.88357808e-01 -2.79666929e-04 -2.57616060e+01] [-1.82288488e-03 2.34698410e-06 9.99998339e-01 -2.11982418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.25, Y:-25.77, Z:-2.12 [[ 9.88359612e-01 1.52125056e-01 1.80131928e-03 2.10254856e+02] [-1.52124799e-01 9.88361253e-01 -2.79577597e-04 -2.57660319e+01] [-1.82288494e-03 2.29787062e-06 9.99998339e-01 -2.11993827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.28, Y:-25.77, Z:-2.12 [[ 9.88232338e-01 1.52944330e-01 2.20868762e-03 2.10284299e+02] [-1.52943946e-01 9.88234806e-01 -3.42732638e-04 -2.57692830e+01] [-2.23512100e-03 8.94076442e-07 9.99997502e-01 -2.11956293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.31, Y:-25.77, Z:-2.12 [[ 9.88176442e-01 1.53308057e-01 1.98995320e-03 2.10314048e+02] [-1.53307746e-01 9.88178445e-01 -3.08753137e-04 -2.57733139e+01] [-2.01376320e-03 2.73378718e-08 9.99997972e-01 -2.11937192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.34, Y:-25.78, Z:-2.12 [[ 9.88213594e-01 1.53070890e-01 1.78756718e-03 2.10343001e+02] [-1.53070638e-01 9.88215211e-01 -2.77320438e-04 -2.57781607e+01] [-1.80895077e-03 4.27776908e-07 9.99998364e-01 -2.12007539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.37, Y:-25.79, Z:-2.12 [[ 9.88485580e-01 1.51307347e-01 1.53113228e-03 2.10371299e+02] [-1.51307160e-01 9.88486766e-01 -2.37432868e-04 -2.57862622e+01] [-1.54942934e-03 3.02768801e-06 9.99998800e-01 -2.12027145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.40, Y:-25.79, Z:-2.12 [[ 9.88505599e-01 1.51164739e-01 2.42932167e-03 2.10399896e+02] [-1.51164270e-01 9.88508584e-01 -3.76766633e-04 -2.57915155e+01] [-2.45835916e-03 5.20928863e-06 9.99996978e-01 -2.11866563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.43, Y:-25.80, Z:-2.11 [[ 9.88318390e-01 1.52346305e-01 4.16701736e-03 2.10429249e+02] [-1.52344934e-01 9.88327174e-01 -6.46344350e-04 -2.57952003e+01] [-4.21684466e-03 3.97002232e-06 9.99991109e-01 -2.11420896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.46, Y:-25.80, Z:-2.11 [[ 9.88243874e-01 1.52815453e-01 4.63491390e-03 2.10459670e+02] [-1.52813763e-01 9.88254743e-01 -7.18869607e-04 -2.57994882e+01] [-4.69033003e-03 2.13985363e-06 9.99989000e-01 -2.11430222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.49, Y:-25.80, Z:-2.12 [[ 9.88179771e-01 1.53242672e-01 4.17415684e-03 2.10489686e+02] [-1.53241305e-01 9.88188587e-01 -6.47406738e-04 -2.58041333e+01] [-4.22406449e-03 1.01001390e-07 9.99991079e-01 -2.11601153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.52, Y:-25.81, Z:-2.12 [[ 9.88227082e-01 1.52956304e-01 3.40625592e-03 2.10518034e+02] [-1.52955392e-01 9.88232953e-01 -5.28300762e-04 -2.58126573e+01] [-3.44698128e-03 1.07591206e-06 9.99994059e-01 -2.11856275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.55, Y:-25.82, Z:-2.12 [[ 9.88318191e-01 1.52366658e-01 3.39928144e-03 2.10546495e+02] [-1.52365745e-01 9.88324037e-01 -5.27270472e-04 -2.58205734e+01] [-3.43993000e-03 3.17694854e-06 9.99994083e-01 -2.11863827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.58, Y:-25.83, Z:-2.12 [[ 9.88575758e-01 1.50693342e-01 3.08018348e-03 2.10575845e+02] [-1.50692585e-01 9.88580556e-01 -4.77713729e-04 -2.58333524e+01] [-3.11699777e-03 8.09540128e-06 9.99995142e-01 -2.11939602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.60, Y:-25.84, Z:-2.12 [[ 9.88700778e-01 1.49884806e-01 2.30582345e-03 2.10604708e+02] [-1.49884379e-01 9.88703467e-01 -3.57666809e-04 -2.58422676e+01] [-2.33338446e-03 8.01853611e-06 9.99997278e-01 -2.12066071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.63, Y:-25.86, Z:-2.12 [[ 9.88811721e-01 1.49156386e-01 1.93710805e-03 2.10634368e+02] [-1.49156084e-01 9.88813619e-01 -3.00215992e-04 -2.58561682e+01] [-1.96021796e-03 7.92564055e-06 9.99998079e-01 -2.12221851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.67, Y:-25.86, Z:-2.12 [[ 9.88776794e-01 1.49387643e-01 1.94540523e-03 2.10665576e+02] [-1.49387338e-01 9.88778707e-01 -3.01781341e-04 -2.58649900e+01] [-1.96865767e-03 7.77547832e-06 9.99998062e-01 -2.12285357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.70, Y:-25.87, Z:-2.12 [[ 9.88648862e-01 1.50230610e-01 2.04745495e-03 2.10696242e+02] [-1.50230274e-01 9.88650982e-01 -3.18006312e-04 -2.58723630e+01] [-2.07199263e-03 6.80685985e-06 9.99997853e-01 -2.12243545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59576923100002 meters Centerline goodness [0,1] 0.9999787798408488 Centerline is valid? [True, True] Translation: X:210.73, Y:-25.88, Z:-2.12 [[ 9.88053723e-01 1.54097084e-01 1.98237639e-03 2.10726477e+02] [-1.54096775e-01 9.88055711e-01 -3.08448214e-04 -2.58775711e+01] [-2.00622928e-03 -7.14403026e-07 9.99997988e-01 -2.12285499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.76, Y:-25.88, Z:-2.12 [[ 9.87651276e-01 1.56654660e-01 2.06754867e-03 2.10757262e+02] [-1.56654330e-01 9.87653440e-01 -3.21706200e-04 -2.58821531e+01] [-2.09241833e-03 -6.15691337e-06 9.99997811e-01 -2.12144762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.79, Y:-25.89, Z:-2.12 [[ 9.86791737e-01 1.61967094e-01 2.95450228e-03 2.10788808e+02] [-1.61966443e-01 9.86796159e-01 -4.59820637e-04 -2.58852181e+01] [-2.98996732e-03 -2.47830209e-05 9.99995530e-01 -2.11884954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.82, Y:-25.89, Z:-2.12 [[ 9.86302732e-01 1.64921704e-01 2.78428381e-03 2.10819111e+02] [-1.64921137e-01 9.86306662e-01 -4.33362163e-04 -2.58854275e+01] [-2.81762850e-03 -3.17609668e-05 9.99996030e-01 -2.11952680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71576923100002 meters Centerline goodness [0,1] 0.9999786548272108 Centerline is valid? [True, True] Translation: X:210.85, Y:-25.89, Z:-2.12 [[ 9.85790450e-01 1.67964606e-01 2.25376997e-03 2.10849932e+02] [-1.67964242e-01 9.85793026e-01 -3.50941807e-04 -2.58868556e+01] [-2.28069653e-03 -3.25976838e-05 9.99997399e-01 -2.12117716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.88, Y:-25.88, Z:-2.12 [[ 9.84976809e-01 1.72672355e-01 2.22339795e-03 2.10880144e+02] [-1.72672013e-01 9.84979318e-01 -3.46231739e-04 -2.58836396e+01] [-2.24978564e-03 -4.28883659e-05 9.99997468e-01 -2.12070170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77576923100003 meters Centerline goodness [0,1] 0.9999146739478231 Centerline is valid? [True, True] Translation: X:210.91, Y:-25.89, Z:-2.12 [[ 9.84727828e-01 1.74083797e-01 2.43627908e-03 2.10910765e+02] [-1.74083391e-01 9.84730841e-01 -3.79332317e-04 -2.58876490e+01] [-2.46511476e-03 -5.05766362e-05 9.99996960e-01 -2.12016873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80576923100003 meters Centerline goodness [0,1] 0.9999575371549894 Centerline is valid? [True, True] Translation: X:210.94, Y:-25.88, Z:-2.12 [[ 9.84443793e-01 1.75683441e-01 2.39745776e-03 2.10940565e+02] [-1.75683053e-01 9.84446710e-01 -3.73340394e-04 -2.58841299e+01] [-2.42575913e-03 -5.36600640e-05 9.99997056e-01 -2.12072790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.97, Y:-25.89, Z:-2.12 [[ 9.84500511e-01 1.75367680e-01 2.21804598e-03 2.10970268e+02] [-1.75367347e-01 9.84503009e-01 -3.45293486e-04 -2.58893613e+01] [-2.24422626e-03 -4.90312257e-05 9.99997481e-01 -2.12137761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.865769231 meters Centerline goodness [0,1] 0.9999575182140658 Centerline is valid? [True, True] Translation: X:211.00, Y:-25.89, Z:-2.12 [[ 9.84573297e-01 1.74956241e-01 2.39510304e-03 2.10998360e+02] [-1.74955852e-01 9.84576209e-01 -3.72859365e-04 -2.58921555e+01] [-2.42339554e-03 -5.19299173e-05 9.99997062e-01 -2.12196535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.895769231 meters Centerline goodness [0,1] 0.9999576907617779 Centerline is valid? [True, True] Translation: X:211.03, Y:-25.90, Z:-2.12 [[ 9.84964521e-01 1.72739857e-01 2.41542189e-03 2.11026762e+02] [-1.72739454e-01 9.84967481e-01 -3.75933307e-04 -2.58953690e+01] [-2.44405068e-03 -4.69576892e-05 9.99997012e-01 -2.12265149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.925769231 meters Centerline goodness [0,1] 0.9999575767860173 Centerline is valid? [True, True] Translation: X:211.05, Y:-25.90, Z:-2.12 [[ 9.85537200e-01 1.69450969e-01 1.67248171e-03 2.11054836e+02] [-1.69450771e-01 9.85538618e-01 -2.60285617e-04 -2.58999244e+01] [-1.69240097e-03 -2.68821581e-05 9.99998568e-01 -2.12457467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.08, Y:-25.90, Z:-2.13 [[ 9.85755461e-01 1.68180624e-01 1.20389159e-03 2.11083178e+02] [-1.68180521e-01 9.85756196e-01 -1.87354063e-04 -2.59028730e+01] [-1.21825292e-03 -1.77858251e-05 9.99999258e-01 -2.12585810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.11, Y:-25.91, Z:-2.13 [[ 9.85894890e-01 1.67364095e-01 7.24432930e-04 2.11113280e+02] [-1.67364057e-01 9.85895156e-01 -1.12658199e-04 -2.59106240e+01] [-7.33069854e-04 -1.01748919e-05 9.99999731e-01 -2.12594333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.015769231 meters Centerline goodness [0,1] 0.9999788628196998 Centerline is valid? [True, True] Translation: X:211.14, Y:-25.91, Z:-2.13 [[ 9.86001201e-01 1.66736779e-01 6.91343742e-04 2.11142407e+02] [-1.66736745e-01 9.86001443e-01 -1.07550701e-04 -2.59146094e+01] [-6.99598585e-04 -9.22728527e-06 9.99999755e-01 -2.12632406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.17, Y:-25.92, Z:-2.13 [[ 9.85948812e-01 1.67044676e-01 1.00817487e-03 2.11171821e+02] [-1.67044603e-01 9.85949327e-01 -1.56840093e-04 -2.59167769e+01] [-1.02020864e-03 -1.37738671e-05 9.99999479e-01 -2.12575784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.20, Y:-25.92, Z:-2.13 [[ 9.85652861e-01 1.68782831e-01 8.90682353e-04 2.11201211e+02] [-1.68782775e-01 9.85653263e-01 -1.38586617e-04 -2.59159377e+01] [-9.01295010e-04 -1.37335432e-05 9.99999594e-01 -2.12625493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.105769231 meters Centerline goodness [0,1] 0.9999579195421646 Centerline is valid? [True, True] Translation: X:211.23, Y:-25.92, Z:-2.13 [[ 9.85472482e-01 1.69833926e-01 6.51402393e-04 2.11230220e+02] [-1.69833896e-01 9.85472697e-01 -1.01406127e-04 -2.59177498e+01] [-6.59161474e-04 -1.06972592e-05 9.99999783e-01 -2.12670823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.135769231 meters Centerline goodness [0,1] 0.9999786753102743 Centerline is valid? [True, True] Translation: X:211.26, Y:-25.92, Z:-2.13 [[ 9.85286529e-01 1.70909804e-01 5.42977099e-04 2.11258653e+02] [-1.70909783e-01 9.85286678e-01 -8.45708063e-05 -2.59190846e+01] [-5.49442082e-04 -9.47362212e-06 9.99999849e-01 -2.12679150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.165769231 meters Centerline goodness [0,1] 0.9999576342992713 Centerline is valid? [True, True] Translation: X:211.29, Y:-25.92, Z:-2.13 [[ 9.85053419e-01 1.72248833e-01 3.17290091e-04 2.11287240e+02] [-1.72248826e-01 9.85053470e-01 -4.94943061e-05 -2.59190610e+01] [-3.21073042e-04 -5.89831029e-06 9.99999948e-01 -2.12682571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.195769231 meters Centerline goodness [0,1] 0.999978606422352 Centerline is valid? [True, True] Translation: X:211.32, Y:-25.92, Z:-2.13 [[ 9.84628109e-01 1.74663842e-01 1.70457741e-04 2.11316179e+02] [-1.74663840e-01 9.84628124e-01 -2.66922352e-05 -2.59184836e+01] [-1.72499654e-04 -3.49087849e-06 9.99999985e-01 -2.12618983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22576923100002 meters Centerline goodness [0,1] 0.9999358453445105 Centerline is valid? [True, True] Translation: X:211.34, Y:-25.92, Z:-2.13 [[ 9.84454361e-01 1.75636773e-01 1.15529814e-03 2.11344513e+02] [-1.75636683e-01 9.84455039e-01 -1.79483542e-04 -2.59167030e+01] [-1.16886299e-03 -2.62193777e-05 9.99999317e-01 -2.12501629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25576923100002 meters Centerline goodness [0,1] 0.9999362027900647 Centerline is valid? [True, True] Translation: X:211.37, Y:-25.92, Z:-2.12 [[ 9.84535363e-01 1.75172448e-01 2.17536842e-03 2.11372674e+02] [-1.75172129e-01 9.84537765e-01 -3.37598804e-04 -2.59213297e+01] [-2.20087037e-03 -4.86859573e-05 9.99997577e-01 -2.12361393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28576923100002 meters Centerline goodness [0,1] 0.9999788171496357 Centerline is valid? [True, True] Translation: X:211.40, Y:-25.93, Z:-2.12 [[ 9.84757622e-01 1.73897153e-01 3.49359631e-03 2.11399984e+02] [-1.73896325e-01 9.84763817e-01 -5.41898478e-04 -2.59251774e+01] [-3.53460184e-03 -7.38849021e-05 9.99993751e-01 -2.12187939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31576923100002 meters Centerline goodness [0,1] 0.9999789078483896 Centerline is valid? [True, True] Translation: X:211.43, Y:-25.93, Z:-2.12 [[ 9.85020799e-01 1.72376208e-01 4.52431825e-03 2.11428175e+02] [-1.72374803e-01 9.85031185e-01 -7.01439402e-04 -2.59327057e+01] [-4.57750603e-03 -8.89460696e-05 9.99989519e-01 -2.11989406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.46, Y:-25.94, Z:-2.12 [[ 9.85734429e-01 1.68231311e-01 5.08544536e-03 2.11456611e+02] [-1.68229483e-01 9.85747544e-01 -7.88214570e-04 -2.59449582e+01] [-5.14556764e-03 -7.85516024e-05 9.99986758e-01 -2.11936250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.48, Y:-25.95, Z:-2.12 [[ 9.86078606e-01 1.66200811e-01 5.12584498e-03 2.11484768e+02] [-1.66198926e-01 9.86091926e-01 -7.94382817e-04 -2.59515414e+01] [-5.18658141e-03 -6.85860321e-05 9.99986547e-01 -2.11877745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.51, Y:-25.96, Z:-2.12 [[ 9.86071037e-01 1.66264357e-01 4.48032608e-03 2.11514368e+02] [-1.66262919e-01 9.86081214e-01 -6.94204967e-04 -2.59558761e+01] [-4.53338692e-03 -6.03766781e-05 9.99989722e-01 -2.11993856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.54, Y:-25.96, Z:-2.12 [[ 9.86032730e-01 1.66524452e-01 3.01022791e-03 2.11544187e+02] [-1.66523804e-01 9.86037325e-01 -4.66377814e-04 -2.59597388e+01] [-3.04586038e-03 -4.14108112e-05 9.99995360e-01 -2.12254283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.57, Y:-25.96, Z:-2.13 [[ 9.86124276e-01 1.66002614e-01 1.42998706e-03 2.11573161e+02] [-1.66002467e-01 9.86125312e-01 -2.21593065e-04 -2.59623849e+01] [-1.44693147e-03 -1.88630794e-05 9.99998953e-01 -2.12591627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.60, Y:-25.97, Z:-2.13 [[ 9.86219268e-01 1.65431456e-01 1.99731702e-03 2.11602321e+02] [-1.65431168e-01 9.86221290e-01 -3.09357159e-04 -2.59685701e+01] [-2.02097397e-03 -2.53244969e-05 9.99997958e-01 -2.12503210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.63, Y:-25.97, Z:-2.12 [[ 9.86336441e-01 1.64715472e-01 3.03947816e-03 2.11630890e+02] [-1.64714804e-01 9.86341123e-01 -4.70660744e-04 -2.59739691e+01] [-3.07548741e-03 -3.64172057e-05 9.99995270e-01 -2.12381083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.66, Y:-25.98, Z:-2.12 [[ 9.86738197e-01 1.62296275e-01 2.76596717e-03 2.11659339e+02] [-1.62295713e-01 9.86742073e-01 -4.28207430e-04 -2.59829199e+01] [-2.79879265e-03 -2.63759852e-05 9.99996083e-01 -2.12482877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.69, Y:-25.99, Z:-2.13 [[ 9.87040425e-01 1.60465814e-01 1.38652268e-03 2.11688089e+02] [-1.60465671e-01 9.87041398e-01 -2.14568220e-04 -2.59900506e+01] [-1.40298615e-03 -1.07017854e-05 9.99999016e-01 -2.12734239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.615769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.72, Y:-26.00, Z:-2.13 [[ 9.87728377e-01 1.56179926e-01 -6.95859293e-04 2.11716659e+02] [-1.56179889e-01 9.87728622e-01 1.07715190e-04 -2.60019118e+01] [ 7.04143091e-04 2.28587721e-06 9.99999752e-01 -2.13157544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.75, Y:-26.01, Z:-2.13 [[ 9.88002988e-01 1.54431538e-01 -9.98140369e-04 2.11745169e+02] [-1.54431461e-01 9.88003492e-01 1.54447485e-04 -2.60088478e+01] [ 1.01001773e-03 1.54969794e-06 9.99999490e-01 -2.13230094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.78, Y:-26.01, Z:-2.13 [[ 9.88090684e-01 1.53870382e-01 8.40315374e-04 2.11775471e+02] [-1.53870327e-01 9.88091041e-01 -1.30065978e-04 -2.60136271e+01] [-8.50321394e-04 -7.82620678e-07 9.99999638e-01 -2.12838851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.80, Y:-26.02, Z:-2.13 [[ 9.88005130e-01 1.54410518e-01 1.80421129e-03 2.11804779e+02] [-1.54410265e-01 9.88006777e-01 -2.79285085e-04 -2.60162834e+01] [-1.82569754e-03 -2.65364774e-06 9.99998333e-01 -2.12674247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.84, Y:-26.02, Z:-2.13 [[ 9.87877445e-01 1.55222552e-01 2.02817452e-03 2.11835404e+02] [-1.55222235e-01 9.87879527e-01 -3.13900957e-04 -2.60190027e+01] [-2.05231659e-03 -4.72210537e-06 9.99997894e-01 -2.12599646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.87, Y:-26.02, Z:-2.13 [[ 9.87423879e-01 1.58090188e-01 1.25553654e-03 2.11865018e+02] [-1.58090069e-01 9.87424677e-01 -1.94413984e-04 -2.60161736e+01] [-1.27048271e-03 -6.51884890e-06 9.99999193e-01 -2.12714260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.89, Y:-26.02, Z:-2.13 [[ 9.87227148e-01 1.59315356e-01 1.08389110e-03 2.11894765e+02] [-1.59315268e-01 9.87227743e-01 -1.67781493e-04 -2.60176124e+01] [-1.09677753e-03 -7.04195625e-06 9.99999399e-01 -2.12780882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.825769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.92, Y:-26.02, Z:-2.13 [[ 9.87104077e-01 1.60065597e-01 2.13201202e-03 2.11924139e+02] [-1.60065258e-01 9.87106379e-01 -3.29886684e-04 -2.60185426e+01] [-2.15732617e-03 -1.56285622e-05 9.99997673e-01 -2.12622324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.95, Y:-26.02, Z:-2.13 [[ 9.87219207e-01 1.59350763e-01 2.36055863e-03 2.11954026e+02] [-1.59350346e-01 9.87222029e-01 -3.65179947e-04 -2.60225353e+01] [-2.38858718e-03 -1.56431764e-05 9.99997147e-01 -2.12626438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.98, Y:-26.03, Z:-2.13 [[ 9.87552503e-01 1.57279145e-01 1.82346979e-03 2.11983172e+02] [-1.57278892e-01 9.87554186e-01 -2.82069820e-04 -2.60268747e+01] [-1.84513892e-03 -8.23455135e-06 9.99998298e-01 -2.12668839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.01, Y:-26.03, Z:-2.13 [[ 9.87679356e-01 1.56485720e-01 1.30757590e-03 2.12012877e+02] [-1.56485590e-01 9.87680221e-01 -2.02261487e-04 -2.60312244e+01] [-1.32311789e-03 -4.84729113e-06 9.99999125e-01 -2.12746382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.04, Y:-26.04, Z:-2.13 [[ 9.87738426e-01 1.56113545e-01 1.16782663e-03 2.12042326e+02] [-1.56113440e-01 9.87739116e-01 -1.80626774e-04 -2.60353631e+01] [-1.18170633e-03 -3.90142737e-06 9.99999302e-01 -2.12761989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.07, Y:-26.04, Z:-2.12 [[ 9.87728427e-01 1.56163041e-01 2.37898689e-03 2.12071510e+02] [-1.56162608e-01 9.87731292e-01 -3.67802242e-04 -2.60385058e+01] [-2.40723691e-03 -8.22006559e-06 9.99997103e-01 -2.12484525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.10, Y:-26.04, Z:-2.12 [[ 9.87702091e-01 1.56314163e-01 3.23441166e-03 2.12099921e+02] [-1.56313364e-01 9.87707387e-01 -4.99938465e-04 -2.60413804e+01] [-3.27279975e-03 -1.17914984e-05 9.99994644e-01 -2.12392909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.13, Y:-26.05, Z:-2.12 [[ 9.87705766e-01 1.56290939e-01 3.23442511e-03 2.12128752e+02] [-1.56290141e-01 9.87711062e-01 -4.99851466e-04 -2.60457892e+01] [-3.27279971e-03 -1.18025791e-05 9.99994644e-01 -2.12404318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.16, Y:-26.05, Z:-2.12 [[ 9.87557451e-01 1.57224898e-01 3.25762015e-03 2.12158678e+02] [-1.57224093e-01 9.87562824e-01 -5.03357216e-04 -2.60482037e+01] [-3.29624484e-03 -1.50822033e-05 9.99994567e-01 -2.12419949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.19, Y:-26.05, Z:-2.13 [[ 9.87452274e-01 1.57891598e-01 2.87210539e-03 2.12187435e+02] [-1.57890975e-01 9.87456451e-01 -4.43730416e-04 -2.60506677e+01] [-2.90614030e-03 -1.53169139e-05 9.99995777e-01 -2.12542948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.22, Y:-26.05, Z:-2.13 [[ 9.87351381e-01 1.58530565e-01 2.30422951e-03 2.12215700e+02] [-1.58530166e-01 9.87354070e-01 -3.56008303e-04 -2.60533081e+01] [-2.33152858e-03 -1.37845972e-05 9.99997282e-01 -2.12728274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.24, Y:-26.05, Z:-2.13 [[ 9.87346206e-01 1.58570897e-01 1.65532012e-03 2.12244050e+02] [-1.58570691e-01 9.87347594e-01 -2.55716611e-04 -2.60547201e+01] [-1.67492555e-03 -1.00044305e-05 9.99998597e-01 -2.12871121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.27, Y:-26.06, Z:-2.13 [[ 9.87481377e-01 1.57725820e-01 1.75967744e-03 2.12271293e+02] [-1.57725587e-01 9.87482944e-01 -2.71720298e-04 -2.60587754e+01] [-1.78050877e-03 -9.22742251e-06 9.99998415e-01 -2.12887583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.30, Y:-26.07, Z:-2.13 [[ 9.87952593e-01 1.54727278e-01 3.02386983e-03 2.12300143e+02] [-1.54726575e-01 9.87957220e-01 -4.66567300e-04 -2.60679824e+01] [-3.05964472e-03 -6.92664668e-06 9.99995319e-01 -2.12679237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.33, Y:-26.07, Z:-2.12 [[ 9.88285633e-01 1.52564323e-01 3.95419244e-03 2.12328291e+02] [-1.52563104e-01 9.88293543e-01 -6.09984496e-04 -2.60749579e+01] [-4.00096473e-03 -4.24957012e-07 9.99991996e-01 -2.12494032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.36, Y:-26.08, Z:-2.13 [[ 9.88722459e-01 1.49734217e-01 2.75015699e-03 2.12358355e+02] [-1.49733617e-01 9.88726284e-01 -4.24148613e-04 -2.60824794e+01] [-2.78266206e-03 7.57430794e-06 9.99996128e-01 -2.12694549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.39, Y:-26.09, Z:-2.13 [[ 9.88840355e-01 1.48976677e-01 8.38405962e-04 2.12388249e+02] [-1.48976621e-01 9.88840710e-01 -1.29304883e-04 -2.60874956e+01] [-8.48313358e-04 2.95899906e-06 9.99999640e-01 -2.13006554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.42, Y:-26.09, Z:-2.13 [[ 9.88892597e-01 1.48629165e-01 -8.95571476e-04 2.12417548e+02] [-1.48629101e-01 9.88893003e-01 1.38170670e-04 -2.60926696e+01] [ 9.06160557e-04 -3.52796929e-06 9.99999589e-01 -2.13336705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.365769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.45, Y:-26.10, Z:-2.13 [[ 9.88813732e-01 1.49147809e-01 -1.52755411e-03 2.12447278e+02] [-1.49147624e-01 9.88814912e-01 2.35476247e-04 -2.60952257e+01] [ 1.54558905e-03 -5.01108096e-06 9.99998806e-01 -2.13404924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.48, Y:-26.10, Z:-2.13 [[ 9.88707115e-01 1.49860576e-01 -2.17961963e-04 2.12476451e+02] [-1.49860573e-01 9.88707139e-01 3.35135051e-05 -2.60976895e+01] [ 2.20522902e-04 -4.71136307e-07 9.99999976e-01 -2.13192072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.50, Y:-26.10, Z:-2.13 [[ 9.88306429e-01 1.52473815e-01 1.46245976e-03 2.12504325e+02] [-1.52473648e-01 9.88307511e-01 -2.25649152e-04 -2.60973388e+01] [-1.47976555e-03 2.39320750e-08 9.99998905e-01 -2.12909423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.53, Y:-26.10, Z:-2.13 [[ 9.88111006e-01 1.53737569e-01 1.18276629e-03 2.12533243e+02] [-1.53737461e-01 9.88111714e-01 -1.82423857e-04 -2.60998088e+01] [-1.19675062e-03 -1.58046460e-06 9.99999284e-01 -2.12963385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.56, Y:-26.10, Z:-2.13 [[ 9.87929454e-01 1.54902712e-01 7.37964456e-04 2.12561980e+02] [-1.54902670e-01 9.87929729e-01 -1.13853229e-04 -2.61022666e+01] [-7.46693199e-04 -1.83370660e-06 9.99999721e-01 -2.13050044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.59, Y:-26.10, Z:-2.13 [[ 9.87646282e-01 1.56698107e-01 7.24861968e-04 2.12590385e+02] [-1.56698067e-01 9.87646548e-01 -1.11854926e-04 -2.61030372e+01] [-7.33434876e-04 -3.11136736e-06 9.99999731e-01 -2.13092198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.62, Y:-26.11, Z:-2.13 [[ 9.87521135e-01 1.57483991e-01 8.95066284e-04 2.12618783e+02] [-1.57483931e-01 9.87521540e-01 -1.37949274e-04 -2.61053982e+01] [-9.05622038e-04 -4.73073361e-06 9.99999590e-01 -2.12989358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.65, Y:-26.10, Z:-2.13 [[ 9.87269129e-01 1.59031705e-01 2.92987636e-03 2.12647971e+02] [-1.59031066e-01 9.87273476e-01 -4.50998297e-04 -2.61049406e+01] [-2.96431224e-03 -2.06846654e-05 9.99995606e-01 -2.12594226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.68, Y:-26.11, Z:-2.12 [[ 9.87132804e-01 1.59841253e-01 4.42734031e-03 2.12676406e+02] [-1.59839806e-01 9.87142732e-01 -6.81192224e-04 -2.61064098e+01] [-4.47929942e-03 -3.52380236e-05 9.99989967e-01 -2.12349612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.71, Y:-26.11, Z:-2.12 [[ 9.87035410e-01 1.60408704e-01 5.49068659e-03 2.12705268e+02] [-1.60406488e-01 9.87050680e-01 -8.44434562e-04 -2.61093088e+01] [-5.55504059e-03 -4.72549416e-05 9.99984570e-01 -2.12240770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.73, Y:-26.11, Z:-2.12 [[ 9.87073716e-01 1.60157875e-01 5.91053621e-03 2.12733403e+02] [-1.60155305e-01 9.87091410e-01 -9.08674681e-04 -2.61094209e+01] [-5.97977093e-03 -4.96748356e-05 9.99982120e-01 -2.12242992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.76, Y:-26.11, Z:-2.12 [[ 9.87173221e-01 1.59546448e-01 5.82777838e-03 2.12762511e+02] [-1.59543940e-01 9.87190422e-01 -8.95624891e-04 -2.61128843e+01] [-5.89602077e-03 -4.56498184e-05 9.99982617e-01 -2.12311082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.79, Y:-26.11, Z:-2.12 [[ 9.87292042e-01 1.58837062e-01 5.02104950e-03 2.12791123e+02] [-1.58835192e-01 9.87304809e-01 -7.71429750e-04 -2.61137069e+01] [-5.07983795e-03 -3.58929094e-05 9.99987097e-01 -2.12346405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.82, Y:-26.11, Z:-2.13 [[ 9.87318286e-01 1.58710677e-01 3.67742801e-03 2.12819666e+02] [-1.58709674e-01 9.87325134e-01 -5.64868966e-04 -2.61143256e+01] [-3.72046784e-03 -2.59379418e-05 9.99993079e-01 -2.12543284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.85, Y:-26.12, Z:-2.13 [[ 9.87281352e-01 1.58969189e-01 2.08056531e-03 2.12847689e+02] [-1.58968868e-01 9.87283544e-01 -3.19544988e-04 -2.61155011e+01] [-2.10490570e-03 -1.52643048e-05 9.99997785e-01 -2.12853490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.88, Y:-26.12, Z:-2.13 [[ 9.87308030e-01 1.58810456e-01 1.44661460e-03 2.12876475e+02] [-1.58810301e-01 9.87309090e-01 -2.22186426e-04 -2.61157089e+01] [-1.46354127e-03 -1.03708570e-05 9.99998929e-01 -2.13041389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.90, Y:-26.12, Z:-2.13 [[ 9.87621841e-01 1.56831372e-01 2.64964815e-03 2.12904702e+02] [-1.56830846e-01 9.87625395e-01 -4.06531782e-04 -2.61203660e+01] [-2.68061674e-03 -1.40468927e-05 9.99996407e-01 -2.12859284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.93, Y:-26.13, Z:-2.13 [[ 9.87951515e-01 1.54746373e-01 2.31617777e-03 2.12932026e+02] [-1.54745966e-01 9.87954230e-01 -3.55295286e-04 -2.61258084e+01] [-2.34325828e-03 -7.40464943e-06 9.99997255e-01 -2.12912617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.96, Y:-26.13, Z:-2.13 [[ 9.88328624e-01 1.52325422e-01 1.86979821e-03 2.12959588e+02] [-1.52325152e-01 9.88330393e-01 -2.86723974e-04 -2.61336357e+01] [-1.89165375e-03 -1.43978616e-06 9.99998211e-01 -2.12980574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.99, Y:-26.15, Z:-2.13 [[ 9.89115204e-01 1.47135399e-01 1.51230408e-03 2.12986194e+02] [-1.47135217e-01 9.89116360e-01 -2.31894963e-04 -2.61469008e+01] [-1.52996467e-03 6.85764475e-06 9.99998830e-01 -2.13112266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.01, Y:-26.15, Z:-2.13 [[ 9.89436432e-01 1.44955874e-01 1.82812664e-03 2.13012868e+02] [-1.44955604e-01 9.89438121e-01 -2.80162459e-04 -2.61543102e+01] [-1.84942939e-03 1.22057430e-05 9.99998290e-01 -2.13091545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.04, Y:-26.16, Z:-2.13 [[ 9.89643952e-01 1.43503568e-01 3.40212665e-03 2.13040178e+02] [-1.43502625e-01 9.89649799e-01 -5.20972863e-04 -2.61622255e+01] [-3.44167542e-03 2.73635375e-05 9.99994077e-01 -2.12764165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.07, Y:-26.16, Z:-2.13 [[ 9.89531224e-01 1.44271214e-01 3.71119840e-03 2.13070310e+02] [-1.44270098e-01 9.89538183e-01 -5.68053283e-04 -2.61645268e+01] [-3.75432626e-03 2.66915011e-05 9.99992952e-01 -2.12687432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.10, Y:-26.17, Z:-2.13 [[ 9.89374140e-01 1.45361105e-01 2.99340343e-03 2.13098935e+02] [-1.45360384e-01 9.89378668e-01 -4.58139723e-04 -2.61674467e+01] [-3.02820520e-03 1.81493211e-05 9.99995415e-01 -2.12807828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.13, Y:-26.17, Z:-2.13 [[ 9.89184649e-01 1.46663011e-01 1.92142294e-03 2.13126619e+02] [-1.46662717e-01 9.89186515e-01 -2.94100047e-04 -2.61682952e+01] [-1.94377926e-03 9.11814341e-06 9.99998111e-01 -2.13197346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.115769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.16, Y:-26.17, Z:-2.13 [[ 9.89159495e-01 1.46831271e-01 2.01754694e-03 2.13155620e+02] [-1.46830947e-01 9.89161553e-01 -3.08656644e-04 -2.61716838e+01] [-2.04100031e-03 9.07232318e-06 9.99997917e-01 -2.13219269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.18, Y:-26.18, Z:-2.13 [[ 9.89284124e-01 1.45986641e-01 2.19622052e-03 2.13183352e+02] [-1.45986255e-01 9.89286561e-01 -3.35888056e-04 -2.61778240e+01] [-2.22172662e-03 1.16707119e-05 9.99997532e-01 -2.13118807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:-26.18, Z:-2.13 [[ 9.89360097e-01 1.45475191e-01 1.88874874e-03 2.13210497e+02] [-1.45474905e-01 9.89361900e-01 -2.88781683e-04 -2.61837859e+01] [-1.91066661e-03 1.09435310e-05 9.99998175e-01 -2.13195295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.24, Y:-26.19, Z:-2.13 [[ 9.89587506e-01 1.43902443e-01 2.94204490e-03 2.13239068e+02] [-1.43901743e-01 9.89591879e-01 -4.49507459e-04 -2.61883632e+01] [-2.97610896e-03 2.14615771e-05 9.99995571e-01 -2.13104830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.27, Y:-26.19, Z:-2.13 [[ 9.89628051e-01 1.43596613e-01 4.04153833e-03 2.13267269e+02] [-1.43595290e-01 9.89636303e-01 -6.17241867e-04 -2.61915839e+01] [-4.08828689e-03 3.04939968e-05 9.99991642e-01 -2.12931929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.265769231 meters Centerline goodness [0,1] 0.9999788261200983 Centerline is valid? [True, True] Translation: X:213.30, Y:-26.20, Z:-2.13 [[ 9.89701120e-01 1.43073105e-01 4.66693573e-03 2.13295546e+02] [-1.43071335e-01 9.89712122e-01 -7.12504687e-04 -2.61961504e+01] [-4.72086313e-03 3.74619583e-05 9.99988856e-01 -2.12840736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.32, Y:-26.21, Z:-2.13 [[ 9.89976611e-01 1.41182615e-01 3.71188642e-03 2.13322884e+02] [-1.41181483e-01 9.89983570e-01 -5.66555856e-04 -2.62058598e+01] [-3.75469441e-03 3.68274174e-05 9.99992950e-01 -2.13028480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.35, Y:-26.21, Z:-2.13 [[ 9.90139062e-01 1.40059398e-01 2.82888788e-03 2.13350972e+02] [-1.40058736e-01 9.90143103e-01 -4.31703702e-04 -2.62139535e+01] [-2.86146799e-03 3.12362383e-05 9.99995906e-01 -2.13210147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.38, Y:-26.22, Z:-2.13 [[ 9.90606991e-01 1.36731793e-01 1.48524012e-03 2.13380427e+02] [-1.36731607e-01 9.90608104e-01 -2.26603311e-04 -2.62242092e+01] [-1.50227478e-03 2.13955563e-05 9.99998871e-01 -2.13451943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.41, Y:-26.24, Z:-2.14 [[ 9.90795286e-01 1.35366987e-01 6.92969371e-04 2.13408825e+02] [-1.35366946e-01 9.90795528e-01 -1.05705403e-04 -2.62351332e+01] [-7.00899976e-04 1.09272673e-05 9.99999754e-01 -2.13642292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.44, Y:-26.24, Z:-2.14 [[ 9.90958164e-01 1.34170225e-01 5.16757018e-04 2.13438610e+02] [-1.34170203e-01 9.90958299e-01 -7.88451220e-05 -2.62448710e+01] [-5.22663323e-04 8.79882359e-06 9.99999863e-01 -2.13609451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.47, Y:-26.25, Z:-2.14 [[ 9.90916886e-01 1.34467631e-01 1.47676165e-03 2.13467219e+02] [-1.34467444e-01 9.90917986e-01 -2.25348398e-04 -2.62539682e+01] [-1.49365174e-03 2.47251680e-05 9.99998884e-01 -2.13510635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47576923100002 meters Centerline goodness [0,1] 0.9999787789402202 Centerline is valid? [True, True] Translation: X:213.50, Y:-26.26, Z:-2.13 [[ 9.90791982e-01 1.35366396e-01 2.68083394e-03 2.13498198e+02] [-1.35365784e-01 9.90795608e-01 -4.09000645e-04 -2.62556605e+01] [-2.71152343e-03 4.23413713e-05 9.99996323e-01 -2.13192612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.53, Y:-26.26, Z:-2.13 [[ 9.90199067e-01 1.39627419e-01 3.16082037e-03 2.13528067e+02] [-1.39626591e-01 9.90204112e-01 -4.82229635e-04 -2.62589493e+01] [-3.19718981e-03 3.61687624e-05 9.99994888e-01 -2.13079541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:-26.26, Z:-2.13 [[ 9.89830702e-01 1.42225452e-01 2.66514146e-03 2.13557617e+02] [-1.42224872e-01 9.89834289e-01 -4.06635317e-04 -2.62602705e+01] [-2.69588229e-03 2.34507182e-05 9.99996366e-01 -2.13275660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.59, Y:-26.26, Z:-2.14 [[ 9.89120725e-01 1.47098415e-01 1.49909617e-03 2.13587604e+02] [-1.47098237e-01 9.89121861e-01 -2.28731174e-04 -2.62616035e+01] [-1.51643479e-03 5.72833948e-06 9.99998850e-01 -2.13530042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.62, Y:-26.26, Z:-2.14 [[ 9.88811595e-01 1.49165815e-01 1.09045415e-03 2.13616549e+02] [-1.49165722e-01 9.88812196e-01 -1.66413459e-04 -2.62645769e+01] [-1.10307756e-03 1.89317685e-06 9.99999392e-01 -2.13627620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.64, Y:-26.27, Z:-2.14 [[ 9.88547279e-01 1.50907511e-01 1.09584497e-03 2.13644906e+02] [-1.50907419e-01 9.88547886e-01 -1.67227392e-04 -2.62677678e+01] [-1.10853110e-03 -5.89523422e-08 9.99999386e-01 -2.13596312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65576923100002 meters Centerline goodness [0,1] 0.9999569364597464 Centerline is valid? [True, True] Translation: X:213.67, Y:-26.27, Z:-2.14 [[ 9.88225058e-01 1.52992035e-01 2.16142102e-03 2.13673227e+02] [-1.52991680e-01 9.88227422e-01 -3.29552152e-04 -2.62727827e+01] [-2.18639438e-03 -5.00773929e-06 9.99997610e-01 -2.13501745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68576923100002 meters Centerline goodness [0,1] 0.9999785223367698 Centerline is valid? [True, True] Translation: X:213.70, Y:-26.28, Z:-2.14 [[ 9.88164415e-01 1.53375938e-01 2.62891674e-03 2.13702220e+02] [-1.53375415e-01 9.88167912e-01 -4.00633734e-04 -2.62789488e+01] [-2.65925874e-03 -7.31919723e-06 9.99996464e-01 -2.13514468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71576923100002 meters Centerline goodness [0,1] 0.999978736976398 Centerline is valid? [True, True] Translation: X:213.73, Y:-26.29, Z:-2.14 [[ 9.88143261e-01 1.53520620e-01 2.07736861e-03 2.13730184e+02] [-1.53520294e-01 9.88145444e-01 -3.16570763e-04 -2.62852365e+01] [-2.10134246e-03 -6.10097315e-06 9.99997792e-01 -2.13626403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.76, Y:-26.29, Z:-2.14 [[ 9.88077671e-01 1.53948606e-01 1.53074170e-03 2.13758169e+02] [-1.53948429e-01 9.88078857e-01 -2.33246691e-04 -2.62893667e+01] [-1.54840151e-03 -5.18943333e-06 9.99998801e-01 -2.13681281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.79, Y:-26.29, Z:-2.14 [[ 9.88007486e-01 1.54398328e-01 1.53724439e-03 2.13786351e+02] [-1.54398150e-01 9.88008682e-01 -2.34179244e-04 -2.62929692e+01] [-1.55496769e-03 -5.97684514e-06 9.99998791e-01 -2.13710869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.82, Y:-26.30, Z:-2.13 [[ 9.87819065e-01 1.55569685e-01 3.40121489e-03 2.13815212e+02] [-1.55568824e-01 9.87824920e-01 -5.17853195e-04 -2.62958385e+01] [-3.44036708e-03 -1.75777424e-05 9.99994082e-01 -2.13369486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83576923100003 meters Centerline goodness [0,1] 0.9999788820138111 Centerline is valid? [True, True] Translation: X:213.84, Y:-26.30, Z:-2.13 [[ 9.87754850e-01 1.55956606e-01 4.23012134e-03 2.13844926e+02] [-1.55955279e-01 9.87763907e-01 -6.43820798e-04 -2.62990874e+01] [-4.27876929e-03 -2.37726371e-05 9.99990846e-01 -2.13231506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.865769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.87, Y:-26.30, Z:-2.13 [[ 9.87750893e-01 1.55979732e-01 4.30069521e-03 2.13873075e+02] [-1.55978361e-01 9.87760256e-01 -6.54452318e-04 -2.63020879e+01] [-4.35013710e-03 -2.43795272e-05 9.99990538e-01 -2.13288517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.90, Y:-26.31, Z:-2.13 [[ 9.87814311e-01 1.55591825e-01 3.75118361e-03 2.13902308e+02] [-1.55590780e-01 9.87821433e-01 -5.70713155e-04 -2.63068974e+01] [-3.79429787e-03 -1.98909600e-05 9.99992801e-01 -2.13314653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.93, Y:-26.31, Z:-2.13 [[ 9.87818001e-01 1.55568397e-01 3.75119715e-03 2.13931149e+02] [-1.55567352e-01 9.87825123e-01 -5.70624137e-04 -2.63112386e+01] [-3.79429787e-03 -1.98910119e-05 9.99992801e-01 -2.13326062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.96, Y:-26.31, Z:-2.13 [[ 9.87880188e-01 1.55179956e-01 3.45181732e-03 2.13959397e+02] [-1.55179069e-01 9.87886219e-01 -5.25011810e-04 -2.63145845e+01] [-3.49147407e-03 -1.70010325e-05 9.99993905e-01 -2.13399728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.99, Y:-26.32, Z:-2.13 [[ 9.88258592e-01 1.52760585e-01 3.02625068e-03 2.13988546e+02] [-1.52759892e-01 9.88263226e-01 -4.60182119e-04 -2.63205648e+01] [-3.06102995e-03 -7.51079299e-06 9.99995315e-01 -2.13493780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.015769231 meters Centerline goodness [0,1] 0.9999361430395913 Centerline is valid? [True, True] Translation: X:214.02, Y:-26.33, Z:-2.14 [[ 9.88547383e-01 1.50883500e-01 2.87064383e-03 2.14017301e+02] [-1.50882869e-01 9.88551551e-01 -4.36454656e-04 -2.63266690e+01] [-2.90363321e-03 -1.67486846e-06 9.99995784e-01 -2.13558186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.045769231 meters Centerline goodness [0,1] 0.999957243030614 Centerline is valid? [True, True] Translation: X:214.05, Y:-26.34, Z:-2.13 [[ 9.89297387e-01 1.45861224e-01 3.89671522e-03 2.14046000e+02] [-1.45860022e-01 9.89305061e-01 -5.92330299e-04 -2.63377890e+01] [-3.94143811e-03 1.76158489e-05 9.99992232e-01 -2.13473445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.075769231 meters Centerline goodness [0,1] 0.9999147485080989 Centerline is valid? [True, True] Translation: X:214.07, Y:-26.35, Z:-2.13 [[ 9.89710518e-01 1.43016569e-01 4.39910424e-03 2.14074980e+02] [-1.43015009e-01 9.89720294e-01 -6.68703831e-04 -2.63468947e+01] [-4.44951847e-03 3.26852804e-05 9.99990100e-01 -2.13394105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.105769231 meters Centerline goodness [0,1] 0.9999152452590316 Centerline is valid? [True, True] Translation: X:214.11, Y:-26.36, Z:-2.13 [[ 9.90097766e-01 1.40306983e-01 4.51258433e-03 2.14105192e+02] [-1.40305314e-01 9.90108049e-01 -6.86018579e-04 -2.63561727e+01] [-4.56419927e-03 4.60859023e-05 9.99989583e-01 -2.13437700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.135769231 meters Centerline goodness [0,1] 0.9999365267433988 Centerline is valid? [True, True] Translation: X:214.14, Y:-26.37, Z:-2.14 [[ 9.90575928e-01 1.36943768e-01 2.39468410e-03 2.14135233e+02] [-1.36943288e-01 9.90578822e-01 -3.63867047e-04 -2.63683669e+01] [-2.42195268e-03 3.25020237e-05 9.99997067e-01 -2.13827805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.165769231 meters Centerline goodness [0,1] 0.9999145189554216 Centerline is valid? [True, True] Translation: X:214.17, Y:-26.37, Z:-2.14 [[ 9.90717143e-01 1.35927170e-01 1.82929240e-03 2.14166863e+02] [-1.35926889e-01 9.90718832e-01 -2.78071511e-04 -2.63749387e+01] [-1.85011191e-03 2.68401879e-05 9.99998288e-01 -2.13915728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.195769231 meters Centerline goodness [0,1] 0.9999149786383829 Centerline is valid? [True, True] Translation: X:214.20, Y:-26.39, Z:-2.14 [[ 9.90995183e-01 1.33884954e-01 1.83479818e-03 2.14197131e+02] [-1.33884666e-01 9.90996881e-01 -2.79251224e-04 -2.63850445e+01] [-1.85566681e-03 3.10852760e-05 9.99998278e-01 -2.13819246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22576923100002 meters Centerline goodness [0,1] 0.9998716824568532 Centerline is valid? [True, True] Translation: X:214.23, Y:-26.39, Z:-2.14 [[ 9.91138198e-01 1.32813304e-01 2.38707805e-03 2.14228137e+02] [-1.32812813e-01 9.91141072e-01 -3.63847222e-04 -2.63926570e+01] [-2.41425485e-03 4.35883296e-05 9.99997085e-01 -2.13714322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25576923100002 meters Centerline goodness [0,1] 0.9998936192846961 Centerline is valid? [True, True] Translation: X:214.26, Y:-26.40, Z:-2.14 [[ 9.91262757e-01 1.31873698e-01 2.73384457e-03 2.14258308e+02] [-1.31873049e-01 9.91266526e-01 -4.17276607e-04 -2.64016243e+01] [-2.76499641e-03 5.31103430e-05 9.99996176e-01 -2.13622362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28576923100002 meters Centerline goodness [0,1] 0.9998094068317063 Centerline is valid? [True, True] Translation: X:214.29, Y:-26.41, Z:-2.14 [[ 9.91518847e-01 1.29919000e-01 3.38068879e-03 2.14287750e+02] [-1.29917993e-01 9.91524608e-01 -5.16681968e-04 -2.64149038e+01] [-3.41916293e-03 7.30876060e-05 9.99994152e-01 -2.13639271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31576923100002 meters Centerline goodness [0,1] 0.9998081800549884 Centerline is valid? [True, True] Translation: X:214.32, Y:-26.42, Z:-2.14 [[ 9.91549559e-01 1.29677274e-01 3.64374994e-03 2.14319535e+02] [-1.29676100e-01 9.91556251e-01 -5.57495932e-04 -2.64222766e+01] [-3.68527758e-03 8.02775632e-05 9.99993206e-01 -2.13696145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34576923100002 meters Centerline goodness [0,1] 0.9998098939630772 Centerline is valid? [True, True] Translation: X:214.35, Y:-26.43, Z:-2.14 [[ 9.91470689e-01 1.30269089e-01 3.97953958e-03 2.14349628e+02] [-1.30267691e-01 9.91478672e-01 -6.09604427e-04 -2.64324666e+01] [-4.02504123e-03 8.59994902e-05 9.99991896e-01 -2.13585246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37576923100002 meters Centerline goodness [0,1] 0.9999147757537019 Centerline is valid? [True, True] Translation: X:214.38, Y:-26.44, Z:-2.13 [[ 9.91200732e-01 1.32233543e-01 5.94964875e-03 2.14380850e+02] [-1.32230446e-01 9.91218581e-01 -9.12635755e-04 -2.64408104e+01] [-6.01808346e-03 1.17880519e-04 9.99981884e-01 -2.13137597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40576923100002 meters Centerline goodness [0,1] 0.9999365549328539 Centerline is valid? [True, True] Translation: X:214.41, Y:-26.44, Z:-2.13 [[ 9.91071560e-01 1.33194599e-01 6.03010151e-03 2.14412585e+02] [-1.33191429e-01 9.91089898e-01 -9.25981252e-04 -2.64447042e+01] [-6.09970839e-03 1.14555847e-04 9.99981390e-01 -2.13132501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43576923100002 meters Centerline goodness [0,1] 0.9998717208646014 Centerline is valid? [True, True] Translation: X:214.44, Y:-26.45, Z:-2.13 [[ 9.90843611e-01 1.34934093e-01 4.66151645e-03 2.14444065e+02] [-1.34932215e-01 9.90854573e-01 -7.16466282e-04 -2.64514648e+01] [-4.71556062e-03 8.09172963e-05 9.99988878e-01 -2.13455521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46576923100002 meters Centerline goodness [0,1] 0.9998728166864508 Centerline is valid? [True, True] Translation: X:214.47, Y:-26.46, Z:-2.13 [[ 9.90657241e-01 1.36298695e-01 4.57123335e-03 2.14474746e+02] [-1.36296901e-01 9.90667785e-01 -7.03352134e-04 -2.64593746e+01] [-4.62443960e-03 7.37359465e-05 9.99989305e-01 -2.13470829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49576923100003 meters Centerline goodness [0,1] 0.9999364931518449 Centerline is valid? [True, True] Translation: X:214.51, Y:-26.46, Z:-2.13 [[ 9.90441874e-01 1.37848538e-01 4.76183631e-03 2.14505636e+02] [-1.37846604e-01 9.90453318e-01 -7.33450937e-04 -2.64649248e+01] [-4.81748172e-03 7.00375554e-05 9.99988393e-01 -2.13410205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52576923100003 meters Centerline goodness [0,1] 0.9999573315128112 Centerline is valid? [True, True] Translation: X:214.54, Y:-26.47, Z:-2.13 [[ 9.90040073e-01 1.40647056e-01 6.24968780e-03 2.14538443e+02] [-1.40643776e-01 9.90059796e-01 -9.63528738e-04 -2.64668450e+01] [-6.32308211e-03 7.49523736e-05 9.99980006e-01 -2.13254451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55576923100003 meters Centerline goodness [0,1] 0.9999570483635426 Centerline is valid? [True, True] Translation: X:214.57, Y:-26.47, Z:-2.13 [[ 9.89813946e-01 1.42232543e-01 6.18511491e-03 2.14570579e+02] [-1.42229357e-01 9.89833269e-01 -9.54201268e-04 -2.64703509e+01] [-6.25795098e-03 6.47768045e-05 9.99980417e-01 -2.13302367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58576923100003 meters Centerline goodness [0,1] 0.9998932536293766 Centerline is valid? [True, True] Translation: X:214.60, Y:-26.47, Z:-2.14 [[ 9.89407440e-01 1.45121642e-01 3.55337805e-03 2.14602460e+02] [-1.45120608e-01 9.89413820e-01 -5.48518525e-04 -2.64716950e+01] [-3.59536326e-03 2.70399259e-05 9.99993536e-01 -2.13792463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.615769231 meters Centerline goodness [0,1] 0.9998280272576796 Centerline is valid? [True, True] Translation: X:214.63, Y:-26.47, Z:-2.14 [[ 9.89177566e-01 1.46709360e-01 2.02634844e-03 2.14634987e+02] [-1.46709026e-01 9.89179642e-01 -3.12857203e-04 -2.64737592e+01] [-2.05032171e-03 1.21877189e-05 9.99997898e-01 -2.14045962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.645769231 meters Centerline goodness [0,1] 0.9998939284653571 Centerline is valid? [True, True] Translation: X:214.67, Y:-26.48, Z:-2.14 [[ 9.88898719e-01 1.48588503e-01 8.83187447e-04 2.14666396e+02] [-1.48588440e-01 9.88899114e-01 -1.36171328e-04 -2.64762041e+01] [-8.93616777e-04 3.42820630e-06 9.99999601e-01 -2.14303008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.70, Y:-26.48, Z:-2.14 [[ 9.88438331e-01 1.51616821e-01 1.41609595e-03 2.14698427e+02] [-1.51616662e-01 9.88439345e-01 -2.19283252e-04 -2.64751922e+01] [-1.43297198e-03 2.04423033e-06 9.99998973e-01 -2.14135652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.705769231 meters Centerline goodness [0,1] 0.999978431076505 Centerline is valid? [True, True] Translation: X:214.73, Y:-26.48, Z:-2.14 [[ 9.88411961e-01 1.51776261e-01 2.40048116e-03 2.14730345e+02] [-1.51775806e-01 9.88414876e-01 -3.71613622e-04 -2.64786551e+01] [-2.42907341e-03 2.97238612e-06 9.99997050e-01 -2.13979601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.735769231 meters Centerline goodness [0,1] 0.99989457926585 Centerline is valid? [True, True] Translation: X:214.76, Y:-26.49, Z:-2.14 [[ 9.88867870e-01 1.48766207e-01 2.99171560e-03 2.14760220e+02] [-1.48765485e-01 9.88872396e-01 -4.63858121e-04 -2.64876661e+01] [-3.02743139e-03 1.36303707e-05 9.99995417e-01 -2.14047977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.765769231 meters Centerline goodness [0,1] 0.9997887978372898 Centerline is valid? [True, True] Translation: X:214.79, Y:-26.50, Z:-2.14 [[ 9.89315161e-01 1.45762681e-01 2.95859695e-03 2.14791130e+02] [-1.45761960e-01 9.89319584e-01 -4.59199341e-04 -2.64988273e+01] [-2.99393203e-03 2.30419815e-05 9.99995518e-01 -2.14116337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.795769231 meters Centerline goodness [0,1] 0.999830519246658 Centerline is valid? [True, True] Translation: X:214.82, Y:-26.51, Z:-2.14 [[ 9.89878380e-01 1.41883322e-01 3.14893967e-03 2.14821326e+02] [-1.41882483e-01 9.89883388e-01 -4.89318054e-04 -2.65128248e+01] [-3.18650914e-03 3.75859829e-05 9.99994922e-01 -2.14109990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.825769231 meters Centerline goodness [0,1] 0.9995782992810003 Centerline is valid? [True, True] Translation: X:214.85, Y:-26.54, Z:-2.14 [[ 9.91072524e-01 1.33274994e-01 3.60958031e-03 2.14847553e+02] [-1.33273832e-01 9.91079094e-01 -5.61645870e-04 -2.65401321e+01] [-3.65223293e-03 7.55691892e-05 9.99993328e-01 -2.14062584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.855769231 meters Centerline goodness [0,1] 0.9996789314839787 Centerline is valid? [True, True] Translation: X:214.88, Y:-26.55, Z:-2.14 [[ 9.91528519e-01 1.29857869e-01 2.85132747e-03 2.14876800e+02] [-1.29857130e-01 9.91532616e-01 -4.43626633e-04 -2.65524468e+01] [-2.88479259e-03 6.96032563e-05 9.99995837e-01 -2.14199166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.885769231 meters Centerline goodness [0,1] 0.9994678813162488 Centerline is valid? [True, True] Translation: X:214.90, Y:-26.57, Z:-2.14 [[ 9.92012332e-01 1.26125364e-01 1.98110078e-03 2.14904390e+02] [-1.26125000e-01 9.92014309e-01 -3.08268983e-04 -2.65741536e+01] [-2.00416086e-03 5.59402959e-05 9.99997990e-01 -2.14355379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.915769231 meters Centerline goodness [0,1] 0.9994016838326424 Centerline is valid? [True, True] Translation: X:214.94, Y:-26.59, Z:-2.14 [[ 9.91989844e-01 1.26298888e-01 2.17744440e-03 2.14936393e+02] [-1.26298448e-01 9.91992231e-01 -3.38633918e-04 -2.65851975e+01] [-2.20277702e-03 6.09135586e-05 9.99997572e-01 -2.14248292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.945769231 meters Centerline goodness [0,1] 0.9996781461216607 Centerline is valid? [True, True] Translation: X:214.97, Y:-26.59, Z:-2.14 [[ 9.91824541e-01 1.27572116e-01 3.07180617e-03 2.14968276e+02] [-1.27571245e-01 9.91829294e-01 -4.78677130e-04 -2.65893357e+01] [-3.10777320e-03 8.28895880e-05 9.99995167e-01 -2.14077493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97576923100002 meters Centerline goodness [0,1] 0.9998093745366742 Centerline is valid? [True, True] Translation: X:215.00, Y:-26.60, Z:-2.14 [[ 9.90986797e-01 1.33873418e-01 4.80366636e-03 2.14997313e+02] [-1.33871359e-01 9.90998435e-01 -7.49124617e-04 -2.65956842e+01] [-4.86071372e-03 9.92992605e-05 9.99988182e-01 -2.13802821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00576923100002 meters Centerline goodness [0,1] 0.9998506348020911 Centerline is valid? [True, True] Translation: X:215.03, Y:-26.60, Z:-2.14 [[ 9.90354563e-01 1.38464157e-01 5.05136208e-03 2.15028884e+02] [-1.38461939e-01 9.90367442e-01 -7.87795629e-04 -2.65984064e+01] [-5.11178600e-03 8.07756063e-05 9.99986931e-01 -2.13811221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03576923100002 meters Centerline goodness [0,1] 0.9999148174964863 Centerline is valid? [True, True] Translation: X:215.06, Y:-26.59, Z:-2.14 [[ 9.88763433e-01 1.49438328e-01 3.88057364e-03 2.15059431e+02] [-1.49437103e-01 9.88771048e-01 -6.05310946e-04 -2.65947215e+01] [-3.92745552e-03 1.86076450e-05 9.99992287e-01 -2.13917970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06576923100002 meters Centerline goodness [0,1] 0.9998716769681545 Centerline is valid? [True, True] Translation: X:215.09, Y:-26.59, Z:-2.14 [[ 9.87868382e-01 1.55255332e-01 3.44125910e-03 2.15091267e+02] [-1.55254405e-01 9.87874375e-01 -5.36678220e-04 -2.65920448e+01] [-3.48285384e-03 -4.10318827e-06 9.99993935e-01 -2.13992568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09576923100002 meters Centerline goodness [0,1] 0.9999568761050498 Centerline is valid? [True, True] Translation: X:215.12, Y:-26.59, Z:-2.14 [[ 9.86927433e-01 1.61128395e-01 3.44706526e-03 2.15124546e+02] [-1.61127498e-01 9.86933453e-01 -5.38106143e-04 -2.65887330e+01] [-3.48872820e-03 -2.43452882e-05 9.99993914e-01 -2.14006881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12576923100002 meters Centerline goodness [0,1] 0.9999784408416695 Centerline is valid? [True, True] Translation: X:215.16, Y:-26.58, Z:-2.14 [[ 9.85434304e-01 1.69990879e-01 4.72575758e-03 2.15157032e+02] [-1.69989292e-01 9.85445633e-01 -7.38616456e-04 -2.65775381e+01] [-4.78253523e-03 -7.54701888e-05 9.99988561e-01 -2.13777424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15576923100002 meters Centerline goodness [0,1] 0.9999786975693926 Centerline is valid? [True, True] Translation: X:215.19, Y:-26.58, Z:-2.14 [[ 9.84937945e-01 1.72831565e-01 5.14728586e-03 2.15189660e+02] [-1.72829718e-01 9.84951390e-01 -8.04834346e-04 -2.65770114e+01] [-5.20892714e-03 -9.68920789e-05 9.99986429e-01 -2.13747053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18576923100002 meters Centerline goodness [0,1] 0.9999356761508609 Centerline is valid? [True, True] Translation: X:215.22, Y:-26.57, Z:-2.14 [[ 9.84458850e-01 1.75563794e-01 4.25757556e-03 2.15221655e+02] [-1.75562554e-01 9.84468052e-01 -6.66246020e-04 -2.65718933e+01] [-4.30841580e-03 -9.15790463e-05 9.99990715e-01 -2.13940473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21576923100002 meters Centerline goodness [0,1] 0.9999572813875005 Centerline is valid? [True, True] Translation: X:215.25, Y:-26.57, Z:-2.14 [[ 9.84366684e-01 1.76102459e-01 3.18665969e-03 2.15252042e+02] [-1.76101767e-01 9.84371840e-01 -4.98723550e-04 -2.65716723e+01] [-3.22468451e-03 -7.02495557e-05 9.99994798e-01 -2.14136038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24576923100003 meters Centerline goodness [0,1] 0.9999357917941913 Centerline is valid? [True, True] Translation: X:215.28, Y:-26.58, Z:-2.14 [[ 9.84283999e-01 1.76579815e-01 2.13957769e-03 2.15283594e+02] [-1.76579504e-01 9.84286324e-01 -3.34839554e-04 -2.65756009e+01] [-2.16508296e-03 -4.82283521e-05 9.99997655e-01 -2.14236982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27576923100003 meters Centerline goodness [0,1] 0.9998943118645501 Centerline is valid? [True, True] Translation: X:215.32, Y:-26.56, Z:-2.14 [[ 9.83894957e-01 1.78740048e-01 1.64602733e-03 2.15315416e+02] [-1.78739867e-01 9.83896333e-01 -2.57698226e-04 -2.65644598e+01] [-1.66558125e-03 -4.06627205e-05 9.99998612e-01 -2.14325891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30576923100003 meters Centerline goodness [0,1] 0.9998722643276846 Centerline is valid? [True, True] Translation: X:215.35, Y:-26.56, Z:-2.14 [[ 9.83569129e-01 1.80518619e-01 2.19030463e-03 2.15345755e+02] [-1.80518302e-01 9.83571566e-01 -3.42904659e-04 -2.65599998e+01] [-2.21622203e-03 -5.81196379e-05 9.99997542e-01 -2.14214914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33576923100003 meters Centerline goodness [0,1] 0.9997663104671666 Centerline is valid? [True, True] Translation: X:215.38, Y:-26.55, Z:-2.14 [[ 9.82979014e-01 1.83678729e-01 3.79251786e-03 2.15377079e+02] [-1.83677805e-01 9.82986323e-01 -5.93512554e-04 -2.65518931e+01] [-3.83700882e-03 -1.13190971e-04 9.99992632e-01 -2.14013429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.365769231 meters Centerline goodness [0,1] 0.9995761634313809 Centerline is valid? [True, True] Translation: X:215.41, Y:-26.55, Z:-2.14 [[ 9.82851584e-01 1.84351858e-01 4.14195614e-03 2.15406193e+02] [-1.84350762e-01 9.82860304e-01 -6.48080926e-04 -2.65464789e+01] [-4.19043920e-03 -1.26605407e-04 9.99991212e-01 -2.13995080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.395769231 meters Centerline goodness [0,1] 0.9995566252850266 Centerline is valid? [True, True] Translation: X:215.44, Y:-26.55, Z:-2.14 [[ 9.82914533e-01 1.84013416e-01 4.25238763e-03 2.15435165e+02] [-1.84012259e-01 9.82923723e-01 -6.65106852e-04 -2.65462300e+01] [-4.30216127e-03 -1.28748263e-04 9.99990737e-01 -2.13952274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.425769231 meters Centerline goodness [0,1] 0.999660851686203 Centerline is valid? [True, True] Translation: X:215.46, Y:-26.55, Z:-2.14 [[ 9.83210854e-01 1.82419584e-01 4.41725256e-03 2.15463579e+02] [-1.82418320e-01 9.83220768e-01 -6.90684001e-04 -2.65518971e+01] [-4.46912875e-03 -1.26699785e-04 9.99990005e-01 -2.13930101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.455769231 meters Centerline goodness [0,1] 0.9997874917653059 Centerline is valid? [True, True] Translation: X:215.49, Y:-26.56, Z:-2.14 [[ 9.84249354e-01 1.76696254e-01 5.62527023e-03 2.15493682e+02] [-1.76694112e-01 9.84265420e-01 -8.79316046e-04 -2.65556557e+01] [-5.69213081e-03 -1.28485881e-04 9.99983791e-01 -2.13780441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.485769231 meters Centerline goodness [0,1] 0.9998307881044037 Centerline is valid? [True, True] Translation: X:215.52, Y:-26.56, Z:-2.14 [[ 9.84726120e-01 1.73988661e-01 6.51258427e-03 2.15522522e+02] [-1.73985732e-01 9.84747647e-01 -1.01787035e-03 -2.65588515e+01] [-6.59034993e-03 -1.30773227e-04 9.99978275e-01 -2.13597872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.515769231 meters Centerline goodness [0,1] 0.9998737214294734 Centerline is valid? [True, True] Translation: X:215.55, Y:-26.56, Z:-2.13 [[ 9.85269996e-01 1.70817314e-01 8.02990247e-03 2.15552149e+02] [-1.70812760e-01 9.85302708e-01 -1.25474760e-03 -2.65609583e+01] [-8.12621727e-03 -1.35344641e-04 9.99966973e-01 -2.13330870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.545769231 meters Centerline goodness [0,1] 0.9998940722850727 Centerline is valid? [True, True] Translation: X:215.58, Y:-26.56, Z:-2.13 [[ 9.85423185e-01 1.69939789e-01 7.84945300e-03 2.15580659e+02] [-1.69935410e-01 9.85454440e-01 -1.22626979e-03 -2.65635435e+01] [-7.94367033e-03 -1.25505333e-04 9.99968441e-01 -2.13363985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.575769231 meters Centerline goodness [0,1] 0.9998724625358699 Centerline is valid? [True, True] Translation: X:215.61, Y:-26.56, Z:-2.13 [[ 9.85502910e-01 1.69509392e-01 7.11202342e-03 2.15608763e+02] [-1.69505790e-01 9.85528566e-01 -1.11070396e-03 -2.65643125e+01] [-7.19737700e-03 -1.10927168e-04 9.99974092e-01 -2.13484187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.605769231 meters Centerline goodness [0,1] 0.9999366058787482 Centerline is valid? [True, True] Translation: X:215.64, Y:-26.57, Z:-2.14 [[ 9.85604187e-01 1.68964676e-01 5.94346617e-03 2.15637183e+02] [-1.68962151e-01 9.85622103e-01 -9.27913632e-04 -2.65672670e+01] [-6.01479625e-03 -8.96652690e-05 9.99981907e-01 -2.13717438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.635769231 meters Centerline goodness [0,1] 0.9999361267245784 Centerline is valid? [True, True] Translation: X:215.67, Y:-26.57, Z:-2.14 [[ 9.85887558e-01 1.67355855e-01 4.21205942e-03 2.15665343e+02] [-1.67354573e-01 9.85896554e-01 -6.57446935e-04 -2.65693724e+01] [-4.26268246e-03 -5.67386510e-05 9.99990913e-01 -2.13978147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.665769231 meters Centerline goodness [0,1] 0.9999363638292005 Centerline is valid? [True, True] Translation: X:215.69, Y:-26.57, Z:-2.14 [[ 9.86050866e-01 1.66392989e-01 4.13069889e-03 2.15694263e+02] [-1.66391748e-01 9.86059517e-01 -6.44505778e-04 -2.65737946e+01] [-4.18035620e-03 -5.17987307e-05 9.99991261e-01 -2.13943617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.695769231 meters Centerline goodness [0,1] 0.9999788820138111 Centerline is valid? [True, True] Translation: X:215.72, Y:-26.58, Z:-2.14 [[ 9.86652050e-01 1.62734576e-01 5.93213846e-03 2.15722116e+02] [-1.62731955e-01 9.86669881e-01 -9.25214934e-04 -2.65792717e+01] [-6.00362681e-03 -5.24832746e-05 9.99981977e-01 -2.13570267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72576923100002 meters Centerline goodness [0,1] 0.9999359166061434 Centerline is valid? [True, True] Translation: X:215.75, Y:-26.59, Z:-2.14 [[ 9.87016523e-01 1.60487425e-01 6.49379026e-03 2.15749942e+02] [-1.60484237e-01 9.87037884e-01 -1.01251577e-03 -2.65866023e+01] [-6.57211304e-03 -4.27811779e-05 9.99978403e-01 -2.13504587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75576923100002 meters Centerline goodness [0,1] 0.9998509115692622 Centerline is valid? [True, True] Translation: X:215.78, Y:-26.59, Z:-2.14 [[ 9.87361266e-01 1.58346355e-01 6.64543895e-03 2.15777546e+02] [-1.58342969e-01 9.87383629e-01 -1.03591583e-03 -2.65933518e+01] [-6.72563113e-03 -2.94353723e-05 9.99977382e-01 -2.13572395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78576923100002 meters Centerline goodness [0,1] 0.9998077908764736 Centerline is valid? [True, True] Translation: X:215.81, Y:-26.61, Z:-2.14 [[ 9.88011994e-01 1.54294650e-01 5.04584243e-03 2.15806356e+02] [-1.54292646e-01 9.88024879e-01 -7.86457932e-04 -2.66051809e+01] [-5.10676410e-03 -1.50650855e-06 9.99986960e-01 -2.13985644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81576923100002 meters Centerline goodness [0,1] 0.9999150021249469 Centerline is valid? [True, True] Translation: X:215.83, Y:-26.61, Z:-2.14 [[ 9.88306393e-01 1.52434664e-01 3.76114434e-03 2.15833789e+02] [-1.52433537e-01 9.88313550e-01 -5.86225353e-04 -2.66139416e+01] [-3.80655097e-03 6.04573086e-06 9.99992755e-01 -2.14267372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84576923100002 meters Centerline goodness [0,1] 0.9999150021249469 Centerline is valid? [True, True] Translation: X:215.86, Y:-26.62, Z:-2.14 [[ 9.88309801e-01 1.52412565e-01 3.76116518e-03 2.15862614e+02] [-1.52411439e-01 9.88316958e-01 -5.86091567e-04 -2.66183855e+01] [-3.80655105e-03 5.99544407e-06 9.99992755e-01 -2.14278781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.89, Y:-26.63, Z:-2.15 [[ 9.88791945e-01 1.49297036e-01 9.40763247e-04 2.15891286e+02] [-1.49296964e-01 9.88792392e-01 -1.46574292e-04 -2.66305693e+01] [-9.52102649e-04 4.47838275e-06 9.99999547e-01 -2.14691300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90576923100002 meters Centerline goodness [0,1] 0.9999573824287754 Centerline is valid? [True, True] Translation: X:215.92, Y:-26.64, Z:-2.15 [[ 9.88986606e-01 1.48004095e-01 5.30728924e-04 2.15919826e+02] [-1.48004071e-01 9.88986748e-01 -8.27695356e-05 -2.66381322e+01] [-5.37134103e-04 3.30792045e-06 9.99999856e-01 -2.14756872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.95, Y:-26.65, Z:-2.15 [[ 9.89220760e-01 1.46420914e-01 1.79018720e-03 2.15947465e+02] [-1.46420649e-01 9.89222379e-01 -2.78899347e-04 -2.66501554e+01] [-1.81172993e-03 1.37726538e-05 9.99998359e-01 -2.14569586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.98, Y:-26.66, Z:-2.14 [[ 9.89332336e-01 1.45653974e-01 2.53930886e-03 2.15977626e+02] [-1.45653439e-01 9.89335595e-01 -3.95509177e-04 -2.66586626e+01] [-2.56983612e-03 2.14309507e-05 9.99996698e-01 -2.14454086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.01, Y:-26.67, Z:-2.14 [[ 9.89408853e-01 1.45123399e-01 3.05302190e-03 2.16007490e+02] [-1.45122623e-01 9.89413563e-01 -4.75507318e-04 -2.66696471e+01] [-3.08970852e-03 2.74086044e-05 9.99995226e-01 -2.14433229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02576923100003 meters Centerline goodness [0,1] 0.9999573806124405 Centerline is valid? [True, True] Translation: X:216.04, Y:-26.68, Z:-2.14 [[ 9.89570601e-01 1.44017382e-01 3.00321385e-03 2.16037867e+02] [-1.44016624e-01 9.89575158e-01 -4.68219831e-04 -2.66836158e+01] [-3.03933761e-03 3.08238593e-05 9.99995381e-01 -2.14457211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05576923100003 meters Centerline goodness [0,1] 0.9999574250681199 Centerline is valid? [True, True] Translation: X:216.07, Y:-26.69, Z:-2.15 [[ 9.89593901e-01 1.43858928e-01 2.91895319e-03 2.16069983e+02] [-1.43858211e-01 9.89598205e-01 -4.55524629e-04 -2.66940747e+01] [-2.95412212e-03 3.08690126e-05 9.99995636e-01 -2.14513317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08576923100003 meters Centerline goodness [0,1] 0.9998927360878705 Centerline is valid? [True, True] Translation: X:216.10, Y:-26.70, Z:-2.15 [[ 9.89571950e-01 1.44008481e-01 2.98562564e-03 2.16100840e+02] [-1.44007729e-01 9.89576453e-01 -4.66516951e-04 -2.67036727e+01] [-3.02168723e-03 3.16989191e-05 9.99995434e-01 -2.14533906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.115769231 meters Centerline goodness [0,1] 0.9999785862652305 Centerline is valid? [True, True] Translation: X:216.13, Y:-26.71, Z:-2.14 [[ 9.89230749e-01 1.46318264e-01 3.67284434e-03 2.16132151e+02] [-1.46317139e-01 9.89237567e-01 -5.74700024e-04 -2.67120274e+01] [-3.71740471e-03 3.11108594e-05 9.99993090e-01 -2.14379230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.145769231 meters Centerline goodness [0,1] 0.9999363746262009 Centerline is valid? [True, True] Translation: X:216.16, Y:-26.72, Z:-2.14 [[ 9.88934502e-01 1.48297111e-01 4.06416689e-03 2.16162608e+02] [-1.48295746e-01 9.88942853e-01 -6.36696775e-04 -2.67180989e+01] [-4.11364909e-03 2.69527462e-05 9.99991539e-01 -2.14251559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.175769231 meters Centerline goodness [0,1] 0.999913584514345 Centerline is valid? [True, True] Translation: X:216.19, Y:-26.72, Z:-2.14 [[ 9.88567689e-01 1.50716413e-01 4.29974904e-03 2.16194314e+02] [-1.50714905e-01 9.88577039e-01 -6.74328071e-04 -2.67209253e+01] [-4.35226548e-03 1.85826730e-05 9.99990529e-01 -2.14213458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.22, Y:-26.72, Z:-2.14 [[ 9.87874496e-01 1.55206634e-01 3.85770594e-03 2.16224819e+02] [-1.55205452e-01 9.87882028e-01 -6.05613974e-04 -2.67248455e+01] [-3.90495368e-03 -4.66395995e-07 9.99992376e-01 -2.14300461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.235769231 meters Centerline goodness [0,1] 0.9997677119628339 Centerline is valid? [True, True] Translation: X:216.26, Y:-26.73, Z:-2.14 [[ 9.87488024e-01 1.57656812e-01 3.42530810e-03 2.16255591e+02] [-1.57655894e-01 9.87493964e-01 -5.38226687e-04 -2.67286237e+01] [-3.46732618e-03 -8.52760148e-06 9.99993989e-01 -2.14461813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.265769231 meters Centerline goodness [0,1] 0.9997662906070071 Centerline is valid? [True, True] Translation: X:216.29, Y:-26.73, Z:-2.15 [[ 9.86788245e-01 1.61994860e-01 2.57386692e-03 2.16285366e+02] [-1.61994355e-01 9.86791602e-01 -4.04880330e-04 -2.67306085e+01] [-2.60545879e-03 -1.74207608e-05 9.99996606e-01 -2.14643957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.295769231 meters Centerline goodness [0,1] 0.999678814611794 Centerline is valid? [True, True] Translation: X:216.32, Y:-26.74, Z:-2.15 [[ 9.86364319e-01 1.64558944e-01 2.40488310e-03 2.16316741e+02] [-1.64558511e-01 9.86367251e-01 -3.78005112e-04 -2.67365140e+01] [-2.43430206e-03 -2.28932288e-05 9.99997037e-01 -2.14652688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.325769231 meters Centerline goodness [0,1] 0.9996798429095877 Centerline is valid? [True, True] Translation: X:216.35, Y:-26.74, Z:-2.15 [[ 9.85912738e-01 1.67244044e-01 2.34565144e-03 2.16348068e+02] [-1.67243639e-01 9.85915528e-01 -3.69105700e-04 -2.67390235e+01] [-2.37434491e-03 -2.83892705e-05 9.99997181e-01 -2.14650545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.355769231 meters Centerline goodness [0,1] 0.9996596179211165 Centerline is valid? [True, True] Translation: X:216.38, Y:-26.74, Z:-2.15 [[ 9.85520559e-01 1.69543287e-01 2.07384646e-03 2.16378299e+02] [-1.69542975e-01 9.85522741e-01 -3.26858599e-04 -2.67401701e+01] [-2.09923953e-03 -2.94802278e-05 9.99997796e-01 -2.14721034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.385769231 meters Centerline goodness [0,1] 0.9995141426730603 Centerline is valid? [True, True] Translation: X:216.41, Y:-26.74, Z:-2.15 [[ 9.84618710e-01 1.74699221e-01 2.48556416e-03 2.16408862e+02] [-1.74698788e-01 9.84621846e-01 -3.91821541e-04 -2.67384445e+01] [-2.51579169e-03 -4.84302257e-05 9.99996834e-01 -2.14673704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.415769231 meters Centerline goodness [0,1] 0.9995296029421198 Centerline is valid? [True, True] Translation: X:216.44, Y:-26.74, Z:-2.15 [[ 9.84095557e-01 1.77618052e-01 2.78616272e-03 2.16439613e+02] [-1.77617520e-01 9.84099499e-01 -4.39155865e-04 -2.67402773e+01] [-2.81986334e-03 -6.26999764e-05 9.99996022e-01 -2.14644913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.445769231 meters Centerline goodness [0,1] 0.9992520408599393 Centerline is valid? [True, True] Translation: X:216.47, Y:-26.73, Z:-2.15 [[ 9.82890010e-01 1.84174373e-01 2.65118774e-03 2.16471546e+02] [-1.84173915e-01 9.82893582e-01 -4.17887160e-04 -2.67335709e+01] [-2.68279953e-03 -7.75425124e-05 9.99996398e-01 -2.14827336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47576923100002 meters Centerline goodness [0,1] 0.9987369682957635 Centerline is valid? [True, True] Translation: X:216.50, Y:-26.73, Z:-2.15 [[ 9.82312105e-01 1.87237508e-01 2.24605241e-03 2.16501025e+02] [-1.87237187e-01 9.82314670e-01 -3.54071103e-04 -2.67298434e+01] [-2.27262563e-03 -7.27362064e-05 9.99997415e-01 -2.14931976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50576923100002 meters Centerline goodness [0,1] 0.9987596501357969 Centerline is valid? [True, True] Translation: X:216.53, Y:-26.73, Z:-2.15 [[ 9.81794073e-01 1.89938210e-01 1.96865661e-03 2.16530521e+02] [-1.89937969e-01 9.81796044e-01 -3.10285763e-04 -2.67292890e+01] [-1.99175439e-03 -6.92859141e-05 9.99998014e-01 -2.14976921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53576923100002 meters Centerline goodness [0,1] 0.9989300235394821 Centerline is valid? [True, True] Translation: X:216.56, Y:-26.73, Z:-2.15 [[ 9.81293050e-01 1.92513746e-01 1.55150612e-03 2.16560247e+02] [-1.92513600e-01 9.81294275e-01 -2.44486269e-04 -2.67309262e+01] [-1.56955104e-03 -5.87733505e-05 9.99998767e-01 -2.14958253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56576923100002 meters Centerline goodness [0,1] 0.9987333619579218 Centerline is valid? [True, True] Translation: X:216.59, Y:-26.73, Z:-2.15 [[ 9.81266756e-01 1.92648010e-01 1.51566035e-03 2.16588459e+02] [-1.92647871e-01 9.81267925e-01 -2.38887379e-04 -2.67309233e+01] [-1.53329006e-03 -5.75764950e-05 9.99998823e-01 -2.14991888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59576923100002 meters Centerline goodness [0,1] 0.9983835633919647 Centerline is valid? [True, True] Translation: X:216.62, Y:-26.73, Z:-2.15 [[ 9.81245416e-01 1.92736219e-01 3.19124094e-03 2.16617373e+02] [-1.92735603e-01 9.81250597e-01 -5.02529400e-04 -2.67288631e+01] [-3.22826269e-03 -1.21961075e-04 9.99994782e-01 -2.14813712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62576923100002 meters Centerline goodness [0,1] 0.9977902900244343 Centerline is valid? [True, True] Translation: X:216.65, Y:-26.73, Z:-2.15 [[ 9.81251624e-01 1.92687475e-01 4.09717906e-03 2.16646127e+02] [-1.92686460e-01 9.81260165e-01 -6.44876574e-04 -2.67269308e+01] [-4.14465824e-03 -1.56684742e-04 9.99991399e-01 -2.14693313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65576923100002 meters Centerline goodness [0,1] 0.9975689159479114 Centerline is valid? [True, True] Translation: X:216.67, Y:-26.73, Z:-2.15 [[ 9.81298690e-01 1.92455192e-01 3.72560401e-03 2.16673741e+02] [-1.92454351e-01 9.81305752e-01 -5.86193197e-04 -2.67283040e+01] [-3.76877257e-03 -1.41778085e-04 9.99992888e-01 -2.14733088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68576923100002 meters Centerline goodness [0,1] 0.9979639016734183 Centerline is valid? [True, True] Translation: X:216.70, Y:-26.73, Z:-2.15 [[ 9.81651392e-01 1.90684280e-01 2.21586181e-04 2.16702264e+02] [-1.90684277e-01 9.81651417e-01 -3.49736120e-05 -2.67304856e+01] [-2.24189307e-04 -7.92110580e-06 9.99999975e-01 -2.15360229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71576923100002 meters Centerline goodness [0,1] 0.9987983049775473 Centerline is valid? [True, True] Translation: X:216.73, Y:-26.74, Z:-2.16 [[ 9.81946207e-01 1.89157111e-01 -1.11072148e-03 2.16729488e+02] [-1.89157034e-01 9.81946835e-01 1.74411710e-04 -2.67403970e+01] [ 1.12366066e-03 3.88378642e-05 9.99999368e-01 -2.15589139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74576923100003 meters Centerline goodness [0,1] 0.9988316268003569 Centerline is valid? [True, True] Translation: X:216.76, Y:-26.75, Z:-2.16 [[ 9.82270960e-01 1.87462537e-01 -1.24847400e-03 2.16758141e+02] [-1.87462439e-01 9.82271752e-01 1.96006880e-04 -2.67457391e+01] [ 1.26308469e-03 4.15101151e-05 9.99999201e-01 -2.15590683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77576923100003 meters Centerline goodness [0,1] 0.9990194824572622 Centerline is valid? [True, True] Translation: X:216.79, Y:-26.75, Z:-2.15 [[ 9.82815972e-01 1.84581136e-01 1.60274466e-03 2.16787554e+02] [-1.84580970e-01 9.82817278e-01 -2.51915745e-04 -2.67503215e+01] [-1.62170404e-03 -4.82493468e-05 9.99998684e-01 -2.14995416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80576923100003 meters Centerline goodness [0,1] 0.9990453764398906 Centerline is valid? [True, True] Translation: X:216.82, Y:-26.75, Z:-2.15 [[ 9.83010219e-01 1.83528852e-01 2.84069736e-03 2.16815666e+02] [-1.83528328e-01 9.83014320e-01 -4.46392330e-04 -2.67499834e+01] [-2.87437205e-03 -8.25402139e-05 9.99995866e-01 -2.14814221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83576923100003 meters Centerline goodness [0,1] 0.9992830785450711 Centerline is valid? [True, True] Translation: X:216.84, Y:-26.75, Z:-2.15 [[ 9.83307426e-01 1.81929976e-01 2.82672894e-03 2.16844910e+02] [-1.81929451e-01 9.83311486e-01 -4.44005633e-04 -2.67522053e+01] [-2.86033296e-03 -7.76712076e-05 9.99995906e-01 -2.14838567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.865769231 meters Centerline goodness [0,1] 0.9992798898655089 Centerline is valid? [True, True] Translation: X:216.87, Y:-26.76, Z:-2.15 [[ 9.83467526e-01 1.81069435e-01 2.34216517e-03 2.16873042e+02] [-1.81069072e-01 9.83470313e-01 -3.67855709e-04 -2.67585551e+01] [-2.37005734e-03 -6.23195308e-05 9.99997189e-01 -2.14967967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.895769231 meters Centerline goodness [0,1] 0.9994861803935002 Centerline is valid? [True, True] Translation: X:216.90, Y:-26.76, Z:-2.15 [[ 9.83617342e-01 1.80253945e-01 2.33220668e-03 2.16901011e+02] [-1.80253583e-01 9.83620105e-01 -3.66184706e-04 -2.67641553e+01] [-2.36001162e-03 -6.02029834e-05 9.99997213e-01 -2.15018872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.925769231 meters Centerline goodness [0,1] 0.9993683013623634 Centerline is valid? [True, True] Translation: X:216.93, Y:-26.76, Z:-2.15 [[ 9.83944190e-01 1.78453048e-01 2.88810397e-03 2.16929566e+02] [-1.78452485e-01 9.83948426e-01 -4.53284158e-04 -2.67643686e+01] [-2.92263530e-03 -6.93830180e-05 9.99995727e-01 -2.14943162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.955769231 meters Centerline goodness [0,1] 0.9994717156562348 Centerline is valid? [True, True] Translation: X:216.96, Y:-26.77, Z:-2.15 [[ 9.84123757e-01 1.77460324e-01 2.87461209e-03 2.16957252e+02] [-1.77459763e-01 9.84127954e-01 -4.51029376e-04 -2.67731375e+01] [-2.90902593e-03 -6.62592561e-05 9.99995767e-01 -2.14946610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.985769231 meters Centerline goodness [0,1] 0.9994881856180159 Centerline is valid? [True, True] Translation: X:216.99, Y:-26.78, Z:-2.15 [[ 9.84305363e-01 1.76460548e-01 2.15104307e-03 2.16985792e+02] [-1.76460232e-01 9.84307712e-01 -3.37445577e-04 -2.67796094e+01] [-2.17683412e-03 -4.74240681e-05 9.99997630e-01 -2.15096631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.015769231 meters Centerline goodness [0,1] 0.9994867956805303 Centerline is valid? [True, True] Translation: X:217.01, Y:-26.78, Z:-2.15 [[ 9.84606784e-01 1.74784030e-01 1.52325940e-04 2.17014025e+02] [-1.74784029e-01 9.84606796e-01 -2.40597574e-05 -2.67820797e+01] [-1.54186417e-04 -2.93474114e-06 9.99999988e-01 -2.15499796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.045769231 meters Centerline goodness [0,1] 0.9996609451154905 Centerline is valid? [True, True] Translation: X:217.04, Y:-26.79, Z:-2.16 [[ 9.84638014e-01 1.74607966e-01 -1.99482356e-04 2.17041814e+02] [-1.74607964e-01 9.84638034e-01 3.10782373e-05 -2.67886305e+01] [ 2.01844423e-04 4.23039416e-06 9.99999980e-01 -2.15555336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.075769231 meters Centerline goodness [0,1] 0.9995746943115364 Centerline is valid? [True, True] Translation: X:217.07, Y:-26.79, Z:-2.15 [[ 9.84337084e-01 1.76295948e-01 4.94512085e-04 2.17070437e+02] [-1.76295931e-01 9.84337208e-01 -7.76826830e-05 -2.67877838e+01] [-5.00461787e-04 -1.07145228e-05 9.99999875e-01 -2.15484953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.105769231 meters Centerline goodness [0,1] 0.9994644960908214 Centerline is valid? [True, True] Translation: X:217.10, Y:-26.79, Z:-2.15 [[ 9.84107897e-01 1.77567140e-01 1.24782186e-03 2.17099058e+02] [-1.77567035e-01 9.84108688e-01 -1.95582457e-04 -2.67933550e+01] [-1.26272135e-03 -2.90977876e-05 9.99999202e-01 -2.15275224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.135769231 meters Centerline goodness [0,1] 0.9993880694646663 Centerline is valid? [True, True] Translation: X:217.13, Y:-26.79, Z:-2.15 [[ 9.83925810e-01 1.78568182e-01 1.84529643e-03 2.17127288e+02] [-1.78567954e-01 9.83927539e-01 -2.89075200e-04 -2.67928478e+01] [-1.86725761e-03 -4.50822573e-05 9.99998256e-01 -2.15141395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.165769231 meters Centerline goodness [0,1] 0.999395809507369 Centerline is valid? [True, True] Translation: X:217.16, Y:-26.80, Z:-2.15 [[ 9.83778469e-01 1.79378398e-01 1.82030628e-03 2.17155448e+02] [-1.79378178e-01 9.83780152e-01 -2.85029329e-04 -2.67978771e+01] [-1.84190929e-03 -4.61175059e-05 9.99998303e-01 -2.15089107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.195769231 meters Centerline goodness [0,1] 0.9993667546174142 Centerline is valid? [True, True] Translation: X:217.18, Y:-26.79, Z:-2.15 [[ 9.83533993e-01 1.80719950e-01 1.08859657e-03 2.17183961e+02] [-1.80719872e-01 9.83534595e-01 -1.70510637e-04 -2.67935802e+01] [-1.10148706e-03 -2.90280257e-05 9.99999393e-01 -2.15366574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22576923100002 meters Centerline goodness [0,1] 0.9994258983627472 Centerline is valid? [True, True] Translation: X:217.21, Y:-26.80, Z:-2.15 [[ 9.83419488e-01 1.81340853e-01 1.26750394e-03 2.17212420e+02] [-1.81340748e-01 9.83420304e-01 -1.98387610e-04 -2.67976343e+01] [-1.28246489e-03 -3.47518699e-05 9.99999177e-01 -2.15336124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25576923100002 meters Centerline goodness [0,1] 0.999297947026912 Centerline is valid? [True, True] Translation: X:217.24, Y:-26.80, Z:-2.15 [[ 9.83249289e-01 1.82257089e-01 1.78593318e-03 2.17240411e+02] [-1.82256882e-01 9.83250909e-01 -2.79432471e-04 -2.67960336e+01] [-1.80694897e-03 -5.07468349e-05 9.99998366e-01 -2.15203156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28576923100002 meters Centerline goodness [0,1] 0.9991380941369379 Centerline is valid? [True, True] Translation: X:217.27, Y:-26.79, Z:-2.15 [[ 9.83241116e-01 1.82303835e-01 1.49003442e-03 2.17268288e+02] [-1.82303691e-01 9.83242244e-01 -2.33028091e-04 -2.67947430e+01] [-1.50754670e-03 -4.25159745e-05 9.99998863e-01 -2.15222603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31576923100002 meters Centerline goodness [0,1] 0.9993367281441226 Centerline is valid? [True, True] Translation: X:217.30, Y:-26.80, Z:-2.15 [[ 9.83327305e-01 1.81843025e-01 7.25485262e-04 2.17296761e+02] [-1.81842991e-01 9.83327572e-01 -1.13497120e-04 -2.67981225e+01] [-7.34028321e-04 -2.03195921e-05 9.99999730e-01 -2.15337565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34576923100002 meters Centerline goodness [0,1] 0.99944787751375 Centerline is valid? [True, True] Translation: X:217.33, Y:-26.80, Z:-2.15 [[ 9.83869585e-01 1.78886314e-01 5.71183554e-04 2.17325459e+02] [-1.78886292e-01 9.83869751e-01 -8.93060159e-05 -2.67993610e+01] [-5.77945845e-04 -1.43114353e-05 9.99999833e-01 -2.15384940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37576923100002 meters Centerline goodness [0,1] 0.9996396090818511 Centerline is valid? [True, True] Translation: X:217.35, Y:-26.81, Z:-2.15 [[ 9.84336586e-01 1.76295387e-01 1.19268659e-03 2.17354023e+02] [-1.76295290e-01 9.84337308e-01 -1.86346412e-04 -2.68071930e+01] [-1.20685792e-03 -2.68374384e-05 9.99999271e-01 -2.15249544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40576923100002 meters Centerline goodness [0,1] 0.9996824254229035 Centerline is valid? [True, True] Translation: X:217.38, Y:-26.81, Z:-2.15 [[ 9.84903587e-01 1.73093235e-01 1.91215207e-03 2.17381262e+02] [-1.73092981e-01 9.84905443e-01 -2.98680274e-04 -2.68134749e+01] [-1.93498852e-03 -3.68088288e-05 9.99998127e-01 -2.15164106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43576923100002 meters Centerline goodness [0,1] 0.9998093704990256 Centerline is valid? [True, True] Translation: X:217.41, Y:-26.83, Z:-2.15 [[ 9.86129591e-01 1.65938660e-01 3.57651177e-03 2.17408506e+02] [-1.65937727e-01 9.86136075e-01 -5.58155707e-04 -2.68314669e+01] [-3.61954690e-03 -4.30643753e-05 9.99993448e-01 -2.14983207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46576923100002 meters Centerline goodness [0,1] 0.9997478567826525 Centerline is valid? [True, True] Translation: X:217.44, Y:-26.84, Z:-2.15 [[ 9.86724969e-01 1.62349877e-01 4.04401043e-03 2.17435163e+02] [-1.62348654e-01 9.86733255e-01 -6.31003603e-04 -2.68429303e+01] [-4.09280294e-03 -3.39126408e-05 9.99991624e-01 -2.14905855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49576923100003 meters Centerline goodness [0,1] 0.9998933856454433 Centerline is valid? [True, True] Translation: X:217.46, Y:-26.86, Z:-2.15 [[ 9.87719812e-01 1.56201112e-01 3.28415048e-03 2.17462153e+02] [-1.56200272e-01 9.87725272e-01 -5.12273581e-04 -2.68617925e+01] [-3.32385613e-03 -7.00243495e-06 9.99994476e-01 -2.15018997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52576923100003 meters Centerline goodness [0,1] 0.9999150833244879 Centerline is valid? [True, True] Translation: X:217.49, Y:-26.87, Z:-2.15 [[ 9.88024085e-01 1.54287029e-01 1.97977275e-03 2.17490423e+02] [-1.54286720e-01 9.88026069e-01 -3.08801657e-04 -2.68708696e+01] [-2.00371118e-03 -3.49170101e-07 9.99997993e-01 -2.15165271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55576923100003 meters Centerline goodness [0,1] 0.9999788699657693 Centerline is valid? [True, True] Translation: X:217.52, Y:-26.88, Z:-2.15 [[ 9.88165231e-01 1.53389914e-01 1.00516541e-03 2.17518064e+02] [-1.53389834e-01 9.88165742e-01 -1.56807081e-04 -2.68784808e+01] [-1.01732265e-03 7.69150140e-07 9.99999483e-01 -2.15384862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58576923100003 meters Centerline goodness [0,1] 0.9999787152526499 Centerline is valid? [True, True] Translation: X:217.55, Y:-26.89, Z:-2.16 [[ 9.88034861e-01 1.54230490e-01 -2.64511599e-04 2.17547255e+02] [-1.54230485e-01 9.88034896e-01 4.11401954e-05 -2.68861211e+01] [ 2.67691762e-04 1.47804796e-07 9.99999964e-01 -2.15588409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.615769231 meters Centerline goodness [0,1] 0.999936106319085 Centerline is valid? [True, True] Translation: X:217.58, Y:-26.89, Z:-2.15 [[ 9.87815526e-01 1.55629119e-01 -2.51865818e-04 2.17575853e+02] [-1.55629114e-01 9.87815558e-01 3.90646519e-05 -2.68904752e+01] [ 2.54876571e-04 6.08984395e-07 9.99999968e-01 -2.15498393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.645769231 meters Centerline goodness [0,1] 0.9999151625697258 Centerline is valid? [True, True] Translation: X:217.60, Y:-26.89, Z:-2.15 [[ 9.87527886e-01 1.57443215e-01 5.55051083e-04 2.17603470e+02] [-1.57443191e-01 9.87528042e-01 -8.66930869e-05 -2.68936365e+01] [-5.61777747e-04 -1.77717267e-06 9.99999842e-01 -2.15337520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.675769231 meters Centerline goodness [0,1] 0.9997662011944993 Centerline is valid? [True, True] Translation: X:217.63, Y:-26.90, Z:-2.15 [[ 9.87127741e-01 1.59901252e-01 3.22693487e-03 2.17630840e+02] [-1.59900463e-01 9.87133015e-01 -5.02715268e-04 -2.68971938e+01] [-3.26579875e-03 -1.97441941e-05 9.99994667e-01 -2.14843439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.705769231 meters Centerline goodness [0,1] 0.9997441310049254 Centerline is valid? [True, True] Translation: X:217.66, Y:-26.90, Z:-2.15 [[ 9.87066878e-01 1.60251218e-01 4.30416056e-03 2.17659807e+02] [-1.60249819e-01 9.87076262e-01 -6.70218753e-04 -2.69034053e+01] [-4.35593808e-03 -2.81902194e-05 9.99990512e-01 -2.14649380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.735769231 meters Centerline goodness [0,1] 0.9998707815562208 Centerline is valid? [True, True] Translation: X:217.69, Y:-26.91, Z:-2.15 [[ 9.87289652e-01 1.58858235e-01 4.81701284e-03 2.17688072e+02] [-1.58856467e-01 9.87301403e-01 -7.49964499e-04 -2.69144601e+01] [-4.87498157e-03 -2.47814520e-05 9.99988117e-01 -2.14693574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.765769231 meters Centerline goodness [0,1] 0.9998707815562208 Centerline is valid? [True, True] Translation: X:217.72, Y:-26.92, Z:-2.15 [[ 9.87293276e-01 1.58835711e-01 4.81702306e-03 2.17716898e+02] [-1.58833943e-01 9.87305027e-01 -7.49898835e-04 -2.69189007e+01] [-4.87498180e-03 -2.47366883e-05 9.99988117e-01 -2.14704984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.795769231 meters Centerline goodness [0,1] 0.9998500428449014 Centerline is valid? [True, True] Translation: X:217.75, Y:-26.93, Z:-2.15 [[ 9.87506958e-01 1.57529867e-01 3.78790568e-03 2.17746327e+02] [-1.57528765e-01 9.87514223e-01 -5.89618088e-04 -2.69278945e+01] [-3.83349320e-03 -1.44521386e-05 9.99992652e-01 -2.14975951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.825769231 meters Centerline goodness [0,1] 0.9998521740966781 Centerline is valid? [True, True] Translation: X:217.77, Y:-26.94, Z:-2.15 [[ 9.87675052e-01 1.56495976e-01 2.64579287e-03 2.17774969e+02] [-1.56495434e-01 9.87678596e-01 -4.11853485e-04 -2.69360077e+01] [-2.67764640e-03 -7.27709176e-06 9.99996415e-01 -2.15272639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.855769231 meters Centerline goodness [0,1] 0.9999152003391987 Centerline is valid? [True, True] Translation: X:217.80, Y:-26.94, Z:-2.15 [[ 9.87810587e-01 1.55652081e-01 1.63503086e-03 2.17804519e+02] [-1.55651873e-01 9.87811940e-01 -2.54486345e-04 -2.69445335e+01] [-1.65471433e-03 -3.11131043e-06 9.99998631e-01 -2.15418892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.83, Y:-26.95, Z:-2.16 [[ 9.87800036e-01 1.55726629e-01 5.53655738e-04 2.17833738e+02] [-1.55726605e-01 9.87800191e-01 -8.61744133e-05 -2.69535835e+01] [-5.60320894e-04 -1.09583984e-06 9.99999843e-01 -2.15526093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.86, Y:-26.96, Z:-2.16 [[ 9.87689492e-01 1.56426786e-01 -3.56640131e-04 2.17862370e+02] [-1.56426776e-01 9.87689557e-01 5.55539117e-05 -2.69586656e+01] [ 3.60939853e-04 9.18050961e-07 9.99999935e-01 -2.15729848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.945769231 meters Centerline goodness [0,1] 0.9998941462898274 Centerline is valid? [True, True] Translation: X:217.89, Y:-26.96, Z:-2.16 [[ 9.87329752e-01 1.58672401e-01 -1.74052433e-03 2.17890958e+02] [-1.58672170e-01 9.87331286e-01 2.70732093e-04 -2.69628532e+01] [ 1.76143183e-03 8.87092182e-06 9.99998449e-01 -2.16089973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97576923100002 meters Centerline goodness [0,1] 0.9998940745291612 Centerline is valid? [True, True] Translation: X:217.92, Y:-26.97, Z:-2.16 [[ 9.87170444e-01 1.59660705e-01 -1.72460858e-03 2.17920563e+02] [-1.59660480e-01 9.87171950e-01 2.68258681e-04 -2.69683105e+01] [ 1.74531559e-03 1.05347926e-05 9.99998477e-01 -2.16096636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00576923100002 meters Centerline goodness [0,1] 0.9999148084254468 Centerline is valid? [True, True] Translation: X:217.95, Y:-26.97, Z:-2.16 [[ 9.87085533e-01 1.60191264e-01 -9.53767387e-04 2.17949216e+02] [-1.60191195e-01 9.87085994e-01 1.48290306e-04 -2.69748428e+01] [ 9.65205241e-04 6.40992255e-06 9.99999534e-01 -2.15930529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03576923100002 meters Centerline goodness [0,1] 0.9998310097169413 Centerline is valid? [True, True] Translation: X:217.98, Y:-26.98, Z:-2.16 [[ 9.87089093e-01 1.60172055e-01 -1.86133159e-04 2.17977777e+02] [-1.60172052e-01 9.87089111e-01 2.89095902e-05 -2.69821750e+01] [ 1.88360523e-04 1.27698897e-06 9.99999982e-01 -2.15905361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06576923100002 meters Centerline goodness [0,1] 0.99993564993565 Centerline is valid? [True, True] Translation: X:218.01, Y:-26.99, Z:-2.16 [[ 9.87179068e-01 1.59613215e-01 -1.05314200e-03 2.18007201e+02] [-1.59613131e-01 9.87179630e-01 1.63830476e-04 -2.69908977e+01] [ 1.06578984e-03 6.36527648e-06 9.99999432e-01 -2.15962288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.04, Y:-27.00, Z:-2.16 [[ 9.87217268e-01 1.59353257e-01 -2.93353313e-03 2.18035707e+02] [-1.59352605e-01 9.87221626e-01 4.56270367e-04 -2.69978216e+01] [ 2.96875552e-03 1.70281612e-05 9.99995593e-01 -2.16416619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12576923100002 meters Centerline goodness [0,1] 0.9999786045914547 Centerline is valid? [True, True] Translation: X:218.07, Y:-27.00, Z:-2.16 [[ 9.87137553e-01 1.59838917e-01 -3.31230141e-03 2.18065721e+02] [-1.59838088e-01 9.87143110e-01 5.15234107e-04 -2.70044225e+01] [ 3.35206997e-03 2.08249872e-05 9.99994382e-01 -2.16249244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15576923100002 meters Centerline goodness [0,1] 0.9999784830554062 Centerline is valid? [True, True] Translation: X:218.10, Y:-27.01, Z:-2.16 [[ 9.86871738e-01 1.61495757e-01 -1.81463434e-03 2.18096331e+02] [-1.61495511e-01 9.86873406e-01 2.82269453e-04 -2.70081275e+01] [ 1.83639969e-03 1.44915548e-05 9.99998314e-01 -2.15882086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18576923100002 meters Centerline goodness [0,1] 0.9998922994076468 Centerline is valid? [True, True] Translation: X:218.13, Y:-27.01, Z:-2.16 [[ 9.86747820e-01 1.62260505e-01 -5.18775228e-04 2.18127031e+02] [-1.62260485e-01 9.86747956e-01 8.08066747e-05 -2.70132566e+01] [ 5.25012128e-04 4.44091015e-06 9.99999862e-01 -2.15614632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21576923100002 meters Centerline goodness [0,1] 0.9998074166006891 Centerline is valid? [True, True] Translation: X:218.16, Y:-27.01, Z:-2.16 [[ 9.86685966e-01 1.62632844e-01 1.16731727e-03 2.18158037e+02] [-1.62632743e-01 9.86686656e-01 -1.81573711e-04 -2.70144752e+01] [-1.18130622e-03 -1.06877766e-05 9.99999302e-01 -2.15508005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24576923100003 meters Centerline goodness [0,1] 0.999763389976339 Centerline is valid? [True, True] Translation: X:218.19, Y:-27.02, Z:-2.15 [[ 9.86614370e-01 1.63037427e-01 3.29887568e-03 2.18189098e+02] [-1.63036622e-01 9.86619885e-01 -5.13256285e-04 -2.70219593e+01] [-3.33841632e-03 -3.14515195e-05 9.99994427e-01 -2.15060807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27576923100003 meters Centerline goodness [0,1] 0.9997207183982126 Centerline is valid? [True, True] Translation: X:218.22, Y:-27.03, Z:-2.15 [[ 9.86489147e-01 1.63796718e-01 3.13002901e-03 2.18220488e+02] [-1.63795997e-01 9.86494113e-01 -4.87057577e-04 -2.70255975e+01] [-3.16753363e-03 -3.22092096e-05 9.99994983e-01 -2.15113041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30576923100003 meters Centerline goodness [0,1] 0.9996147919876733 Centerline is valid? [True, True] Translation: X:218.25, Y:-27.03, Z:-2.15 [[ 9.86249181e-01 1.65253385e-01 1.96745394e-03 2.18251373e+02] [-1.65253103e-01 9.86251144e-01 -3.06187959e-04 -2.70271050e+01] [-1.99100230e-03 -2.31502442e-05 9.99998018e-01 -2.15276566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33576923100003 meters Centerline goodness [0,1] 0.9996631933480686 Centerline is valid? [True, True] Translation: X:218.28, Y:-27.02, Z:-2.16 [[ 9.85625599e-01 1.68942122e-01 8.58634302e-04 2.18282005e+02] [-1.68942069e-01 9.85625973e-01 -1.33718579e-04 -2.70191557e+01] [-8.68882970e-04 -1.32630012e-05 9.99999622e-01 -2.15541595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36576923100003 meters Centerline goodness [0,1] 0.9996778696445828 Centerline is valid? [True, True] Translation: X:218.31, Y:-27.03, Z:-2.16 [[ 9.85330252e-01 1.70657622e-01 5.19814247e-04 2.18311453e+02] [-1.70657603e-01 9.85330389e-01 -8.09777580e-05 -2.70250536e+01] [-5.26008246e-04 -8.92041879e-06 9.99999862e-01 -2.15502786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.395769231 meters Centerline goodness [0,1] 0.9995937479954671 Centerline is valid? [True, True] Translation: X:218.34, Y:-27.02, Z:-2.16 [[ 9.84905419e-01 1.73092904e-01 -4.02608380e-04 2.18341710e+02] [-1.73092893e-01 9.84905501e-01 6.25428074e-05 -2.70215908e+01] [ 4.07356924e-04 8.08989932e-06 9.99999917e-01 -2.15852898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.425769231 meters Centerline goodness [0,1] 0.9996584991035602 Centerline is valid? [True, True] Translation: X:218.37, Y:-27.02, Z:-2.16 [[ 9.84919929e-01 1.73007065e-01 -1.13554695e-03 2.18369900e+02] [-1.73006977e-01 9.84920583e-01 1.76484570e-04 -2.70242085e+01] [ 1.14895664e-03 2.26343758e-05 9.99999340e-01 -2.16038146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.455769231 meters Centerline goodness [0,1] 0.999745795026056 Centerline is valid? [True, True] Translation: X:218.40, Y:-27.03, Z:-2.16 [[ 9.85036674e-01 1.72339361e-01 -1.37689908e-03 2.18398764e+02] [-1.72339231e-01 9.85037636e-01 2.14038880e-04 -2.70296401e+01] [ 1.39318474e-03 2.64575821e-05 9.99999029e-01 -2.16082288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.485769231 meters Centerline goodness [0,1] 0.9997037726666808 Centerline is valid? [True, True] Translation: X:218.43, Y:-27.04, Z:-2.16 [[ 9.85430709e-01 1.70072659e-01 -1.26854938e-03 2.18427089e+02] [-1.70072546e-01 9.85431525e-01 1.97199148e-04 -2.70358501e+01] [ 1.28360674e-03 2.14193270e-05 9.99999176e-01 -2.15999147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.515769231 meters Centerline goodness [0,1] 0.9997668157632544 Centerline is valid? [True, True] Translation: X:218.46, Y:-27.04, Z:-2.16 [[ 9.85594269e-01 1.69122857e-01 -1.18183608e-03 2.18455710e+02] [-1.69122758e-01 9.85594977e-01 1.83601004e-04 -2.70404913e+01] [ 1.19586283e-03 1.89192800e-05 9.99999285e-01 -2.15998364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.545769231 meters Centerline goodness [0,1] 0.9997037475929492 Centerline is valid? [True, True] Translation: X:218.48, Y:-27.05, Z:-2.16 [[ 9.85690770e-01 1.68560257e-01 -1.07033498e-03 2.18484502e+02] [-1.68560176e-01 9.85691351e-01 1.66283421e-04 -2.70460461e+01] [ 1.08304871e-03 1.65118193e-05 9.99999413e-01 -2.15934802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.575769231 meters Centerline goodness [0,1] 0.9997034966219793 Centerline is valid? [True, True] Translation: X:218.51, Y:-27.05, Z:-2.16 [[ 9.85738723e-01 1.68277752e-01 -1.32973995e-03 2.18513279e+02] [-1.68277627e-01 9.85739620e-01 2.06513535e-04 -2.70490349e+01] [ 1.34552898e-03 2.01970943e-05 9.99999095e-01 -2.16092624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.605769231 meters Centerline goodness [0,1] 0.9997454877091773 Centerline is valid? [True, True] Translation: X:218.54, Y:-27.05, Z:-2.16 [[ 9.85700341e-01 1.68491461e-01 -2.33795714e-03 2.18542828e+02] [-1.68491073e-01 9.85703113e-01 3.63187544e-04 -2.70545718e+01] [ 2.36572563e-03 3.59308216e-05 9.99997201e-01 -2.16241350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.635769231 meters Centerline goodness [0,1] 0.9995967741935484 Centerline is valid? [True, True] Translation: X:218.57, Y:-27.06, Z:-2.16 [[ 9.85579382e-01 1.69180885e-01 -3.33323933e-03 2.18571949e+02] [-1.69180102e-01 9.85585017e-01 5.17587920e-04 -2.70574265e+01] [ 3.37275673e-03 5.37937886e-05 9.99994311e-01 -2.16371978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.665769231 meters Centerline goodness [0,1] 0.9996586156866092 Centerline is valid? [True, True] Translation: X:218.60, Y:-27.06, Z:-2.16 [[ 9.85131790e-01 1.71767756e-01 -3.34593195e-03 2.18600070e+02] [-1.71766983e-01 9.85137470e-01 5.19308174e-04 -2.70550738e+01] [ 3.38540334e-03 6.31336449e-05 9.99994268e-01 -2.16387566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.695769231 meters Centerline goodness [0,1] 0.9996370545912594 Centerline is valid? [True, True] Translation: X:218.63, Y:-27.06, Z:-2.16 [[ 9.84887742e-01 1.73173539e-01 -2.65732239e-03 2.18629086e+02] [-1.73173056e-01 9.84891325e-01 4.12313094e-04 -2.70566312e+01] [ 2.68857548e-03 5.40945267e-05 9.99996384e-01 -2.16250971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72576923100002 meters Centerline goodness [0,1] 0.9996562170989021 Centerline is valid? [True, True] Translation: X:218.66, Y:-27.06, Z:-2.16 [[ 9.84729016e-01 1.74085368e-01 -1.74660566e-03 2.18657886e+02] [-1.74085161e-01 9.84730564e-01 2.70860509e-04 -2.70586090e+01] [ 1.76708883e-03 3.73339264e-05 9.99998438e-01 -2.16010179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75576923100002 meters Centerline goodness [0,1] 0.9995135260898074 Centerline is valid? [True, True] Translation: X:218.69, Y:-27.05, Z:-2.16 [[ 9.84396851e-01 1.75962349e-01 3.04197892e-04 2.18686513e+02] [-1.75962342e-01 9.84396898e-01 -4.74139523e-05 -2.70543105e+01] [-3.07794532e-04 -6.85322838e-06 9.99999953e-01 -2.15615096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78576923100002 meters Centerline goodness [0,1] 0.9994103028516069 Centerline is valid? [True, True] Translation: X:218.71, Y:-27.05, Z:-2.16 [[ 9.84208440e-01 1.77013204e-01 2.69967580e-04 2.18714689e+02] [-1.77013199e-01 9.84208477e-01 -4.20853749e-05 -2.70525944e+01] [-2.73154048e-04 -6.36704383e-06 9.99999963e-01 -2.15634288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81576923100002 meters Centerline goodness [0,1] 0.9992150206852657 Centerline is valid? [True, True] Translation: X:218.75, Y:-27.05, Z:-2.16 [[ 9.83763784e-01 1.79466636e-01 -7.37150926e-04 2.18745664e+02] [-1.79466600e-01 9.83764060e-01 1.14202030e-04 -2.70474179e+01] [ 7.45678042e-04 1.99461492e-05 9.99999722e-01 -2.15850611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84576923100002 meters Centerline goodness [0,1] 0.9993819793708976 Centerline is valid? [True, True] Translation: X:218.78, Y:-27.05, Z:-2.16 [[ 9.83546583e-01 1.80653572e-01 -6.37531357e-04 2.18775163e+02] [-1.80653546e-01 9.83546789e-01 9.86396942e-05 -2.70467266e+01] [ 6.44861532e-04 1.81555664e-05 9.99999792e-01 -2.15830422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87576923100002 meters Centerline goodness [0,1] 0.9992588828187863 Centerline is valid? [True, True] Translation: X:218.80, Y:-27.05, Z:-2.16 [[ 9.83406390e-01 1.81415497e-01 -5.37932805e-04 2.18803162e+02] [-1.81415478e-01 9.83406537e-01 8.31290015e-05 -2.70459657e+01] [ 5.44087526e-04 1.58397459e-05 9.99999852e-01 -2.15789199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90576923100002 meters Centerline goodness [0,1] 0.9995488140254383 Centerline is valid? [True, True] Translation: X:218.83, Y:-27.05, Z:-2.16 [[ 9.83477148e-01 1.81030784e-01 -7.45028176e-04 2.18831753e+02] [-1.81030748e-01 9.83477430e-01 1.15214817e-04 -2.70484754e+01] [ 7.53575825e-04 2.15618689e-05 9.99999716e-01 -2.15699182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93576923100002 meters Centerline goodness [0,1] 0.9994682208797754 Centerline is valid? [True, True] Translation: X:218.86, Y:-27.05, Z:-2.16 [[ 9.83646263e-01 1.80109727e-01 -7.17468801e-04 2.18859939e+02] [-1.80109694e-01 9.83646525e-01 1.10858255e-04 -2.70505102e+01] [ 7.25702343e-04 2.01777779e-05 9.99999736e-01 -2.15739875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96576923100002 meters Centerline goodness [0,1] 0.9995975940359201 Centerline is valid? [True, True] Translation: X:218.89, Y:-27.05, Z:-2.16 [[ 9.83938249e-01 1.78508195e-01 -5.88816749e-04 2.18887272e+02] [-1.78508172e-01 9.83938425e-01 9.09064260e-05 -2.70533799e+01] [ 5.95586966e-04 1.56622920e-05 9.99999823e-01 -2.15754339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99576923100003 meters Centerline goodness [0,1] 0.9996592844974447 Centerline is valid? [True, True] Translation: X:218.92, Y:-27.06, Z:-2.15 [[ 9.84632023e-01 1.74641288e-01 4.47774741e-04 2.18916763e+02] [-1.74641274e-01 9.84632124e-01 -6.93453294e-05 -2.70613676e+01] [-4.53003952e-04 -9.92031943e-06 9.99999897e-01 -2.15478423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02576923100003 meters Centerline goodness [0,1] 0.999621228062792 Centerline is valid? [True, True] Translation: X:218.94, Y:-27.07, Z:-2.15 [[ 9.85016950e-01 1.72454433e-01 1.03797225e-03 2.18944154e+02] [-1.72454359e-01 9.85017496e-01 -1.60808289e-04 -2.70650756e+01] [-1.05015293e-03 -2.06039491e-05 9.99999448e-01 -2.15381800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05576923100003 meters Centerline goodness [0,1] 0.9996169886798877 Centerline is valid? [True, True] Translation: X:218.97, Y:-27.08, Z:-2.15 [[ 9.85775882e-01 1.68059685e-01 1.36129641e-03 2.18972408e+02] [-1.68059554e-01 9.85776822e-01 -2.10655452e-04 -2.70762124e+01] [-1.37733714e-03 -2.11198043e-05 9.99999051e-01 -2.15358264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08576923100003 meters Centerline goodness [0,1] 0.9998277124520826 Centerline is valid? [True, True] Translation: X:219.00, Y:-27.09, Z:-2.15 [[ 9.86209380e-01 1.65494858e-01 1.58472956e-03 2.19000302e+02] [-1.65494678e-01 9.86210653e-01 -2.45236001e-04 -2.70850354e+01] [-1.60346247e-03 -2.04102633e-05 9.99998714e-01 -2.15385988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11576923100003 meters Centerline goodness [0,1] 0.9997867485552214 Centerline is valid? [True, True] Translation: X:219.03, Y:-27.09, Z:-2.15 [[ 9.86511203e-01 1.63683383e-01 1.84273575e-03 2.19028802e+02] [-1.63683136e-01 9.86512924e-01 -2.85089311e-04 -2.70923380e+01] [-1.86454701e-03 -2.03809664e-05 9.99998262e-01 -2.15391018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.145769231 meters Centerline goodness [0,1] 0.9998298306815281 Centerline is valid? [True, True] Translation: X:219.06, Y:-27.10, Z:-2.16 [[ 9.86743107e-01 1.62286165e-01 1.11418946e-03 2.19056104e+02] [-1.62286074e-01 9.86743736e-01 -1.72376630e-04 -2.70984744e+01] [-1.12739381e-03 -1.07259814e-05 9.99999364e-01 -2.15501896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.175769231 meters Centerline goodness [0,1] 0.9997435459052829 Centerline is valid? [True, True] Translation: X:219.08, Y:-27.10, Z:-2.16 [[ 9.86697496e-01 1.62567066e-01 1.22090241e-05 2.19084635e+02] [-1.62567066e-01 9.86697496e-01 -2.06569809e-06 -2.71029618e+01] [-1.23824280e-05 5.34339051e-08 1.00000000e+00 -2.15645160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.205769231 meters Centerline goodness [0,1] 0.999786966617669 Centerline is valid? [True, True] Translation: X:219.11, Y:-27.11, Z:-2.16 [[ 9.86537373e-01 1.63529186e-01 -1.48898945e-03 2.19112127e+02] [-1.63529025e-01 9.86538497e-01 2.29667702e-04 -2.71057655e+01] [ 1.50650279e-03 1.69172225e-05 9.99998865e-01 -2.15937784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.235769231 meters Centerline goodness [0,1] 0.999850647549553 Centerline is valid? [True, True] Translation: X:219.14, Y:-27.11, Z:-2.16 [[ 9.86118580e-01 1.66031141e-01 -1.95111080e-03 2.19140630e+02] [-1.66030870e-01 9.86120510e-01 3.00905799e-04 -2.71066617e+01] [ 1.97399011e-03 2.72158242e-05 9.99998051e-01 -2.16085423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.265769231 meters Centerline goodness [0,1] 0.9997873652427226 Centerline is valid? [True, True] Translation: X:219.17, Y:-27.11, Z:-2.16 [[ 9.85987362e-01 1.66809032e-01 -1.91540946e-03 2.19169253e+02] [-1.66808773e-01 9.85989222e-01 2.95350906e-04 -2.71112139e+01] [ 1.93784028e-03 2.82948397e-05 9.99998122e-01 -2.16057335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.295769231 meters Centerline goodness [0,1] 0.9997663601028015 Centerline is valid? [True, True] Translation: X:219.20, Y:-27.12, Z:-2.16 [[ 9.85964816e-01 1.66941293e-01 -1.99657911e-03 2.19196784e+02] [-1.66941012e-01 9.85966837e-01 3.07684093e-04 -2.71185332e+01] [ 2.01992597e-03 2.99452476e-05 9.99997959e-01 -2.16115036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.325769231 meters Centerline goodness [0,1] 0.9998298777246145 Centerline is valid? [True, True] Translation: X:219.22, Y:-27.13, Z:-2.16 [[ 9.86013964e-01 1.66650777e-01 -1.99555304e-03 2.19224384e+02] [-1.66650496e-01 9.86015983e-01 3.07487609e-04 -2.71267993e+01] [ 2.01889024e-03 2.93728271e-05 9.99997962e-01 -2.16029310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.355769231 meters Centerline goodness [0,1] 0.9998302819441204 Centerline is valid? [True, True] Translation: X:219.25, Y:-27.13, Z:-2.16 [[ 9.86046415e-01 1.66462351e-01 -1.65924175e-03 2.19252624e+02] [-1.66462157e-01 9.86047811e-01 2.55555401e-04 -2.71336250e+01] [ 1.67863205e-03 2.42114728e-05 9.99998591e-01 -2.15968247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.385769231 meters Centerline goodness [0,1] 0.9997645295943487 Centerline is valid? [True, True] Translation: X:219.28, Y:-27.14, Z:-2.16 [[ 9.86087580e-01 1.66212812e-01 -2.14152670e-03 2.19280442e+02] [-1.66212488e-01 9.86089905e-01 3.29788895e-04 -2.71415336e+01] [ 2.16655300e-03 3.07477482e-05 9.99997653e-01 -2.16025763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.415769231 meters Centerline goodness [0,1] 0.9998056617218372 Centerline is valid? [True, True] Translation: X:219.31, Y:-27.15, Z:-2.16 [[ 9.86045127e-01 1.66453215e-01 -2.88699811e-03 2.19308830e+02] [-1.66452627e-01 9.86049352e-01 4.44500000e-04 -2.71484730e+01] [ 2.92071107e-03 4.22513599e-05 9.99995734e-01 -2.16059824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.445769231 meters Centerline goodness [0,1] 0.9997853708791209 Centerline is valid? [True, True] Translation: X:219.34, Y:-27.15, Z:-2.16 [[ 9.85934350e-01 1.67098043e-01 -3.42069912e-03 2.19335982e+02] [-1.67097222e-01 9.85940283e-01 5.26356980e-04 -2.71515238e+01] [ 3.46055828e-03 5.26358936e-05 9.99994011e-01 -2.16191025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47576923100002 meters Centerline goodness [0,1] 0.9997846637524495 Centerline is valid? [True, True] Translation: X:219.36, Y:-27.15, Z:-2.16 [[ 9.85382021e-01 1.70336586e-01 -2.77864744e-03 2.19364218e+02] [-1.70336058e-01 9.85385937e-01 4.27392086e-04 -2.71531579e+01] [ 2.81084062e-03 5.21593753e-05 9.99996048e-01 -2.16095010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50576923100002 meters Centerline goodness [0,1] 0.9997232923947978 Centerline is valid? [True, True] Translation: X:219.39, Y:-27.15, Z:-2.16 [[ 9.85052636e-01 1.72237088e-01 -2.38512134e-03 2.19392562e+02] [-1.72236705e-01 9.85055523e-01 3.66685591e-04 -2.71542517e+01] [ 2.41263381e-03 4.96008335e-05 9.99997088e-01 -2.15994246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53576923100002 meters Centerline goodness [0,1] 0.9998092209856916 Centerline is valid? [True, True] Translation: X:219.42, Y:-27.15, Z:-2.16 [[ 9.84585698e-01 1.74869503e-01 -3.41483580e-03 2.19422093e+02] [-1.74868733e-01 9.84591616e-01 5.25067868e-04 -2.71540259e+01] [ 3.45403706e-03 8.01736972e-05 9.99994032e-01 -2.16184280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56576923100002 meters Centerline goodness [0,1] 0.9997461660497091 Centerline is valid? [True, True] Translation: X:219.45, Y:-27.16, Z:-2.16 [[ 9.84466394e-01 1.75527281e-01 -4.01165865e-03 2.19450061e+02] [-1.75526225e-01 9.84474562e-01 6.16530156e-04 -2.71552998e+01] [ 4.05759376e-03 9.71980809e-05 9.99991763e-01 -2.16425870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59576923100002 meters Centerline goodness [0,1] 0.9997851818435695 Centerline is valid? [True, True] Translation: X:219.48, Y:-27.16, Z:-2.16 [[ 9.84493585e-01 1.75363700e-01 -4.46685262e-03 2.19478116e+02] [-1.75362390e-01 9.84503713e-01 6.86337795e-04 -2.71634632e+01] [ 4.51799173e-03 1.07622797e-04 9.99989788e-01 -2.16412245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62576923100002 meters Centerline goodness [0,1] 0.9997001242342458 Centerline is valid? [True, True] Translation: X:219.51, Y:-27.17, Z:-2.16 [[ 9.84686604e-01 1.74319860e-01 -2.20848282e-03 2.19505462e+02] [-1.74319538e-01 9.84689080e-01 3.39062138e-04 -2.71691902e+01] [ 2.23377418e-03 5.11117584e-05 9.99997504e-01 -2.16050190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65576923100002 meters Centerline goodness [0,1] 0.9997001242342458 Centerline is valid? [True, True] Translation: X:219.53, Y:-27.17, Z:-2.16 [[ 9.84694692e-01 1.74274170e-01 -2.20849106e-03 2.19533486e+02] [-1.74273848e-01 9.84697167e-01 3.39008418e-04 -2.71734046e+01] [ 2.23377530e-03 5.10624454e-05 9.99997504e-01 -2.16061275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68576923100002 meters Centerline goodness [0,1] 0.9996785530601748 Centerline is valid? [True, True] Translation: X:219.56, Y:-27.18, Z:-2.16 [[ 9.84791256e-01 1.73738299e-01 -1.08891543e-03 2.19561754e+02] [-1.73738220e-01 9.84791858e-01 1.67002539e-04 -2.71789530e+01] [ 1.10136979e-03 2.47235886e-05 9.99999393e-01 -2.15838886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71576923100002 meters Centerline goodness [0,1] 0.9997657780427561 Centerline is valid? [True, True] Translation: X:219.59, Y:-27.18, Z:-2.16 [[ 9.84930557e-01 1.72949965e-01 -3.28505469e-04 2.19589264e+02] [-1.72949958e-01 9.84930612e-01 5.01859967e-05 -2.71847785e+01] [ 3.32234759e-04 7.38528529e-06 9.99999945e-01 -2.15879916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74576923100003 meters Centerline goodness [0,1] 0.9998507144380465 Centerline is valid? [True, True] Translation: X:219.62, Y:-27.19, Z:-2.16 [[ 9.85091812e-01 1.72022054e-01 -1.59201861e-03 2.19616969e+02] [-1.72021884e-01 9.85093098e-01 2.44077890e-04 -2.71924810e+01] [ 1.61027332e-03 3.34229097e-05 9.99998703e-01 -2.16137196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77576923100003 meters Centerline goodness [0,1] 0.9997221391014406 Centerline is valid? [True, True] Translation: X:219.65, Y:-27.20, Z:-2.16 [[ 9.85367295e-01 1.70424659e-01 -2.59422827e-03 2.19645143e+02] [-1.70424203e-01 9.85370708e-01 3.97583425e-04 -2.72017641e+01] [ 2.62403457e-03 5.03535806e-05 9.99996556e-01 -2.16342726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80576923100003 meters Centerline goodness [0,1] 0.9998091117332655 Centerline is valid? [True, True] Translation: X:219.67, Y:-27.21, Z:-2.16 [[ 9.85618455e-01 1.68956048e-01 -3.18052581e-03 2.19672512e+02] [-1.68955355e-01 9.85623585e-01 4.87430792e-04 -2.72100594e+01] [ 3.21715563e-03 5.69460822e-05 9.99994823e-01 -2.16446576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83576923100003 meters Centerline goodness [0,1] 0.9998505040150351 Centerline is valid? [True, True] Translation: X:219.70, Y:-27.22, Z:-2.16 [[ 9.85991974e-01 1.66754022e-01 -3.59499253e-03 2.19698608e+02] [-1.66753122e-01 9.85998526e-01 5.50716941e-04 -2.72208211e+01] [ 3.63649160e-03 5.64737461e-05 9.99993386e-01 -2.16483502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86576923100003 meters Centerline goodness [0,1] 0.9998721527348661 Centerline is valid? [True, True] Translation: X:219.73, Y:-27.23, Z:-2.16 [[ 9.86034927e-01 1.66521378e-01 -2.39863815e-03 2.19725840e+02] [-1.66520977e-01 9.86037844e-01 3.67233061e-04 -2.72295776e+01] [ 2.42630014e-03 3.73189435e-05 9.99997056e-01 -2.16210460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.895769231 meters Centerline goodness [0,1] 0.9998710675605983 Centerline is valid? [True, True] Translation: X:219.76, Y:-27.24, Z:-2.16 [[ 9.85954948e-01 1.67004628e-01 -1.51451935e-03 2.19755244e+02] [-1.67004469e-01 9.85956111e-01 2.31889782e-04 -2.72363139e+01] [ 1.53197628e-03 2.42986222e-05 9.99998826e-01 -2.15961312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.925769231 meters Centerline goodness [0,1] 0.9998511525048907 Centerline is valid? [True, True] Translation: X:219.78, Y:-27.24, Z:-2.16 [[ 9.85826393e-01 1.67766069e-01 -9.32207347e-04 2.19783780e+02] [-1.67766009e-01 9.85826834e-01 1.42665428e-04 -2.72396809e+01] [ 9.42929435e-04 1.57493621e-05 9.99999555e-01 -2.15867386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.955769231 meters Centerline goodness [0,1] 0.9998303611187684 Centerline is valid? [True, True] Translation: X:219.81, Y:-27.24, Z:-2.16 [[ 9.85669096e-01 1.68689326e-01 -5.86467413e-04 2.19811923e+02] [-1.68689302e-01 9.85669271e-01 8.95567240e-05 -2.72429768e+01] [ 5.93170170e-04 1.06574836e-05 9.99999824e-01 -2.15874056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.985769231 meters Centerline goodness [0,1] 0.9997027727060422 Centerline is valid? [True, True] Translation: X:219.84, Y:-27.24, Z:-2.16 [[ 9.85136437e-01 1.71773517e-01 -2.45870377e-04 2.19840972e+02] [-1.71773513e-01 9.85136467e-01 3.74971943e-05 -2.72416515e+01] [ 2.48656899e-04 5.29416592e-06 9.99999969e-01 -2.15849938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.015769231 meters Centerline goodness [0,1] 0.9997469582270206 Centerline is valid? [True, True] Translation: X:219.87, Y:-27.24, Z:-2.16 [[ 9.84847165e-01 1.73424510e-01 1.59672318e-06 2.19870270e+02] [-1.73424510e-01 9.84847165e-01 -4.22356507e-07 -2.72427691e+01] [-1.64577529e-06 1.39045674e-07 1.00000000e+00 -2.15798518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.045769231 meters Centerline goodness [0,1] 0.9996819405865015 Centerline is valid? [True, True] Translation: X:219.90, Y:-27.24, Z:-2.16 [[ 9.84284692e-01 1.76582413e-01 -1.51521241e-03 2.19900190e+02] [-1.76582265e-01 9.84285858e-01 2.31649339e-04 -2.72402334e+01] [ 1.53230734e-03 3.95507413e-05 9.99998825e-01 -2.15986932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.075769231 meters Centerline goodness [0,1] 0.9994929434631962 Centerline is valid? [True, True] Translation: X:219.93, Y:-27.24, Z:-2.16 [[ 9.84009242e-01 1.78089512e-01 -3.15223885e-03 2.19928794e+02] [-1.78088882e-01 9.84014288e-01 4.81796738e-04 -2.72368584e+01] [ 3.18765101e-03 8.72862480e-05 9.99994916e-01 -2.16284955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.105769231 meters Centerline goodness [0,1] 0.9994946198066921 Centerline is valid? [True, True] Translation: X:219.96, Y:-27.23, Z:-2.16 [[ 9.83718603e-01 1.79677763e-01 -3.68944378e-03 2.19957378e+02] [-1.79676911e-01 9.83725516e-01 5.63743024e-04 -2.72340163e+01] [ 3.73069207e-03 1.08343362e-04 9.99993035e-01 -2.16472559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.135769231 meters Centerline goodness [0,1] 0.9996149732620321 Centerline is valid? [True, True] Translation: X:219.99, Y:-27.23, Z:-2.16 [[ 9.83222616e-01 1.82402506e-01 -1.61683336e-03 2.19987209e+02] [-1.82402346e-01 9.83223944e-01 2.47012501e-04 -2.72338172e+01] [ 1.63476497e-03 5.20459215e-05 9.99998662e-01 -2.16005938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.165769231 meters Centerline goodness [0,1] 0.9992772877032629 Centerline is valid? [True, True] Translation: X:220.02, Y:-27.23, Z:-2.16 [[ 9.82944858e-01 1.83900425e-01 -1.99531039e-04 2.20015914e+02] [-1.83900422e-01 9.82944878e-01 3.02512899e-05 -2.72279446e+01] [ 2.01691238e-04 6.95849246e-06 9.99999980e-01 -2.15807463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.195769231 meters Centerline goodness [0,1] 0.9996318035130276 Centerline is valid? [True, True] Translation: X:220.04, Y:-27.24, Z:-2.16 [[ 9.82705661e-01 1.85173073e-01 7.18340736e-04 2.20044125e+02] [-1.85173042e-01 9.82705924e-01 -1.09901147e-04 -2.72351691e+01] [-7.26268429e-04 -2.50168597e-05 9.99999736e-01 -2.15666682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22576923100002 meters Centerline goodness [0,1] 0.9985424895967554 Centerline is valid? [True, True] Translation: X:220.08, Y:-27.22, Z:-2.16 [[ 9.82381554e-01 1.86881970e-01 -1.26926456e-03 2.20075323e+02] [-1.86881875e-01 9.82382373e-01 1.93590733e-04 -2.72181748e+01] [ 1.28308175e-03 4.70225760e-05 9.99999176e-01 -2.16239547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25576923100002 meters Centerline goodness [0,1] 0.9994698672547606 Centerline is valid? [True, True] Translation: X:220.10, Y:-27.23, Z:-2.16 [[ 9.82450994e-01 1.86497344e-01 -2.96390457e-03 2.20101616e+02] [-1.86496828e-01 9.82455459e-01 4.52007633e-04 -2.72305895e+01] [ 2.99620244e-03 1.08683451e-04 9.99995505e-01 -2.16398446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28576923100002 meters Centerline goodness [0,1] 0.9995946234264989 Centerline is valid? [True, True] Translation: X:220.13, Y:-27.23, Z:-2.17 [[ 9.82923070e-01 1.83961801e-01 -4.50486361e-03 2.20130194e+02] [-1.83960583e-01 9.82933381e-01 6.86930849e-04 -2.72293047e+01] [ 4.55434986e-03 1.53517157e-04 9.99989617e-01 -2.16827766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31576923100002 meters Centerline goodness [0,1] 0.9996168011410811 Centerline is valid? [True, True] Translation: X:220.16, Y:-27.23, Z:-2.17 [[ 9.83357410e-01 1.81641096e-01 -3.83632590e-03 2.20160017e+02] [-1.81640194e-01 9.83364885e-01 5.85097452e-04 -2.72343487e+01] [ 3.87878593e-03 1.21471068e-04 9.99992470e-01 -2.16754177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34576923100002 meters Centerline goodness [0,1] 0.999702469503124 Centerline is valid? [True, True] Translation: X:220.19, Y:-27.24, Z:-2.17 [[ 9.83810041e-01 1.79190897e-01 -2.90256573e-03 2.20189547e+02] [-1.79190371e-01 9.83814319e-01 4.42479431e-04 -2.72420153e+01] [ 2.93487402e-03 8.47961225e-05 9.99995690e-01 -2.16554127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37576923100002 meters Centerline goodness [0,1] 0.9998720736855571 Centerline is valid? [True, True] Translation: X:220.22, Y:-27.25, Z:-2.16 [[ 9.84707816e-01 1.74204774e-01 -1.79261609e-03 2.20218176e+02] [-1.74204565e-01 9.84709447e-01 2.73221536e-04 -2.72511671e+01] [ 1.81280250e-03 4.32385252e-05 9.99998356e-01 -2.16238306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40576923100002 meters Centerline goodness [0,1] 0.9998309632979061 Centerline is valid? [True, True] Translation: X:220.25, Y:-27.25, Z:-2.16 [[ 9.84969816e-01 1.72710498e-01 -2.35466485e-03 2.20247202e+02] [-1.72710135e-01 9.84972630e-01 3.58518714e-04 -2.72549629e+01] [ 2.38120037e-03 5.35443707e-05 9.99997164e-01 -2.16312189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43576923100002 meters Centerline goodness [0,1] 0.9998712418721432 Centerline is valid? [True, True] Translation: X:220.28, Y:-27.26, Z:-2.16 [[ 9.85115956e-01 1.71862190e-01 -3.15291546e-03 2.20275800e+02] [-1.71861533e-01 9.85120999e-01 4.80129387e-04 -2.72584074e+01] [ 3.18851931e-03 6.88817654e-05 9.99994914e-01 -2.16482462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46576923100002 meters Centerline goodness [0,1] 0.9998295478757404 Centerline is valid? [True, True] Translation: X:220.30, Y:-27.26, Z:-2.17 [[ 9.85126560e-01 1.71801305e-01 -3.15799034e-03 2.20304024e+02] [-1.71800647e-01 9.85131619e-01 4.80581154e-04 -2.72622845e+01] [ 3.19360061e-03 6.91115251e-05 9.99994898e-01 -2.16577962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49576923100003 meters Centerline goodness [0,1] 0.9997859405771042 Centerline is valid? [True, True] Translation: X:220.33, Y:-27.27, Z:-2.17 [[ 9.85111825e-01 1.71891139e-01 -2.85121621e-03 2.20331177e+02] [-1.71890604e-01 9.85115949e-01 4.33587139e-04 -2.72660044e+01] [ 2.88330835e-03 6.29654572e-05 9.99995841e-01 -2.16522127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52576923100003 meters Centerline goodness [0,1] 0.9997640598858908 Centerline is valid? [True, True] Translation: X:220.36, Y:-27.27, Z:-2.16 [[ 9.85301099e-01 1.70821289e-01 -1.35336006e-03 2.20358804e+02] [-1.70821168e-01 9.85302028e-01 2.05651299e-04 -2.72717324e+01] [ 1.36859803e-03 2.85540945e-05 9.99999063e-01 -2.16297926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55576923100003 meters Centerline goodness [0,1] 0.9998295587702666 Centerline is valid? [True, True] Translation: X:220.39, Y:-27.28, Z:-2.16 [[ 9.85417794e-01 1.70150264e-01 -8.11656890e-04 2.20387273e+02] [-1.70150220e-01 9.85418128e-01 1.23252496e-04 -2.72761900e+01] [ 8.20792858e-04 1.66483955e-05 9.99999663e-01 -2.16215505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58576923100003 meters Centerline goodness [0,1] 0.9998309311467095 Centerline is valid? [True, True] Translation: X:220.42, Y:-27.28, Z:-2.16 [[ 9.85245450e-01 1.71146075e-01 -6.51677323e-04 2.20415376e+02] [-1.71146047e-01 9.85245665e-01 9.88406366e-05 -2.72772494e+01] [ 6.58978444e-04 1.41497100e-05 9.99999783e-01 -2.16148105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61576923100003 meters Centerline goodness [0,1] 0.9998290963469344 Centerline is valid? [True, True] Translation: X:220.44, Y:-27.28, Z:-2.16 [[ 9.84971045e-01 1.72718816e-01 -5.01458343e-04 2.20443700e+02] [-1.72718800e-01 9.84971172e-01 7.59767545e-05 -2.72764984e+01] [ 5.07044627e-04 1.17763800e-05 9.99999871e-01 -2.16121014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.645769231 meters Centerline goodness [0,1] 0.9997876046047321 Centerline is valid? [True, True] Translation: X:220.47, Y:-27.28, Z:-2.16 [[ 9.84658746e-01 1.74491077e-01 -1.30162616e-04 2.20472712e+02] [-1.74491076e-01 9.84658755e-01 1.95945825e-05 -2.72774693e+01] [ 1.31584839e-04 3.41823782e-06 9.99999991e-01 -2.16026348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.675769231 meters Centerline goodness [0,1] 0.9997231273827019 Centerline is valid? [True, True] Translation: X:220.50, Y:-27.27, Z:-2.16 [[ 9.84003822e-01 1.78146360e-01 5.93380995e-04 2.20502876e+02] [-1.78146338e-01 9.84004001e-01 -9.02568973e-05 -2.72722583e+01] [-5.99968211e-04 -1.68955192e-05 9.99999820e-01 -2.15946528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.705769231 meters Centerline goodness [0,1] 0.9997212274569511 Centerline is valid? [True, True] Translation: X:220.53, Y:-27.27, Z:-2.16 [[ 9.83703250e-01 1.79798771e-01 5.64440706e-04 2.20531075e+02] [-1.79798751e-01 9.83703411e-01 -8.59167247e-05 -2.72707666e+01] [-5.70689970e-04 -1.69691729e-05 9.99999837e-01 -2.16008442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.735769231 meters Centerline goodness [0,1] 0.9995120398854355 Centerline is valid? [True, True] Translation: X:220.56, Y:-27.27, Z:-2.16 [[ 9.83430799e-01 1.81283889e-01 1.26749839e-04 2.20559654e+02] [-1.81283888e-01 9.83430807e-01 -1.94576309e-05 -2.72706683e+01] [-1.28177052e-04 -3.84247008e-06 9.99999992e-01 -2.16131124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.765769231 meters Centerline goodness [0,1] 0.9994053812992418 Centerline is valid? [True, True] Translation: X:220.59, Y:-27.27, Z:-2.16 [[ 9.83152086e-01 1.82783132e-01 -1.51708773e-03 2.20588740e+02] [-1.82782995e-01 9.83153256e-01 2.29996035e-04 -2.72665619e+01] [ 1.53356914e-03 5.11767563e-05 9.99998823e-01 -2.16480638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.795769231 meters Centerline goodness [0,1] 0.9995089981427321 Centerline is valid? [True, True] Translation: X:220.62, Y:-27.27, Z:-2.17 [[ 9.83145948e-01 1.82814082e-01 -1.74843054e-03 2.20617511e+02] [-1.82813899e-01 9.83147501e-01 2.65016720e-04 -2.72675402e+01] [ 1.76741390e-03 5.90872899e-05 9.99998436e-01 -2.16625250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.825769231 meters Centerline goodness [0,1] 0.9995703636871388 Centerline is valid? [True, True] Translation: X:220.65, Y:-27.27, Z:-2.17 [[ 9.83230228e-01 1.82364729e-01 -1.19342002e-03 2.20647497e+02] [-1.82364645e-01 9.83230951e-01 1.80267138e-04 -2.72652625e+01] [ 1.20628187e-03 4.03935192e-05 9.99999272e-01 -2.16557286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.855769231 meters Centerline goodness [0,1] 0.999509312397329 Centerline is valid? [True, True] Translation: X:220.68, Y:-27.27, Z:-2.16 [[ 9.83283125e-01 1.82080115e-01 -1.06205462e-03 2.20676188e+02] [-1.82080048e-01 9.83283698e-01 1.60097091e-04 -2.72660549e+01] [ 1.07345149e-03 3.59581884e-05 9.99999423e-01 -2.16486682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.885769231 meters Centerline goodness [0,1] 0.9994033794293751 Centerline is valid? [True, True] Translation: X:220.71, Y:-27.27, Z:-2.17 [[ 9.83370486e-01 1.81605850e-01 -1.34234538e-03 2.20705220e+02] [-1.81605742e-01 9.83371401e-01 2.02939772e-04 -2.72682311e+01] [ 1.35687911e-03 4.42126472e-05 9.99999078e-01 -2.16552987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.915769231 meters Centerline goodness [0,1] 0.9995524487447253 Centerline is valid? [True, True] Translation: X:220.73, Y:-27.27, Z:-2.17 [[ 9.83794460e-01 1.79268407e-01 -3.36134704e-03 2.20733329e+02] [-1.79267716e-01 9.83800197e-01 5.08210875e-04 -2.72676682e+01] [ 3.39800003e-03 1.02605961e-04 9.99994222e-01 -2.16891559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.945769231 meters Centerline goodness [0,1] 0.9995756148280179 Centerline is valid? [True, True] Translation: X:220.76, Y:-27.27, Z:-2.17 [[ 9.84039919e-01 1.77901062e-01 -4.08055272e-03 2.20760882e+02] [-1.77900033e-01 9.84048372e-01 6.16560527e-04 -2.72695275e+01] [ 4.12514803e-03 1.19210295e-04 9.99991484e-01 -2.17061613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97576923100002 meters Centerline goodness [0,1] 0.9996787251815202 Centerline is valid? [True, True] Translation: X:220.79, Y:-27.27, Z:-2.17 [[ 9.84298465e-01 1.76461155e-01 -4.24179589e-03 2.20790166e+02] [-1.76460030e-01 9.84307598e-01 6.41075801e-04 -2.72726614e+01] [ 4.28835690e-03 1.17497502e-04 9.99990798e-01 -2.17124939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00576923100002 meters Centerline goodness [0,1] 0.9997457680981335 Centerline is valid? [True, True] Translation: X:220.82, Y:-27.28, Z:-2.17 [[ 9.84729130e-01 1.74082363e-01 -1.96762835e-03 2.20818978e+02] [-1.74082116e-01 9.84731094e-01 2.97285038e-04 -2.72757222e+01] [ 1.98933690e-03 4.97836705e-05 9.99998020e-01 -2.16713021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03576923100002 meters Centerline goodness [0,1] 0.9998716000770399 Centerline is valid? [True, True] Translation: X:220.85, Y:-27.28, Z:-2.17 [[ 9.85039879e-01 1.72324706e-01 -7.95517985e-04 2.20846996e+02] [-1.72324665e-01 9.85040200e-01 1.20022192e-04 -2.72810747e+01] [ 8.04299984e-04 1.88607245e-05 9.99999676e-01 -2.16542141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06576923100002 meters Centerline goodness [0,1] 0.9999145025114887 Centerline is valid? [True, True] Translation: X:220.87, Y:-27.29, Z:-2.17 [[ 9.85877326e-01 1.67469094e-01 -2.05260326e-05 2.20874706e+02] [-1.67469094e-01 9.85877326e-01 3.01597256e-06 -2.72918722e+01] [ 2.07412323e-05 4.64097114e-07 1.00000000e+00 -2.16504731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09576923100002 meters Centerline goodness [0,1] 0.9998720300302862 Centerline is valid? [True, True] Translation: X:220.90, Y:-27.30, Z:-2.16 [[ 9.86396344e-01 1.64383957e-01 4.09809178e-04 2.20902507e+02] [-1.64383946e-01 9.86396429e-01 -6.20593196e-05 -2.73013620e+01] [-4.14435866e-04 -6.15096371e-06 9.99999914e-01 -2.16466888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12576923100002 meters Centerline goodness [0,1] 0.9999154101550108 Centerline is valid? [True, True] Translation: X:220.93, Y:-27.31, Z:-2.16 [[ 9.86937838e-01 1.61097437e-01 1.14898271e-03 2.20929701e+02] [-1.61097344e-01 9.86938506e-01 -1.73639446e-04 -2.73113848e+01] [-1.16194815e-03 -1.37267235e-05 9.99999325e-01 -2.16357052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15576923100002 meters Centerline goodness [0,1] 0.9999362678450034 Centerline is valid? [True, True] Translation: X:220.96, Y:-27.32, Z:-2.16 [[ 9.87456503e-01 1.57881231e-01 1.78104658e-03 2.20957313e+02] [-1.57881003e-01 9.87458109e-01 -2.68989165e-04 -2.73224854e+01] [-1.80117723e-03 -1.55783210e-05 9.99998378e-01 -2.16166437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18576923100002 meters Centerline goodness [0,1] 0.9999576558265583 Centerline is valid? [True, True] Translation: X:220.98, Y:-27.34, Z:-2.16 [[ 9.88281326e-01 1.52623068e-01 2.49394551e-03 2.20983476e+02] [-1.52622604e-01 9.88284473e-01 -3.76481814e-04 -2.73389048e+01] [-2.52218743e-03 -8.56250997e-06 9.99996819e-01 -2.15965138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.01, Y:-27.35, Z:-2.16 [[ 9.88603346e-01 1.50523570e-01 2.46565842e-03 2.21010758e+02] [-1.50523110e-01 9.88606421e-01 -3.72106255e-04 -2.73481109e+01] [-2.49357651e-03 -3.27308593e-06 9.99996891e-01 -2.15970081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.04, Y:-27.36, Z:-2.16 [[ 9.88909817e-01 1.48505654e-01 1.85592123e-03 2.21037663e+02] [-1.48505390e-01 9.88911559e-01 -2.80091449e-04 -2.73584598e+01] [-1.87693712e-03 1.37087738e-06 9.99998239e-01 -2.16194880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.07, Y:-27.36, Z:-2.16 [[ 9.88908867e-01 1.48511522e-01 1.89225976e-03 2.21065343e+02] [-1.48511247e-01 9.88910677e-01 -2.85449982e-04 -2.73642754e+01] [-1.91366849e-03 1.26216131e-06 9.99998169e-01 -2.16195422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.09, Y:-27.37, Z:-2.16 [[ 9.88826970e-01 1.49052695e-01 2.12556614e-03 2.21092759e+02] [-1.49052351e-01 9.88829254e-01 -3.20482143e-04 -2.73692145e+01] [-2.14959071e-03 8.07567403e-08 9.99997690e-01 -2.16095185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.12, Y:-27.37, Z:-2.16 [[ 9.88573041e-01 1.50728109e-01 2.09270448e-03 2.21120729e+02] [-1.50727779e-01 9.88575256e-01 -3.15353822e-04 -2.73742530e+01] [-2.11632855e-03 -3.67841091e-06 9.99997761e-01 -2.16062527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.15, Y:-27.38, Z:-2.16 [[ 9.88439074e-01 1.51613099e-01 1.29070604e-03 2.21148319e+02] [-1.51612974e-01 9.88439916e-01 -1.94535171e-04 -2.73786487e+01] [-1.30527945e-03 -3.40161718e-06 9.99999148e-01 -2.16192613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.18, Y:-27.38, Z:-2.16 [[ 9.88243158e-01 1.52889913e-01 3.68619979e-04 2.21175751e+02] [-1.52889903e-01 9.88243226e-01 -5.56885244e-05 -2.73834396e+01] [-3.72800411e-04 -1.32446968e-06 9.99999931e-01 -2.16413835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.425769231 meters Centerline goodness [0,1] 0.9999788851351351 Centerline is valid? [True, True] Translation: X:221.20, Y:-27.39, Z:-2.16 [[ 9.88153315e-01 1.53469235e-01 4.69129438e-04 2.21203020e+02] [-1.53469218e-01 9.88153426e-01 -7.08230028e-05 -2.73868574e+01] [-4.74441014e-04 -2.01294320e-06 9.99999887e-01 -2.16473375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.455769231 meters Centerline goodness [0,1] 0.9999789389439987 Centerline is valid? [True, True] Translation: X:221.23, Y:-27.39, Z:-2.16 [[ 9.88090302e-01 1.53872663e-01 8.70503534e-04 2.21230871e+02] [-1.53872607e-01 9.88090686e-01 -1.31171152e-04 -2.73918338e+01] [-8.80320088e-04 -4.33770536e-06 9.99999613e-01 -2.16296724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.485769231 meters Centerline goodness [0,1] 0.9999572777374289 Centerline is valid? [True, True] Translation: X:221.26, Y:-27.40, Z:-2.16 [[ 9.88124768e-01 1.53643309e-01 1.78234245e-03 2.21259662e+02] [-1.53643075e-01 9.88126375e-01 -2.68101398e-04 -2.73964278e+01] [-1.80237157e-03 -8.92694391e-06 9.99998376e-01 -2.16220211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.29, Y:-27.40, Z:-2.16 [[ 9.88235246e-01 1.52916835e-01 2.74600893e-03 2.21286878e+02] [-1.52916278e-01 9.88239061e-01 -4.12836301e-04 -2.74033476e+01] [-2.77684291e-03 -1.19300811e-05 9.99996144e-01 -2.16102781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.31, Y:-27.41, Z:-2.16 [[ 9.88362409e-01 1.52092834e-01 2.74187814e-03 2.21314831e+02] [-1.52092276e-01 9.88366212e-01 -4.12037885e-04 -2.74101071e+01] [-2.77264772e-03 -9.77573080e-06 9.99996156e-01 -2.16108545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.34, Y:-27.41, Z:-2.16 [[ 9.88369584e-01 1.52046204e-01 2.74189766e-03 2.21342860e+02] [-1.52045646e-01 9.88373387e-01 -4.11907979e-04 -2.74142247e+01] [-2.77264772e-03 -9.77628271e-06 9.99996156e-01 -2.16119627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.37, Y:-27.43, Z:-2.16 [[ 9.88838309e-01 1.48980603e-01 1.89154768e-03 2.21369910e+02] [-1.48980332e-01 9.88840118e-01 -2.84128308e-04 -2.74256136e+01] [-1.91276784e-03 -8.46446078e-07 9.99998171e-01 -2.16295732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.40, Y:-27.43, Z:-2.17 [[ 9.89099057e-01 1.47249066e-01 8.75849232e-04 2.21397436e+02] [-1.47249007e-01 9.89099445e-01 -1.31618364e-04 -2.74337940e+01] [-8.85682671e-04 1.21566987e-06 9.99999608e-01 -2.16529190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.665769231 meters Centerline goodness [0,1] 0.9999567137044412 Centerline is valid? [True, True] Translation: X:221.43, Y:-27.44, Z:-2.17 [[ 9.89364565e-01 1.45455421e-01 6.91916742e-04 2.21425183e+02] [-1.45455384e-01 9.89364807e-01 -1.03985867e-04 -2.74426624e+01] [-6.99683382e-04 2.23691613e-06 9.99999755e-01 -2.16636697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.45, Y:-27.46, Z:-2.17 [[ 9.89715928e-01 1.43046014e-01 4.68638540e-04 2.21452019e+02] [-1.43045996e-01 9.89716039e-01 -7.04258607e-05 -2.74550064e+01] [-4.73893218e-04 2.66472923e-06 9.99999888e-01 -2.16651991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.48, Y:-27.46, Z:-2.16 [[ 9.89816954e-01 1.42340386e-01 1.26962535e-03 2.21480246e+02] [-1.42340259e-01 9.89817768e-01 -1.90541305e-04 -2.74616961e+01] [-1.28381946e-03 7.88221260e-06 9.99999176e-01 -2.16492727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.51, Y:-27.47, Z:-2.16 [[ 9.89804807e-01 1.42422774e-01 1.48216036e-03 2.21508580e+02] [-1.42422601e-01 9.89805917e-01 -2.22306521e-04 -2.74678578e+01] [-1.49871261e-03 8.94693021e-06 9.99998877e-01 -2.16469573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.54, Y:-27.47, Z:-2.16 [[ 9.89773412e-01 1.42636101e-01 1.88038366e-03 2.21536642e+02] [-1.42635823e-01 9.89775198e-01 -2.81953572e-04 -2.74747655e+01] [-1.90137387e-03 1.08600782e-05 9.99998192e-01 -2.16390755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.57, Y:-27.48, Z:-2.17 [[ 9.89786849e-01 1.42547872e-01 1.44809854e-03 2.21566182e+02] [-1.42547707e-01 9.89787909e-01 -2.17052544e-04 -2.74809064e+01] [-1.46425080e-03 8.41262830e-06 9.99998928e-01 -2.16535638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.59, Y:-27.49, Z:-2.17 [[ 9.89989881e-01 1.41137703e-01 -4.29398860e-04 2.21594124e+02] [-1.41137689e-01 9.89989974e-01 6.42811302e-05 -2.74924236e+01] [ 4.34173057e-04 -3.03330587e-06 9.99999906e-01 -2.17038901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87576923100002 meters Centerline goodness [0,1] 0.9999787996353537 Centerline is valid? [True, True] Translation: X:221.62, Y:-27.50, Z:-2.17 [[ 9.90188635e-01 1.39732196e-01 -1.17478901e-03 2.21621208e+02] [-1.39732086e-01 9.90189332e-01 1.75818238e-04 -2.75022423e+01] [ 1.18783101e-03 -9.93750225e-06 9.99999294e-01 -2.17275642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.65, Y:-27.51, Z:-2.17 [[ 9.90409335e-01 1.38159731e-01 -1.11301176e-03 2.21650584e+02] [-1.38159631e-01 9.90409960e-01 1.66639259e-04 -2.75087406e+01] [ 1.12536077e-03 -1.12677842e-05 9.99999367e-01 -2.17125056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.68, Y:-27.52, Z:-2.17 [[ 9.90620103e-01 1.36639046e-01 1.25781038e-03 2.21678326e+02] [-1.36638917e-01 9.90620902e-01 -1.88405507e-04 -2.75203363e+01] [-1.27175680e-03 1.47724352e-05 9.99999191e-01 -2.16634479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.71, Y:-27.52, Z:-2.16 [[ 9.90500457e-01 1.37490321e-01 2.29285633e-03 2.21708727e+02] [-1.37489894e-01 9.90503110e-01 -3.43355730e-04 -2.75247715e+01] [-2.31828941e-03 2.48494331e-05 9.99997312e-01 -2.16432642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99576923100003 meters Centerline goodness [0,1] 0.9999788386659895 Centerline is valid? [True, True] Translation: X:221.74, Y:-27.53, Z:-2.17 [[ 9.90278428e-01 1.39078095e-01 2.43285880e-03 2.21738766e+02] [-1.39077620e-01 9.90281416e-01 -3.64229128e-04 -2.75307340e+01] [-2.45987115e-03 2.23320370e-05 9.99996974e-01 -2.16508987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.77, Y:-27.53, Z:-2.17 [[ 9.89723374e-01 1.42989063e-01 1.33040609e-03 2.21768887e+02] [-1.42988924e-01 9.89724269e-01 -1.99371887e-04 -2.75278077e+01] [-1.34524319e-03 7.08968184e-06 9.99999095e-01 -2.16790498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.80, Y:-27.53, Z:-2.17 [[ 9.89434578e-01 1.44978294e-01 7.14763728e-04 2.21798555e+02] [-1.44978255e-01 9.89434836e-01 -1.07142119e-04 -2.75275540e+01] [-7.22745414e-04 2.38491938e-06 9.99999739e-01 -2.16897697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.83, Y:-27.53, Z:-2.17 [[ 9.89026770e-01 1.47735748e-01 4.42867616e-04 2.21828114e+02] [-1.47735733e-01 9.89026870e-01 -6.64517382e-05 -2.75255710e+01] [-4.47825269e-04 2.95176060e-07 9.99999900e-01 -2.17062054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.86, Y:-27.53, Z:-2.17 [[ 9.88873339e-01 1.48759887e-01 1.27686642e-04 2.21857601e+02] [-1.48759886e-01 9.88873347e-01 -1.92088887e-05 -2.75282240e+01] [-1.29123429e-04 5.07560612e-10 9.99999992e-01 -2.17117955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.89, Y:-27.53, Z:-2.17 [[ 9.88850231e-01 1.48912827e-01 -4.37300137e-04 2.21886763e+02] [-1.48912813e-01 9.88850327e-01 6.53631042e-05 -2.75318632e+01] [ 4.42157788e-04 4.85272745e-07 9.99999902e-01 -2.17204184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.92, Y:-27.54, Z:-2.17 [[ 9.88864720e-01 1.48816491e-01 -4.65402533e-04 2.21916376e+02] [-1.48816475e-01 9.88864830e-01 6.95529929e-05 -2.75359947e+01] [ 4.70570829e-04 4.81063456e-07 9.99999889e-01 -2.17145052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.94, Y:-27.54, Z:-2.17 [[ 9.88868128e-01 1.48794544e-01 -9.46348908e-05 2.21944886e+02] [-1.48794544e-01 9.88868133e-01 1.40131068e-05 -2.75376111e+01] [ 9.56665015e-05 2.24040702e-07 9.99999995e-01 -2.17067715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.97, Y:-27.54, Z:-2.17 [[ 9.88844711e-01 1.48946953e-01 9.70659768e-04 2.21974474e+02] [-1.48946882e-01 9.88845188e-01 -1.45301826e-04 -2.75404336e+01] [-9.81474505e-04 -8.95803731e-07 9.99999518e-01 -2.16976216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.00, Y:-27.54, Z:-2.17 [[ 9.88780487e-01 1.49374465e-01 6.46766081e-04 2.22002118e+02] [-1.49374434e-01 9.88780698e-01 -9.69521645e-05 -2.75430089e+01] [-6.53991994e-04 -7.45908620e-07 9.99999786e-01 -2.17051695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.03, Y:-27.55, Z:-2.17 [[ 9.88766483e-01 1.49468403e-01 1.97905278e-04 2.22030292e+02] [-1.49468400e-01 9.88766502e-01 -2.97695067e-05 -2.75467094e+01] [-2.00131710e-04 -1.45494921e-07 9.99999980e-01 -2.17057178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.06, Y:-27.55, Z:-2.17 [[ 9.88830325e-01 1.49045591e-01 7.04240638e-06 2.22058621e+02] [-1.49045591e-01 9.88830325e-01 -1.23888726e-06 -2.75510629e+01] [-7.14839570e-06 1.75409666e-07 1.00000000e+00 -2.17104935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.09, Y:-27.56, Z:-2.17 [[ 9.89007386e-01 1.47862621e-01 1.01742601e-03 2.22086926e+02] [-1.47862543e-01 9.89007910e-01 -1.52177956e-04 -2.75573081e+01] [-1.02874381e-03 6.59250141e-08 9.99999471e-01 -2.16949847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.12, Y:-27.56, Z:-2.17 [[ 9.89114640e-01 1.47136566e-01 1.74949575e-03 2.22115923e+02] [-1.47136334e-01 9.89116187e-01 -2.61406927e-04 -2.75631565e+01] [-1.76891708e-03 1.14702719e-06 9.99998435e-01 -2.16816504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.14, Y:-27.57, Z:-2.17 [[ 9.89371203e-01 1.45390181e-01 2.51363313e-03 2.22144156e+02] [-1.45389697e-01 9.89374396e-01 -3.75461247e-04 -2.75711412e+01] [-2.54151264e-03 6.01418811e-06 9.99996770e-01 -2.16815895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.17, Y:-27.58, Z:-2.17 [[ 9.89538313e-01 1.44250436e-01 2.39559650e-03 2.22173113e+02] [-1.44249992e-01 9.89541213e-01 -3.57820068e-04 -2.75768356e+01] [-2.42215716e-03 8.51189036e-06 9.99997067e-01 -2.16839746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.20, Y:-27.58, Z:-2.17 [[ 9.89683764e-01 1.43256411e-01 1.91002481e-03 2.22203377e+02] [-1.43256127e-01 9.89685607e-01 -2.85217520e-04 -2.75827333e+01] [-1.93118330e-03 8.65239182e-06 9.99998135e-01 -2.16899365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.23, Y:-27.59, Z:-2.17 [[ 9.89816005e-01 1.42344369e-01 1.53553616e-03 2.22232234e+02] [-1.42344184e-01 9.89817196e-01 -2.29271278e-04 -2.75868239e+01] [-1.55253558e-03 8.36173748e-06 9.99998795e-01 -2.16880122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53576923100002 meters Centerline goodness [0,1] 0.9999788556687952 Centerline is valid? [True, True] Translation: X:222.26, Y:-27.59, Z:-2.17 [[ 9.89769563e-01 1.42665797e-01 1.63794996e-03 2.22261206e+02] [-1.42665587e-01 9.89770918e-01 -2.44687801e-04 -2.75900060e+01] [-1.65610382e-03 8.50544392e-06 9.99998629e-01 -2.16887805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.29, Y:-27.59, Z:-2.17 [[ 9.89695845e-01 1.43175221e-01 1.72942905e-03 2.22291333e+02] [-1.43174989e-01 9.89697356e-01 -2.58257293e-04 -2.75918232e+01] [-1.74858740e-03 7.98518506e-06 9.99998471e-01 -2.16848754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.32, Y:-27.59, Z:-2.17 [[ 9.89678360e-01 1.43290768e-01 2.12129589e-03 2.22319642e+02] [-1.43290418e-01 9.89680633e-01 -3.16705502e-04 -2.75942291e+01] [-2.14478643e-03 9.47520823e-06 9.99997700e-01 -2.16883202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.35, Y:-27.60, Z:-2.17 [[ 9.89829721e-01 1.42239412e-01 2.25236343e-03 2.22349238e+02] [-1.42239016e-01 9.89832283e-01 -3.36207948e-04 -2.75994920e+01] [-2.27728406e-03 1.24146617e-05 9.99997407e-01 -2.16932929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.38, Y:-27.61, Z:-2.17 [[ 9.90106094e-01 1.40303452e-01 2.20554831e-03 2.22378299e+02] [-1.40303067e-01 9.90108550e-01 -3.29168826e-04 -2.76059614e+01] [-2.22991576e-03 1.64668686e-05 9.99997514e-01 -2.16965354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.41, Y:-27.62, Z:-2.17 [[ 9.90879793e-01 1.34747665e-01 5.50514329e-04 2.22406593e+02] [-1.34747640e-01 9.90879946e-01 -8.19430409e-05 -2.76177031e+01] [-5.56535242e-04 7.01519668e-06 9.99999845e-01 -2.17270836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.44, Y:-27.63, Z:-2.17 [[ 9.91208061e-01 1.32312271e-01 -2.05623274e-04 2.22436128e+02] [-1.32312268e-01 9.91208083e-01 3.07397235e-05 -2.76271765e+01] [ 2.07882694e-04 -3.26298000e-06 9.99999978e-01 -2.17455140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.47, Y:-27.63, Z:-2.17 [[ 9.91480554e-01 1.30254581e-01 -2.33947701e-04 2.22466349e+02] [-1.30254576e-01 9.91480582e-01 3.49224796e-05 -2.76334742e+01] [ 2.36503415e-04 -4.15220092e-06 9.99999972e-01 -2.17435184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77576923100003 meters Centerline goodness [0,1] 0.9999363476268274 Centerline is valid? [True, True] Translation: X:222.50, Y:-27.64, Z:-2.17 [[ 9.91685794e-01 1.28681638e-01 5.67696214e-04 2.22495660e+02] [-1.28681610e-01 9.91685956e-01 -8.47034849e-05 -2.76439447e+01] [-5.73876146e-04 1.09471796e-05 9.99999835e-01 -2.17253996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80576923100003 meters Centerline goodness [0,1] 0.9999788775531757 Centerline is valid? [True, True] Translation: X:222.53, Y:-27.65, Z:-2.17 [[ 9.91713672e-01 1.28465063e-01 8.49134592e-04 2.22525352e+02] [-1.28465001e-01 9.91714035e-01 -1.26729632e-04 -2.76500524e+01] [-8.58379023e-04 1.65954323e-05 9.99999631e-01 -2.17132763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83576923100003 meters Centerline goodness [0,1] 0.9999787514342782 Centerline is valid? [True, True] Translation: X:222.55, Y:-27.66, Z:-2.17 [[ 9.91641119e-01 1.29024140e-01 8.13520560e-04 2.22554973e+02] [-1.29024084e-01 9.91641453e-01 -1.21422235e-04 -2.76562558e+01] [-8.22387110e-04 1.54435362e-05 9.99999662e-01 -2.17181040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86576923100003 meters Centerline goodness [0,1] 0.9999571871989725 Centerline is valid? [True, True] Translation: X:222.59, Y:-27.66, Z:-2.17 [[ 9.91523563e-01 1.29924430e-01 8.16489538e-04 2.22585506e+02] [-1.29924374e-01 9.91523899e-01 -1.21909674e-04 -2.76607790e+01] [-8.25407936e-04 1.47944221e-05 9.99999659e-01 -2.17315237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.895769231 meters Centerline goodness [0,1] 0.999978784342845 Centerline is valid? [True, True] Translation: X:222.62, Y:-27.67, Z:-2.17 [[ 9.91371239e-01 1.31082513e-01 6.64124866e-04 2.22616140e+02] [-1.31082476e-01 9.91371462e-01 -9.91232503e-05 -2.76651105e+01] [-6.71387764e-04 1.12128079e-05 9.99999775e-01 -2.17364270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.65, Y:-27.67, Z:-2.17 [[ 9.91287581e-01 1.31713856e-01 6.26624539e-04 2.22645766e+02] [-1.31713823e-01 9.91287779e-01 -9.35310771e-05 -2.76715040e+01] [-6.33484586e-04 1.01810814e-05 9.99999799e-01 -2.17414513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.68, Y:-27.68, Z:-2.17 [[ 9.91132993e-01 1.32870403e-01 9.20118652e-04 2.22675214e+02] [-1.32870333e-01 9.91133420e-01 -1.37337129e-04 -2.76797604e+01] [-9.30208386e-04 1.38628880e-05 9.99999567e-01 -2.17442335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.71, Y:-27.69, Z:-2.18 [[ 9.91103809e-01 1.33090698e-01 3.26137194e-04 2.22705605e+02] [-1.33090689e-01 9.91103862e-01 -4.86305269e-05 -2.76860370e+01] [-3.29708103e-04 4.79207657e-06 9.99999946e-01 -2.17576614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.015769231 meters Centerline goodness [0,1] 0.9999787179705457 Centerline is valid? [True, True] Translation: X:222.74, Y:-27.70, Z:-2.18 [[ 9.91156746e-01 1.32687806e-01 -1.50029148e-03 2.22735070e+02] [-1.32687618e-01 9.91157881e-01 2.24371792e-04 -2.76952876e+01] [ 1.51679712e-03 -2.33175128e-05 9.99998849e-01 -2.17952500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.045769231 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:222.77, Y:-27.70, Z:-2.18 [[ 9.91142858e-01 1.32785297e-01 -1.97474522e-03 2.22766049e+02] [-1.32784972e-01 9.91144825e-01 2.95208567e-04 -2.77021918e+01] [ 1.99645786e-03 -3.03773735e-05 9.99998007e-01 -2.18046765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.80, Y:-27.71, Z:-2.18 [[ 9.91089248e-01 1.33187134e-01 -1.81355409e-03 2.22796806e+02] [-1.33186861e-01 9.91090907e-01 2.71158627e-04 -2.77086763e+01] [ 1.83351181e-03 -2.72008246e-05 9.99998319e-01 -2.17988563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.105769231 meters Centerline goodness [0,1] 0.9999787645197596 Centerline is valid? [True, True] Translation: X:222.83, Y:-27.71, Z:-2.18 [[ 9.90935227e-01 1.34338763e-01 -6.87094491e-04 2.22828006e+02] [-1.34338724e-01 9.90935466e-01 1.02800920e-04 -2.77146170e+01] [ 6.94676447e-04 -9.56565578e-06 9.99999759e-01 -2.17656547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.86, Y:-27.72, Z:-2.17 [[ 9.90773454e-01 1.35528421e-01 -9.52765654e-05 2.22859809e+02] [-1.35528420e-01 9.90773459e-01 1.43349809e-05 -2.77161068e+01] [ 9.63402895e-05 -1.29003613e-06 9.99999995e-01 -2.17480518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.89, Y:-27.72, Z:-2.17 [[ 9.90481285e-01 1.37646904e-01 3.92688914e-04 2.22891277e+02] [-1.37646891e-01 9.90481363e-01 -5.86325286e-05 -2.77183925e+01] [-3.97021637e-04 4.02201396e-06 9.99999921e-01 -2.17447250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.92, Y:-27.72, Z:-2.17 [[ 9.89965563e-01 1.41303474e-01 1.22958499e-03 2.22922184e+02] [-1.41303355e-01 9.89966327e-01 -1.83870988e-04 -2.77193885e+01] [-1.24322934e-03 8.28146246e-06 9.99999227e-01 -2.17357121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.95, Y:-27.72, Z:-2.17 [[ 9.89847208e-01 1.42124538e-01 1.76673797e-03 2.22953221e+02] [-1.42124293e-01 9.89848784e-01 -2.64147262e-04 -2.77223253e+01] [-1.78634524e-03 1.03690433e-05 9.99998404e-01 -2.17332259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.98, Y:-27.72, Z:-2.17 [[ 9.89771199e-01 1.42656763e-01 1.42213507e-03 2.22983367e+02] [-1.42656605e-01 9.89772220e-01 -2.12669547e-04 -2.77247955e+01] [-1.43792853e-03 7.61723201e-06 9.99998966e-01 -2.17470707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.01, Y:-27.73, Z:-2.18 [[ 9.89753802e-01 1.42784090e-01 3.37958119e-04 2.23013564e+02] [-1.42784081e-01 9.89753860e-01 -5.05092348e-05 -2.77307672e+01] [-3.41707268e-04 1.73666773e-06 9.99999942e-01 -2.17774162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.04, Y:-27.74, Z:-2.18 [[ 9.89769105e-01 1.42676239e-01 -7.81105072e-04 2.23043627e+02] [-1.42676191e-01 9.89769413e-01 1.16841988e-04 -2.77351012e+01] [ 7.89784484e-04 -4.20149338e-06 9.99999688e-01 -2.17863105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.07, Y:-27.74, Z:-2.18 [[ 9.89658517e-01 1.43442368e-01 -5.53509172e-04 2.23073015e+02] [-1.43442344e-01 9.89658672e-01 8.27453925e-05 -2.77384518e+01] [ 5.59654347e-04 -2.49302932e-06 9.99999843e-01 -2.17866033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.10, Y:-27.74, Z:-2.18 [[ 9.89538374e-01 1.44269780e-01 1.92585181e-04 2.23103359e+02] [-1.44269777e-01 9.89538393e-01 -2.88057045e-05 -2.77402205e+01] [-1.94726223e-04 7.20128909e-07 9.99999981e-01 -2.17667339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.13, Y:-27.74, Z:-2.18 [[ 9.89421738e-01 1.45065530e-01 7.85170571e-04 2.23134175e+02] [-1.45065483e-01 9.89422049e-01 -1.17440975e-04 -2.77422776e+01] [-7.93901713e-04 2.29750564e-06 9.99999685e-01 -2.17577167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.17, Y:-27.74, Z:-2.18 [[ 9.89287433e-01 1.45979991e-01 4.64921736e-04 2.23165250e+02] [-1.45979974e-01 9.89287543e-01 -6.95401280e-05 -2.77431750e+01] [-4.70092749e-04 9.25911646e-07 9.99999890e-01 -2.17664992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.19, Y:-27.75, Z:-2.18 [[ 9.89287433e-01 1.45979991e-01 4.64921736e-04 2.23194920e+02] [-1.45979974e-01 9.89287543e-01 -6.95401280e-05 -2.77476128e+01] [-4.70092749e-04 9.25911640e-07 9.99999890e-01 -2.17676728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.22, Y:-27.75, Z:-2.18 [[ 9.89212449e-01 1.46487447e-01 3.97530384e-04 2.23224294e+02] [-1.46487435e-01 9.89212529e-01 -5.94185838e-05 -2.77501642e+01] [-4.01946113e-04 5.44396431e-07 9.99999919e-01 -2.17657210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.25, Y:-27.75, Z:-2.18 [[ 9.89036348e-01 1.47669391e-01 9.23287399e-04 2.23253916e+02] [-1.47669327e-01 9.89036779e-01 -1.38214606e-04 -2.77490087e+01] [-9.33575262e-04 3.58040735e-07 9.99999564e-01 -2.17566723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.28, Y:-27.75, Z:-2.18 [[ 9.88901606e-01 1.48568008e-01 1.07707239e-03 2.23284267e+02] [-1.48567921e-01 9.88902193e-01 -1.61143978e-04 -2.77494263e+01] [-1.08906009e-03 -6.62867487e-07 9.99999407e-01 -2.17528552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.31, Y:-27.75, Z:-2.18 [[ 9.88751934e-01 1.49563669e-01 5.66820231e-04 2.23313588e+02] [-1.49563645e-01 9.88752097e-01 -8.48733287e-05 -2.77497446e+01] [-5.73138659e-04 -8.57031924e-07 9.99999836e-01 -2.17614067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.34, Y:-27.75, Z:-2.18 [[ 9.88605685e-01 1.50528192e-01 2.50735666e-04 2.23343165e+02] [-1.50528187e-01 9.88605717e-01 -3.76114834e-05 -2.77482769e+01] [-2.53540301e-04 -5.59858896e-07 9.99999968e-01 -2.17759438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.37, Y:-27.75, Z:-2.18 [[ 9.88624967e-01 1.50398320e-01 1.01003790e-03 2.23372650e+02] [-1.50398244e-01 9.88625483e-01 -1.51027092e-04 -2.77514388e+01] [-1.02126343e-03 -2.59877275e-06 9.99999479e-01 -2.17533811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.40, Y:-27.75, Z:-2.18 [[ 9.88765023e-01 1.49474123e-01 1.10284908e-03 2.23401502e+02] [-1.49474032e-01 9.88765638e-01 -1.64902217e-04 -2.77545704e+01] [-1.11510789e-03 -1.79775334e-06 9.99999378e-01 -2.17597999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.43, Y:-27.76, Z:-2.18 [[ 9.89018223e-01 1.47793189e-01 3.58275811e-04 2.23430814e+02] [-1.47793180e-01 9.89018288e-01 -5.36070332e-05 -2.77604577e+01] [-3.62264084e-04 6.76113328e-08 9.99999934e-01 -2.17740167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.46, Y:-27.77, Z:-2.18 [[ 9.89642504e-01 1.43548536e-01 -1.23751266e-03 2.23458974e+02] [-1.43548417e-01 9.89643278e-01 1.84785042e-04 -2.77732512e+01] [ 1.25122171e-03 -5.22814869e-06 9.99999217e-01 -2.18192063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.49, Y:-27.78, Z:-2.18 [[ 9.90009430e-01 1.40997880e-01 -9.62096333e-04 2.23487885e+02] [-1.40997807e-01 9.90009898e-01 1.43638844e-04 -2.77829723e+01] [ 9.72737665e-04 -6.55033693e-06 9.99999527e-01 -2.18129273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.52, Y:-27.79, Z:-2.18 [[ 9.90411391e-01 1.38149364e-01 -1.73549648e-04 2.23515872e+02] [-1.38149362e-01 9.90411406e-01 2.58717191e-05 -2.77935728e+01] [ 1.75459713e-04 -1.64787216e-06 9.99999985e-01 -2.17973922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.825769231 meters Centerline goodness [0,1] 0.9999789703903096 Centerline is valid? [True, True] Translation: X:223.54, Y:-27.81, Z:-2.18 [[ 9.91044967e-01 1.33512669e-01 2.05949223e-03 2.23544276e+02] [-1.33512318e-01 9.91047106e-01 -3.07472951e-04 -2.78098115e+01] [-2.08210534e-03 2.97519400e-05 9.99997832e-01 -2.17524473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.855769231 meters Centerline goodness [0,1] 0.9999788511970222 Centerline is valid? [True, True] Translation: X:223.58, Y:-27.82, Z:-2.17 [[ 9.91211553e-01 1.32256663e-01 2.79869398e-03 2.23575765e+02] [-1.32256010e-01 9.91215503e-01 -4.17883632e-04 -2.78188814e+01] [-2.82937675e-03 4.40669857e-05 9.99995996e-01 -2.17441529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.885769231 meters Centerline goodness [0,1] 0.9999788534331451 Centerline is valid? [True, True] Translation: X:223.61, Y:-27.83, Z:-2.17 [[ 9.91217956e-01 1.32203528e-01 3.03171753e-03 2.23607629e+02] [-1.32202760e-01 9.91222591e-01 -4.53201055e-04 -2.78294776e+01] [-3.06502168e-03 4.84195994e-05 9.99995302e-01 -2.17364255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.915769231 meters Centerline goodness [0,1] 0.999957070490255 Centerline is valid? [True, True] Translation: X:223.64, Y:-27.83, Z:-2.17 [[ 9.91008543e-01 1.33770774e-01 2.72915742e-03 2.23639900e+02] [-1.33770156e-01 9.91012300e-01 -4.08439327e-04 -2.78329576e+01] [-2.75926582e-03 3.96870488e-05 9.99996192e-01 -2.16985652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.67, Y:-27.84, Z:-2.18 [[ 9.90636824e-01 1.36513121e-01 1.68863114e-03 2.23671092e+02] [-1.36512889e-01 9.90638263e-01 -2.52755867e-04 -2.78378025e+01] [-1.70732711e-03 1.98693539e-05 9.99998542e-01 -2.17554511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.70, Y:-27.83, Z:-2.18 [[ 9.89719988e-01 1.43018602e-01 1.56532567e-04 2.23702840e+02] [-1.43018600e-01 9.89720001e-01 -2.34924020e-05 -2.78297397e+01] [-1.58283263e-04 8.63831129e-07 9.99999987e-01 -2.17863871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.73, Y:-27.83, Z:-2.18 [[ 9.89320632e-01 1.45755051e-01 3.89189773e-04 2.23734166e+02] [-1.45755039e-01 9.89320709e-01 -5.83675495e-05 -2.78297291e+01] [-3.93540868e-04 1.01785033e-06 9.99999923e-01 -2.17851208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03576923100002 meters Centerline goodness [0,1] 0.9999565698899047 Centerline is valid? [True, True] Translation: X:223.76, Y:-27.83, Z:-2.18 [[ 9.89104453e-01 1.47211197e-01 1.11556176e-03 2.23764442e+02] [-1.47211102e-01 9.89105082e-01 -1.67436946e-04 -2.78312935e+01] [-1.12805640e-03 1.38955307e-06 9.99999364e-01 -2.17754907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06576923100002 meters Centerline goodness [0,1] 0.9999362095728168 Centerline is valid? [True, True] Translation: X:223.79, Y:-27.83, Z:-2.18 [[ 9.88996040e-01 1.47931123e-01 1.79319151e-03 2.23793748e+02] [-1.47930878e-01 9.88997666e-01 -2.69169645e-04 -2.78332818e+01] [-1.81328079e-03 9.39318047e-07 9.99998356e-01 -2.17609537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09576923100002 meters Centerline goodness [0,1] 0.9999361824331511 Centerline is valid? [True, True] Translation: X:223.82, Y:-27.84, Z:-2.18 [[ 9.89086732e-01 1.47313083e-01 2.50831612e-03 2.23824072e+02] [-1.47312602e-01 9.89089913e-01 -3.76447039e-04 -2.78353955e+01] [-2.53640575e-03 2.83219701e-06 9.99996783e-01 -2.17544195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12576923100002 meters Centerline goodness [0,1] 0.999978603218076 Centerline is valid? [True, True] Translation: X:223.85, Y:-27.84, Z:-2.18 [[ 9.89540404e-01 1.44242526e-01 1.97024581e-03 2.23853569e+02] [-1.44242223e-01 9.89542366e-01 -2.95693670e-04 -2.78414722e+01] [-1.99229330e-03 8.40819867e-06 9.99998015e-01 -2.17691196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15576923100002 meters Centerline goodness [0,1] 0.9999573996762375 Centerline is valid? [True, True] Translation: X:223.88, Y:-27.85, Z:-2.18 [[ 9.89881570e-01 1.41886244e-01 1.66470809e-03 2.23883007e+02] [-1.41886025e-01 9.89882970e-01 -2.49811713e-04 -2.78485465e+01] [-1.68331103e-03 1.10851977e-05 9.99998583e-01 -2.17734845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18576923100002 meters Centerline goodness [0,1] 0.999978400328315 Centerline is valid? [True, True] Translation: X:223.91, Y:-27.86, Z:-2.18 [[ 9.90236045e-01 1.39388650e-01 1.83825903e-03 2.23913703e+02] [-1.39388378e-01 9.90237751e-01 -2.75858411e-04 -2.78556788e+01] [-1.85876502e-03 1.69329976e-05 9.99998272e-01 -2.17721043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.94, Y:-27.87, Z:-2.18 [[ 9.90756770e-01 1.35636279e-01 1.95523462e-03 2.23944284e+02] [-1.35635964e-01 9.90758699e-01 -2.93210239e-04 -2.78662057e+01] [-1.97693565e-03 2.52998963e-05 9.99998046e-01 -2.17723654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24576923100003 meters Centerline goodness [0,1] 0.9999785803024461 Centerline is valid? [True, True] Translation: X:223.97, Y:-27.88, Z:-2.18 [[ 9.90962553e-01 1.34131479e-01 1.40199902e-03 2.23973769e+02] [-1.34131315e-01 9.90963544e-01 -2.10475786e-04 -2.78759692e+01] [-1.41756135e-03 2.05216496e-05 9.99998995e-01 -2.17903548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27576923100003 meters Centerline goodness [0,1] 0.999957378795951 Centerline is valid? [True, True] Translation: X:224.01, Y:-27.88, Z:-2.18 [[ 9.91059862e-01 1.33417768e-01 2.20233610e-04 2.24005762e+02] [-1.33417764e-01 9.91059887e-01 -3.24958487e-05 -2.78800353e+01] [-2.22600220e-04 2.82225546e-06 9.99999975e-01 -2.18094850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30576923100003 meters Centerline goodness [0,1] 0.9999786643908684 Centerline is valid? [True, True] Translation: X:224.04, Y:-27.88, Z:-2.18 [[ 9.91032500e-01 1.33618912e-01 -7.55578635e-04 2.24037048e+02] [-1.33618864e-01 9.91032788e-01 1.14457318e-04 -2.78846850e+01] [ 7.64096863e-04 -1.24713630e-05 9.99999708e-01 -2.18289754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33576923100003 meters Centerline goodness [0,1] 0.9999785775492717 Centerline is valid? [True, True] Translation: X:224.07, Y:-27.88, Z:-2.18 [[ 9.90708427e-01 1.36002191e-01 -4.65877012e-04 2.24068168e+02] [-1.36002173e-01 9.90708536e-01 7.02000934e-05 -2.78815431e+01] [ 4.71095699e-04 -6.18753814e-06 9.99999889e-01 -2.18106364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36576923100003 meters Centerline goodness [0,1] 0.9999784733284539 Centerline is valid? [True, True] Translation: X:224.10, Y:-27.88, Z:-2.18 [[ 9.90484255e-01 1.37625989e-01 -1.64551178e-04 2.24099241e+02] [-1.37625987e-01 9.90484269e-01 2.47951880e-05 -2.78820279e+01] [ 1.66397816e-04 -1.91272502e-06 9.99999986e-01 -2.18020780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.13, Y:-27.88, Z:-2.18 [[ 9.90198386e-01 1.39664367e-01 -1.01031028e-03 2.24129036e+02] [-1.39664284e-01 9.90198901e-01 1.52176987e-04 -2.78798370e+01] [ 1.02166184e-03 -9.58114380e-06 9.99999478e-01 -2.18236648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.16, Y:-27.88, Z:-2.18 [[ 9.90090291e-01 1.40424735e-01 -1.45260794e-03 2.24158604e+02] [-1.40424565e-01 9.90091356e-01 2.18802327e-04 -2.78837863e+01] [ 1.46893982e-03 -1.26522209e-05 9.99998921e-01 -2.18487277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.19, Y:-27.88, Z:-2.18 [[ 9.90058325e-01 1.40650357e-01 -1.41053481e-03 2.24188677e+02] [-1.40650197e-01 9.90059330e-01 2.12383222e-04 -2.78836619e+01] [ 1.42638493e-03 -1.18797781e-05 9.99998983e-01 -2.18386788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.22, Y:-27.89, Z:-2.18 [[ 9.90234011e-01 1.39410369e-01 -1.16332079e-03 2.24218309e+02] [-1.39410259e-01 9.90234694e-01 1.75115317e-04 -2.78867785e+01] [ 1.17637350e-03 -1.12262897e-05 9.99999308e-01 -2.18427360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.25, Y:-27.89, Z:-2.18 [[ 9.90462149e-01 1.37780255e-01 -1.15469005e-03 2.24247409e+02] [-1.37780146e-01 9.90462822e-01 1.73787653e-04 -2.78923710e+01] [ 1.16762207e-03 -1.30367292e-05 9.99999318e-01 -2.18487915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.28, Y:-27.90, Z:-2.18 [[ 9.90862036e-01 1.34879003e-01 2.81397435e-04 2.24276198e+02] [-1.34878997e-01 9.90862076e-01 -4.24179640e-05 -2.78985023e+01] [-2.84547340e-04 4.07574651e-06 9.99999960e-01 -2.18179387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.575769231 meters Centerline goodness [0,1] 0.9999571201921016 Centerline is valid? [True, True] Translation: X:224.31, Y:-27.90, Z:-2.18 [[ 9.90897214e-01 1.34605749e-01 2.00107978e-03 2.24306872e+02] [-1.34605415e-01 9.90899234e-01 -3.01312261e-04 -2.79021199e+01] [-2.02342678e-03 2.92133059e-05 9.99997952e-01 -2.17831696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.605769231 meters Centerline goodness [0,1] 0.999936367878505 Centerline is valid? [True, True] Translation: X:224.34, Y:-27.91, Z:-2.18 [[ 9.90852951e-01 1.34916613e-01 2.81737542e-03 2.24335944e+02] [-1.34915952e-01 9.90856955e-01 -4.24238361e-04 -2.79052340e+01] [-2.84885284e-03 4.02489448e-05 9.99995941e-01 -2.17658843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.635769231 meters Centerline goodness [0,1] 0.9999785389303802 Centerline is valid? [True, True] Translation: X:224.37, Y:-27.91, Z:-2.18 [[ 9.90774689e-01 1.35512937e-01 1.32621652e-03 2.24366858e+02] [-1.35512791e-01 9.90775577e-01 -1.99679042e-04 -2.79064738e+01] [-1.34104203e-03 1.81176385e-05 9.99999101e-01 -2.17920575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.665769231 meters Centerline goodness [0,1] 0.9999361878629315 Centerline is valid? [True, True] Translation: X:224.40, Y:-27.91, Z:-2.18 [[ 9.90772391e-01 1.35534451e-01 6.94177640e-04 2.24396164e+02] [-1.35534411e-01 9.90772634e-01 -1.04556044e-04 -2.79120043e+01] [-7.01943154e-04 9.50628391e-06 9.99999754e-01 -2.18134363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.43, Y:-27.92, Z:-2.18 [[ 9.90823287e-01 1.35162526e-01 5.52663222e-04 2.24426910e+02] [-1.35162500e-01 9.90823441e-01 -8.32038677e-05 -2.79151567e+01] [-5.58837720e-04 7.74098674e-06 9.99999844e-01 -2.18158750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72576923100002 meters Centerline goodness [0,1] 0.9999147539586131 Centerline is valid? [True, True] Translation: X:224.46, Y:-27.93, Z:-2.18 [[ 9.91079743e-01 1.33260857e-01 1.57714412e-03 2.24455338e+02] [-1.33260648e-01 9.91080997e-01 -2.37468667e-04 -2.79261461e+01] [-1.59472285e-03 2.51791382e-05 9.99998728e-01 -2.17972356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75576923100002 meters Centerline goodness [0,1] 0.9998079426388682 Centerline is valid? [True, True] Translation: X:224.48, Y:-27.94, Z:-2.18 [[ 9.91228512e-01 1.32144671e-01 1.95542237e-03 2.24483474e+02] [-1.32144347e-01 9.91230440e-01 -2.94388806e-04 -2.79351083e+01] [-1.97717609e-03 3.34085647e-05 9.99998045e-01 -2.17925068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78576923100002 meters Centerline goodness [0,1] 0.9998279865829535 Centerline is valid? [True, True] Translation: X:224.51, Y:-27.94, Z:-2.18 [[ 9.91452438e-01 1.30464899e-01 9.86490704e-04 2.24513046e+02] [-1.30464816e-01 9.91452929e-01 -1.48459749e-04 -2.79443606e+01] [-9.97427883e-04 1.84884524e-05 9.99999502e-01 -2.18096887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81576923100002 meters Centerline goodness [0,1] 0.9998929473729286 Centerline is valid? [True, True] Translation: X:224.54, Y:-27.95, Z:-2.18 [[ 9.91431280e-01 1.30628344e-01 5.02559465e-04 2.24543729e+02] [-1.30628322e-01 9.91431407e-01 -7.56542927e-05 -2.79455988e+01] [-5.08135833e-04 9.35753236e-06 9.99999871e-01 -2.18137857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84576923100002 meters Centerline goodness [0,1] 0.9999147066976566 Centerline is valid? [True, True] Translation: X:224.57, Y:-27.95, Z:-2.18 [[ 9.91337388e-01 1.31339893e-01 1.21097066e-04 2.24573274e+02] [-1.31339892e-01 9.91337396e-01 -1.79901442e-05 -2.79525686e+01] [-1.22410874e-04 1.92942692e-06 9.99999993e-01 -2.18324594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87576923100002 meters Centerline goodness [0,1] 0.9999363989060612 Centerline is valid? [True, True] Translation: X:224.60, Y:-27.95, Z:-2.18 [[ 9.91141191e-01 1.32812351e-01 -1.40936518e-04 2.24603858e+02] [-1.32812349e-01 9.91141201e-01 2.12253105e-05 -2.79536599e+01] [ 1.42506973e-04 -2.31916947e-06 9.99999990e-01 -2.18261156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90576923100002 meters Centerline goodness [0,1] 0.9999576181394363 Centerline is valid? [True, True] Translation: X:224.63, Y:-27.96, Z:-2.18 [[ 9.91069407e-01 1.33346921e-01 -1.73701428e-04 2.24634531e+02] [-1.33346918e-01 9.91069422e-01 2.62079616e-05 -2.79580850e+01] [ 1.75644925e-04 -2.81135881e-06 9.99999985e-01 -2.18260444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93576923100002 meters Centerline goodness [0,1] 0.999914889995319 Centerline is valid? [True, True] Translation: X:224.66, Y:-27.96, Z:-2.18 [[ 9.91067386e-01 1.33361892e-01 -2.04132584e-04 2.24663351e+02] [-1.33361888e-01 9.91067407e-01 3.06969548e-05 -2.79647002e+01] [ 2.06402955e-04 -3.19924393e-06 9.99999979e-01 -2.18363187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.69, Y:-27.97, Z:-2.18 [[ 9.91182751e-01 1.32500853e-01 -5.27409212e-04 2.24693201e+02] [-1.32500829e-01 9.91182891e-01 7.94288822e-05 -2.79721416e+01] [ 5.33283383e-04 -8.84637996e-06 9.99999858e-01 -2.18403814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99576923100003 meters Centerline goodness [0,1] 0.9998935513401886 Centerline is valid? [True, True] Translation: X:224.72, Y:-27.98, Z:-2.18 [[ 9.91261384e-01 1.31912114e-01 -2.50829037e-04 2.24722712e+02] [-1.31912109e-01 9.91261416e-01 3.77753546e-05 -2.79786428e+01] [ 2.53620173e-04 -4.35786304e-06 9.99999968e-01 -2.18300864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02576923100003 meters Centerline goodness [0,1] 0.9999364944961897 Centerline is valid? [True, True] Translation: X:224.75, Y:-27.99, Z:-2.18 [[ 9.91427895e-01 1.30654948e-01 1.19227263e-04 2.24751814e+02] [-1.30654947e-01 9.91427902e-01 -1.78652440e-05 -2.79913502e+01] [-1.20539418e-04 2.13446948e-06 9.99999993e-01 -2.18308422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05576923100003 meters Centerline goodness [0,1] 0.9999156082535128 Centerline is valid? [True, True] Translation: X:224.78, Y:-27.99, Z:-2.18 [[ 9.91367766e-01 1.31110434e-01 -7.55696874e-05 2.24783506e+02] [-1.31110434e-01 9.91367769e-01 1.14761014e-05 -2.79923010e+01] [ 7.64219890e-05 -1.46906249e-06 9.99999997e-01 -2.18237469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08576923100003 meters Centerline goodness [0,1] 0.9998941261169695 Centerline is valid? [True, True] Translation: X:224.81, Y:-28.00, Z:-2.18 [[ 9.91229611e-01 1.32149575e-01 5.89572004e-04 2.24813536e+02] [-1.32149545e-01 9.91229787e-01 -8.87802842e-05 -2.79989517e+01] [-5.96133608e-04 1.00899744e-05 9.99999822e-01 -2.18181992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11576923100003 meters Centerline goodness [0,1] 0.9999573896925666 Centerline is valid? [True, True] Translation: X:224.85, Y:-28.00, Z:-2.18 [[ 9.91037980e-01 1.33573271e-01 1.37940055e-03 2.24845110e+02] [-1.33573111e-01 9.91038940e-01 -2.07812289e-04 -2.79970947e+01] [-1.39479782e-03 2.16990490e-05 9.99999027e-01 -2.17897614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.145769231 meters Centerline goodness [0,1] 0.999893709742565 Centerline is valid? [True, True] Translation: X:224.88, Y:-28.00, Z:-2.18 [[ 9.90631503e-01 1.36532178e-01 2.86163717e-03 2.24876629e+02] [-1.36531502e-01 9.90635636e-01 -4.31138791e-04 -2.79954878e+01] [-2.89370407e-03 3.63960484e-05 9.99995813e-01 -2.17678726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.175769231 meters Centerline goodness [0,1] 0.9999150400373824 Centerline is valid? [True, True] Translation: X:224.91, Y:-28.00, Z:-2.18 [[ 9.90423331e-01 1.38028328e-01 3.13156649e-03 2.24905926e+02] [-1.38027526e-01 9.90428281e-01 -4.71866424e-04 -2.79972142e+01] [-3.16672295e-03 3.51051403e-05 9.99994985e-01 -2.17682838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.205769231 meters Centerline goodness [0,1] 0.999957206436152 Centerline is valid? [True, True] Translation: X:224.94, Y:-28.00, Z:-2.18 [[ 9.90134309e-01 1.40110145e-01 1.78794472e-03 2.24937098e+02] [-1.40109887e-01 9.90135923e-01 -2.69382295e-04 -2.79965337e+01] [-1.80805149e-03 1.62159190e-05 9.99998365e-01 -2.17938614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.235769231 meters Centerline goodness [0,1] 0.9999355296241377 Centerline is valid? [True, True] Translation: X:224.97, Y:-28.00, Z:-2.18 [[ 9.90089802e-01 1.40435199e-01 3.71490371e-04 2.24966694e+02] [-1.40435188e-01 9.90089872e-01 -5.60145787e-05 -2.80007789e+01] [-3.75675272e-04 3.28914305e-06 9.99999929e-01 -2.18203835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.00, Y:-28.00, Z:-2.18 [[ 9.90076388e-01 1.40528502e-01 -6.96675721e-04 2.24996141e+02] [-1.40528463e-01 9.90076633e-01 1.04900822e-04 -2.80049871e+01] [ 7.04503907e-04 -5.95705863e-06 9.99999752e-01 -2.18403586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.295769231 meters Centerline goodness [0,1] 0.9999577158079452 Centerline is valid? [True, True] Translation: X:225.03, Y:-28.01, Z:-2.18 [[ 9.90095377e-01 1.40395516e-01 -4.94316051e-04 2.25025588e+02] [-1.40395496e-01 9.90095500e-01 7.43588342e-05 -2.80060020e+01] [ 4.99859744e-04 -4.22259082e-06 9.99999875e-01 -2.18299188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.325769231 meters Centerline goodness [0,1] 0.999957798784605 Centerline is valid? [True, True] Translation: X:225.05, Y:-28.01, Z:-2.18 [[ 9.90165737e-01 1.39898201e-01 5.54060269e-04 2.25053651e+02] [-1.39898176e-01 9.90165892e-01 -8.35706967e-05 -2.80104310e+01] [-5.60302970e-04 5.23681966e-06 9.99999843e-01 -2.18126654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.355769231 meters Centerline goodness [0,1] 0.9999574938366063 Centerline is valid? [True, True] Translation: X:225.08, Y:-28.02, Z:-2.18 [[ 9.90325430e-01 1.38761134e-01 9.44179266e-04 2.25082327e+02] [-1.38761061e-01 9.90325880e-01 -1.42245181e-04 -2.80163901e+01] [-9.54783265e-04 9.85370344e-06 9.99999544e-01 -2.18069631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.385769231 meters Centerline goodness [0,1] 0.9999574938366063 Centerline is valid? [True, True] Translation: X:225.11, Y:-28.02, Z:-2.18 [[ 9.90328665e-01 1.38738037e-01 9.44182603e-04 2.25111176e+02] [-1.38737965e-01 9.90329115e-01 -1.42223025e-04 -2.80206872e+01] [-9.54783265e-04 9.85356576e-06 9.99999544e-01 -2.18081040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.415769231 meters Centerline goodness [0,1] 0.9999575983717774 Centerline is valid? [True, True] Translation: X:225.14, Y:-28.03, Z:-2.18 [[ 9.90695047e-01 1.36099195e-01 5.77346092e-04 2.25140411e+02] [-1.36099167e-01 9.90695215e-01 -8.69097137e-05 -2.80306051e+01] [-5.83802353e-04 7.52470064e-06 9.99999830e-01 -2.18169915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.445769231 meters Centerline goodness [0,1] 0.9999148845621875 Centerline is valid? [True, True] Translation: X:225.17, Y:-28.04, Z:-2.18 [[ 9.90819850e-01 1.35188658e-01 2.28342834e-04 2.25169814e+02] [-1.35188653e-01 9.90819876e-01 -3.43427909e-05 -2.80367176e+01] [-2.30889374e-04 3.15815874e-06 9.99999973e-01 -2.18290622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47576923100002 meters Centerline goodness [0,1] 0.999957753321645 Centerline is valid? [True, True] Translation: X:225.20, Y:-28.04, Z:-2.19 [[ 9.90815642e-01 1.35216841e-01 -8.77127106e-04 2.25198808e+02] [-1.35216777e-01 9.90816030e-01 1.31987209e-04 -2.80447952e+01] [ 8.86918490e-04 -1.21726910e-05 9.99999607e-01 -2.18553930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50576923100002 meters Centerline goodness [0,1] 0.9999357601713063 Centerline is valid? [True, True] Translation: X:225.23, Y:-28.05, Z:-2.19 [[ 9.90622764e-01 1.36617580e-01 -1.47528235e-03 2.25229743e+02] [-1.36617401e-01 9.90623862e-01 2.22073520e-04 -2.80461050e+01] [ 1.49178905e-03 -1.84418439e-05 9.99998887e-01 -2.18511347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53576923100002 meters Centerline goodness [0,1] 0.999957812137448 Centerline is valid? [True, True] Translation: X:225.26, Y:-28.05, Z:-2.18 [[ 9.90337781e-01 1.38666460e-01 -1.64097368e-03 2.25258861e+02] [-1.38666241e-01 9.90339140e-01 2.46947710e-04 -2.80490076e+01] [ 1.65936383e-03 -1.70139961e-05 9.99998623e-01 -2.18498283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56576923100002 meters Centerline goodness [0,1] 0.9999788913750158 Centerline is valid? [True, True] Translation: X:225.29, Y:-28.04, Z:-2.18 [[ 9.89558086e-01 1.44131593e-01 -9.37484682e-04 2.25289338e+02] [-1.44131524e-01 9.89558530e-01 1.40936852e-04 -2.80440063e+01] [ 9.48009416e-04 -4.34410539e-06 9.99999551e-01 -2.18318670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59576923100002 meters Centerline goodness [0,1] 0.9999574848008163 Centerline is valid? [True, True] Translation: X:225.32, Y:-28.04, Z:-2.18 [[ 9.89122470e-01 1.47093800e-01 -3.90567373e-04 2.25318482e+02] [-1.47093789e-01 9.89122547e-01 5.85670390e-05 -2.80429737e+01] [ 3.94933844e-04 -4.79939514e-07 9.99999922e-01 -2.18273811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62576923100002 meters Centerline goodness [0,1] 0.9999575686856901 Centerline is valid? [True, True] Translation: X:225.35, Y:-28.04, Z:-2.18 [[ 9.88785768e-01 1.49339918e-01 5.41823612e-04 2.25346131e+02] [-1.49339895e-01 9.88785917e-01 -8.17090889e-05 -2.80432099e+01] [-5.47949985e-04 -1.23097195e-07 9.99999850e-01 -2.18166461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65576923100002 meters Centerline goodness [0,1] 0.999936874000505 Centerline is valid? [True, True] Translation: X:225.38, Y:-28.04, Z:-2.18 [[ 9.88384000e-01 1.51965214e-01 1.90863670e-03 2.25375103e+02] [-1.51964943e-01 9.88385843e-01 -2.87101311e-04 -2.80437145e+01] [-1.93009891e-03 -6.27952502e-06 9.99998137e-01 -2.17964489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68576923100002 meters Centerline goodness [0,1] 0.9999573351537001 Centerline is valid? [True, True] Translation: X:225.40, Y:-28.05, Z:-2.18 [[ 9.88388662e-01 1.51924719e-01 2.59472642e-03 2.25403422e+02] [-1.51924219e-01 9.88392068e-01 -3.90113392e-04 -2.80474531e+01] [-2.62387488e-03 -8.61813082e-06 9.99996558e-01 -2.17868363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71576923100002 meters Centerline goodness [0,1] 0.9999787342633549 Centerline is valid? [True, True] Translation: X:225.43, Y:-28.05, Z:-2.18 [[ 9.88473123e-01 1.51385277e-01 1.83949232e-03 2.25432293e+02] [-1.51385025e-01 9.88474834e-01 -2.76530970e-04 -2.80505454e+01] [-1.86015458e-03 -5.12815927e-06 9.99998270e-01 -2.17946884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74576923100003 meters Centerline goodness [0,1] 0.9999569290405944 Centerline is valid? [True, True] Translation: X:225.46, Y:-28.05, Z:-2.18 [[ 9.88508902e-01 1.51156913e-01 1.31813826e-03 2.25461095e+02] [-1.51156784e-01 9.88509781e-01 -1.98151818e-04 -2.80534902e+01] [-1.33294458e-03 -3.37070441e-06 9.99999112e-01 -2.18018853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77576923100003 meters Centerline goodness [0,1] 0.9999786292821576 Centerline is valid? [True, True] Translation: X:225.49, Y:-28.05, Z:-2.18 [[ 9.88494736e-01 1.51253387e-01 7.54408339e-04 2.25488915e+02] [-1.51253344e-01 9.88495024e-01 -1.13491706e-04 -2.80549058e+01] [-7.62894894e-04 -1.92083052e-06 9.99999709e-01 -2.18182681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.52, Y:-28.06, Z:-2.18 [[ 9.88523734e-01 1.51065563e-01 1.49541589e-04 2.25516568e+02] [-1.51065561e-01 9.88523746e-01 -2.26727271e-05 -2.80554995e+01] [-1.51250480e-04 -1.78055225e-07 9.99999989e-01 -2.18321314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83576923100003 meters Centerline goodness [0,1] 0.9999363759755684 Centerline is valid? [True, True] Translation: X:225.54, Y:-28.06, Z:-2.18 [[ 9.88593176e-01 1.50610511e-01 7.46809592e-05 2.25544318e+02] [-1.50610511e-01 9.88593179e-01 -1.14270061e-05 -2.80584608e+01] [-7.55501141e-05 4.89228523e-08 9.99999997e-01 -2.18340836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86576923100003 meters Centerline goodness [0,1] 0.9999577872053019 Centerline is valid? [True, True] Translation: X:225.57, Y:-28.06, Z:-2.18 [[ 9.88858369e-01 1.48858442e-01 5.38370427e-04 2.25572638e+02] [-1.48858420e-01 9.88858516e-01 -8.09078144e-05 -2.80611442e+01] [-5.44415992e-04 -1.34601832e-07 9.99999852e-01 -2.18286526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.895769231 meters Centerline goodness [0,1] 0.9999568993384048 Centerline is valid? [True, True] Translation: X:225.60, Y:-28.07, Z:-2.18 [[ 9.89035173e-01 1.47680147e-01 -1.47052622e-05 2.25600826e+02] [-1.47680147e-01 9.89035173e-01 2.01541483e-06 -2.80654143e+01] [ 1.48416583e-05 1.78359130e-07 1.00000000e+00 -2.18312821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.925769231 meters Centerline goodness [0,1] 0.9999361579876997 Centerline is valid? [True, True] Translation: X:225.63, Y:-28.07, Z:-2.18 [[ 9.89244998e-01 1.46267017e-01 -5.41881486e-04 2.25629417e+02] [-1.46266995e-01 9.89245146e-01 8.10152271e-05 -2.80705736e+01] [ 5.47903486e-04 -8.84531465e-07 9.99999850e-01 -2.18470482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.955769231 meters Centerline goodness [0,1] 0.9999787084548726 Centerline is valid? [True, True] Translation: X:225.66, Y:-28.08, Z:-2.18 [[ 9.89692685e-01 1.43207363e-01 -2.02907417e-04 2.25657102e+02] [-1.43207359e-01 9.89692705e-01 3.02087198e-05 -2.80780970e+01] [ 2.05142101e-04 -8.39513603e-07 9.99999979e-01 -2.18411203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.68, Y:-28.08, Z:-2.18 [[ 9.89921735e-01 1.41613127e-01 8.25254109e-04 2.25684951e+02] [-1.41613073e-01 9.89922079e-01 -1.23776824e-04 -2.80838655e+01] [-8.34465687e-04 5.66259770e-06 9.99999652e-01 -2.18184771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.71, Y:-28.09, Z:-2.18 [[ 9.90091417e-01 1.40414826e-01 1.63190861e-03 2.25712679e+02] [-1.40414614e-01 9.90092762e-01 -2.44470432e-04 -2.80905089e+01] [-1.65006818e-03 1.29042581e-05 9.99998639e-01 -2.18045648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.045769231 meters Centerline goodness [0,1] 0.9999363557290452 Centerline is valid? [True, True] Translation: X:225.74, Y:-28.10, Z:-2.18 [[ 9.90346644e-01 1.38605776e-01 1.40098773e-03 2.25740381e+02] [-1.38605618e-01 9.90347635e-01 -2.09844202e-04 -2.80991157e+01] [-1.41655050e-03 1.36337307e-05 9.99998997e-01 -2.18030738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.075769231 meters Centerline goodness [0,1] 0.9999788646066703 Centerline is valid? [True, True] Translation: X:225.77, Y:-28.11, Z:-2.18 [[ 9.90409185e-01 1.38163296e-01 7.40918860e-04 2.25768127e+02] [-1.38163252e-01 9.90409463e-01 -1.11015711e-04 -2.81065881e+01] [-7.49151347e-04 7.58322098e-06 9.99999719e-01 -2.18257111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.80, Y:-28.11, Z:-2.19 [[ 9.90359108e-01 1.38522055e-01 -6.90827361e-04 2.25797179e+02] [-1.38522017e-01 9.90359349e-01 1.03271771e-04 -2.81128046e+01] [ 6.98472753e-04 -6.58133965e-06 9.99999756e-01 -2.18536727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.83, Y:-28.12, Z:-2.18 [[ 9.90252528e-01 1.39283261e-01 -3.21560625e-04 2.25825631e+02] [-1.39283253e-01 9.90252580e-01 4.79629893e-05 -2.81185289e+01] [ 3.25106680e-04 -2.70746152e-06 9.99999947e-01 -2.18447484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.86, Y:-28.12, Z:-2.18 [[ 9.90149848e-01 1.40011062e-01 4.26226013e-04 2.25855419e+02] [-1.40011048e-01 9.90149939e-01 -6.38003795e-05 -2.81233970e+01] [-4.30960420e-04 3.49558543e-06 9.99999907e-01 -2.18299809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.195769231 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:225.88, Y:-28.13, Z:-2.18 [[ 9.90201872e-01 1.39638408e-01 1.16932594e-03 2.25883424e+02] [-1.39638298e-01 9.90202563e-01 -1.75001665e-04 -2.81320241e+01] [-1.18230650e-03 1.00042915e-05 9.99999301e-01 -2.18226176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.91, Y:-28.14, Z:-2.18 [[ 9.90301126e-01 1.38937002e-01 4.35697037e-04 2.25912971e+02] [-1.38936986e-01 9.90301222e-01 -6.51541444e-05 -2.81388616e+01] [-4.40523630e-04 3.98778919e-06 9.99999903e-01 -2.18330244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25576923100002 meters Centerline goodness [0,1] 0.9999571339777525 Centerline is valid? [True, True] Translation: X:225.94, Y:-28.15, Z:-2.19 [[ 9.90490508e-01 1.37572419e-01 -1.54386687e-03 2.25941084e+02] [-1.37572226e-01 9.90491711e-01 2.30906749e-04 -2.81480390e+01] [ 1.56095373e-03 -1.63177412e-05 9.99998782e-01 -2.18699922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.97, Y:-28.16, Z:-2.19 [[ 9.90592321e-01 1.36837111e-01 -1.56824133e-03 2.25970967e+02] [-1.36836912e-01 9.90593562e-01 2.34525523e-04 -2.81554617e+01] [ 1.58558156e-03 -1.77258822e-05 9.99998743e-01 -2.18736559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31576923100002 meters Centerline goodness [0,1] 0.9999571330589849 Centerline is valid? [True, True] Translation: X:226.00, Y:-28.16, Z:-2.19 [[ 9.90765134e-01 1.35586437e-01 -8.75923189e-04 2.26000514e+02] [-1.35586375e-01 9.90765521e-01 1.30991538e-04 -2.81626248e+01] [ 8.85595171e-04 -1.10185993e-05 9.99999608e-01 -2.18568853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34576923100002 meters Centerline goodness [0,1] 0.9999146411728302 Centerline is valid? [True, True] Translation: X:226.03, Y:-28.18, Z:-2.18 [[ 9.91178147e-01 1.32532895e-01 9.55867950e-04 2.26029327e+02] [-1.32532819e-01 9.91178607e-01 -1.42675989e-04 -2.81798154e+01] [-9.66345125e-04 1.47334489e-05 9.99999533e-01 -2.18326272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37576923100002 meters Centerline goodness [0,1] 0.9999156794131288 Centerline is valid? [True, True] Translation: X:226.06, Y:-28.19, Z:-2.18 [[ 9.91378753e-01 1.31019052e-01 1.47548611e-03 2.26058666e+02] [-1.31018869e-01 9.91379850e-01 -2.20416169e-04 -2.81920725e+01] [-1.49164591e-03 2.51993861e-05 9.99998887e-01 -2.18289243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40576923100002 meters Centerline goodness [0,1] 0.9999360600183295 Centerline is valid? [True, True] Translation: X:226.09, Y:-28.20, Z:-2.18 [[ 9.91522409e-01 1.29928581e-01 1.36964922e-03 2.26089684e+02] [-1.29928422e-01 9.91523355e-01 -2.04743626e-04 -2.81997810e+01] [-1.38464124e-03 2.50515322e-05 9.99999041e-01 -2.18307517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43576923100002 meters Centerline goodness [0,1] 0.9998499882133596 Centerline is valid? [True, True] Translation: X:226.12, Y:-28.21, Z:-2.18 [[ 9.91609185e-01 1.29268730e-01 9.05639523e-04 2.26121355e+02] [-1.29268660e-01 9.91609598e-01 -1.35298250e-04 -2.82075558e+01] [-9.15530676e-04 1.70921794e-05 9.99999581e-01 -2.18378518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46576923100002 meters Centerline goodness [0,1] 0.9998504273504274 Centerline is valid? [True, True] Translation: X:226.15, Y:-28.22, Z:-2.19 [[ 9.91462599e-01 1.30390742e-01 -4.11548961e-04 2.26150783e+02] [-1.30390727e-01 9.91462684e-01 6.22179825e-05 -2.82194767e+01] [ 4.16148086e-04 -8.02463439e-06 9.99999913e-01 -2.18582881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49576923100003 meters Centerline goodness [0,1] 0.9999151805593842 Centerline is valid? [True, True] Translation: X:226.18, Y:-28.22, Z:-2.19 [[ 9.91150719e-01 1.32740463e-01 -4.71349310e-04 2.26182215e+02] [-1.32740444e-01 9.91150831e-01 7.15586020e-05 -2.82241638e+01] [ 4.76676982e-04 -8.35824322e-06 9.99999886e-01 -2.18541219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52576923100003 meters Centerline goodness [0,1] 0.9999570012684625 Centerline is valid? [True, True] Translation: X:226.21, Y:-28.22, Z:-2.18 [[ 9.90404141e-01 1.38196668e-01 1.14789135e-03 2.26212838e+02] [-1.38196561e-01 9.90404807e-01 -1.72459301e-04 -2.82232814e+01] [-1.16071041e-03 1.21697685e-05 9.99999326e-01 -2.18308712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.25, Y:-28.22, Z:-2.18 [[ 9.90010399e-01 1.40985153e-01 1.61129225e-03 2.26245273e+02] [-1.40984946e-01 9.90011710e-01 -2.42078005e-04 -2.82240783e+01] [-1.62932760e-03 1.24917914e-05 9.99998673e-01 -2.18243106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58576923100003 meters Centerline goodness [0,1] 0.9999786880354631 Centerline is valid? [True, True] Translation: X:226.28, Y:-28.23, Z:-2.18 [[ 9.89688314e-01 1.43227250e-01 1.73079924e-03 2.26276252e+02] [-1.43227013e-01 9.89689828e-01 -2.60417017e-04 -2.82285524e+01] [-1.75025322e-03 9.83447238e-06 9.99998468e-01 -2.18311436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.31, Y:-28.24, Z:-2.18 [[ 9.89496721e-01 1.44546016e-01 1.63936854e-03 2.26307843e+02] [-1.44545805e-01 9.89498080e-01 -2.46876857e-04 -2.82360694e+01] [-1.65783708e-03 7.31999585e-06 9.99998626e-01 -2.18285364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.645769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.34, Y:-28.24, Z:-2.18 [[ 9.89572865e-01 1.44027504e-01 1.27397228e-03 2.26339800e+02] [-1.44027376e-01 9.89573685e-01 -1.91854641e-04 -2.82438789e+01] [-1.28832179e-03 6.36726110e-06 9.99999170e-01 -2.18302477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.37, Y:-28.26, Z:-2.18 [[ 9.89883214e-01 1.41878359e-01 1.32448590e-03 2.26370699e+02] [-1.41878218e-01 9.89884100e-01 -1.99817646e-04 -2.82559672e+01] [-1.33943733e-03 9.88043453e-06 9.99999103e-01 -2.18396877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.705769231 meters Centerline goodness [0,1] 0.9999787084548726 Centerline is valid? [True, True] Translation: X:226.40, Y:-28.26, Z:-2.18 [[ 9.89935559e-01 1.41512357e-01 1.35747252e-03 2.26403081e+02] [-1.41512209e-01 9.89936489e-01 -2.04977758e-04 -2.82643172e+01] [-1.37281847e-03 1.08158370e-05 9.99999058e-01 -2.18403665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.735769231 meters Centerline goodness [0,1] 0.999978494623656 Centerline is valid? [True, True] Translation: X:226.44, Y:-28.27, Z:-2.18 [[ 9.89966566e-01 1.41292082e-01 1.65677866e-03 2.26435632e+02] [-1.41291860e-01 9.89967953e-01 -2.50656073e-04 -2.82717258e+01] [-1.67557349e-03 1.40517940e-05 9.99998596e-01 -2.18339900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.47, Y:-28.28, Z:-2.18 [[ 9.89783881e-01 1.42567381e-01 1.55238903e-03 2.26465809e+02] [-1.42567188e-01 9.89785099e-01 -2.35209865e-04 -2.82794123e+01] [-1.57006478e-03 1.14871954e-05 9.99998767e-01 -2.18338350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.50, Y:-28.28, Z:-2.18 [[ 9.89572600e-01 1.44026659e-01 1.54618045e-03 2.26498177e+02] [-1.44026468e-01 9.89573808e-01 -2.34489932e-04 -2.82832869e+01] [-1.56383248e-03 9.35390214e-06 9.99998777e-01 -2.18338140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.825769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.53, Y:-28.29, Z:-2.18 [[ 9.89012950e-01 1.47816329e-01 1.92811120e-03 2.26529476e+02] [-1.47816039e-01 9.89014829e-01 -2.93044989e-04 -2.82868324e+01] [-1.95024740e-03 4.81953003e-06 9.99998098e-01 -2.18257482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.855769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.56, Y:-28.29, Z:-2.18 [[ 9.88725926e-01 1.49725031e-01 1.85969144e-03 2.26561887e+02] [-1.49724764e-01 9.88727675e-01 -2.82887255e-04 -2.82909400e+01] [-1.88108369e-03 1.25610255e-06 9.99998231e-01 -2.18216311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.59, Y:-28.29, Z:-2.18 [[ 9.88408337e-01 1.51808811e-01 1.74495874e-03 2.26594909e+02] [-1.51808579e-01 9.88409877e-01 -2.65244837e-04 -2.82944768e+01] [-1.76500095e-03 -2.72949857e-06 9.99998442e-01 -2.18310284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.915769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.63, Y:-28.30, Z:-2.19 [[ 9.87985853e-01 1.54540731e-01 1.05642081e-03 2.26628279e+02] [-1.54540647e-01 9.87986418e-01 -1.60485071e-04 -2.82974571e+01] [-1.06853089e-03 -4.70297500e-06 9.99999429e-01 -2.18506119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.66, Y:-28.30, Z:-2.19 [[ 9.87857595e-01 1.55356582e-01 1.30522575e-03 2.26660441e+02] [-1.55356455e-01 9.87858458e-01 -1.98748278e-04 -2.83016052e+01] [-1.32025515e-03 -6.44024817e-06 9.99999128e-01 -2.18501754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.69, Y:-28.31, Z:-2.18 [[ 9.87750055e-01 1.56032644e-01 1.90851286e-03 2.26691008e+02] [-1.56032373e-01 9.87751899e-01 -2.91333944e-04 -2.83052200e+01] [-1.93059481e-03 -1.00246708e-05 9.99998136e-01 -2.18355450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.72, Y:-28.31, Z:-2.18 [[ 9.87588735e-01 1.57022634e-01 3.51895386e-03 2.26722494e+02] [-1.57021713e-01 9.87595004e-01 -5.38262005e-04 -2.83059795e+01] [-3.55982057e-03 -2.09706702e-05 9.99993664e-01 -2.18065264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.75, Y:-28.31, Z:-2.18 [[ 9.87445241e-01 1.57922473e-01 3.51979817e-03 2.26754625e+02] [-1.57921557e-01 9.87451514e-01 -5.38424299e-04 -2.83083541e+01] [-3.56065932e-03 -2.41874939e-05 9.99993661e-01 -2.18105679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.79, Y:-28.31, Z:-2.18 [[ 9.87238742e-01 1.59225088e-01 2.65279934e-03 2.26786902e+02] [-1.59224571e-01 9.87242306e-01 -4.06264098e-04 -2.83068269e+01] [-2.68364318e-03 -2.13111801e-05 9.99996399e-01 -2.18197903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.82, Y:-28.31, Z:-2.18 [[ 9.87169582e-01 1.59649873e-01 2.85216821e-03 2.26818460e+02] [-1.59649277e-01 9.87173702e-01 -4.36872579e-04 -2.83079300e+01] [-2.88533210e-03 -2.40792720e-05 9.99995837e-01 -2.18146986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.85, Y:-28.31, Z:-2.18 [[ 9.87086814e-01 1.60153032e-01 3.26022253e-03 2.26848566e+02] [-1.60152255e-01 9.87092197e-01 -4.99490159e-04 -2.83083914e+01] [-3.29813509e-03 -2.90918420e-05 9.99994561e-01 -2.18131812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.88, Y:-28.31, Z:-2.18 [[ 9.86939420e-01 1.61038773e-01 4.13462410e-03 2.26879185e+02] [-1.61037532e-01 9.86948080e-01 -6.33392322e-04 -2.83052281e+01] [-4.18266004e-03 -4.07098092e-05 9.99991252e-01 -2.18006758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.91, Y:-28.31, Z:-2.18 [[ 9.86898129e-01 1.61283422e-01 4.44298698e-03 2.26910144e+02] [-1.61281992e-01 9.86908129e-01 -6.80581514e-04 -2.83075544e+01] [-4.49458648e-03 -4.49091678e-05 9.99989898e-01 -2.17938016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21576923100002 meters Centerline goodness [0,1] 0.999978627911947 Centerline is valid? [True, True] Translation: X:226.94, Y:-28.31, Z:-2.18 [[ 9.86962273e-01 1.60902898e-01 3.96602924e-03 2.26940632e+02] [-1.60901756e-01 9.86970241e-01 -6.07518204e-04 -2.83062913e+01] [-4.01210427e-03 -3.85435201e-05 9.99991951e-01 -2.17985509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24576923100003 meters Centerline goodness [0,1] 0.9999574603849836 Centerline is valid? [True, True] Translation: X:226.97, Y:-28.31, Z:-2.18 [[ 9.87051935e-01 1.60363935e-01 3.44757249e-03 2.26969301e+02] [-1.60363069e-01 9.87057955e-01 -5.28028841e-04 -2.83064078e+01] [-3.48763063e-03 -3.16714145e-05 9.99993918e-01 -2.18089238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27576923100003 meters Centerline goodness [0,1] 0.9999574603849836 Centerline is valid? [True, True] Translation: X:227.00, Y:-28.31, Z:-2.18 [[ 9.87055632e-01 1.60341177e-01 3.44758463e-03 2.26998139e+02] [-1.60340311e-01 9.87061653e-01 -5.27949574e-04 -2.83107773e+01] [-3.48763063e-03 -3.16711900e-05 9.99993918e-01 -2.18100647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.03, Y:-28.31, Z:-2.18 [[ 9.87162051e-01 1.59695270e-01 2.91658706e-03 2.27027681e+02] [-1.59694648e-01 9.87166359e-01 -4.46580208e-04 -2.83125403e+01] [-2.95047337e-03 -2.49163080e-05 9.99995647e-01 -2.18188463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.06, Y:-28.31, Z:-2.18 [[ 9.87307611e-01 1.58783771e-01 3.37576942e-03 2.27056818e+02] [-1.58782932e-01 9.87313382e-01 -5.16805613e-04 -2.83111199e+01] [-3.41500267e-03 -2.57684508e-05 9.99994169e-01 -2.18088013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.09, Y:-28.31, Z:-2.18 [[ 9.87235193e-01 1.59223186e-01 3.82766878e-03 2.27085868e+02] [-1.59222112e-01 9.87242613e-01 -5.85779688e-04 -2.83108633e+01] [-3.87210744e-03 -3.11471824e-05 9.99992503e-01 -2.18014538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.395769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.12, Y:-28.30, Z:-2.18 [[ 9.86909743e-01 1.61215964e-01 4.30948612e-03 2.27116013e+02] [-1.61214622e-01 9.86919151e-01 -6.59284920e-04 -2.83027828e+01] [-4.35940164e-03 -4.40974663e-05 9.99990497e-01 -2.17938728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.15, Y:-28.30, Z:-2.18 [[ 9.86758980e-01 1.62131488e-01 4.48287564e-03 2.27145616e+02] [-1.62130046e-01 9.86769162e-01 -6.85585763e-04 -2.83028387e+01] [-4.53471848e-03 -5.03009270e-05 9.99989717e-01 -2.17949188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.17, Y:-28.30, Z:-2.18 [[ 9.86743259e-01 1.62221301e-01 4.68937954e-03 2.27173506e+02] [-1.62219726e-01 9.86754400e-01 -7.16912362e-04 -2.83027820e+01] [-4.74356435e-03 -5.33014226e-05 9.99988748e-01 -2.17923854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.20, Y:-28.30, Z:-2.18 [[ 9.86926554e-01 1.61084656e-01 5.26417273e-03 2.27202202e+02] [-1.61082657e-01 9.86940591e-01 -8.04428733e-04 -2.83017533e+01] [-5.32500687e-03 -5.40548522e-05 9.99985821e-01 -2.17760813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.23, Y:-28.30, Z:-2.18 [[ 9.87022161e-01 1.60504710e-01 5.04891283e-03 2.27231528e+02] [-1.60502864e-01 9.87035073e-01 -7.71261542e-04 -2.83039121e+01] [-5.10724515e-03 -4.91127361e-05 9.99986957e-01 -2.17835313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.26, Y:-28.30, Z:-2.18 [[ 9.87132029e-01 1.59850449e-01 4.26521284e-03 2.27260305e+02] [-1.59849126e-01 9.87141242e-01 -6.51400480e-04 -2.83028317e+01] [-4.31449416e-03 -3.87722673e-05 9.99990692e-01 -2.17992571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.29, Y:-28.31, Z:-2.18 [[ 9.87155400e-01 1.59696620e-01 4.60488490e-03 2.27288732e+02] [-1.59695078e-01 9.87166140e-01 -7.02986027e-04 -2.83057978e+01] [-4.65805095e-03 -4.14210018e-05 9.99989150e-01 -2.17953863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.605769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.32, Y:-28.31, Z:-2.18 [[ 9.87148484e-01 1.59731335e-01 4.87551726e-03 2.27316825e+02] [-1.59729609e-01 9.87160523e-01 -7.44041438e-04 -2.83063838e+01] [-4.93176490e-03 -4.42850858e-05 9.99987838e-01 -2.17898060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.35, Y:-28.30, Z:-2.18 [[ 9.86985096e-01 1.60719210e-01 5.45489309e-03 2.27345245e+02] [-1.60717066e-01 9.87000168e-01 -8.32085263e-04 -2.83029022e+01] [-5.51771249e-03 -5.54386592e-05 9.99984776e-01 -2.17723893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.37, Y:-28.30, Z:-2.18 [[ 9.86808516e-01 1.61777792e-01 6.07450919e-03 2.27374021e+02] [-1.61775155e-01 9.86827209e-01 -9.26189878e-04 -2.83045965e+01] [-6.14432791e-03 -6.87326079e-05 9.99981121e-01 -2.17713014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.40, Y:-28.30, Z:-2.18 [[ 9.86342428e-01 1.64585583e-01 6.34032353e-03 2.27403085e+02] [-1.64582771e-01 9.86362802e-01 -9.66330817e-04 -2.83020339e+01] [-6.41290340e-03 -9.03749331e-05 9.99979433e-01 -2.17664536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72576923100002 meters Centerline goodness [0,1] 0.9999571459181487 Centerline is valid? [True, True] Translation: X:227.43, Y:-28.30, Z:-2.18 [[ 9.86119521e-01 1.65927763e-01 6.02235333e-03 2.27431991e+02] [-1.65925253e-01 9.86137905e-01 -9.17473820e-04 -2.83036378e+01] [-6.09110528e-03 -9.45216592e-05 9.99981445e-01 -2.17729642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75576923100002 meters Centerline goodness [0,1] 0.9999569975703627 Centerline is valid? [True, True] Translation: X:227.46, Y:-28.30, Z:-2.18 [[ 9.85849999e-01 1.67521801e-01 6.01871920e-03 2.27461416e+02] [-1.67519326e-01 9.85868366e-01 -9.16620483e-04 -2.83025962e+01] [-6.08721878e-03 -1.04601479e-04 9.99981467e-01 -2.17730555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.49, Y:-28.30, Z:-2.18 [[ 9.85571155e-01 1.69146148e-01 6.25131377e-03 2.27490772e+02] [-1.69143513e-01 9.85590973e-01 -9.51724304e-04 -2.83018772e+01] [-6.32221892e-03 -1.19377150e-04 9.99980007e-01 -2.17698389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81576923100002 meters Centerline goodness [0,1] 0.9999575254316478 Centerline is valid? [True, True] Translation: X:227.52, Y:-28.30, Z:-2.18 [[ 9.85049054e-01 1.72138940e-01 6.82248046e-03 2.27520872e+02] [-1.72135875e-01 9.85072669e-01 -1.03835913e-03 -2.82958622e+01] [-6.89938107e-03 -1.51558960e-04 9.99976188e-01 -2.17692253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84576923100002 meters Centerline goodness [0,1] 0.9999357560442855 Centerline is valid? [True, True] Translation: X:227.55, Y:-28.29, Z:-2.18 [[ 9.84907654e-01 1.72955282e-01 6.58669169e-03 2.27549159e+02] [-1.72952445e-01 9.84929666e-01 -1.00216637e-03 -2.82934799e+01] [-6.66075802e-03 -1.52143108e-04 9.99977805e-01 -2.17747300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87576923100002 meters Centerline goodness [0,1] 0.9999788252233939 Centerline is valid? [True, True] Translation: X:227.58, Y:-28.29, Z:-2.18 [[ 9.84850116e-01 1.73316859e-01 5.61377582e-03 2.27578692e+02] [-1.73314806e-01 9.84866107e-01 -8.53850371e-04 -2.82892815e+01] [-5.67680421e-03 -1.32035832e-04 9.99983878e-01 -2.17962215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90576923100002 meters Centerline goodness [0,1] 0.9999578867574909 Centerline is valid? [True, True] Translation: X:227.61, Y:-28.29, Z:-2.18 [[ 9.84948402e-01 1.72744265e-01 6.00542234e-03 2.27606665e+02] [-1.72741907e-01 9.84966700e-01 -9.13027819e-04 -2.82896389e+01] [-6.07286134e-03 -1.38102818e-04 9.99981550e-01 -2.17951024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93576923100002 meters Centerline goodness [0,1] 0.999978735619963 Centerline is valid? [True, True] Translation: X:227.64, Y:-28.29, Z:-2.18 [[ 9.85127722e-01 1.71689638e-01 6.78520199e-03 2.27635096e+02] [-1.71686607e-01 9.85151078e-01 -1.03104743e-03 -2.82949050e+01] [-6.86146921e-03 -1.49214894e-04 9.99976449e-01 -2.17845301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96576923100002 meters Centerline goodness [0,1] 0.9999576468595146 Centerline is valid? [True, True] Translation: X:227.66, Y:-28.30, Z:-2.18 [[ 9.85754169e-01 1.67999290e-01 8.05959536e-03 2.27662931e+02] [-1.67994895e-01 9.85787105e-01 -1.22412441e-03 -2.82982196e+01] [-8.15069721e-03 -1.47285137e-04 9.99966772e-01 -2.17504501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99576923100003 meters Centerline goodness [0,1] 0.999978728835191 Centerline is valid? [True, True] Translation: X:227.69, Y:-28.30, Z:-2.17 [[ 9.86125354e-01 1.65783148e-01 8.52844166e-03 2.27691698e+02] [-1.65778149e-01 9.86162222e-01 -1.29476258e-03 -2.83026870e+01] [-8.62507680e-03 -1.37031062e-04 9.99962794e-01 -2.17471543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02576923100003 meters Centerline goodness [0,1] 0.9999572759121593 Centerline is valid? [True, True] Translation: X:227.72, Y:-28.30, Z:-2.17 [[ 9.86466031e-01 1.63741616e-01 8.57049439e-03 2.27719902e+02] [-1.63736494e-01 9.86503253e-01 -1.30067089e-03 -2.83046603e+01] [-8.66779456e-03 -1.20235055e-04 9.99962427e-01 -2.17459341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.75, Y:-28.31, Z:-2.18 [[ 9.87095319e-01 1.59868796e-01 9.20861648e-03 2.27748316e+02] [-1.59862719e-01 9.87138268e-01 -1.39700424e-03 -2.83104959e+01] [-9.31351511e-03 -9.31381221e-05 9.99956624e-01 -2.17531532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08576923100003 meters Centerline goodness [0,1] 0.9999578308172388 Centerline is valid? [True, True] Translation: X:227.78, Y:-28.32, Z:-2.18 [[ 9.87488108e-01 1.57421239e-01 9.26224580e-03 2.27776659e+02] [-1.57414988e-01 9.87531543e-01 -1.40469333e-03 -2.83173384e+01] [-9.36788845e-03 -7.08983472e-05 9.99956118e-01 -2.17601912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.80, Y:-28.33, Z:-2.18 [[ 9.88380326e-01 1.51713086e-01 9.35260238e-03 2.27803924e+02] [-1.51706460e-01 9.88424574e-01 -1.41794602e-03 -2.83285715e+01] [-9.45946300e-03 -1.73802492e-05 9.99955258e-01 -2.17661865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.145769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.83, Y:-28.34, Z:-2.18 [[ 9.88868419e-01 1.48521874e-01 8.97228112e-03 2.27829958e+02] [-1.48515651e-01 9.88909123e-01 -1.35968513e-03 -2.83378902e+01] [-9.07471363e-03 1.20255193e-05 9.99958824e-01 -2.17705597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.175769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.86, Y:-28.35, Z:-2.18 [[ 9.89342893e-01 1.45358295e-01 8.46204430e-03 2.27857493e+02] [-1.45352648e-01 9.89379080e-01 -1.28183849e-03 -2.83483538e+01] [-8.55849546e-03 3.81972550e-05 9.99963375e-01 -2.17837233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.205769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.88, Y:-28.36, Z:-2.18 [[ 9.90084493e-01 1.40218422e-01 8.45517334e-03 2.27883333e+02] [-1.40212601e-01 9.90120592e-01 -1.28033609e-03 -2.83646120e+01] [-8.55116794e-03 8.21190678e-05 9.99963435e-01 -2.17853410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.91, Y:-28.37, Z:-2.18 [[ 9.90309252e-01 1.38570323e-01 9.26559766e-03 2.27911236e+02] [-1.38563265e-01 9.90352591e-01 -1.40254225e-03 -2.83717388e+01] [-9.37055938e-03 1.05079105e-04 9.99956090e-01 -2.17781403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.265769231 meters Centerline goodness [0,1] 0.9999358329946741 Centerline is valid? [True, True] Translation: X:227.94, Y:-28.38, Z:-2.18 [[ 9.90325423e-01 1.38346476e-01 1.07614807e-02 2.27938779e+02] [-1.38336949e-01 9.90383884e-01 -1.62834945e-03 -2.83792894e+01] [-1.08832735e-02 1.23885447e-04 9.99940768e-01 -2.17580603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.295769231 meters Centerline goodness [0,1] 0.9999577184897045 Centerline is valid? [True, True] Translation: X:227.97, Y:-28.38, Z:-2.18 [[ 9.90179529e-01 1.39402304e-01 1.05593105e-02 2.27966297e+02] [-1.39393197e-01 9.90235823e-01 -1.59713550e-03 -2.83837470e+01] [-1.06788519e-02 1.09554821e-04 9.99942973e-01 -2.17634369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.99, Y:-28.39, Z:-2.18 [[ 9.89938076e-01 1.41157318e-01 9.85989380e-03 2.27994724e+02] [-1.41149470e-01 9.89987174e-01 -1.49084736e-03 -2.83869250e+01] [-9.97161241e-03 8.41277768e-05 9.99950279e-01 -2.17835950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.02, Y:-28.39, Z:-2.18 [[ 9.89405909e-01 1.44973618e-01 7.65487275e-03 2.28023046e+02] [-1.44969005e-01 9.89435520e-01 -1.15707809e-03 -2.83868988e+01] [-7.74174880e-03 3.51006180e-05 9.99970032e-01 -2.18324327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.385769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.05, Y:-28.39, Z:-2.18 [[ 9.89172312e-01 1.46581996e-01 7.20113316e-03 2.28051345e+02] [-1.46577959e-01 9.89198523e-01 -1.08808671e-03 -2.83886644e+01] [-7.28284421e-03 2.07778444e-05 9.99973480e-01 -2.18414826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.08, Y:-28.39, Z:-2.18 [[ 9.88911300e-01 1.48320587e-01 7.44612259e-03 2.28080690e+02] [-1.48316323e-01 9.88939333e-01 -1.12470490e-03 -2.83903950e+01] [-7.53058039e-03 7.85186281e-06 9.99971645e-01 -2.18351902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.11, Y:-28.39, Z:-2.18 [[ 9.88456999e-01 1.51304472e-01 7.72779036e-03 2.28108622e+02] [-1.51299973e-01 9.88487206e-01 -1.16688406e-03 -2.83885818e+01] [-7.81537667e-03 -1.57997562e-05 9.99969459e-01 -2.18321271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47576923100002 meters Centerline goodness [0,1] 0.9999576943416182 Centerline is valid? [True, True] Translation: X:228.14, Y:-28.39, Z:-2.18 [[ 9.88292597e-01 1.52361483e-01 7.98250269e-03 2.28137657e+02] [-1.52356721e-01 9.88324834e-01 -1.20497023e-03 -2.83897054e+01] [-8.07289669e-03 -2.53247740e-05 9.99967413e-01 -2.18371745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50576923100002 meters Centerline goodness [0,1] 0.9998508321435421 Centerline is valid? [True, True] Translation: X:228.17, Y:-28.39, Z:-2.18 [[ 9.88178274e-01 1.53036858e-01 9.13340431e-03 2.28165843e+02] [-1.53030656e-01 9.88220481e-01 -1.37819419e-03 -2.83901022e+01] [-9.23673171e-03 -3.57892991e-05 9.99957340e-01 -2.18254640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53576923100002 meters Centerline goodness [0,1] 0.999851149339741 Centerline is valid? [True, True] Translation: X:228.19, Y:-28.39, Z:-2.18 [[ 9.88181397e-01 1.53002237e-01 9.37245049e-03 2.28194011e+02] [-1.52995710e-01 9.88225842e-01 -1.41364996e-03 -2.83939233e+01] [-9.47838938e-03 -3.70021309e-05 9.99955078e-01 -2.18345618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56576923100002 meters Centerline goodness [0,1] 0.999915754001685 Centerline is valid? [True, True] Translation: X:228.22, Y:-28.40, Z:-2.18 [[ 9.88289634e-01 1.52312009e-01 9.20062446e-03 2.28221776e+02] [-1.52305696e-01 9.88332460e-01 -1.38707793e-03 -2.83981203e+01] [-9.30454443e-03 -3.04727679e-05 9.99956711e-01 -2.18411164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.25, Y:-28.40, Z:-2.19 [[ 9.88623905e-01 1.50168749e-01 8.49245730e-03 2.28248889e+02] [-1.50163296e-01 9.88660380e-01 -1.27979305e-03 -2.84043807e+01] [-8.58834098e-03 -1.00213788e-05 9.99963119e-01 -2.18515889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.28, Y:-28.41, Z:-2.19 [[ 9.88777110e-01 1.49155615e-01 8.51056064e-03 2.28276738e+02] [-1.49150106e-01 9.88813735e-01 -1.28198310e-03 -2.84092102e+01] [-8.60657423e-03 -1.75548060e-06 9.99962963e-01 -2.18549706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65576923100002 meters Centerline goodness [0,1] 0.9999785472175741 Centerline is valid? [True, True] Translation: X:228.30, Y:-28.41, Z:-2.19 [[ 9.88914312e-01 1.48250858e-01 8.37659883e-03 2.28304494e+02] [-1.48245493e-01 9.88949788e-01 -1.26123142e-03 -2.84145568e+01] [-8.47101428e-03 5.45677022e-06 9.99964120e-01 -2.18597874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68576923100002 meters Centerline goodness [0,1] 0.9998073753825739 Centerline is valid? [True, True] Translation: X:228.33, Y:-28.42, Z:-2.18 [[ 9.89063851e-01 1.47254948e-01 8.28733239e-03 2.28330428e+02] [-1.47249667e-01 9.89098569e-01 -1.24717220e-03 -2.84216903e+01] [-8.38064089e-03 1.32260056e-05 9.99964882e-01 -2.18015108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71576923100002 meters Centerline goodness [0,1] 0.9999362935592788 Centerline is valid? [True, True] Translation: X:228.36, Y:-28.43, Z:-2.19 [[ 9.89152034e-01 1.46624637e-01 8.91459099e-03 2.28359002e+02] [-1.46618506e-01 9.89192204e-01 -1.34100589e-03 -2.84267984e+01] [-9.01486840e-03 1.94146932e-05 9.99959365e-01 -2.18503899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.39, Y:-28.43, Z:-2.18 [[ 9.89292317e-01 1.45645988e-01 9.37854561e-03 2.28387464e+02] [-1.45639162e-01 9.89336770e-01 -1.41036248e-03 -2.84334635e+01] [-9.48395367e-03 2.93772475e-05 9.99955026e-01 -2.18451448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.42, Y:-28.44, Z:-2.18 [[ 9.89573165e-01 1.43629289e-01 1.07507401e-02 2.28415065e+02] [-1.43620206e-01 9.89631560e-01 -1.61619668e-03 -2.84424798e+01] [-1.08714049e-02 5.53213585e-05 9.99940903e-01 -2.18383632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.44, Y:-28.45, Z:-2.19 [[ 9.89692624e-01 1.42802574e-01 1.07672941e-02 2.28442909e+02] [-1.42793420e-01 9.89751191e-01 -1.61817038e-03 -2.84482572e+01] [-1.08880211e-02 6.39925318e-05 9.99940722e-01 -2.18530513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.47, Y:-28.46, Z:-2.18 [[ 9.89770742e-01 1.42304876e-01 1.01587731e-02 2.28469548e+02] [-1.42296707e-01 9.89822872e-01 -1.52615894e-03 -2.84559681e+01] [-1.02725658e-02 6.49875120e-05 9.99947234e-01 -2.18449324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.50, Y:-28.46, Z:-2.19 [[ 9.89773770e-01 1.42318275e-01 9.66401847e-03 2.28497717e+02] [-1.42310888e-01 9.89820946e-01 -1.45131887e-03 -2.84608892e+01] [-9.77219710e-03 6.11822902e-05 9.99952249e-01 -2.18772472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.895769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.53, Y:-28.47, Z:-2.19 [[ 9.89746081e-01 1.42501626e-01 9.79700802e-03 2.28525095e+02] [-1.42494048e-01 9.89794566e-01 -1.47072700e-03 -2.84685132e+01] [-9.90660629e-03 5.96309523e-05 9.99950927e-01 -2.18558371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.925769231 meters Centerline goodness [0,1] 0.999957538958006 Centerline is valid? [True, True] Translation: X:228.55, Y:-28.47, Z:-2.18 [[ 9.89750109e-01 1.42443133e-01 1.02311216e-02 2.28552709e+02] [-1.42434872e-01 9.89802985e-01 -1.53529798e-03 -2.84745151e+01] [-1.03454874e-02 6.22928478e-05 9.99946482e-01 -2.18461274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.955769231 meters Centerline goodness [0,1] 0.9999576109533297 Centerline is valid? [True, True] Translation: X:228.58, Y:-28.48, Z:-2.18 [[ 9.89839530e-01 1.41719774e-01 1.15416763e-02 2.28580475e+02] [-1.41709219e-01 9.89906814e-01 -1.73135587e-03 -2.84812822e+01] [-1.16705514e-02 7.82025499e-05 9.99931894e-01 -2.18490471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.985769231 meters Centerline goodness [0,1] 0.9999574132827971 Centerline is valid? [True, True] Translation: X:228.61, Y:-28.49, Z:-2.18 [[ 9.89866967e-01 1.41475050e-01 1.21736703e-02 2.28608967e+02] [-1.41463297e-01 9.89941818e-01 -1.82556028e-03 -2.84872785e+01] [-1.23094966e-02 8.49342772e-05 9.99924232e-01 -2.18449498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.015769231 meters Centerline goodness [0,1] 0.9999364379846604 Centerline is valid? [True, True] Translation: X:228.64, Y:-28.50, Z:-2.18 [[ 9.89838673e-01 1.41693148e-01 1.19353438e-02 2.28635448e+02] [-1.41681874e-01 9.89910625e-01 -1.78914722e-03 -2.84968298e+01] [-1.20684335e-02 7.99452309e-05 9.99927171e-01 -2.18232454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.66, Y:-28.50, Z:-2.19 [[ 9.89794451e-01 1.42051998e-01 1.13214635e-02 2.28664573e+02] [-1.42041884e-01 9.89859194e-01 -1.69654236e-03 -2.84999826e+01] [-1.14476520e-02 7.11062106e-05 9.99934471e-01 -2.18698718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.69, Y:-28.51, Z:-2.19 [[ 9.89842335e-01 1.41763787e-01 1.07322005e-02 2.28693027e+02] [-1.41754687e-01 9.89900512e-01 -1.60773066e-03 -2.85061493e+01] [-1.08517288e-02 7.00601439e-05 9.99941116e-01 -2.18864975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.105769231 meters Centerline goodness [0,1] 0.9999574603849836 Centerline is valid? [True, True] Translation: X:228.72, Y:-28.52, Z:-2.19 [[ 9.89933914e-01 1.41070240e-01 1.14032501e-02 2.28720151e+02] [-1.41059928e-01 9.89999586e-01 -1.70769325e-03 -2.85151572e+01] [-1.15301176e-02 8.19618294e-05 9.99933523e-01 -2.18734772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.135769231 meters Centerline goodness [0,1] 0.9999572686095205 Centerline is valid? [True, True] Translation: X:228.75, Y:-28.52, Z:-2.19 [[ 9.89891753e-01 1.41365646e-01 1.14049152e-02 2.28748656e+02] [-1.41355356e-01 9.89957448e-01 -1.70739551e-03 -2.85208670e+01] [-1.15317479e-02 7.79908733e-05 9.99933504e-01 -2.18643260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.165769231 meters Centerline goodness [0,1] 0.9999787324542748 Centerline is valid? [True, True] Translation: X:228.78, Y:-28.52, Z:-2.19 [[ 9.89523778e-01 1.43945976e-01 1.10566269e-02 2.28776329e+02] [-1.43936473e-01 9.89585546e-01 -1.65464893e-03 -2.85235382e+01] [-1.11796582e-02 4.58625887e-05 9.99937505e-01 -2.18675520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.195769231 meters Centerline goodness [0,1] 0.9999787324542748 Centerline is valid? [True, True] Translation: X:228.80, Y:-28.53, Z:-2.19 [[ 9.89530432e-01 1.43900221e-01 1.10567102e-02 2.28804361e+02] [-1.43890721e-01 9.89592201e-01 -1.65409220e-03 -2.85276407e+01] [-1.11796584e-02 4.58165722e-05 9.99937505e-01 -2.18686603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.83, Y:-28.53, Z:-2.19 [[ 9.89228755e-01 1.45940151e-01 1.13112048e-02 2.28833094e+02] [-1.45930348e-01 9.89293420e-01 -1.69171342e-03 -2.85297796e+01] [-1.14369894e-02 2.28435082e-05 9.99934595e-01 -2.18644731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25576923100002 meters Centerline goodness [0,1] 0.9999789109620819 Centerline is valid? [True, True] Translation: X:228.86, Y:-28.53, Z:-2.19 [[ 9.88943281e-01 1.47790927e-01 1.22077229e-02 2.28860877e+02] [-1.47779656e-01 9.89018626e-01 -1.82515543e-03 -2.85317291e+01] [-1.23434067e-02 9.22103209e-07 9.99923817e-01 -2.18513378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28576923100002 meters Centerline goodness [0,1] 0.9998308203100218 Centerline is valid? [True, True] Translation: X:228.89, Y:-28.53, Z:-2.18 [[ 9.88492314e-01 1.50610558e-01 1.41211186e-02 2.28889264e+02] [-1.50595775e-01 9.88593171e-01 -2.11047816e-03 -2.85347326e+01] [-1.42779017e-02 -4.03893668e-05 9.99898065e-01 -2.18377176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31576923100002 meters Centerline goodness [0,1] 0.9997676187257056 Centerline is valid? [True, True] Translation: X:228.92, Y:-28.54, Z:-2.19 [[ 9.88397673e-01 1.51290930e-01 1.34571585e-02 2.28916273e+02] [-1.51277579e-01 9.88489278e-01 -2.01051271e-03 -2.85395572e+01] [-1.36064292e-02 -4.85802650e-05 9.99907427e-01 -2.18550945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34576923100002 meters Centerline goodness [0,1] 0.9997864479894079 Centerline is valid? [True, True] Translation: X:228.94, Y:-28.55, Z:-2.19 [[ 9.88429173e-01 1.51313790e-01 1.05786247e-02 2.28942959e+02] [-1.51305547e-01 9.88485779e-01 -1.57988122e-03 -2.85483202e+01] [-1.06958778e-02 -3.90038975e-05 9.99942797e-01 -2.19107812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37576923100002 meters Centerline goodness [0,1] 0.9997658478436715 Centerline is valid? [True, True] Translation: X:228.97, Y:-28.55, Z:-2.19 [[ 9.88462193e-01 1.51154568e-01 9.73603629e-03 2.28971201e+02] [-1.51147583e-01 9.88510139e-01 -1.45355989e-03 -2.85547426e+01] [-9.84388281e-03 -3.47893556e-05 9.99951547e-01 -2.19330288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40576923100002 meters Centerline goodness [0,1] 0.9998524047483501 Centerline is valid? [True, True] Translation: X:229.00, Y:-28.56, Z:-2.19 [[ 9.88433313e-01 1.51354568e-01 9.55931516e-03 2.28998491e+02] [-1.51347849e-01 9.88479536e-01 -1.42664455e-03 -2.85599541e+01] [-9.66511658e-03 -3.66387859e-05 9.99953291e-01 -2.19397215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43576923100002 meters Centerline goodness [0,1] 0.9997881131475792 Centerline is valid? [True, True] Translation: X:229.03, Y:-28.56, Z:-2.19 [[ 9.88135638e-01 1.53266581e-01 9.86488243e-03 2.29026103e+02] [-1.53259526e-01 9.88184877e-01 -1.47161791e-03 -2.85634366e+01] [-9.97387748e-03 -5.77291091e-05 9.99950258e-01 -2.19421914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46576923100002 meters Centerline goodness [0,1] 0.9997660768969037 Centerline is valid? [True, True] Translation: X:229.05, Y:-28.57, Z:-2.19 [[ 9.87889076e-01 1.54858979e-01 9.68867701e-03 2.29053560e+02] [-1.54852257e-01 9.87936583e-01 -1.44475984e-03 -2.85658913e+01] [-9.79553249e-03 -7.30510408e-05 9.99952020e-01 -2.19443391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49576923100003 meters Centerline goodness [0,1] 0.9998086083701939 Centerline is valid? [True, True] Translation: X:229.08, Y:-28.57, Z:-2.20 [[ 9.87443089e-01 1.57705668e-01 9.22325161e-03 2.29082250e+02] [-1.57699705e-01 9.87486158e-01 -1.37489634e-03 -2.85683600e+01] [-9.32466224e-03 -9.68721675e-05 9.99956520e-01 -2.19621549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52576923100003 meters Centerline goodness [0,1] 0.9994273716358084 Centerline is valid? [True, True] Translation: X:229.11, Y:-28.57, Z:-2.20 [[ 9.87357401e-01 1.58247777e-01 9.11068824e-03 2.29111125e+02] [-1.58241985e-01 9.87399428e-01 -1.35769381e-03 -2.85732206e+01] [-9.21074038e-03 -1.01164363e-04 9.99957575e-01 -2.19720670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55576923100003 meters Centerline goodness [0,1] 0.9996153517394649 Centerline is valid? [True, True] Translation: X:229.14, Y:-28.58, Z:-2.20 [[ 9.87403923e-01 1.57950726e-01 9.22282581e-03 2.29138646e+02] [-1.57944782e-01 9.87446990e-01 -1.37391229e-03 -2.85789078e+01] [-9.32406203e-03 -1.00090826e-04 9.99956525e-01 -2.19721791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58576923100003 meters Centerline goodness [0,1] 0.9996836243988864 Centerline is valid? [True, True] Translation: X:229.17, Y:-28.59, Z:-2.20 [[ 9.87456823e-01 1.57550324e-01 1.03400840e-02 2.29165933e+02] [-1.57542836e-01 9.87510954e-01 -1.53979289e-03 -2.85894348e+01] [-1.04535410e-02 -1.08527157e-04 9.99945354e-01 -2.19590516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61576923100003 meters Centerline goodness [0,1] 0.9997011612021858 Centerline is valid? [True, True] Translation: X:229.19, Y:-28.60, Z:-2.20 [[ 9.87565664e-01 1.56843698e-01 1.06824051e-02 2.29194227e+02] [-1.56835671e-01 9.87623432e-01 -1.59025673e-03 -2.85980533e+01] [-1.07996154e-02 -1.04899235e-04 9.99941677e-01 -2.19621638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.645769231 meters Centerline goodness [0,1] 0.9996162046908316 Centerline is valid? [True, True] Translation: X:229.22, Y:-28.61, Z:-2.20 [[ 9.87651755e-01 1.56282778e-01 1.09409210e-02 2.29223229e+02] [-1.56274328e-01 9.87712348e-01 -1.62837961e-03 -2.86062955e+01] [-1.10609705e-02 -1.01513094e-04 9.99938820e-01 -2.19701779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.675769231 meters Centerline goodness [0,1] 0.9994926969498404 Centerline is valid? [True, True] Translation: X:229.25, Y:-28.61, Z:-2.19 [[ 9.87597025e-01 1.56602762e-01 1.13000479e-02 2.29251453e+02] [-1.56593772e-01 9.87661664e-01 -1.68153414e-03 -2.86120226e+01] [-1.14239570e-02 -1.08839017e-04 9.99934739e-01 -2.19483532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.705769231 meters Centerline goodness [0,1] 0.9991744634012107 Centerline is valid? [True, True] Translation: X:229.28, Y:-28.62, Z:-2.19 [[ 9.87357490e-01 1.58072171e-01 1.17633576e-02 2.29280010e+02] [-1.58062538e-01 9.87427553e-01 -1.75002826e-03 -2.86181816e+01] [-1.18920942e-02 -1.31442645e-04 9.99929278e-01 -2.19435387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.735769231 meters Centerline goodness [0,1] 0.9991755976916735 Centerline is valid? [True, True] Translation: X:229.31, Y:-28.62, Z:-2.19 [[ 9.87230512e-01 1.58884314e-01 1.14756374e-02 2.29308421e+02] [-1.58875207e-01 9.87297197e-01 -1.70673172e-03 -2.86225710e+01] [-1.16010376e-02 -1.38256639e-04 9.99932696e-01 -2.19478874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.765769231 meters Centerline goodness [0,1] 0.9990211724651559 Centerline is valid? [True, True] Translation: X:229.34, Y:-28.63, Z:-2.20 [[ 9.87110988e-01 1.59672488e-01 1.07978190e-02 2.29337272e+02] [-1.59664478e-01 9.87170035e-01 -1.60546483e-03 -2.86276853e+01] [-1.09156320e-02 -1.39256160e-04 9.99940413e-01 -2.19660975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.795769231 meters Centerline goodness [0,1] 0.9994525970061267 Centerline is valid? [True, True] Translation: X:229.37, Y:-28.64, Z:-2.20 [[ 9.86949634e-01 1.60830953e-01 7.98908266e-03 2.29365090e+02] [-1.60826607e-01 9.86981961e-01 -1.18762898e-03 -2.86394123e+01] [-8.07608797e-03 -1.12727070e-04 9.99967382e-01 -2.20419232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.825769231 meters Centerline goodness [0,1] 0.9994678699899959 Centerline is valid? [True, True] Translation: X:229.39, Y:-28.64, Z:-2.21 [[ 9.87014356e-01 1.60471817e-01 7.17329514e-03 2.29393142e+02] [-1.60468305e-01 9.87040418e-01 -1.06620124e-03 -2.86428733e+01] [-7.25142748e-03 -9.87305829e-05 9.99973703e-01 -2.20517952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.855769231 meters Centerline goodness [0,1] 0.9997665088832757 Centerline is valid? [True, True] Translation: X:229.42, Y:-28.66, Z:-2.21 [[ 9.87172966e-01 1.59478437e-01 7.49424028e-03 2.29420695e+02] [-1.59474577e-01 9.87201407e-01 -1.11372702e-03 -2.86597864e+01] [-7.57594000e-03 -9.56995924e-05 9.99971298e-01 -2.20705753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.885769231 meters Centerline goodness [0,1] 0.9995941731812551 Centerline is valid? [True, True] Translation: X:229.45, Y:-28.67, Z:-2.21 [[ 9.87118248e-01 1.59805147e-01 7.73822162e-03 2.29450032e+02] [-1.59801043e-01 9.87148573e-01 -1.14979504e-03 -2.86675145e+01] [-7.82251759e-03 -1.01592222e-04 9.99969398e-01 -2.20676768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.915769231 meters Centerline goodness [0,1] 0.9996377583635201 Centerline is valid? [True, True] Translation: X:229.48, Y:-28.67, Z:-2.21 [[ 9.86955091e-01 1.60819502e-01 7.53232426e-03 2.29479892e+02] [-1.60815644e-01 9.86983828e-01 -1.11911037e-03 -2.86749968e+01] [-7.61425700e-03 -1.06803901e-04 9.99971005e-01 -2.20723342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.945769231 meters Centerline goodness [0,1] 0.9994014024285959 Centerline is valid? [True, True] Translation: X:229.51, Y:-28.68, Z:-2.21 [[ 9.86682266e-01 1.62498301e-01 7.23930607e-03 2.29509058e+02] [-1.62494783e-01 9.86708817e-01 -1.07553432e-03 -2.86793524e+01] [-7.31785962e-03 -1.15138826e-04 9.99973217e-01 -2.20692224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97576923100002 meters Centerline goodness [0,1] 0.9988819608686303 Centerline is valid? [True, True] Translation: X:229.54, Y:-28.68, Z:-2.20 [[ 9.85779256e-01 1.67809266e-01 8.90557150e-03 2.29539220e+02] [-1.67804158e-01 9.85819463e-01 -1.32297033e-03 -2.86816996e+01] [-9.00129240e-03 -1.90235225e-04 9.99959469e-01 -2.20367750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00576923100002 meters Centerline goodness [0,1] 0.9972215741585188 Centerline is valid? [True, True] Translation: X:229.57, Y:-28.68, Z:-2.20 [[ 9.84693331e-01 1.73993334e-01 1.02646688e-02 2.29569255e+02] [-1.73986887e-01 9.84746789e-01 -1.52467368e-03 -2.86778631e+01] [-1.03733827e-02 -2.84581769e-04 9.99946155e-01 -2.20224251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03576923100002 meters Centerline goodness [0,1] 0.9967793880837359 Centerline is valid? [True, True] Translation: X:229.60, Y:-28.68, Z:-2.20 [[ 9.84119070e-01 1.77228211e-01 9.99088949e-03 2.29598472e+02] [-1.77222272e-01 9.84169734e-01 -1.48370927e-03 -2.86773503e+01] [-1.00956862e-02 -3.10461552e-04 9.99948989e-01 -2.20357392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06576923100002 meters Centerline goodness [0,1] 0.9959873463408421 Centerline is valid? [True, True] Translation: X:229.63, Y:-28.68, Z:-2.21 [[ 9.83547479e-01 1.80417616e-01 9.15639175e-03 2.29628157e+02] [-1.80412769e-01 9.83590049e-01 -1.35947523e-03 -2.86780596e+01] [-9.25140909e-03 -3.14821553e-04 9.99957155e-01 -2.20538407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09576923100002 meters Centerline goodness [0,1] 0.9940825901348324 Centerline is valid? [True, True] Translation: X:229.66, Y:-28.68, Z:-2.21 [[ 9.83142734e-01 1.82647932e-01 8.37240508e-03 2.29657132e+02] [-1.82643963e-01 9.83178335e-01 -1.24278850e-03 -2.86759395e+01] [-8.45856004e-03 -3.07330760e-04 9.99964179e-01 -2.20632007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12576923100002 meters Centerline goodness [0,1] 0.9936948834831508 Centerline is valid? [True, True] Translation: X:229.69, Y:-28.68, Z:-2.21 [[ 9.82945453e-01 1.83685026e-01 8.83441015e-03 2.29685991e+02] [-1.83680651e-01 9.82985096e-01 -1.31099348e-03 -2.86778106e+01] [-8.92490338e-03 -3.34075126e-04 9.99960116e-01 -2.20610960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15576923100002 meters Centerline goodness [0,1] 0.9957013959822949 Centerline is valid? [True, True] Translation: X:229.71, Y:-28.69, Z:-2.21 [[ 9.83207598e-01 1.82256426e-01 9.24200336e-03 2.29714180e+02] [-1.82251579e-01 9.83250976e-01 -1.37110393e-03 -2.86877042e+01] [-9.33710133e-03 -3.36289897e-04 9.99956352e-01 -2.20628144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18576923100002 meters Centerline goodness [0,1] 0.9978974017893539 Centerline is valid? [True, True] Translation: X:229.74, Y:-28.70, Z:-2.21 [[ 9.84333682e-01 1.76102840e-01 8.65976539e-03 2.29742291e+02] [-1.76098348e-01 9.84371740e-01 -1.28458647e-03 -2.87040615e+01] [-8.75064765e-03 -2.60508646e-04 9.99961678e-01 -2.20880403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21576923100002 meters Centerline goodness [0,1] 0.9975910292487422 Centerline is valid? [True, True] Translation: X:229.77, Y:-28.71, Z:-2.21 [[ 9.84993312e-01 1.72419347e-01 7.72946517e-03 2.29770955e+02] [-1.72415655e-01 9.85023618e-01 -1.14643619e-03 -2.87065480e+01] [-7.81137352e-03 -2.03448818e-04 9.99969470e-01 -2.20938020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24576923100003 meters Centerline goodness [0,1] 0.9992394151947942 Centerline is valid? [True, True] Translation: X:229.80, Y:-28.72, Z:-2.21 [[ 9.86286234e-01 1.64922992e-01 6.31441599e-03 2.29799577e+02] [-1.64920375e-01 9.86306440e-01 -9.36441689e-04 -2.87237509e+01] [-6.38238992e-03 -1.17776306e-04 9.99979625e-01 -2.21188779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27576923100003 meters Centerline goodness [0,1] 0.9995949863574352 Centerline is valid? [True, True] Translation: X:229.83, Y:-28.74, Z:-2.21 [[ 9.86888553e-01 1.61279457e-01 6.31825137e-03 2.29829004e+02] [-1.61276762e-01 9.86908774e-01 -9.37014614e-04 -2.87350766e+01] [-6.38665892e-03 -9.42581287e-05 9.99979601e-01 -2.21292309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30576923100003 meters Centerline goodness [0,1] 0.9995702067305626 Centerline is valid? [True, True] Translation: X:229.86, Y:-28.75, Z:-2.21 [[ 9.87450289e-01 1.57791395e-01 6.61838710e-03 2.29859079e+02] [-1.57788360e-01 9.87472465e-01 -9.81594449e-04 -2.87460922e+01] [-6.69036218e-03 -7.50287217e-05 9.99977616e-01 -2.21353536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33576923100003 meters Centerline goodness [0,1] 0.9995756058226881 Centerline is valid? [True, True] Translation: X:229.89, Y:-28.76, Z:-2.21 [[ 9.88403943e-01 1.51628508e-01 8.15117310e-03 2.29888786e+02] [-1.51623687e-01 9.88437552e-01 -1.20973987e-03 -2.87596891e+01] [-8.24035664e-03 -4.01992614e-05 9.99966047e-01 -2.21040208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36576923100003 meters Centerline goodness [0,1] 0.9997035280166024 Centerline is valid? [True, True] Translation: X:229.92, Y:-28.77, Z:-2.21 [[ 9.88774759e-01 1.49182795e-01 8.30477547e-03 2.29919806e+02] [-1.49177693e-01 9.88809635e-01 -1.23389812e-03 -2.87704728e+01] [-8.39591836e-03 -1.88399239e-05 9.99964753e-01 -2.21023228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.395769231 meters Centerline goodness [0,1] 0.9995949000042642 Centerline is valid? [True, True] Translation: X:229.95, Y:-28.78, Z:-2.21 [[ 9.89165836e-01 1.46635307e-01 7.00248202e-03 2.29950093e+02] [-1.46631609e-01 9.89190622e-01 -1.04147540e-03 -2.87833845e+01] [-7.07950661e-03 3.40668380e-06 9.99974940e-01 -2.21305118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.425769231 meters Centerline goodness [0,1] 0.9994886545222116 Centerline is valid? [True, True] Translation: X:229.98, Y:-28.79, Z:-2.21 [[ 9.89205393e-01 1.46398559e-01 6.33661985e-03 2.29980952e+02] [-1.46395519e-01 9.89225688e-01 -9.43492903e-04 -2.87914136e+01] [-6.40647314e-03 5.65551461e-06 9.99979478e-01 -2.21397202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.455769231 meters Centerline goodness [0,1] 0.9994871794871795 Centerline is valid? [True, True] Translation: X:230.01, Y:-28.80, Z:-2.22 [[ 9.89186555e-01 1.46539161e-01 6.01936029e-03 2.30013714e+02] [-1.46536414e-01 9.89204870e-01 -8.97355197e-04 -2.87984432e+01] [-6.08587819e-03 5.59622495e-06 9.99981481e-01 -2.21554973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.485769231 meters Centerline goodness [0,1] 0.9994428253043031 Centerline is valid? [True, True] Translation: X:230.05, Y:-28.81, Z:-2.22 [[ 9.89115903e-01 1.46996430e-01 6.46372959e-03 2.30045415e+02] [-1.46993263e-01 9.89137023e-01 -9.64910989e-04 -2.88053026e+01] [-6.53535271e-03 4.28410019e-06 9.99978644e-01 -2.21539066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.515769231 meters Centerline goodness [0,1] 0.999442119944212 Centerline is valid? [True, True] Translation: X:230.08, Y:-28.82, Z:-2.22 [[ 9.89156758e-01 1.46712915e-01 6.65039372e-03 2.30075618e+02] [-1.46709548e-01 9.89179114e-01 -9.94028830e-04 -2.88170862e+01] [-6.72426743e-03 7.57407853e-06 9.99977392e-01 -2.21575825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.545769231 meters Centerline goodness [0,1] 0.999573960463531 Centerline is valid? [True, True] Translation: X:230.11, Y:-28.83, Z:-2.22 [[ 9.89313118e-01 1.45661898e-01 6.49354384e-03 2.30105515e+02] [-1.45658657e-01 9.89334428e-01 -9.71756058e-04 -2.88315480e+01] [-6.56583431e-03 1.55301398e-05 9.99978445e-01 -2.21680206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.575769231 meters Centerline goodness [0,1] 0.999594934549951 Centerline is valid? [True, True] Translation: X:230.14, Y:-28.84, Z:-2.22 [[ 9.89309726e-01 1.45675196e-01 6.70842827e-03 2.30137890e+02] [-1.45671729e-01 9.89332470e-01 -1.00519195e-03 -2.88403118e+01] [-6.78329745e-03 1.72178308e-05 9.99976993e-01 -2.21672981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.605769231 meters Centerline goodness [0,1] 0.999617330668821 Centerline is valid? [True, True] Translation: X:230.17, Y:-28.85, Z:-2.22 [[ 9.89258604e-01 1.46018572e-01 6.78169918e-03 2.30169813e+02] [-1.46015028e-01 9.89281849e-01 -1.01749815e-03 -2.88480779e+01] [-6.85758553e-03 1.63388097e-05 9.99976486e-01 -2.21643964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.635769231 meters Centerline goodness [0,1] 0.9996812918304473 Centerline is valid? [True, True] Translation: X:230.20, Y:-28.85, Z:-2.22 [[ 9.89065795e-01 1.47328134e-01 6.57823533e-03 2.30201667e+02] [-1.47324820e-01 9.89087671e-01 -9.88192387e-04 -2.88542105e+01] [-6.65204000e-03 8.24995403e-06 9.99977875e-01 -2.21664506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.665769231 meters Centerline goodness [0,1] 0.999552171965965 Centerline is valid? [True, True] Translation: X:230.23, Y:-28.86, Z:-2.22 [[ 9.88420093e-01 1.51643772e-01 5.46684288e-03 2.30234060e+02] [-1.51641544e-01 9.88435211e-01 -8.22132653e-04 -2.88573226e+01] [-5.52829129e-03 -1.63880619e-05 9.99984719e-01 -2.21867067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.695769231 meters Centerline goodness [0,1] 0.9997420464316423 Centerline is valid? [True, True] Translation: X:230.27, Y:-28.86, Z:-2.22 [[ 9.87630668e-01 1.56674282e-01 6.23157738e-03 2.30265086e+02] [-1.56671481e-01 9.87650326e-01 -9.38055486e-04 -2.88576161e+01] [-6.30158860e-03 -4.98580930e-05 9.99980144e-01 -2.21760426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72576923100002 meters Centerline goodness [0,1] 0.9993669550538088 Centerline is valid? [True, True] Translation: X:230.30, Y:-28.86, Z:-2.22 [[ 9.87333744e-01 1.58517254e-01 6.66015924e-03 2.30296432e+02] [-1.58514093e-01 9.87356205e-01 -1.00310419e-03 -2.88621706e+01] [-6.73495887e-03 -6.53304882e-05 9.99977318e-01 -2.21766149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75576923100002 meters Centerline goodness [0,1] 0.9995318551304422 Centerline is valid? [True, True] Translation: X:230.33, Y:-28.87, Z:-2.22 [[ 9.87125677e-01 1.59802465e-01 6.78747860e-03 2.30328225e+02] [-1.59799205e-01 9.87149009e-01 -1.02338210e-03 -2.88673912e+01] [-6.86379176e-03 -7.44269399e-05 9.99976441e-01 -2.21808456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78576923100002 meters Centerline goodness [0,1] 0.9995336611836527 Centerline is valid? [True, True] Translation: X:230.36, Y:-28.88, Z:-2.22 [[ 9.87076254e-01 1.60124445e-01 6.37422815e-03 2.30358967e+02] [-1.60121570e-01 9.87096833e-01 -9.62134920e-04 -2.88765371e+01] [-6.44604174e-03 -7.09508891e-05 9.99979222e-01 -2.21980660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81576923100002 meters Centerline goodness [0,1] 0.9997256920999325 Centerline is valid? [True, True] Translation: X:230.39, Y:-28.89, Z:-2.22 [[ 9.87221173e-01 1.59217817e-01 6.63645813e-03 2.30389396e+02] [-1.59214673e-01 9.87243477e-01 -1.00289807e-03 -2.88869262e+01] [-6.71147924e-03 -6.65392982e-05 9.99977476e-01 -2.22001322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84576923100002 meters Centerline goodness [0,1] 0.9996177857051853 Centerline is valid? [True, True] Translation: X:230.42, Y:-28.90, Z:-2.22 [[ 9.87619848e-01 1.56692312e-01 7.38611201e-03 2.30419548e+02] [-1.56688336e-01 9.87647466e-01 -1.11748705e-03 -2.89042227e+01] [-7.46997644e-03 -5.36652098e-05 9.99972098e-01 -2.21904561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87576923100002 meters Centerline goodness [0,1] 0.9996805383992844 Centerline is valid? [True, True] Translation: X:230.45, Y:-28.91, Z:-2.22 [[ 9.87706078e-01 1.56143500e-01 7.47742087e-03 2.30450365e+02] [-1.56139400e-01 9.87734380e-01 -1.13260174e-03 -2.89129073e+01] [-7.56255406e-03 -4.88423804e-05 9.99971402e-01 -2.21881502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90576923100002 meters Centerline goodness [0,1] 0.9996182153689525 Centerline is valid? [True, True] Translation: X:230.48, Y:-28.92, Z:-2.22 [[ 9.87610981e-01 1.56779069e-01 6.69876973e-03 2.30481279e+02] [-1.56775785e-01 9.87633698e-01 -1.01577396e-03 -2.89198501e+01] [-6.77518282e-03 -4.70153688e-05 9.99977047e-01 -2.22028772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93576923100002 meters Centerline goodness [0,1] 0.9998510226232787 Centerline is valid? [True, True] Translation: X:230.51, Y:-28.93, Z:-2.23 [[ 9.87092296e-01 1.60129465e-01 2.71178726e-03 2.30512440e+02] [-1.60128939e-01 9.87096020e-01 -4.11286785e-04 -2.89261424e+01] [-2.74265355e-03 -2.82576002e-05 9.99996239e-01 -2.22803661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96576923100002 meters Centerline goodness [0,1] 0.9997009505500374 Centerline is valid? [True, True] Translation: X:230.54, Y:-28.93, Z:-2.23 [[ 9.86634734e-01 1.62941638e-01 1.38749395e-03 2.30543733e+02] [-1.62941503e-01 9.86635709e-01 -2.10541741e-04 -2.89308638e+01] [-1.40325710e-03 -1.83525551e-05 9.99999015e-01 -2.22954153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99576923100003 meters Centerline goodness [0,1] 0.9994300189993667 Centerline is valid? [True, True] Translation: X:230.58, Y:-28.92, Z:-2.23 [[ 9.85378370e-01 1.70374143e-01 1.45592759e-03 2.30575120e+02] [-1.70374002e-01 9.85379445e-01 -2.21169895e-04 -2.89249676e+01] [-1.47232276e-03 -3.01161804e-05 9.99998916e-01 -2.22999848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02576923100003 meters Centerline goodness [0,1] 0.9992596353175107 Centerline is valid? [True, True] Translation: X:230.61, Y:-28.93, Z:-2.23 [[ 9.84785387e-01 1.73764384e-01 1.91836263e-03 2.30606525e+02] [-1.73764146e-01 9.84787255e-01 -2.91364448e-04 -2.89296306e+01] [-1.93980784e-03 -4.64111935e-05 9.99998117e-01 -2.22966850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05576923100003 meters Centerline goodness [0,1] 0.9987298092596905 Centerline is valid? [True, True] Translation: X:230.64, Y:-28.93, Z:-2.23 [[ 9.84392615e-01 1.75969729e-01 2.41528679e-03 2.30638037e+02] [-1.75969357e-01 9.84395576e-01 -3.67373774e-04 -2.89284988e+01] [-2.44224430e-03 -6.33764336e-05 9.99997016e-01 -2.22926042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08576923100003 meters Centerline goodness [0,1] 0.9987298092596905 Centerline is valid? [True, True] Translation: X:230.67, Y:-28.93, Z:-2.23 [[ 9.84361638e-01 1.76142930e-01 2.41523619e-03 2.30670142e+02] [-1.76142557e-01 9.84364599e-01 -3.67706065e-04 -2.89335849e+01] [-2.44224183e-03 -6.34701350e-05 9.99997016e-01 -2.22938765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11576923100003 meters Centerline goodness [0,1] 0.9987295134036336 Centerline is valid? [True, True] Translation: X:230.70, Y:-28.94, Z:-2.23 [[ 9.84119916e-01 1.77483817e-01 2.73598096e-03 2.30701117e+02] [-1.77483343e-01 9.84123716e-01 -4.17141668e-04 -2.89424556e+01] [-2.76657964e-03 -7.50736231e-05 9.99996170e-01 -2.22948758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.145769231 meters Centerline goodness [0,1] 0.9989852652051667 Centerline is valid? [True, True] Translation: X:230.73, Y:-28.95, Z:-2.23 [[ 9.84196806e-01 1.77065613e-01 2.10127949e-03 2.30731536e+02] [-1.77065332e-01 9.84199048e-01 -3.20692766e-04 -2.89484745e+01] [-2.12486093e-03 -5.64389538e-05 9.99997741e-01 -2.23046224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.175769231 meters Centerline goodness [0,1] 0.9990448496168786 Centerline is valid? [True, True] Translation: X:230.76, Y:-28.96, Z:-2.23 [[ 9.84649597e-01 1.74540026e-01 9.74572809e-04 2.30761342e+02] [-1.74539964e-01 9.84650079e-01 -1.48834944e-04 -2.89611973e+01] [-9.85590849e-04 -2.35516359e-05 9.99999514e-01 -2.23359805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.205769231 meters Centerline goodness [0,1] 0.9994628507584548 Centerline is valid? [True, True] Translation: X:230.79, Y:-28.97, Z:-2.23 [[ 9.84942221e-01 1.72880673e-01 1.04613636e-03 2.30792003e+02] [-1.72880602e-01 9.84942776e-01 -1.59387131e-04 -2.89715917e+01] [-1.05793941e-03 -2.38695681e-05 9.99999440e-01 -2.23409922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.235769231 meters Centerline goodness [0,1] 0.999365737119178 Centerline is valid? [True, True] Translation: X:230.82, Y:-28.98, Z:-2.23 [[ 9.85574389e-01 1.69231208e-01 1.98054960e-03 2.30821659e+02] [-1.69230941e-01 9.85576378e-01 -3.02941574e-04 -2.89820412e+01] [-2.00325007e-03 -3.65988155e-05 9.99997993e-01 -2.23292885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.265769231 meters Centerline goodness [0,1] 0.9997038165354997 Centerline is valid? [True, True] Translation: X:230.85, Y:-28.99, Z:-2.23 [[ 9.85866919e-01 1.67520153e-01 1.84840350e-03 2.30852575e+02] [-1.67519917e-01 9.85868651e-01 -2.82698983e-04 -2.89921242e+01] [-1.86964084e-03 -3.09408256e-05 9.99998252e-01 -2.23336641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.295769231 meters Centerline goodness [0,1] 0.9996817786452257 Centerline is valid? [True, True] Translation: X:230.88, Y:-29.00, Z:-2.23 [[ 9.86064970e-01 1.66357850e-01 9.70198312e-04 2.30883373e+02] [-1.66357785e-01 9.86065447e-01 -1.48005731e-04 -2.90033592e+01] [-9.81300947e-04 -1.54567755e-05 9.99999518e-01 -2.23451965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.325769231 meters Centerline goodness [0,1] 0.999657666138902 Centerline is valid? [True, True] Translation: X:230.91, Y:-29.01, Z:-2.24 [[ 9.86293735e-01 1.64997702e-01 -6.52533013e-04 2.30913869e+02] [-1.64997671e-01 9.86293951e-01 1.00703643e-04 -2.90124576e+01] [ 6.60205234e-04 8.34305540e-06 9.99999782e-01 -2.23930850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.355769231 meters Centerline goodness [0,1] 0.9995534765043589 Centerline is valid? [True, True] Translation: X:230.95, Y:-29.02, Z:-2.24 [[ 9.86361089e-01 1.64590495e-01 -1.33062084e-03 2.30946084e+02] [-1.64590368e-01 9.86361987e-01 2.05114760e-04 -2.90230262e+01] [ 1.34623376e-03 1.66901565e-05 9.99999094e-01 -2.23983804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.385769231 meters Centerline goodness [0,1] 0.9995995447456055 Centerline is valid? [True, True] Translation: X:230.98, Y:-29.04, Z:-2.24 [[ 9.86683316e-01 1.62634512e-01 -2.45959014e-03 2.30975657e+02] [-1.62634073e-01 9.86686381e-01 3.78750028e-04 -2.90351341e+01] [ 2.48844192e-03 2.63068290e-05 9.99996903e-01 -2.24254621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.415769231 meters Centerline goodness [0,1] 0.9998285432606785 Centerline is valid? [True, True] Translation: X:231.01, Y:-29.05, Z:-2.24 [[ 9.86858282e-01 1.61562478e-01 -2.88041775e-03 2.31006945e+02] [-1.61561871e-01 9.86862485e-01 4.43986825e-04 -2.90459168e+01] [ 2.91430783e-03 2.72136041e-05 9.99995753e-01 -2.24252995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.445769231 meters Centerline goodness [0,1] 0.999616 Centerline is valid? [True, True] Translation: X:231.04, Y:-29.06, Z:-2.24 [[ 9.86995747e-01 1.60718875e-01 -2.97299843e-03 2.31037827e+02] [-1.60718222e-01 9.87000224e-01 4.58739250e-04 -2.90561691e+01] [ 3.00807817e-03 2.50413335e-05 9.99995475e-01 -2.24389487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47576923100002 meters Centerline goodness [0,1] 0.9996612681274478 Centerline is valid? [True, True] Translation: X:231.07, Y:-29.06, Z:-2.24 [[ 9.86876850e-01 1.61457727e-01 -2.34208283e-03 2.31069427e+02] [-1.61457322e-01 9.86879629e-01 3.61994078e-04 -2.90617017e+01] [ 2.36980057e-03 2.09028466e-05 9.99997192e-01 -2.24339595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50576923100002 meters Centerline goodness [0,1] 0.9995750106247344 Centerline is valid? [True, True] Translation: X:231.10, Y:-29.07, Z:-2.24 [[ 9.86681125e-01 1.62661836e-01 -1.21869650e-03 2.31101770e+02] [-1.62661727e-01 9.86681877e-01 1.88963998e-04 -2.90682353e+01] [ 1.23320299e-03 1.17880676e-05 9.99999240e-01 -2.24092836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53576923100002 meters Centerline goodness [0,1] 0.9996389201588751 Centerline is valid? [True, True] Translation: X:231.13, Y:-29.07, Z:-2.24 [[ 9.86226059e-01 1.65399065e-01 -1.14466353e-03 2.31132252e+02] [-1.65398970e-01 9.86226723e-01 1.77561230e-04 -2.90724321e+01] [ 1.15826622e-03 1.42106566e-05 9.99999329e-01 -2.24194627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56576923100002 meters Centerline goodness [0,1] 0.9995554238292828 Centerline is valid? [True, True] Translation: X:231.16, Y:-29.08, Z:-2.24 [[ 9.86044480e-01 1.66475205e-01 -1.51333658e-03 2.31164165e+02] [-1.66475040e-01 9.86045641e-01 2.34869158e-04 -2.90785063e+01] [ 1.53131883e-03 2.03413312e-05 9.99998827e-01 -2.24271636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59576923100002 meters Centerline goodness [0,1] 0.9994237172372578 Centerline is valid? [True, True] Translation: X:231.20, Y:-29.08, Z:-2.24 [[ 9.85887994e-01 1.67401202e-01 -1.30452106e-03 2.31195091e+02] [-1.67401080e-01 9.85888856e-01 2.02701746e-04 -2.90846262e+01] [ 1.32004530e-03 1.85370172e-05 9.99999129e-01 -2.24308623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62576923100002 meters Centerline goodness [0,1] 0.9995130523151187 Centerline is valid? [True, True] Translation: X:231.23, Y:-29.09, Z:-2.24 [[ 9.85751174e-01 1.68205216e-01 -1.27593737e-03 2.31226773e+02] [-1.68205100e-01 9.85752000e-01 1.98529232e-04 -2.90910709e+01] [ 1.29115147e-03 1.89187502e-05 9.99999166e-01 -2.24295213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65576923100002 meters Centerline goodness [0,1] 0.9994900885971063 Centerline is valid? [True, True] Translation: X:231.26, Y:-29.09, Z:-2.24 [[ 9.85584678e-01 1.69176057e-01 -1.51794994e-03 2.31257624e+02] [-1.69175894e-01 9.85585847e-01 2.36248745e-04 -2.90949828e+01] [ 1.53603761e-03 2.39573940e-05 9.99998820e-01 -2.24320393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68576923100002 meters Centerline goodness [0,1] 0.9995760016959933 Centerline is valid? [True, True] Translation: X:231.29, Y:-29.10, Z:-2.24 [[ 9.85161257e-01 1.71619063e-01 -2.04824964e-03 2.31289175e+02] [-1.71618771e-01 9.85163385e-01 3.18959603e-04 -2.90997359e+01] [ 2.07260009e-03 3.72914421e-05 9.99997851e-01 -2.24334273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71576923100002 meters Centerline goodness [0,1] 0.9996579515573893 Centerline is valid? [True, True] Translation: X:231.32, Y:-29.10, Z:-2.24 [[ 9.84925104e-01 1.72965677e-01 -2.32668004e-03 2.31320524e+02] [-1.72965303e-01 9.84927851e-01 3.62537534e-04 -2.91030933e+01] [ 2.35431852e-03 4.53626000e-05 9.99997228e-01 -2.24366966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74576923100003 meters Centerline goodness [0,1] 0.9995301755435014 Centerline is valid? [True, True] Translation: X:231.35, Y:-29.11, Z:-2.24 [[ 9.84561904e-01 1.75022583e-01 -2.22539858e-03 2.31352604e+02] [-1.75022245e-01 9.84564418e-01 3.47183765e-04 -2.91058949e+01] [ 2.25181326e-03 4.76703471e-05 9.99997464e-01 -2.24404013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77576923100003 meters Centerline goodness [0,1] 0.9994208369977906 Centerline is valid? [True, True] Translation: X:231.38, Y:-29.11, Z:-2.24 [[ 9.84422388e-01 1.75804639e-01 -2.30025232e-03 2.31384682e+02] [-1.75804280e-01 9.84425074e-01 3.59215691e-04 -2.91100976e+01] [ 2.32757785e-03 5.07742343e-05 9.99997290e-01 -2.24448637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80576923100003 meters Centerline goodness [0,1] 0.9994492575568218 Centerline is valid? [True, True] Translation: X:231.42, Y:-29.12, Z:-2.25 [[ 9.84343931e-01 1.76239057e-01 -2.61168499e-03 2.31417422e+02] [-1.76238594e-01 9.84347394e-01 4.08338135e-04 -2.91150094e+01] [ 2.64277044e-03 5.83345243e-05 9.99996506e-01 -2.24556676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83576923100003 meters Centerline goodness [0,1] 0.9992763647972758 Centerline is valid? [True, True] Translation: X:231.45, Y:-29.12, Z:-2.25 [[ 9.84406272e-01 1.75860445e-01 -4.17081619e-03 2.31449072e+02] [-1.75859258e-01 9.84415103e-01 6.52355137e-04 -2.91207501e+01] [ 4.22053792e-03 9.12941549e-05 9.99991089e-01 -2.25011640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86576923100003 meters Centerline goodness [0,1] 0.9993848373000721 Centerline is valid? [True, True] Translation: X:231.48, Y:-29.13, Z:-2.25 [[ 9.84436770e-01 1.75645676e-01 -5.73081401e-03 2.31481047e+02] [-1.75643428e-01 9.84453443e-01 8.97180277e-04 -2.91328291e+01] [ 5.79930542e-03 1.23362565e-04 9.99983176e-01 -2.25329984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.895769231 meters Centerline goodness [0,1] 0.999506331830865 Centerline is valid? [True, True] Translation: X:231.51, Y:-29.14, Z:-2.25 [[ 9.84326936e-01 1.76270428e-01 -5.40555434e-03 2.31513876e+02] [-1.76268431e-01 9.84341771e-01 8.47279670e-04 -2.91378771e+01] [ 5.47026329e-03 1.18828383e-04 9.99985031e-01 -2.25230065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.925769231 meters Centerline goodness [0,1] 0.9995077265528016 Centerline is valid? [True, True] Translation: X:231.55, Y:-29.14, Z:-2.25 [[ 9.84107818e-01 1.77509215e-01 -4.72034823e-03 2.31545390e+02] [-1.77507704e-01 9.84119132e-01 7.40525963e-04 -2.91404536e+01] [ 4.77683519e-03 1.09140785e-04 9.99988585e-01 -2.25144645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.955769231 meters Centerline goodness [0,1] 0.9995055889939811 Centerline is valid? [True, True] Translation: X:231.58, Y:-29.14, Z:-2.25 [[ 9.83797859e-01 1.79234306e-01 -4.10314640e-03 2.31577188e+02] [-1.79233176e-01 9.83806410e-01 6.44450492e-04 -2.91441042e+01] [ 4.15220936e-03 1.01410947e-04 9.99991374e-01 -2.24995543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.985769231 meters Centerline goodness [0,1] 0.9987084480203261 Centerline is valid? [True, True] Translation: X:231.61, Y:-29.14, Z:-2.25 [[ 9.83094423e-01 1.83049302e-01 -4.27886421e-03 2.31607769e+02] [-1.83048110e-01 9.83103727e-01 6.71828034e-04 -2.91429265e+01] [ 4.32954501e-03 1.22767614e-04 9.99990620e-01 -2.25002783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.015769231 meters Centerline goodness [0,1] 0.9961499191695737 Centerline is valid? [True, True] Translation: X:231.64, Y:-29.14, Z:-2.25 [[ 9.81986560e-01 1.88898085e-01 -4.46190471e-03 2.31639720e+02] [-1.88896850e-01 9.81996685e-01 7.00381673e-04 -2.91378109e+01] [ 4.51387639e-03 1.55074354e-04 9.99989800e-01 -2.25134943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.045769231 meters Centerline goodness [0,1] 0.9972000769444503 Centerline is valid? [True, True] Translation: X:231.67, Y:-29.14, Z:-2.25 [[ 9.81366187e-01 1.92100107e-01 -4.23746725e-03 2.31670669e+02] [-1.92099022e-01 9.81375322e-01 6.65333983e-04 -2.91426502e+01] [ 4.28635652e-03 1.61077041e-04 9.99990801e-01 -2.24954452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.075769231 meters Centerline goodness [0,1] 0.9907943131224055 Centerline is valid? [True, True] Translation: X:231.70, Y:-29.14, Z:-2.25 [[ 9.80746489e-01 1.95240660e-01 -4.17230624e-03 2.31701635e+02] [-1.95239638e-01 9.80755349e-01 6.55014035e-04 -2.91384666e+01] [ 4.21989704e-03 1.72196843e-04 9.99991081e-01 -2.25008394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.105769231 meters Centerline goodness [0,1] 0.9812759013119753 Centerline is valid? [True, True] Translation: X:231.73, Y:-29.13, Z:-2.25 [[ 9.79619116e-01 2.00786650e-01 -5.57759797e-03 2.31733125e+02] [-2.00784910e-01 9.79634959e-01 8.75865424e-04 -2.91349677e+01] [ 5.63987205e-03 2.61882997e-04 9.99984062e-01 -2.25201416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.135769231 meters Centerline goodness [0,1] 0.8998510638297872 Centerline is valid? [True, False] Translation: X:231.74, Y:-29.13, Z:-2.25 [[ 9.80379334e-01 1.97004160e-01 -6.76189053e-03 2.31735717e+02] [-1.97036052e-01 9.80386272e-01 -4.42176377e-03 -2.91271924e+01] [ 5.75815879e-03 5.66734203e-03 9.99967362e-01 -2.25346527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.165769231 meters Centerline goodness [0,1] 0.8697404619223306 Centerline is valid? [False, False] Translation: X:231.70, Y:-29.12, Z:-2.26 [[ 9.80584579e-01 1.95832281e-01 -1.01785179e-02 2.31701748e+02] [-1.95885680e-01 9.80616252e-01 -4.53498054e-03 -2.91159770e+01] [ 9.09312445e-03 6.44075787e-03 9.99937914e-01 -2.25762936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.195769231 meters Centerline goodness [0,1] 0.8869112638951359 Centerline is valid? [False, False] Translation: X:231.64, Y:-29.11, Z:-2.26 [[ 9.81458408e-01 1.91450548e-01 -9.27800373e-03 2.31637838e+02] [-1.91432328e-01 9.81501758e-01 2.82187773e-03 -2.91056243e+01] [ 9.64662701e-03 -9.93445768e-04 9.99952977e-01 -2.25684255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22576923100002 meters Centerline goodness [0,1] 0.8247170973015435 Centerline is valid? [False, False] Translation: X:231.64, Y:-29.10, Z:-2.26 [[ 9.82367210e-01 1.86677975e-01 -1.02955823e-02 2.31639062e+02] [-1.86714412e-01 9.82410549e-01 -2.69087376e-03 -2.90994380e+01] [ 9.61216183e-03 4.56575975e-03 9.99943378e-01 -2.25731258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25576923100002 meters Centerline goodness [0,1] 0.9616913933900552 Centerline is valid? [False, True] Translation: X:231.57, Y:-29.09, Z:-2.26 [[ 9.83312985e-01 1.81710512e-01 -8.76716330e-03 2.31572675e+02] [-1.81682556e-01 9.83349528e-01 3.89288548e-03 -2.90885954e+01] [ 9.32856411e-03 -2.23508421e-03 9.99953990e-01 -2.25543737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28576923100002 meters Centerline goodness [0,1] 0.9966325605491516 Centerline is valid? [True, True] Translation: X:231.60, Y:-29.10, Z:-2.25 [[ 9.83713866e-01 1.79548681e-01 -8.32474913e-03 2.31602613e+02] [-1.79545114e-01 9.83749033e-01 1.17992966e-03 -2.90994449e+01] [ 8.40131872e-03 3.33954872e-04 9.99964653e-01 -2.25199871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31576923100002 meters Centerline goodness [0,1] 0.9960725720384205 Centerline is valid? [True, True] Translation: X:231.63, Y:-29.10, Z:-2.25 [[ 9.84572592e-01 1.74832783e-01 -7.09286263e-03 2.31631979e+02] [-1.74830073e-01 9.84598109e-01 1.00506620e-03 -2.91009099e+01] [ 7.15933765e-03 2.50485059e-04 9.99974340e-01 -2.25226751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34576923100002 meters Centerline goodness [0,1] 0.9985239378770376 Centerline is valid? [True, True] Translation: X:231.66, Y:-29.11, Z:-2.25 [[ 9.84970290e-01 1.72581767e-01 -7.00445541e-03 2.31662905e+02] [-1.72579062e-01 9.84995168e-01 9.93241809e-04 -2.91084911e+01] [ 7.07077016e-03 2.30508675e-04 9.99974975e-01 -2.25121510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37576923100002 meters Centerline goodness [0,1] 0.9993375643737846 Centerline is valid? [True, True] Translation: X:231.69, Y:-29.12, Z:-2.25 [[ 9.85642958e-01 1.68688982e-01 -7.21022582e-03 2.31692953e+02] [-1.68686013e-01 9.85669308e-01 1.02242860e-03 -2.91175487e+01] [ 7.27937073e-03 2.08514694e-04 9.99973483e-01 -2.25102155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40576923100002 meters Centerline goodness [0,1] 0.9992159355795719 Centerline is valid? [True, True] Translation: X:231.72, Y:-29.12, Z:-2.25 [[ 9.86024651e-01 1.66466151e-01 -6.66401053e-03 2.31722899e+02] [-1.66463564e-01 9.86047154e-01 9.44997929e-04 -2.91230077e+01] [ 6.72833879e-03 1.77523688e-04 9.99977349e-01 -2.25081724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43576923100002 meters Centerline goodness [0,1] 0.9997003424657535 Centerline is valid? [True, True] Translation: X:231.75, Y:-29.13, Z:-2.25 [[ 9.86458041e-01 1.63938040e-01 -4.98523099e-03 2.31752893e+02] [-1.63936559e-01 9.86470630e-01 7.07141913e-04 -2.91348483e+01] [ 5.03371142e-03 1.19695789e-04 9.99987324e-01 -2.24649782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46576923100002 meters Centerline goodness [0,1] 0.9996416299513038 Centerline is valid? [True, True] Translation: X:231.78, Y:-29.14, Z:-2.24 [[ 9.87281564e-01 1.58981358e-01 2.04258870e-04 2.31782510e+02] [-1.58981356e-01 9.87281585e-01 -2.89040536e-05 -2.91411908e+01] [-2.06256227e-04 -3.93691280e-06 9.99999979e-01 -2.23910106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49576923100003 meters Centerline goodness [0,1] 0.9996153846153846 Centerline is valid? [True, True] Translation: X:231.81, Y:-29.15, Z:-2.23 [[ 9.87527896e-01 1.57431422e-01 2.00027311e-03 2.31812884e+02] [-1.57431172e-01 9.87529922e-01 -2.83103161e-04 -2.91536909e+01] [-2.01989888e-03 -3.53330707e-05 9.99997959e-01 -2.23488411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52576923100003 meters Centerline goodness [0,1] 0.999766191255553 Centerline is valid? [True, True] Translation: X:231.84, Y:-29.16, Z:-2.23 [[ 9.87784611e-01 1.55812111e-01 2.03685724e-03 2.31843873e+02] [-1.55811847e-01 9.87786710e-01 -2.88628304e-04 -2.91629399e+01] [-2.05695230e-03 -3.22638916e-05 9.99997884e-01 -2.23406809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55576923100003 meters Centerline goodness [0,1] 0.9996800750757155 Centerline is valid? [True, True] Translation: X:231.88, Y:-29.17, Z:-2.24 [[ 9.87731325e-01 1.56159416e-01 1.03298323e-03 2.31875158e+02] [-1.56159349e-01 9.87731865e-01 -1.46030516e-04 -2.91673829e+01] [-1.04311449e-03 -1.70710740e-05 9.99999456e-01 -2.23522620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58576923100003 meters Centerline goodness [0,1] 0.9998285689795569 Centerline is valid? [True, True] Translation: X:231.91, Y:-29.17, Z:-2.24 [[ 9.87612634e-01 1.56910765e-01 5.44880908e-04 2.31906745e+02] [-1.56910746e-01 9.87612784e-01 -7.67106399e-05 -2.91714966e+01] [-5.50168076e-04 -9.73727277e-06 9.99999849e-01 -2.23668040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61576923100003 meters Centerline goodness [0,1] 0.9996176476835822 Centerline is valid? [True, True] Translation: X:231.94, Y:-29.18, Z:-2.24 [[ 9.87383194e-01 1.58348343e-01 -4.79493869e-04 2.31938257e+02] [-1.58348328e-01 9.87383311e-01 6.93628532e-05 -2.91760393e+01] [ 4.84427737e-04 7.43933665e-06 9.99999883e-01 -2.23799339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64576923100003 meters Centerline goodness [0,1] 0.9997022290284159 Centerline is valid? [True, True] Translation: X:231.97, Y:-29.18, Z:-2.24 [[ 9.87288453e-01 1.58938023e-01 -4.64185416e-04 2.31970092e+02] [-1.58938009e-01 9.87288562e-01 6.73276028e-05 -2.91803087e+01] [ 4.68985868e-04 7.30494113e-06 9.99999890e-01 -2.23910368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.675769231 meters Centerline goodness [0,1] 0.9996785392824997 Centerline is valid? [True, True] Translation: X:232.00, Y:-29.19, Z:-2.24 [[ 9.87080689e-01 1.60223893e-01 -1.29576204e-04 2.32001784e+02] [-1.60223892e-01 9.87080698e-01 1.94772183e-05 -2.91869622e+01] [ 1.31022885e-04 1.53561749e-06 9.99999991e-01 -2.23724484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.705769231 meters Centerline goodness [0,1] 0.9997631862217438 Centerline is valid? [True, True] Translation: X:232.03, Y:-29.19, Z:-2.24 [[ 9.86891166e-01 1.61386897e-01 -3.10362768e-04 2.32033655e+02] [-1.61386891e-01 9.86891215e-01 4.54056390e-05 -2.91916520e+01] [ 3.13622164e-04 5.27805817e-06 9.99999951e-01 -2.23792570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.735769231 meters Centerline goodness [0,1] 0.999787658725103 Centerline is valid? [True, True] Translation: X:232.06, Y:-29.19, Z:-2.24 [[ 9.86767506e-01 1.62134920e-01 -1.46854586e-03 2.32064900e+02] [-1.62134786e-01 9.86768598e-01 2.10962972e-04 -2.91931049e+01] [ 1.48331941e-03 2.99309628e-05 9.99998899e-01 -2.24098106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.765769231 meters Centerline goodness [0,1] 0.9996148744062647 Centerline is valid? [True, True] Translation: X:232.10, Y:-29.20, Z:-2.24 [[ 9.86450150e-01 1.64030637e-01 -3.17059971e-03 2.32096581e+02] [-1.64030022e-01 9.86455242e-01 4.54783582e-04 -2.91979788e+01] [ 3.20225314e-03 7.14522074e-05 9.99994870e-01 -2.24272444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.795769231 meters Centerline goodness [0,1] 0.9994866639573932 Centerline is valid? [True, True] Translation: X:232.13, Y:-29.20, Z:-2.24 [[ 9.86192214e-01 1.65575004e-01 -3.13619076e-03 2.32128233e+02] [-1.65574408e-01 9.86197198e-01 4.50355119e-04 -2.92004187e+01] [ 3.16747009e-03 7.51362175e-05 9.99994981e-01 -2.23753469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.825769231 meters Centerline goodness [0,1] 0.9996163274006181 Centerline is valid? [True, True] Translation: X:232.16, Y:-29.19, Z:-2.24 [[ 9.85373102e-01 1.70398850e-01 -2.02019461e-03 2.32159056e+02] [-1.70398613e-01 9.85375171e-01 2.90184109e-04 -2.91936540e+01] [ 2.04009665e-03 5.82987447e-05 9.99997917e-01 -2.24083317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.855769231 meters Centerline goodness [0,1] 0.9993999914284489 Centerline is valid? [True, True] Translation: X:232.19, Y:-29.19, Z:-2.24 [[ 9.84899600e-01 1.73119706e-01 -1.53164056e-03 2.32190960e+02] [-1.73119573e-01 9.84900789e-01 2.20333820e-04 -2.91907823e+01] [ 1.54665812e-03 4.81502686e-05 9.99998803e-01 -2.24066126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.885769231 meters Centerline goodness [0,1] 0.999122656851836 Centerline is valid? [True, True] Translation: X:232.22, Y:-29.19, Z:-2.24 [[ 9.84434744e-01 1.75744144e-01 -1.49374946e-03 2.32222545e+02] [-1.75744021e-01 9.84435876e-01 2.14630509e-04 -2.91920053e+01] [ 1.50822061e-03 5.12278064e-05 9.99998861e-01 -2.23990446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.915769231 meters Centerline goodness [0,1] 0.9959805193424215 Centerline is valid? [True, True] Translation: X:232.25, Y:-29.18, Z:-2.24 [[ 9.83361234e-01 1.81655315e-01 -1.42503393e-03 2.32254189e+02] [-1.81655209e-01 9.83362264e-01 2.04558462e-04 -2.91785622e+01] [ 1.43848373e-03 5.77099757e-05 9.99998964e-01 -2.23983942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.945769231 meters Centerline goodness [0,1] 0.995541211941059 Centerline is valid? [True, True] Translation: X:232.29, Y:-29.18, Z:-2.24 [[ 9.82913598e-01 1.84063276e-01 -1.25298265e-03 2.32285684e+02] [-1.84063196e-01 9.82914395e-01 1.79990800e-04 -2.91763618e+01] [ 1.26470438e-03 5.37125869e-05 9.99999199e-01 -2.23936874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97576923100002 meters Centerline goodness [0,1] 0.9927232919054672 Centerline is valid? [True, True] Translation: X:232.32, Y:-29.17, Z:-2.24 [[ 9.82464057e-01 1.86451874e-01 -2.73126001e-04 2.32318578e+02] [-1.86451870e-01 9.82464095e-01 3.93581634e-05 -2.91693803e+01] [ 2.75674892e-04 1.22568728e-05 9.99999962e-01 -2.23876621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00576923100002 meters Centerline goodness [0,1] 0.9927232919054672 Centerline is valid? [True, True] Translation: X:232.35, Y:-29.17, Z:-2.24 [[ 9.82429577e-01 1.86633469e-01 -2.72988920e-04 2.32350750e+02] [-1.86633465e-01 9.82429615e-01 4.03119151e-05 -2.91741757e+01] [ 2.75715952e-04 1.13452501e-05 9.99999962e-01 -2.23894972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03576923100002 meters Centerline goodness [0,1] 0.9925796035327075 Centerline is valid? [True, True] Translation: X:232.38, Y:-29.18, Z:-2.24 [[ 9.82429573e-01 1.86633096e-01 -4.69806626e-04 2.32382709e+02] [-1.86633085e-01 9.82429686e-01 6.85562017e-05 -2.91750827e+01] [ 4.74346832e-04 2.03298198e-05 9.99999887e-01 -2.23982036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06576923100002 meters Centerline goodness [0,1] 0.993879472693032 Centerline is valid? [True, True] Translation: X:232.41, Y:-29.18, Z:-2.24 [[ 9.83057433e-01 1.83272225e-01 -3.06191095e-03 2.32413613e+02] [-1.83271739e-01 9.83062193e-01 4.40936405e-04 -2.91771865e+01] [ 3.09086029e-03 1.27695935e-04 9.99995215e-01 -2.24441774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09576923100002 meters Centerline goodness [0,1] 0.995651710540339 Centerline is valid? [True, True] Translation: X:232.45, Y:-29.18, Z:-2.25 [[ 9.83484892e-01 1.80945223e-01 -4.03664817e-03 2.32445387e+02] [-1.80944358e-01 9.83493163e-01 5.81557273e-04 -2.91807731e+01] [ 4.07524588e-03 1.58455917e-04 9.99991684e-01 -2.24701828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12576923100002 meters Centerline goodness [0,1] 0.9986826169177485 Centerline is valid? [True, True] Translation: X:232.48, Y:-29.18, Z:-2.25 [[ 9.84296340e-01 1.76478410e-01 -4.01082650e-03 2.32475229e+02] [-1.76477520e-01 9.84304501e-01 5.77564727e-04 -2.91837406e+01] [ 4.04980228e-03 1.39325867e-04 9.99991790e-01 -2.24736182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15576923100002 meters Centerline goodness [0,1] 0.9992130505987196 Centerline is valid? [True, True] Translation: X:232.51, Y:-29.19, Z:-2.25 [[ 9.84667615e-01 1.74413880e-01 -3.07991387e-03 2.32505982e+02] [-1.74413344e-01 9.84672427e-01 4.43749094e-04 -2.91888631e+01] [ 3.11010227e-03 1.00232717e-04 9.99995159e-01 -2.24554772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18576923100002 meters Centerline goodness [0,1] 0.9993568580371307 Centerline is valid? [True, True] Translation: X:232.54, Y:-29.19, Z:-2.24 [[ 9.85066020e-01 1.72165202e-01 -2.01996799e-03 2.32537088e+02] [-1.72164967e-01 9.85068089e-01 2.91213796e-04 -2.91947323e+01] [ 2.03994289e-03 6.09029082e-05 9.99997917e-01 -2.24287275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21576923100002 meters Centerline goodness [0,1] 0.9997205142537731 Centerline is valid? [True, True] Translation: X:232.57, Y:-29.20, Z:-2.24 [[ 9.85716483e-01 1.68411053e-01 -8.56167105e-04 2.32567654e+02] [-1.68411009e-01 9.85716854e-01 1.23425946e-04 -2.92017819e+01] [ 8.64724639e-04 2.25249766e-05 9.99999626e-01 -2.23967352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24576923100003 meters Centerline goodness [0,1] 0.9999138617912441 Centerline is valid? [True, True] Translation: X:232.60, Y:-29.21, Z:-2.24 [[ 9.86017214e-01 1.66641562e-01 -8.02099206e-04 2.32598314e+02] [-1.66641523e-01 9.86017540e-01 1.16562438e-04 -2.92057660e+01] [ 8.10308033e-04 1.87304626e-05 9.99999672e-01 -2.24064733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27576923100003 meters Centerline goodness [0,1] 0.9997867940217043 Centerline is valid? [True, True] Translation: X:232.63, Y:-29.21, Z:-2.25 [[ 9.86666740e-01 1.62734203e-01 -2.51472111e-03 2.32628106e+02] [-1.62733807e-01 9.86669943e-01 3.62815915e-04 -2.92131282e+01] [ 2.54024229e-03 5.12517429e-05 9.99996772e-01 -2.24548291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30576923100003 meters Centerline goodness [0,1] 0.9999358768836165 Centerline is valid? [True, True] Translation: X:232.66, Y:-29.22, Z:-2.25 [[ 9.86909964e-01 1.61232451e-01 -3.58041137e-03 2.32658539e+02] [-1.61231633e-01 9.86916457e-01 5.17844079e-04 -2.92191782e+01] [ 3.61706017e-03 6.62100912e-05 9.99993456e-01 -2.24784549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33576923100003 meters Centerline goodness [0,1] 0.9999572786500054 Centerline is valid? [True, True] Translation: X:232.69, Y:-29.23, Z:-2.25 [[ 9.87233043e-01 1.59223724e-01 -4.32722548e-03 2.32689608e+02] [-1.59222507e-01 9.87242524e-01 6.26486402e-04 -2.92280258e+01] [ 4.37177250e-03 7.05036115e-05 9.99990441e-01 -2.24834976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36576923100003 meters Centerline goodness [0,1] 0.9999572777374289 Centerline is valid? [True, True] Translation: X:232.72, Y:-29.24, Z:-2.25 [[ 9.87972021e-01 1.54523860e-01 -5.80191962e-03 2.32719597e+02] [-1.54521589e-01 9.87989055e-01 8.40487619e-04 -2.92381910e+01] [ 5.86210848e-03 6.61435854e-05 9.99982816e-01 -2.25212929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39576923100003 meters Centerline goodness [0,1] 0.9999784552407627 Centerline is valid? [True, True] Translation: X:232.75, Y:-29.25, Z:-2.25 [[ 9.88310944e-01 1.52308024e-01 -6.61395138e-03 2.32750469e+02] [-1.52305015e-01 9.88333073e-01 9.59157483e-04 -2.92476405e+01] [ 6.68287427e-03 5.93921255e-05 9.99977668e-01 -2.25212109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.425769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.78, Y:-29.26, Z:-2.25 [[ 9.88817666e-01 1.48972517e-01 -6.84202922e-03 2.32781048e+02] [-1.48969209e-01 9.88841336e-01 9.93325845e-04 -2.92574575e+01] [ 6.91365956e-03 3.70335408e-05 9.99976100e-01 -2.25386016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.455769231 meters Centerline goodness [0,1] 0.9999787247622492 Centerline is valid? [True, True] Translation: X:232.81, Y:-29.26, Z:-2.25 [[ 9.88989425e-01 1.47844572e-01 -6.47299583e-03 2.32811467e+02] [-1.47841586e-01 9.89010608e-01 9.40010457e-04 -2.92644095e+01] [ 6.54083699e-03 2.73175676e-05 9.99978608e-01 -2.25396406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.84, Y:-29.28, Z:-2.25 [[ 9.89316468e-01 1.45703245e-01 -4.84664226e-03 2.32842341e+02] [-1.45701539e-01 9.89328340e-01 7.05130574e-04 -2.92758626e+01] [ 4.89766036e-03 8.56594918e-06 9.99988006e-01 -2.25219954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.515769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.87, Y:-29.28, Z:-2.25 [[ 9.89415555e-01 1.45029433e-01 -4.82942323e-03 2.32873589e+02] [-1.45027727e-01 9.89427341e-01 7.03519055e-04 -2.92841542e+01] [ 4.88039436e-03 4.32757840e-06 9.99988091e-01 -2.25338015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.91, Y:-29.29, Z:-2.25 [[ 9.89432108e-01 1.44901280e-01 -5.26523444e-03 2.32905996e+02] [-1.44899245e-01 9.89446117e-01 7.67945195e-04 -2.92914932e+01] [ 5.32094202e-03 3.09886084e-06 9.99985844e-01 -2.25326005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.94, Y:-29.30, Z:-2.26 [[ 9.89292174e-01 1.45803540e-01 -6.50558109e-03 2.32938145e+02] [-1.45800449e-01 9.89313564e-01 9.49512503e-04 -2.92959820e+01] [ 6.57450190e-03 9.17135437e-06 9.99978388e-01 -2.25573703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.605769231 meters Centerline goodness [0,1] 0.9998926393541183 Centerline is valid? [True, True] Translation: X:232.97, Y:-29.30, Z:-2.25 [[ 9.89132956e-01 1.46835259e-01 -7.44322311e-03 2.32969936e+02] [-1.46831234e-01 9.89160961e-01 1.08741538e-03 -2.93002942e+01] [ 7.52221664e-03 1.72992417e-05 9.99971708e-01 -2.25089335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.635769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.00, Y:-29.30, Z:-2.26 [[ 9.88709565e-01 1.49626116e-01 -8.08836043e-03 2.33000825e+02] [-1.49621454e-01 9.88742648e-01 1.18192126e-03 -2.93021188e+01] [ 8.17415319e-03 4.16153882e-05 9.99966590e-01 -2.25852697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.665769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.03, Y:-29.31, Z:-2.26 [[ 9.88515423e-01 1.50913906e-01 -7.88995489e-03 2.33033656e+02] [-1.50909495e-01 9.88546909e-01 1.15486050e-03 -2.93061103e+01] [ 7.97387502e-03 4.90716933e-05 9.99968207e-01 -2.25889061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.695769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.07, Y:-29.31, Z:-2.26 [[ 9.88354440e-01 1.52018089e-01 -6.78238669e-03 2.33066053e+02] [-1.52014848e-01 9.88377710e-01 9.93819004e-04 -2.93099355e+01] [ 6.85463829e-03 4.87780565e-05 9.99976506e-01 -2.25727901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72576923100002 meters Centerline goodness [0,1] 0.9999142881631954 Centerline is valid? [True, True] Translation: X:233.10, Y:-29.31, Z:-2.25 [[ 9.87952647e-01 1.54671948e-01 -5.11425922e-03 2.33098703e+02] [-1.54670135e-01 9.87965883e-01 7.50517385e-04 -2.93112630e+01] [ 5.16879761e-03 4.95475275e-05 9.99986640e-01 -2.25434236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75576923100002 meters Centerline goodness [0,1] 0.9999569790703177 Centerline is valid? [True, True] Translation: X:233.13, Y:-29.31, Z:-2.25 [[ 9.87703458e-01 1.56268555e-01 -4.69240182e-03 2.33130235e+02] [-1.56267044e-01 9.87714602e-01 6.89232127e-04 -2.93146469e+01] [ 4.74245911e-03 5.25108068e-05 9.99988753e-01 -2.25362764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78576923100002 meters Centerline goodness [0,1] 0.9999571091571949 Centerline is valid? [True, True] Translation: X:233.16, Y:-29.32, Z:-2.25 [[ 9.87274561e-01 1.58968705e-01 -4.22985771e-03 2.33161579e+02] [-1.58967499e-01 9.87283621e-01 6.21976210e-04 -2.93161382e+01] [ 4.27494398e-03 5.83486120e-05 9.99990861e-01 -2.25301610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81576923100002 meters Centerline goodness [0,1] 0.9999360286591606 Centerline is valid? [True, True] Translation: X:233.19, Y:-29.32, Z:-2.25 [[ 9.87022359e-01 1.60532878e-01 -4.00727551e-03 2.33193502e+02] [-1.60531805e-01 9.87030492e-01 5.89957824e-04 -2.93183621e+01] [ 4.05001075e-03 6.09936086e-05 9.99991797e-01 -2.25274511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.22, Y:-29.32, Z:-2.25 [[ 9.86832405e-01 1.61713009e-01 -3.27226544e-03 2.33224842e+02] [-1.61712298e-01 9.86837829e-01 4.82302972e-04 -2.93212058e+01] [ 3.30718999e-03 5.32133630e-05 9.99994530e-01 -2.25228393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87576923100002 meters Centerline goodness [0,1] 0.9999787175176112 Centerline is valid? [True, True] Translation: X:233.26, Y:-29.33, Z:-2.25 [[ 9.86816809e-01 1.61822796e-01 -2.44306417e-03 2.33256267e+02] [-1.61822399e-01 9.86819832e-01 3.60709802e-04 -2.93279087e+01] [ 2.46923525e-03 3.93880092e-05 9.99996951e-01 -2.25025065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90576923100002 meters Centerline goodness [0,1] 0.9998934696921274 Centerline is valid? [True, True] Translation: X:233.29, Y:-29.33, Z:-2.25 [[ 9.86864553e-01 1.61535178e-01 -2.17740825e-03 2.33286936e+02] [-1.61534861e-01 9.86866954e-01 3.21823408e-04 -2.93341857e+01] [ 2.20079805e-03 3.41312249e-05 9.99997578e-01 -2.24994136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93576923100002 meters Centerline goodness [0,1] 0.9999137038315499 Centerline is valid? [True, True] Translation: X:233.32, Y:-29.34, Z:-2.25 [[ 9.87085514e-01 1.60189699e-01 -1.20357792e-03 2.33316900e+02] [-1.60189600e-01 9.87086248e-01 1.78395349e-04 -2.93422470e+01] [ 1.21661231e-03 1.67092010e-05 9.99999260e-01 -2.24800182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96576923100002 meters Centerline goodness [0,1] 0.9999142311898278 Centerline is valid? [True, True] Translation: X:233.35, Y:-29.35, Z:-2.25 [[ 9.87154926e-01 1.59765576e-01 -3.36194359e-04 2.33348722e+02] [-1.59765568e-01 9.87154983e-01 5.04957942e-05 -2.93490354e+01] [ 3.39943426e-04 3.86511064e-06 9.99999942e-01 -2.24676584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99576923100003 meters Centerline goodness [0,1] 0.9999785246429722 Centerline is valid? [True, True] Translation: X:233.38, Y:-29.36, Z:-2.24 [[ 9.87177221e-01 1.59626534e-01 7.10467269e-04 2.33379842e+02] [-1.59626500e-01 9.87177476e-01 -1.04227544e-04 -2.93563923e+01] [-7.17994767e-04 -1.05183461e-05 9.99999742e-01 -2.24491028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02576923100003 meters Centerline goodness [0,1] 0.9999575992707075 Centerline is valid? [True, True] Translation: X:233.41, Y:-29.36, Z:-2.24 [[ 9.86903609e-01 1.61308427e-01 9.26709466e-04 2.33410848e+02] [-1.61308370e-01 9.86904044e-01 -1.36297492e-04 -2.93644578e+01] [-9.36559253e-04 -1.49735060e-05 9.99999561e-01 -2.24349388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05576923100003 meters Centerline goodness [0,1] 0.9999154548528915 Centerline is valid? [True, True] Translation: X:233.44, Y:-29.36, Z:-2.25 [[ 9.86668703e-01 1.62740869e-01 -5.29171084e-04 2.33442134e+02] [-1.62740850e-01 9.86668845e-01 7.92347243e-05 -2.93638062e+01] [ 5.35011350e-04 7.93932936e-06 9.99999857e-01 -2.24762466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08576923100003 meters Centerline goodness [0,1] 0.9998501359481042 Centerline is valid? [True, True] Translation: X:233.47, Y:-29.36, Z:-2.25 [[ 9.86122458e-01 1.65988277e-01 -3.22319164e-03 2.33473517e+02] [-1.65987602e-01 9.86127724e-01 4.77719845e-04 -2.93622286e+01] [ 3.25777453e-03 6.39195834e-05 9.99994691e-01 -2.25331283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11576923100003 meters Centerline goodness [0,1] 0.9998720109217347 Centerline is valid? [True, True] Translation: X:233.51, Y:-29.36, Z:-2.25 [[ 9.85871938e-01 1.67480101e-01 -2.63377813e-03 2.33506055e+02] [-1.67479653e-01 9.85875455e-01 3.91519610e-04 -2.93645374e+01] [ 2.66214896e-03 5.51160501e-05 9.99996455e-01 -2.25241156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14576923100003 meters Centerline goodness [0,1] 0.9998514210515145 Centerline is valid? [True, True] Translation: X:233.54, Y:-29.37, Z:-2.25 [[ 9.85665472e-01 1.68708494e-01 -1.01017845e-03 2.33537830e+02] [-1.68708428e-01 9.85665990e-01 1.50890829e-04 -2.93712252e+01] [ 1.02115511e-03 2.16977377e-05 9.99999478e-01 -2.24736648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.175769231 meters Centerline goodness [0,1] 0.9999570714117066 Centerline is valid? [True, True] Translation: X:233.57, Y:-29.37, Z:-2.25 [[ 9.85580421e-01 1.69198313e-01 -1.77915723e-03 2.33569796e+02] [-1.69198111e-01 9.85582026e-01 2.64616358e-04 -2.93741635e+01] [ 1.79827803e-03 4.02293408e-05 9.99998382e-01 -2.24961483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.205769231 meters Centerline goodness [0,1] 0.9996201249366875 Centerline is valid? [True, True] Translation: X:233.60, Y:-29.37, Z:-2.26 [[ 9.85543441e-01 1.69395022e-01 -3.07453966e-03 2.33601311e+02] [-1.69394418e-01 9.85548234e-01 4.57999318e-04 -2.93731531e+01] [ 3.10768994e-03 6.94316310e-05 9.99995169e-01 -2.25545412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.235769231 meters Centerline goodness [0,1] 0.999830519246658 Centerline is valid? [True, True] Translation: X:233.63, Y:-29.39, Z:-2.25 [[ 9.85686612e-01 1.68550746e-01 -3.54241197e-03 2.33631965e+02] [-1.68549936e-01 9.85692975e-01 5.28256232e-04 -2.93883321e+01] [ 3.58076857e-03 7.63782153e-05 9.99993586e-01 -2.25423731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.265769231 meters Centerline goodness [0,1] 0.9999359918069513 Centerline is valid? [True, True] Translation: X:233.66, Y:-29.39, Z:-2.25 [[ 9.85756413e-01 1.68149309e-01 -3.17865477e-03 2.33663272e+02] [-1.68148652e-01 9.85761536e-01 4.74637449e-04 -2.93942691e+01] [ 3.21320557e-03 6.66096062e-05 9.99994835e-01 -2.25326459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.295769231 meters Centerline goodness [0,1] 0.9998494720770703 Centerline is valid? [True, True] Translation: X:233.70, Y:-29.40, Z:-2.25 [[ 9.85701173e-01 1.68468360e-01 -3.40711659e-03 2.33695549e+02] [-1.68467605e-01 9.85707059e-01 5.09349103e-04 -2.93970886e+01] [ 3.44422808e-03 7.19227621e-05 9.99994066e-01 -2.25241949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.325769231 meters Centerline goodness [0,1] 0.9998308739588178 Centerline is valid? [True, True] Translation: X:233.73, Y:-29.40, Z:-2.26 [[ 9.85616168e-01 1.68954045e-01 -3.91142628e-03 2.33727411e+02] [-1.68953053e-01 9.85623926e-01 5.85053476e-04 -2.93953312e+01] [ 3.95404248e-03 8.42092447e-05 9.99992179e-01 -2.25542928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.355769231 meters Centerline goodness [0,1] 0.9998719070899426 Centerline is valid? [True, True] Translation: X:233.76, Y:-29.40, Z:-2.25 [[ 9.85546670e-01 1.69343275e-01 -4.54062973e-03 2.33758940e+02] [-1.69341939e-01 9.85557124e-01 6.79826656e-04 -2.94021810e+01] [ 4.59017405e-03 9.89181470e-05 9.99989460e-01 -2.25498082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.385769231 meters Centerline goodness [0,1] 0.9999151301691032 Centerline is valid? [True, True] Translation: X:233.79, Y:-29.41, Z:-2.26 [[ 9.85657675e-01 1.68682163e-01 -5.02744477e-03 2.33791019e+02] [-1.68680514e-01 9.85670491e-01 7.53431169e-04 -2.94056345e+01] [ 5.08249436e-03 1.05406751e-04 9.99987078e-01 -2.25568908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.415769231 meters Centerline goodness [0,1] 0.9999576163431381 Centerline is valid? [True, True] Translation: X:233.82, Y:-29.41, Z:-2.26 [[ 9.85899715e-01 1.67261378e-01 -5.03813619e-03 2.33822360e+02] [-1.67259698e-01 9.85912583e-01 7.55894889e-04 -2.94133424e+01] [ 5.09359389e-03 9.74405825e-05 9.99987023e-01 -2.25524735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.445769231 meters Centerline goodness [0,1] 0.9999788422477996 Centerline is valid? [True, True] Translation: X:233.85, Y:-29.42, Z:-2.26 [[ 9.86709439e-01 1.62415287e-01 -5.07519735e-03 2.33851795e+02] [-1.62413522e-01 9.86722488e-01 7.60772629e-04 -2.94230539e+01] [ 5.13137247e-03 7.36191434e-05 9.99986832e-01 -2.25785053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47576923100002 meters Centerline goodness [0,1] 0.9999785890161653 Centerline is valid? [True, True] Translation: X:233.88, Y:-29.43, Z:-2.26 [[ 9.87182726e-01 1.59484973e-01 -5.89989102e-03 2.33882248e+02] [-1.59482526e-01 9.87200354e-01 8.85987798e-04 -2.94307161e+01] [ 5.96567625e-03 6.62976725e-05 9.99982203e-01 -2.26044237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.91, Y:-29.44, Z:-2.26 [[ 9.87767642e-01 1.55796034e-01 -6.53312842e-03 2.33913329e+02] [-1.55792945e-01 9.87789246e-01 9.82213800e-04 -2.94421184e+01] [ 6.60637901e-03 4.76163051e-05 9.99978177e-01 -2.25830752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.94, Y:-29.45, Z:-2.26 [[ 9.88755274e-01 1.49421843e-01 -6.01010880e-03 2.33943497e+02] [-1.49419104e-01 9.88773540e-01 9.04684714e-04 -2.94546995e+01] [ 6.07781621e-03 3.51329000e-06 9.99981530e-01 -2.25663179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.97, Y:-29.46, Z:-2.26 [[ 9.89033363e-01 1.47590423e-01 -5.48397146e-03 2.33974420e+02] [-1.47588114e-01 9.89048567e-01 8.25669553e-04 -2.94614741e+01] [ 5.54577503e-03 -7.24573136e-06 9.99984622e-01 -2.25597376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.01, Y:-29.46, Z:-2.26 [[ 9.89184492e-01 1.46577083e-01 -5.40364453e-03 2.34006831e+02] [-1.46574817e-01 9.89199251e-01 8.15194540e-04 -2.94647501e+01] [ 5.46476996e-03 -1.43395894e-05 9.99985068e-01 -2.25581305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62576923100002 meters Centerline goodness [0,1] 0.9999786598378148 Centerline is valid? [True, True] Translation: X:234.04, Y:-29.47, Z:-2.26 [[ 9.89128753e-01 1.46911889e-01 -6.41919802e-03 2.34037970e+02] [-1.46908694e-01 9.89149583e-01 9.68995626e-04 -2.94678241e+01] [ 6.49190402e-03 -1.54254387e-05 9.99978927e-01 -2.25815750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.07, Y:-29.47, Z:-2.26 [[ 9.89034058e-01 1.47495051e-01 -7.53932080e-03 2.34068895e+02] [-1.47490653e-01 9.89062794e-01 1.13909364e-03 -2.94705260e+01] [ 7.62487237e-03 -1.46230514e-05 9.99970930e-01 -2.26082202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.10, Y:-29.48, Z:-2.26 [[ 9.89139346e-01 1.46848450e-01 -6.23591434e-03 2.34100927e+02] [-1.46845421e-01 9.89159003e-01 9.43445475e-04 -2.94763438e+01] [ 6.30685431e-03 -1.74835768e-05 9.99980111e-01 -2.25768429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.13, Y:-29.48, Z:-2.26 [[ 9.89371397e-01 1.45343838e-01 -4.40538757e-03 2.34131291e+02] [-1.45342307e-01 9.89381205e-01 6.67390871e-04 -2.94841390e+01] [ 4.45560882e-03 -2.00082438e-05 9.99990074e-01 -2.25510804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74576923100003 meters Centerline goodness [0,1] 0.9999574277868835 Centerline is valid? [True, True] Translation: X:234.16, Y:-29.50, Z:-2.25 [[ 9.89967449e-01 1.41280332e-01 -2.07772423e-03 2.34162666e+02] [-1.41279981e-01 9.89969629e-01 3.15827332e-04 -2.94982751e+01] [ 2.10150407e-03 -1.91179399e-05 9.99997792e-01 -2.25218490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.19, Y:-29.51, Z:-2.25 [[ 9.90246853e-01 1.39316555e-01 -1.43769847e-03 2.34192768e+02] [-1.39316384e-01 9.90247897e-01 2.18886677e-04 -2.95091807e+01] [ 1.45417242e-03 -1.64568908e-05 9.99998943e-01 -2.25175852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80576923100003 meters Centerline goodness [0,1] 0.9999577229585473 Centerline is valid? [True, True] Translation: X:234.22, Y:-29.52, Z:-2.25 [[ 9.90469289e-01 1.37724888e-01 -1.56325699e-03 2.34222051e+02] [-1.37724684e-01 9.90470522e-01 2.38147991e-04 -2.95213983e+01] [ 1.58115887e-03 -2.05791970e-05 9.99998750e-01 -2.25118708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.25, Y:-29.53, Z:-2.25 [[ 9.90401403e-01 1.38198915e-01 -2.47417407e-03 2.34254458e+02] [-1.38198404e-01 9.90404493e-01 3.77105889e-04 -2.95274919e+01] [ 2.50254873e-03 -3.15592950e-05 9.99996868e-01 -2.25243012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.29, Y:-29.53, Z:-2.26 [[ 9.90270347e-01 1.39109610e-01 -3.62710446e-03 2.34286440e+02] [-1.39108518e-01 9.90276989e-01 5.53037198e-04 -2.95336152e+01] [ 3.66877087e-03 -4.30952121e-05 9.99993269e-01 -2.25547088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.32, Y:-29.54, Z:-2.26 [[ 9.90244271e-01 1.39295111e-01 -3.62700072e-03 2.34318525e+02] [-1.39294017e-01 9.90250913e-01 5.53717829e-04 -2.95387012e+01] [ 3.66877096e-03 -4.30964086e-05 9.99993269e-01 -2.25565434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.35, Y:-29.54, Z:-2.26 [[ 9.90095595e-01 1.40313459e-01 -4.77972850e-03 2.34351480e+02] [-1.40311568e-01 9.90107131e-01 7.30322153e-04 -2.95442939e+01] [ 4.83491730e-03 -5.24375449e-05 9.99988310e-01 -2.25704112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.38, Y:-29.55, Z:-2.26 [[ 9.89408868e-01 1.45054419e-01 -5.41358031e-03 2.34382778e+02] [-1.45052065e-01 9.89423678e-01 8.27007907e-04 -2.95458209e+01] [ 5.47628569e-03 -3.29979558e-05 9.99985004e-01 -2.25809676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.42, Y:-29.54, Z:-2.26 [[ 9.88222715e-01 1.52927706e-01 -5.38345950e-03 2.34416365e+02] [-1.52925488e-01 9.88237379e-01 8.23724824e-04 -2.95414658e+01] [ 5.44610626e-03 9.24459063e-06 9.99985170e-01 -2.25637222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.45, Y:-29.54, Z:-2.26 [[ 9.87495416e-01 1.57558047e-01 -5.31647374e-03 2.34447802e+02] [-1.57555946e-01 9.87509727e-01 8.14248677e-04 -2.95402239e+01] [ 5.37836096e-03 3.35752162e-05 9.99985536e-01 -2.25609379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.045769231 meters Centerline goodness [0,1] 0.9999786993844122 Centerline is valid? [True, True] Translation: X:234.48, Y:-29.54, Z:-2.26 [[ 9.86872624e-01 1.61421934e-01 -5.03813819e-03 2.34479596e+02] [-1.61420094e-01 9.86885483e-01 7.72433518e-04 -2.95368304e+01] [ 5.09675315e-03 5.09632470e-05 9.99987010e-01 -2.25762419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.075769231 meters Centerline goodness [0,1] 0.9999786128280258 Centerline is valid? [True, True] Translation: X:234.51, Y:-29.54, Z:-2.26 [[ 9.86359681e-01 1.64539372e-01 -4.62317329e-03 2.34512246e+02] [-1.64537853e-01 9.86370514e-01 7.09694677e-04 -2.95362755e+01] [ 4.67693453e-03 6.06727925e-05 9.99989061e-01 -2.25578310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.105769231 meters Centerline goodness [0,1] 0.9999785430747774 Centerline is valid? [True, True] Translation: X:234.55, Y:-29.53, Z:-2.25 [[ 9.85533012e-01 1.69457885e-01 -2.95097672e-03 2.34545167e+02] [-1.69457286e-01 9.85537428e-01 4.53709768e-04 -2.95287378e+01] [ 2.98518270e-03 5.29185504e-05 9.99995543e-01 -2.25084693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.135769231 meters Centerline goodness [0,1] 0.9998934333638825 Centerline is valid? [True, True] Translation: X:234.58, Y:-29.52, Z:-2.25 [[ 9.84836958e-01 1.73459545e-01 -2.81986693e-03 2.34577350e+02] [-1.73459013e-01 9.84840994e-01 4.34001580e-04 -2.95227530e+01] [ 2.85240226e-03 6.17105367e-05 9.99995930e-01 -2.25351481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.165769231 meters Centerline goodness [0,1] 0.9998512790005949 Centerline is valid? [True, True] Translation: X:234.61, Y:-29.52, Z:-2.26 [[ 9.84573304e-01 1.74929386e-01 -3.88839967e-03 2.34609425e+02] [-1.74928388e-01 9.84580978e-01 5.98101124e-04 -2.95225570e+01] [ 3.93306981e-03 9.13170854e-05 9.99992261e-01 -2.25564945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.195769231 meters Centerline goodness [0,1] 0.9997455200933093 Centerline is valid? [True, True] Translation: X:234.64, Y:-29.52, Z:-2.26 [[ 9.84390801e-01 1.75911319e-01 -5.47342429e-03 2.34641320e+02] [-1.75909357e-01 9.84406009e-01 8.41496918e-04 -2.95222073e+01] [ 5.53610059e-03 1.34464725e-04 9.99984667e-01 -2.25848887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22576923100002 meters Centerline goodness [0,1] 0.9996818461407937 Centerline is valid? [True, True] Translation: X:234.67, Y:-29.52, Z:-2.26 [[ 9.84135903e-01 1.77276268e-01 -7.04621035e-03 2.34673157e+02] [-1.77273052e-01 9.84161111e-01 1.08328121e-03 -2.95176749e+01] [ 7.12664625e-03 1.83007279e-04 9.99974588e-01 -2.26209311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25576923100002 meters Centerline goodness [0,1] 0.999553580918773 Centerline is valid? [True, True] Translation: X:234.70, Y:-29.52, Z:-2.26 [[ 9.84168312e-01 1.77130463e-01 -6.12641406e-03 2.34703839e+02] [-1.77128031e-01 9.84187367e-01 9.41548382e-04 -2.95157507e+01] [ 6.19631622e-03 1.58517580e-04 9.99980790e-01 -2.26130446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28576923100002 meters Centerline goodness [0,1] 0.9997660022548873 Centerline is valid? [True, True] Translation: X:234.73, Y:-29.52, Z:-2.26 [[ 9.84106401e-01 1.77503844e-01 -5.19398284e-03 2.34734029e+02] [-1.77502102e-01 9.84120098e-01 7.98108029e-04 -2.95165569e+01] [ 5.25317014e-03 1.36519652e-04 9.99986193e-01 -2.25972966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31576923100002 meters Centerline goodness [0,1] 0.9998494008304468 Centerline is valid? [True, True] Translation: X:234.76, Y:-29.52, Z:-2.26 [[ 9.84138406e-01 1.77349515e-01 -4.32973383e-03 2.34763955e+02] [-1.77348303e-01 9.84147924e-01 6.65413761e-04 -2.95223113e+01] [ 4.37910937e-03 1.13011710e-04 9.99990405e-01 -2.25678358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34576923100002 meters Centerline goodness [0,1] 0.9997009760994469 Centerline is valid? [True, True] Translation: X:234.79, Y:-29.52, Z:-2.26 [[ 9.84174348e-01 1.77165336e-01 -3.64653748e-03 2.34794330e+02] [-1.77164475e-01 9.84181099e-01 5.60306729e-04 -2.95192085e+01] [ 3.68812019e-03 9.45973883e-05 9.99993194e-01 -2.25717247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37576923100002 meters Centerline goodness [0,1] 0.9998730212477779 Centerline is valid? [True, True] Translation: X:234.82, Y:-29.52, Z:-2.26 [[ 9.84393896e-01 1.75914225e-01 -4.77944568e-03 2.34823913e+02] [-1.75912732e-01 9.84405491e-01 7.34228568e-04 -2.95221648e+01] [ 4.83407383e-03 1.17995229e-04 9.99988309e-01 -2.25824319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40576923100002 meters Centerline goodness [0,1] 0.9998730561726437 Centerline is valid? [True, True] Translation: X:234.85, Y:-29.52, Z:-2.27 [[ 9.84828804e-01 1.73369658e-01 -7.42882927e-03 2.34852927e+02] [-1.73365982e-01 9.84856809e-01 1.14098266e-03 -2.95219350e+01] [ 7.51414487e-03 1.64233690e-04 9.99971755e-01 -2.26625875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43576923100002 meters Centerline goodness [0,1] 0.9999155637177295 Centerline is valid? [True, True] Translation: X:234.88, Y:-29.53, Z:-2.27 [[ 9.85184355e-01 1.71308108e-01 -8.08204970e-03 2.34881720e+02] [-1.71303689e-01 9.85217492e-01 1.24106728e-03 -2.95270273e+01] [ 8.17518162e-03 1.61804864e-04 9.99966570e-01 -2.26759133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46576923100002 meters Centerline goodness [0,1] 0.99995739241585 Centerline is valid? [True, True] Translation: X:234.91, Y:-29.53, Z:-2.27 [[ 9.85642998e-01 1.68676275e-01 -7.49633094e-03 2.34911299e+02] [-1.68672397e-01 9.85671496e-01 1.15115239e-03 -2.95329764e+01] [ 7.58309182e-03 1.29798812e-04 9.99971240e-01 -2.26602094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.94, Y:-29.54, Z:-2.26 [[ 9.86070467e-01 1.66189274e-01 -6.79400051e-03 2.34940491e+02] [-1.66186030e-01 9.86093867e-01 1.04321119e-03 -2.95423092e+01] [ 6.87289274e-03 1.00388228e-04 9.99976376e-01 -2.26202391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.97, Y:-29.55, Z:-2.26 [[ 9.86864189e-01 1.61481695e-01 -4.76806268e-03 2.34970110e+02] [-1.61480042e-01 9.86875706e-01 7.32176792e-04 -2.95483930e+01] [ 4.82371837e-03 4.73879039e-05 9.99988365e-01 -2.26037964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.00, Y:-29.56, Z:-2.26 [[ 9.87408648e-01 1.58125977e-01 -4.50960191e-03 2.35000453e+02] [-1.58124462e-01 9.87418946e-01 6.92731513e-04 -2.95577804e+01] [ 4.56240521e-03 2.90692880e-05 9.99989592e-01 -2.25669998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.03, Y:-29.56, Z:-2.26 [[ 9.87476631e-01 1.57682955e-01 -5.09794939e-03 2.35031005e+02] [-1.57681013e-01 9.87489790e-01 7.83084844e-04 -2.95604220e+01] [ 5.15765211e-03 3.05718421e-05 9.99986699e-01 -2.26077898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.06, Y:-29.56, Z:-2.26 [[ 9.87382528e-01 1.58252795e-01 -5.63872581e-03 2.35061710e+02] [-1.58250430e-01 9.87398628e-01 8.66078374e-04 -2.95636628e+01] [ 5.70472946e-03 3.71801284e-05 9.99983727e-01 -2.25942405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.09, Y:-29.56, Z:-2.26 [[ 9.87008710e-01 1.60564198e-01 -5.73976702e-03 2.35092067e+02] [-1.60561788e-01 9.87025398e-01 8.81327633e-04 -2.95597564e+01] [ 5.80680549e-03 5.17092056e-05 9.99983139e-01 -2.25830460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.675769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.12, Y:-29.56, Z:-2.26 [[ 9.86787195e-01 1.61922729e-01 -5.66229948e-03 2.35122104e+02] [-1.61920406e-01 9.86803439e-01 8.69291174e-04 -2.95606711e+01] [ 5.72833460e-03 5.90364312e-05 9.99983591e-01 -2.25761621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.705769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.15, Y:-29.56, Z:-2.26 [[ 9.86452777e-01 1.63952351e-01 -5.52676245e-03 2.35151527e+02] [-1.63950171e-01 9.86468257e-01 8.48213280e-04 -2.95566464e+01] [ 5.59104228e-03 6.93913040e-05 9.99984368e-01 -2.25803749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.735769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.18, Y:-29.56, Z:-2.26 [[ 9.86412616e-01 1.64188526e-01 -5.68154715e-03 2.35180923e+02] [-1.64186228e-01 9.86428975e-01 8.71780617e-04 -2.95558338e+01] [ 5.74757911e-03 7.28963958e-05 9.99983480e-01 -2.25859942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.765769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.21, Y:-29.56, Z:-2.26 [[ 9.86385104e-01 1.64350596e-01 -5.77131689e-03 2.35209917e+02] [-1.64348229e-01 9.86401985e-01 8.85212089e-04 -2.95557443e+01] [ 5.83832357e-03 7.53456926e-05 9.99982954e-01 -2.25886216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.795769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.24, Y:-29.55, Z:-2.26 [[ 9.86124100e-01 1.65855448e-01 -7.15747988e-03 2.35239768e+02] [-1.65851850e-01 9.86150069e-01 1.09752975e-03 -2.95524658e+01] [ 7.24038056e-03 1.04780735e-04 9.99973783e-01 -2.26123447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.825769231 meters Centerline goodness [0,1] 0.9999574277868835 Centerline is valid? [True, True] Translation: X:235.27, Y:-29.55, Z:-2.26 [[ 9.85843226e-01 1.67468789e-01 -8.20600852e-03 2.35267968e+02] [-1.67464119e-01 9.85877369e-01 1.25778398e-03 -2.95503386e+01] [ 8.30075765e-03 1.34234173e-04 9.99965539e-01 -2.26383470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.855769231 meters Centerline goodness [0,1] 0.9999152470548351 Centerline is valid? [True, True] Translation: X:235.30, Y:-29.54, Z:-2.27 [[ 9.85262803e-01 1.70741983e-01 -1.02168110e-02 2.35298769e+02] [-1.70734922e-01 9.85315754e-01 1.56585432e-03 -2.95375751e+01] [ 1.03341419e-02 2.01588412e-04 9.99946581e-01 -2.27033258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.885769231 meters Centerline goodness [0,1] 0.9999573460726396 Centerline is valid? [True, True] Translation: X:235.33, Y:-29.54, Z:-2.27 [[ 9.85095786e-01 1.71684155e-01 -1.05282595e-02 2.35327723e+02] [-1.71676716e-01 9.85152020e-01 1.61305441e-03 -2.95373969e+01] [ 1.06488720e-02 2.18443906e-04 9.99943275e-01 -2.26955727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.915769231 meters Centerline goodness [0,1] 0.9996359743040685 Centerline is valid? [True, True] Translation: X:235.36, Y:-29.53, Z:-2.27 [[ 9.85092045e-01 1.71727050e-01 -1.01726295e-02 2.35355992e+02] [-1.71720124e-01 9.85144545e-01 1.55702231e-03 -2.95319242e+01] [ 1.02888933e-02 2.13034902e-04 9.99947045e-01 -2.27454054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.38, Y:-29.54, Z:-2.27 [[ 9.85459641e-01 1.69662386e-01 -9.16359327e-03 2.35383610e+02] [-1.69656677e-01 9.85502230e-01 1.40245126e-03 -2.95418672e+01] [ 9.26868483e-03 1.72605674e-04 9.99957030e-01 -2.26551787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97576923100002 meters Centerline goodness [0,1] 0.9999786201441002 Centerline is valid? [True, True] Translation: X:235.41, Y:-29.54, Z:-2.26 [[ 9.85630182e-01 1.68695443e-01 -8.65974653e-03 2.35412064e+02] [-1.68690311e-01 9.85668212e-01 1.32491104e-03 -2.95443195e+01] [ 8.75914333e-03 1.54943023e-04 9.99961626e-01 -2.26398419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00576923100002 meters Centerline goodness [0,1] 0.9999361579876997 Centerline is valid? [True, True] Translation: X:235.44, Y:-29.55, Z:-2.26 [[ 9.85784430e-01 1.67800799e-01 -8.48229453e-03 2.35440403e+02] [-1.67795847e-01 9.85820912e-01 1.29718863e-03 -2.95451462e+01] [ 8.57969262e-03 1.44545445e-04 9.99963183e-01 -2.26444218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03576923100002 meters Centerline goodness [0,1] 0.9999570870703343 Centerline is valid? [True, True] Translation: X:235.47, Y:-29.55, Z:-2.26 [[ 9.86140520e-01 1.65745141e-01 -7.44465573e-03 2.35469297e+02] [-1.65741269e-01 9.86168614e-01 1.13833498e-03 -2.95498145e+01] [ 7.53035931e-03 1.11328440e-04 9.99971640e-01 -2.26337736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.50, Y:-29.55, Z:-2.27 [[ 9.86340894e-01 1.64530335e-01 -7.83638990e-03 2.35497342e+02] [-1.64526011e-01 9.86372018e-01 1.19765813e-03 -2.95489595e+01] [ 7.92664681e-03 1.07990785e-04 9.99968578e-01 -2.27102797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.52, Y:-29.56, Z:-2.27 [[ 9.86742567e-01 1.61914946e-01 -1.10750176e-02 2.35524846e+02] [-1.61906149e-01 9.86804710e-01 1.69229524e-03 -2.95604988e+01] [ 1.12028874e-02 1.23253689e-04 9.99937238e-01 -2.27025272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12576923100002 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:235.55, Y:-29.56, Z:-2.27 [[ 9.86781177e-01 1.61526680e-01 -1.31164319e-02 2.35552101e+02] [-1.61514318e-01 9.86868336e-01 2.00333259e-03 -2.95627828e+01] [ 1.32677829e-02 1.41640651e-04 9.99911969e-01 -2.27457930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.58, Y:-29.57, Z:-2.27 [[ 9.86672708e-01 1.62099762e-01 -1.41645329e-02 2.35580787e+02] [-1.62085414e-01 9.86774362e-01 2.16283327e-03 -2.95669358e+01] [ 1.43277927e-02 1.61855616e-04 9.99897339e-01 -2.27291521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.61, Y:-29.56, Z:-2.28 [[ 9.86148518e-01 1.65213803e-01 -1.46799069e-02 2.35609952e+02] [-1.65198762e-01 9.86257752e-01 2.23975454e-03 -2.95574732e+01] [ 1.48482104e-02 2.16371827e-04 9.99889736e-01 -2.28152485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21576923100002 meters Centerline goodness [0,1] 0.9999361932917881 Centerline is valid? [True, True] Translation: X:235.64, Y:-29.56, Z:-2.27 [[ 9.85902441e-01 1.66769531e-01 -1.35757016e-02 2.35639111e+02] [-1.66756820e-01 9.85995879e-01 2.07092834e-03 -2.95602603e+01] [ 1.37309536e-02 2.22107524e-04 9.99905701e-01 -2.27496083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24576923100003 meters Centerline goodness [0,1] 0.9999155351901514 Centerline is valid? [True, True] Translation: X:235.67, Y:-29.56, Z:-2.27 [[ 9.85550894e-01 1.69085258e-01 -9.98054737e-03 2.35668329e+02] [-1.69078514e-01 9.85601410e-01 1.52179979e-03 -2.95562942e+01] [ 1.00941555e-02 1.87684980e-04 9.99949035e-01 -2.26754247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27576923100003 meters Centerline goodness [0,1] 0.9998293406148004 Centerline is valid? [True, True] Translation: X:235.70, Y:-29.56, Z:-2.26 [[ 9.85335615e-01 1.70418582e-01 -8.43990792e-03 2.35696837e+02] [-1.70413812e-01 9.85371746e-01 1.28648776e-03 -2.95587190e+01] [ 8.53568822e-03 1.70654677e-04 9.99963556e-01 -2.26169017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30576923100003 meters Centerline goodness [0,1] 0.9998511841489859 Centerline is valid? [True, True] Translation: X:235.73, Y:-29.55, Z:-2.26 [[ 9.85166334e-01 1.71428121e-01 -7.72616305e-03 2.35725929e+02] [-1.71424158e-01 9.85196616e-01 1.17714526e-03 -2.95547809e+01] [ 7.81358550e-03 1.64767117e-04 9.99969460e-01 -2.26244196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33576923100003 meters Centerline goodness [0,1] 0.9998932946348542 Centerline is valid? [True, True] Translation: X:235.76, Y:-29.55, Z:-2.26 [[ 9.84825821e-01 1.73413898e-01 -6.76176022e-03 2.35755333e+02] [-1.73410912e-01 9.84849021e-01 1.02991168e-03 -2.95531774e+01] [ 6.83791393e-03 1.58279389e-04 9.99976609e-01 -2.25932220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36576923100003 meters Centerline goodness [0,1] 0.9998716138143535 Centerline is valid? [True, True] Translation: X:235.79, Y:-29.55, Z:-2.26 [[ 9.84702335e-01 1.74124585e-01 -6.47611889e-03 2.35785094e+02] [-1.74121863e-01 9.84723618e-01 9.86086545e-04 -2.95521489e+01] [ 6.54888914e-03 1.56632162e-04 9.99978544e-01 -2.25895447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39576923100003 meters Centerline goodness [0,1] 0.9998074783947977 Centerline is valid? [True, True] Translation: X:235.81, Y:-29.55, Z:-2.26 [[ 9.84758719e-01 1.73802547e-01 -6.55293230e-03 2.35814710e+02] [-1.73799755e-01 9.84780509e-01 9.97472696e-04 -2.95485676e+01] [ 6.62656330e-03 1.56628097e-04 9.99978032e-01 -2.25806553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.425769231 meters Centerline goodness [0,1] 0.9998505135925855 Centerline is valid? [True, True] Translation: X:235.84, Y:-29.55, Z:-2.26 [[ 9.84796259e-01 1.73541645e-01 -7.72172223e-03 2.35844192e+02] [-1.73537763e-01 9.84826515e-01 1.17506440e-03 -2.95494158e+01] [ 7.80847940e-03 1.82811378e-04 9.99969497e-01 -2.26002876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.455769231 meters Centerline goodness [0,1] 0.9995330673232024 Centerline is valid? [True, True] Translation: X:235.87, Y:-29.55, Z:-2.26 [[ 9.84884155e-01 1.72982600e-01 -8.95663643e-03 2.35872246e+02] [-1.72977359e-01 9.84924859e-01 1.36243854e-03 -2.95491111e+01] [ 9.05729203e-03 2.07451189e-04 9.99958960e-01 -2.26369433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.485769231 meters Centerline goodness [0,1] 0.9998501327395736 Centerline is valid? [True, True] Translation: X:235.90, Y:-29.55, Z:-2.27 [[ 9.85095472e-01 1.71722749e-01 -9.90998277e-03 2.35901222e+02] [-1.71716273e-01 9.85145294e-01 1.50709173e-03 -2.95488002e+01] [ 1.00215748e-02 2.17076071e-04 9.99949759e-01 -2.26632481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.515769231 meters Centerline goodness [0,1] 0.999894336432798 Centerline is valid? [True, True] Translation: X:235.93, Y:-29.55, Z:-2.26 [[ 9.85216043e-01 1.71076526e-01 -9.06483005e-03 2.35930212e+02] [-1.71071084e-01 9.85257725e-01 1.37811435e-03 -2.95499937e+01] [ 9.16695685e-03 1.92989941e-04 9.99957964e-01 -2.26470919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.545769231 meters Centerline goodness [0,1] 0.9999787279302276 Centerline is valid? [True, True] Translation: X:235.96, Y:-29.55, Z:-2.26 [[ 9.85593982e-01 1.68996029e-01 -6.69656850e-03 2.35959862e+02] [-1.68993023e-01 9.85616723e-01 1.01633705e-03 -2.95509215e+01] [ 6.77200683e-03 1.29977674e-04 9.99977061e-01 -2.25909108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.575769231 meters Centerline goodness [0,1] 0.9999356733923709 Centerline is valid? [True, True] Translation: X:235.99, Y:-29.55, Z:-2.26 [[ 9.85797825e-01 1.67830819e-01 -5.95527469e-03 2.35987903e+02] [-1.67828420e-01 9.85815807e-01 9.03917695e-04 -2.95517370e+01] [ 6.02250917e-03 1.08384244e-04 9.99981859e-01 -2.25927752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.605769231 meters Centerline goodness [0,1] 0.9999786324786325 Centerline is valid? [True, True] Translation: X:236.02, Y:-29.55, Z:-2.26 [[ 9.86057804e-01 1.66342472e-01 -4.49320838e-03 2.36017277e+02] [-1.66341092e-01 9.86068038e-01 6.81778788e-04 -2.95523081e+01] [ 4.54401794e-03 7.51318947e-05 9.99989673e-01 -2.25519334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.635769231 meters Centerline goodness [0,1] 0.9999362204222209 Centerline is valid? [True, True] Translation: X:236.05, Y:-29.55, Z:-2.25 [[ 9.86205540e-01 1.65473799e-01 -4.12977508e-03 2.36045897e+02] [-1.65472626e-01 9.86214184e-01 6.26408619e-04 -2.95548999e+01] [ 4.17649698e-03 6.55970786e-05 9.99991276e-01 -2.25336379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.665769231 meters Centerline goodness [0,1] 0.9999144878893473 Centerline is valid? [True, True] Translation: X:236.07, Y:-29.56, Z:-2.25 [[ 9.86241668e-01 1.65250134e-01 -4.44575039e-03 2.36074271e+02] [-1.65248775e-01 9.86251686e-01 6.73883177e-04 -2.95567327e+01] [ 4.49598810e-03 7.00431353e-05 9.99989891e-01 -2.25265704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.695769231 meters Centerline goodness [0,1] 0.9999363719272943 Centerline is valid? [True, True] Translation: X:236.10, Y:-29.55, Z:-2.26 [[ 9.86245147e-01 1.65203391e-01 -5.32447446e-03 2.36102896e+02] [-1.65201441e-01 9.86259516e-01 8.06905791e-04 -2.95536102e+01] [ 5.38461718e-03 8.38039351e-05 9.99985499e-01 -2.25504948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72576923100002 meters Centerline goodness [0,1] 0.9999574160030661 Centerline is valid? [True, True] Translation: X:236.13, Y:-29.55, Z:-2.26 [[ 9.86268473e-01 1.65061821e-01 -5.39399096e-03 2.36130993e+02] [-1.65059821e-01 9.86283219e-01 8.16985274e-04 -2.95541185e+01] [ 5.45485585e-03 8.45643641e-05 9.99985119e-01 -2.25655010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75576923100002 meters Centerline goodness [0,1] 0.999914944288509 Centerline is valid? [True, True] Translation: X:236.16, Y:-29.55, Z:-2.26 [[ 9.86454136e-01 1.63942416e-01 -5.57870227e-03 2.36159449e+02] [-1.63940260e-01 9.86469907e-01 8.44706417e-04 -2.95507616e+01] [ 5.64170512e-03 8.13097603e-05 9.99984082e-01 -2.25785846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78576923100002 meters Centerline goodness [0,1] 0.9999142955090847 Centerline is valid? [True, True] Translation: X:236.19, Y:-29.55, Z:-2.26 [[ 9.86760309e-01 1.62051828e-01 -6.58012029e-03 2.36188455e+02] [-1.62048787e-01 9.86782245e-01 9.96141587e-04 -2.95534364e+01] [ 6.65457244e-03 8.33475340e-05 9.99977855e-01 -2.26022428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81576923100002 meters Centerline goodness [0,1] 0.9999142955090847 Centerline is valid? [True, True] Translation: X:236.22, Y:-29.56, Z:-2.26 [[ 9.86771904e-01 1.61981205e-01 -6.58021161e-03 2.36215659e+02] [-1.61978167e-01 9.86793840e-01 9.95538324e-04 -2.95574169e+01] [ 6.65457078e-03 8.34813661e-05 9.99977855e-01 -2.26037939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84576923100002 meters Centerline goodness [0,1] 0.9999786948462833 Centerline is valid? [True, True] Translation: X:236.24, Y:-29.56, Z:-2.27 [[ 9.87195179e-01 1.59281187e-01 -8.67078015e-03 2.36242091e+02] [-1.59275814e-01 9.87233253e-01 1.31115353e-03 -2.95614246e+01] [ 8.76892458e-03 8.66811187e-05 9.99961548e-01 -2.26532173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.27, Y:-29.57, Z:-2.27 [[ 9.88412103e-01 1.51319135e-01 -1.20014038e-02 2.36269263e+02] [-1.51308256e-01 9.88484961e-01 1.81460147e-03 -2.95738539e+01] [ 1.21377911e-02 2.23374260e-05 9.99926334e-01 -2.27173951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.30, Y:-29.58, Z:-2.27 [[ 9.89101949e-01 1.46717795e-01 -1.22973162e-02 2.36297287e+02] [-1.46706024e-01 9.89178390e-01 1.85875605e-03 -2.95833774e+01] [ 1.24369520e-02 -3.44088553e-05 9.99922658e-01 -2.27204885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.32, Y:-29.60, Z:-2.27 [[ 9.90404335e-01 1.37812563e-01 -1.03417095e-02 2.36323449e+02] [-1.37803760e-01 9.90458319e-01 1.56242296e-03 -2.95995595e+01] [ 1.04583537e-02 -1.22304023e-04 9.99945302e-01 -2.26722998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.35, Y:-29.61, Z:-2.27 [[ 9.91060343e-01 1.33081671e-01 -9.41621286e-03 2.36349687e+02] [-1.33074169e-01 9.91105062e-01 1.42157227e-03 -2.96123791e+01] [ 9.52164145e-03 -1.55809201e-04 9.99954656e-01 -2.26614947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99576923100003 meters Centerline goodness [0,1] 0.9997886505336574 Centerline is valid? [True, True] Translation: X:236.38, Y:-29.64, Z:-2.27 [[ 9.92288736e-01 1.23665912e-01 -8.35500713e-03 2.36375579e+02] [-1.23659670e-01 9.92323886e-01 1.26162217e-03 -2.96379759e+01] [ 8.44689280e-03 -2.18716049e-04 9.99964300e-01 -2.26607238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02576923100003 meters Centerline goodness [0,1] 0.999656283566058 Centerline is valid? [True, True] Translation: X:236.40, Y:-29.65, Z:-2.26 [[ 9.92737531e-01 1.20055407e-01 -7.67420913e-03 2.36403647e+02] [-1.20050037e-01 9.92767167e-01 1.15823595e-03 -2.96468362e+01] [ 7.75775535e-03 -2.28535199e-04 9.99969882e-01 -2.26326697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05576923100003 meters Centerline goodness [0,1] 0.9993379604911906 Centerline is valid? [True, True] Translation: X:236.43, Y:-29.66, Z:-2.26 [[ 9.93028712e-01 1.17697477e-01 -6.42500620e-03 2.36430957e+02] [-1.17693665e-01 9.93049476e-01 9.69504448e-04 -2.96587096e+01] [ 6.49445727e-03 -2.06563223e-04 9.99978889e-01 -2.26195715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08576923100003 meters Centerline goodness [0,1] 0.9995092286354422 Centerline is valid? [True, True] Translation: X:236.46, Y:-29.67, Z:-2.26 [[ 9.93114965e-01 1.17047538e-01 -4.74774494e-03 2.36459304e+02] [-1.17045451e-01 9.93126301e-01 7.16071136e-04 -2.96671222e+01] [ 4.79892474e-03 -1.55439014e-04 9.99988473e-01 -2.25652360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11576923100003 meters Centerline goodness [0,1] 0.9995087779249071 Centerline is valid? [True, True] Translation: X:236.49, Y:-29.67, Z:-2.26 [[ 9.92966082e-01 1.18331232e-01 -4.00996587e-03 2.36486589e+02] [-1.18329755e-01 9.92974171e-01 6.04455877e-04 -2.96737325e+01] [ 4.05331854e-03 -1.25705904e-04 9.99991777e-01 -2.25520567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14576923100003 meters Centerline goodness [0,1] 0.9996376579917727 Centerline is valid? [True, True] Translation: X:236.52, Y:-29.67, Z:-2.25 [[ 9.92740155e-01 1.20227083e-01 -3.52598582e-03 2.36515785e+02] [-1.20225953e-01 9.92746412e-01 5.31352514e-04 -2.96731406e+01] [ 3.56429273e-03 -1.03579971e-04 9.99993643e-01 -2.25268490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.175769231 meters Centerline goodness [0,1] 0.999746192893401 Centerline is valid? [True, True] Translation: X:236.54, Y:-29.68, Z:-2.26 [[ 9.92331772e-01 1.23541650e-01 -3.88778272e-03 2.36543531e+02] [-1.23540302e-01 9.92339383e-01 5.85829364e-04 -2.96799920e+01] [ 3.93037423e-03 -1.01039238e-04 9.99992271e-01 -2.25503631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.205769231 meters Centerline goodness [0,1] 0.9997877488644564 Centerline is valid? [True, True] Translation: X:236.57, Y:-29.69, Z:-2.26 [[ 9.92233194e-01 1.24325329e-01 -4.06219572e-03 2.36572405e+02] [-1.24323865e-01 9.92241504e-01 6.11975530e-04 -2.96850064e+01] [ 4.10676325e-03 -1.02194564e-04 9.99991562e-01 -2.25557061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.235769231 meters Centerline goodness [0,1] 0.9998922158270279 Centerline is valid? [True, True] Translation: X:236.60, Y:-29.69, Z:-2.25 [[ 9.92111819e-01 1.25311094e-01 -3.35682601e-03 2.36600300e+02] [-1.25310101e-01 9.92117495e-01 5.05444701e-04 -2.96916551e+01] [ 3.39370364e-03 -8.08134570e-05 9.99994238e-01 -2.25391656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.265769231 meters Centerline goodness [0,1] 0.9999577292133407 Centerline is valid? [True, True] Translation: X:236.63, Y:-29.70, Z:-2.25 [[ 9.92080322e-01 1.25553766e-01 -3.58972637e-03 2.36626941e+02] [-1.25552633e-01 9.92086813e-01 5.40250671e-04 -2.96991807e+01] [ 3.62915070e-03 -8.52724632e-05 9.99993411e-01 -2.25450424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.295769231 meters Centerline goodness [0,1] 0.9998731608320649 Centerline is valid? [True, True] Translation: X:236.65, Y:-29.71, Z:-2.26 [[ 9.92090905e-01 1.25468969e-01 -3.62963705e-03 2.36654273e+02] [-1.25467811e-01 9.92097541e-01 5.46054094e-04 -2.97075135e+01] [ 3.66946684e-03 -8.63326846e-05 9.99993264e-01 -2.25522718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.325769231 meters Centerline goodness [0,1] 0.9998928647953718 Centerline is valid? [True, True] Translation: X:236.68, Y:-29.72, Z:-2.26 [[ 9.92430259e-01 1.22720713e-01 -4.66993188e-03 2.36682314e+02] [-1.22718763e-01 9.92441238e-01 7.02735920e-04 -2.97198421e+01] [ 4.72087323e-03 -1.24328126e-04 9.99988849e-01 -2.25626642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.355769231 meters Centerline goodness [0,1] 0.9997660569970226 Centerline is valid? [True, True] Translation: X:236.71, Y:-29.73, Z:-2.26 [[ 9.92634342e-01 1.20987699e-01 -6.24820381e-03 2.36709737e+02] [-1.20984178e-01 9.92653991e-01 9.39991663e-04 -2.97305165e+01] [ 6.31603188e-03 -1.77134207e-04 9.99980038e-01 -2.26019436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.385769231 meters Centerline goodness [0,1] 0.9998055903572817 Centerline is valid? [True, True] Translation: X:236.74, Y:-29.75, Z:-2.26 [[ 9.92894836e-01 1.18733954e-01 -7.87985745e-03 2.36737549e+02] [-1.18728282e-01 9.92926075e-01 1.18539032e-03 -2.97452166e+01] [ 7.96486201e-03 -2.41405991e-04 9.99968251e-01 -2.26400067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.415769231 meters Centerline goodness [0,1] 0.9998078811424668 Centerline is valid? [True, True] Translation: X:236.77, Y:-29.76, Z:-2.27 [[ 9.92936085e-01 1.18330269e-01 -8.71078996e-03 2.36765199e+02] [-1.18323326e-01 9.92974257e-01 1.31002627e-03 -2.97550209e+01] [ 8.80460595e-03 -2.70082717e-04 9.99961202e-01 -2.26643363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.445769231 meters Centerline goodness [0,1] 0.999468164315953 Centerline is valid? [True, True] Translation: X:236.79, Y:-29.77, Z:-2.27 [[ 9.92992693e-01 1.17784028e-01 -9.61423610e-03 2.36792352e+02] [-1.17775547e-01 9.93039189e-01 1.44558227e-03 -2.97658369e+01] [ 9.71757972e-03 -3.03130713e-04 9.99952737e-01 -2.26913924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47576923100002 meters Centerline goodness [0,1] 0.9994025009602663 Centerline is valid? [True, True] Translation: X:236.82, Y:-29.78, Z:-2.27 [[ 9.93072723e-01 1.16848146e-01 -1.23724556e-02 2.36820580e+02] [-1.16834030e-01 9.93149711e-01 1.86013408e-03 -2.97783717e+01] [ 1.25050540e-02 -4.01724573e-04 9.99921728e-01 -2.27302543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50576923100002 meters Centerline goodness [0,1] 0.9995496268336622 Centerline is valid? [True, True] Translation: X:236.85, Y:-29.79, Z:-2.27 [[ 9.93102974e-01 1.16459078e-01 -1.35560501e-02 2.36849277e+02] [-1.16442100e-01 9.93195391e-01 2.03777342e-03 -2.97866965e+01] [ 1.37011237e-02 -4.45223908e-04 9.99906036e-01 -2.27004334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53576923100002 meters Centerline goodness [0,1] 0.9987804095256435 Centerline is valid? [True, True] Translation: X:236.88, Y:-29.80, Z:-2.27 [[ 9.93036915e-01 1.17110714e-01 -1.27579989e-02 2.36876175e+02] [-1.17095737e-01 9.93118781e-01 1.91728456e-03 -2.97991978e+01] [ 1.28947429e-02 -4.10027061e-04 9.99916775e-01 -2.27468037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56576923100002 meters Centerline goodness [0,1] 0.9995280387866307 Centerline is valid? [True, True] Translation: X:236.90, Y:-29.80, Z:-2.27 [[ 9.92951420e-01 1.17930240e-01 -1.18294391e-02 2.36904981e+02] [-1.17917429e-01 9.93021813e-01 1.77710650e-03 -2.98034465e+01] [ 1.19564657e-02 -3.69683370e-04 9.99928451e-01 -2.27206279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59576923100002 meters Centerline goodness [0,1] 0.9994869383043311 Centerline is valid? [True, True] Translation: X:236.93, Y:-29.81, Z:-2.27 [[ 9.92802066e-01 1.19209931e-01 -1.15347468e-02 2.36932567e+02] [-1.19197840e-01 9.92869011e-01 1.73249154e-03 -2.98105963e+01] [ 1.16590228e-02 -3.45104282e-04 9.99931972e-01 -2.27269161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62576923100002 meters Centerline goodness [0,1] 0.9997642772956177 Centerline is valid? [True, True] Translation: X:236.96, Y:-29.82, Z:-2.27 [[ 9.92486934e-01 1.21786747e-01 -1.17334726e-02 2.36961570e+02] [-1.21774419e-01 9.92556238e-01 1.76213607e-03 -2.98164342e+01] [ 1.18607362e-02 -3.20060216e-04 9.99929608e-01 -2.27328173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65576923100002 meters Centerline goodness [0,1] 0.9997450659641818 Centerline is valid? [True, True] Translation: X:236.99, Y:-29.82, Z:-2.27 [[ 9.92430722e-01 1.22202862e-01 -1.21540995e-02 2.36989975e+02] [-1.22189674e-01 9.92505090e-01 1.82461715e-03 -2.98216153e+01] [ 1.22859791e-02 -3.25700664e-04 9.99924471e-01 -2.27369298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68576923100002 meters Centerline goodness [0,1] 0.9998712363456875 Centerline is valid? [True, True] Translation: X:237.02, Y:-29.83, Z:-2.27 [[ 9.92508491e-01 1.21559021e-01 -1.22596402e-02 2.37018681e+02] [-1.21545556e-01 9.92584148e-01 1.84029929e-03 -2.98296182e+01] [ 1.23924296e-02 -3.36407888e-04 9.99923154e-01 -2.27280804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71576923100002 meters Centerline goodness [0,1] 0.9997853248035722 Centerline is valid? [True, True] Translation: X:237.05, Y:-29.84, Z:-2.27 [[ 9.92738428e-01 1.19787927e-01 -1.10121088e-02 2.37048023e+02] [-1.19776952e-01 9.92799450e-01 1.65315073e-03 -2.98378984e+01] [ 1.11308431e-02 -3.22149418e-04 9.99937998e-01 -2.26983360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74576923100003 meters Centerline goodness [0,1] 0.9997628748194615 Centerline is valid? [True, True] Translation: X:237.08, Y:-29.85, Z:-2.27 [[ 9.93069385e-01 1.17171745e-01 -9.16403091e-03 2.37077019e+02] [-1.17164034e-01 9.93111623e-01 1.37571509e-03 -2.98481722e+01] [ 9.26210055e-03 -2.92485712e-04 9.99957063e-01 -2.26659230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77576923100003 meters Centerline goodness [0,1] 0.9993525971643756 Centerline is valid? [True, True] Translation: X:237.11, Y:-29.86, Z:-2.26 [[ 9.93592384e-01 1.12836463e-01 -6.48894450e-03 2.37105967e+02] [-1.12832504e-01 9.93613545e-01 9.74278099e-04 -2.98646514e+01] [ 6.55743724e-03 -2.35871446e-04 9.99978472e-01 -2.26186542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80576923100003 meters Centerline goodness [0,1] 0.9984376003253216 Centerline is valid? [True, True] Translation: X:237.14, Y:-29.88, Z:-2.26 [[ 9.93660976e-01 1.12231532e-01 -6.47666002e-03 2.37135733e+02] [-1.12227562e-01 9.93682054e-01 9.74300731e-04 -2.98775605e+01] [ 6.54508809e-03 -2.41264853e-04 9.99978552e-01 -2.25642934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83576923100003 meters Centerline goodness [0,1] 0.9987906818856876 Centerline is valid? [True, True] Translation: X:237.16, Y:-29.89, Z:-2.26 [[ 9.93463306e-01 1.13977076e-01 -6.31558656e-03 2.37164342e+02] [-1.13973337e-01 9.93483355e-01 9.50026950e-04 -2.98906729e+01] [ 6.38271142e-03 -2.24008439e-04 9.99979605e-01 -2.26255347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86576923100003 meters Centerline goodness [0,1] 0.9982192826252861 Centerline is valid? [True, True] Translation: X:237.19, Y:-29.90, Z:-2.26 [[ 9.93331180e-01 1.15113076e-01 -6.49208428e-03 2.37194348e+02] [-1.15109140e-01 9.93352369e-01 9.77972376e-04 -2.99027609e+01] [ 6.56150471e-03 -2.24152215e-04 9.99978448e-01 -2.26443823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89576923100003 meters Centerline goodness [0,1] 0.9986497035677363 Centerline is valid? [True, True] Translation: X:237.23, Y:-29.91, Z:-2.27 [[ 9.93210434e-01 1.16132506e-01 -6.80254007e-03 2.37226309e+02] [-1.16128210e-01 9.93233703e-01 1.02455704e-03 -2.99100759e+01] [ 6.87549644e-03 -2.27633940e-04 9.99976338e-01 -2.26501978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.925769231 meters Centerline goodness [0,1] 0.9997190768432881 Centerline is valid? [True, True] Translation: X:237.26, Y:-29.91, Z:-2.26 [[ 9.92797354e-01 1.19515603e-01 -8.33268346e-03 2.37258616e+02] [-1.19509276e-01 9.92832291e-01 1.25498724e-03 -2.99051999e+01] [ 8.42294777e-03 -2.50115050e-04 9.99964495e-01 -2.26412080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.955769231 meters Centerline goodness [0,1] 0.9997888780982139 Centerline is valid? [True, True] Translation: X:237.29, Y:-29.92, Z:-2.27 [[ 9.92149921e-01 1.24665973e-01 -9.84522729e-03 2.37287002e+02] [-1.24657395e-01 9.92198738e-01 1.48262667e-03 -2.99184688e+01] [ 9.95325519e-03 -2.43707553e-04 9.99950435e-01 -2.27287232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.985769231 meters Centerline goodness [0,1] 0.9997639839509087 Centerline is valid? [True, True] Translation: X:237.32, Y:-29.92, Z:-2.26 [[ 9.91862841e-01 1.26950056e-01 -9.58058433e-03 2.37319424e+02] [-1.26942035e-01 9.91909087e-01 1.44314336e-03 -2.99150677e+01] [ 9.68627579e-03 -2.15221402e-04 9.99953064e-01 -2.26205410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.35, Y:-29.92, Z:-2.27 [[ 9.91567443e-01 1.29278750e-01 -9.00058484e-03 2.37349572e+02] [-1.29271748e-01 9.91608275e-01 1.35794568e-03 -2.99232414e+01] [ 9.10060793e-03 -1.82973391e-04 9.99958572e-01 -2.26965827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.045769231 meters Centerline goodness [0,1] 0.9999787057345457 Centerline is valid? [True, True] Translation: X:237.38, Y:-29.93, Z:-2.27 [[ 9.91321468e-01 1.31173873e-01 -8.66956646e-03 2.37381698e+02] [-1.31167435e-01 9.91359364e-01 1.30955490e-03 -2.99262512e+01] [ 8.76643529e-03 -1.61025088e-04 9.99961561e-01 -2.26717618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.41, Y:-29.93, Z:-2.27 [[ 9.90768699e-01 1.35281892e-01 -8.72897163e-03 2.37411364e+02] [-1.35275532e-01 9.90807143e-01 1.31775480e-03 -2.99322400e+01] [ 8.82699580e-03 -1.24773925e-04 9.99961034e-01 -2.26805221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.44, Y:-29.93, Z:-2.27 [[ 9.89887356e-01 1.41499485e-01 -1.00457577e-02 2.37442689e+02] [-1.41491379e-01 9.89938326e-01 1.51665849e-03 -2.99317089e+01] [ 1.01592870e-02 -7.99329408e-05 9.99948390e-01 -2.26718958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.47, Y:-29.93, Z:-2.27 [[ 9.89376680e-01 1.45010789e-01 -1.02788943e-02 2.37472483e+02] [-1.45002490e-01 9.89430073e-01 1.55203759e-03 -2.99346150e+01] [ 1.03953093e-02 -4.50845325e-05 9.99945966e-01 -2.27129411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.50, Y:-29.93, Z:-2.27 [[ 9.88845543e-01 1.48643620e-01 -9.46398304e-03 2.37503678e+02] [-1.48636752e-01 9.88890830e-01 1.42891028e-03 -2.99349530e+01] [ 9.57124444e-03 -6.27586712e-06 9.99954195e-01 -2.26848742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.53, Y:-29.93, Z:-2.26 [[ 9.87767153e-01 1.55771581e-01 -7.16005256e-03 2.37534702e+02] [-1.55767839e-01 9.87793102e-01 1.08074765e-03 -2.99300461e+01] [ 7.24100030e-03 4.77788869e-05 9.99973782e-01 -2.26384309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22576923100002 meters Centerline goodness [0,1] 0.9999787297400774 Centerline is valid? [True, True] Translation: X:237.56, Y:-29.93, Z:-2.26 [[ 9.87123728e-01 1.59816416e-01 -6.74230638e-03 2.37564656e+02] [-1.59813193e-01 9.87146751e-01 1.01752493e-03 -2.99277897e+01] [ 6.81826302e-03 7.30865102e-05 9.99976753e-01 -2.26321931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25576923100002 meters Centerline goodness [0,1] 0.9998086571987413 Centerline is valid? [True, True] Translation: X:237.60, Y:-29.92, Z:-2.26 [[ 9.86066824e-01 1.66200710e-01 -7.03871440e-03 2.37595290e+02] [-1.66197362e-01 9.86091937e-01 1.06194110e-03 -2.99222285e+01] [ 7.11731489e-03 1.22670881e-04 9.99974664e-01 -2.26347009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28576923100002 meters Centerline goodness [0,1] 0.999872267047027 Centerline is valid? [True, True] Translation: X:237.62, Y:-29.92, Z:-2.27 [[ 9.85816096e-01 1.67645630e-01 -7.84656770e-03 2.37624423e+02] [-1.67641517e-01 9.85847311e-01 1.18362405e-03 -2.99241848e+01] [ 7.93394706e-03 1.48574877e-04 9.99968515e-01 -2.26551542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31576923100002 meters Centerline goodness [0,1] 0.9998293078433046 Centerline is valid? [True, True] Translation: X:237.65, Y:-29.93, Z:-2.27 [[ 9.85803477e-01 1.67680970e-01 -8.63694439e-03 2.37653423e+02] [-1.67675993e-01 9.85841298e-01 1.30236485e-03 -2.99280526e+01] [ 8.73303827e-03 1.64332426e-04 9.99961853e-01 -2.26708250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34576923100002 meters Centerline goodness [0,1] 0.9999358069071768 Centerline is valid? [True, True] Translation: X:237.68, Y:-29.94, Z:-2.27 [[ 9.86152111e-01 1.65630110e-01 -8.40712315e-03 2.37681688e+02] [-1.65625323e-01 9.86187937e-01 1.26729028e-03 -2.99350506e+01] [ 8.50090486e-03 1.42691509e-04 9.99963856e-01 -2.26546684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37576923100002 meters Centerline goodness [0,1] 0.9999141483516484 Centerline is valid? [True, True] Translation: X:237.71, Y:-29.94, Z:-2.26 [[ 9.86258638e-01 1.65056914e-01 -7.07918314e-03 2.37711510e+02] [-1.65053505e-01 9.86284037e-01 1.06718793e-03 -2.99398311e+01] [ 7.15823208e-03 1.15920673e-04 9.99974373e-01 -2.26256873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40576923100002 meters Centerline goodness [0,1] 0.9999786857642219 Centerline is valid? [True, True] Translation: X:237.74, Y:-29.94, Z:-2.26 [[ 9.86365948e-01 1.64459317e-01 -5.94562129e-03 2.37740044e+02] [-1.64456904e-01 9.86383862e-01 8.95935921e-04 -2.99400104e+01] [ 6.01200990e-03 9.40777841e-05 9.99981923e-01 -2.26315955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43576923100002 meters Centerline goodness [0,1] 0.9999142458998821 Centerline is valid? [True, True] Translation: X:237.77, Y:-29.95, Z:-2.26 [[ 9.86337596e-01 1.64688920e-01 -3.96321194e-03 2.37768898e+02] [-1.64687850e-01 9.86345556e-01 5.97110706e-04 -2.99452505e+01] [ 4.00743400e-03 6.37401148e-05 9.99991968e-01 -2.25760798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46576923100002 meters Centerline goodness [0,1] 0.999806746687853 Centerline is valid? [True, True] Translation: X:237.80, Y:-29.95, Z:-2.26 [[ 9.86261211e-01 1.65151758e-01 -3.70419829e-03 2.37798146e+02] [-1.65150827e-01 9.86268165e-01 5.57872388e-04 -2.99455985e+01] [ 3.74546645e-03 6.15435128e-05 9.99992984e-01 -2.25719998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49576923100003 meters Centerline goodness [0,1] 0.999851263200391 Centerline is valid? [True, True] Translation: X:237.83, Y:-29.94, Z:-2.26 [[ 9.86021012e-01 1.66528906e-01 -5.53969394e-03 2.37827718e+02] [-1.66526845e-01 9.86036568e-01 8.34520143e-04 -2.99391240e+01] [ 5.60131252e-03 9.96533577e-05 9.99984308e-01 -2.26118132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52576923100003 meters Centerline goodness [0,1] 0.9998516980572445 Centerline is valid? [True, True] Translation: X:237.86, Y:-29.94, Z:-2.26 [[ 9.85782286e-01 1.67890502e-01 -6.78700149e-03 2.37857320e+02] [-1.67887445e-01 9.85805641e-01 1.02188701e-03 -2.99383200e+01] [ 6.86222948e-03 1.32094221e-04 9.99976446e-01 -2.26318442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55576923100003 meters Centerline goodness [0,1] 0.9997882656842194 Centerline is valid? [True, True] Translation: X:237.89, Y:-29.94, Z:-2.26 [[ 9.85481491e-01 1.69634322e-01 -7.10129294e-03 2.37886184e+02] [-1.69631023e-01 9.85507064e-01 1.06873472e-03 -2.99356258e+01] [ 7.17966845e-03 1.51381307e-04 9.99974214e-01 -2.26372236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58576923100003 meters Centerline goodness [0,1] 0.9997237745150118 Centerline is valid? [True, True] Translation: X:237.92, Y:-29.93, Z:-2.26 [[ 9.85089278e-01 1.71996430e-01 -4.04250722e-03 2.37915060e+02] [-1.71995382e-01 9.85097568e-01 6.07902110e-04 -2.99280397e+01] [ 4.08682102e-03 9.64547239e-05 9.99991644e-01 -2.25771991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61576923100003 meters Centerline goodness [0,1] 0.9998489099935247 Centerline is valid? [True, True] Translation: X:237.94, Y:-29.93, Z:-2.25 [[ 9.85111728e-01 1.71901174e-01 -2.20666334e-03 2.37943720e+02] [-1.71900862e-01 9.85114198e-01 3.31675005e-04 -2.99299833e+01] [ 2.23083071e-03 5.25903925e-05 9.99997510e-01 -2.25364461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64576923100003 meters Centerline goodness [0,1] 0.9998287707882965 Centerline is valid? [True, True] Translation: X:237.97, Y:-29.93, Z:-2.25 [[ 9.85573830e-01 1.69242222e-01 -1.13831565e-03 2.37973007e+02] [-1.69242138e-01 9.85574487e-01 1.70799201e-04 -2.99321976e+01] [ 1.15080129e-03 2.43157510e-05 9.99999338e-01 -2.25246414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.675769231 meters Centerline goodness [0,1] 0.9998287707882965 Centerline is valid? [True, True] Translation: X:238.00, Y:-29.94, Z:-2.25 [[ 9.85581707e-01 1.69196343e-01 -1.13830963e-03 2.38001043e+02] [-1.69196259e-01 9.85582364e-01 1.70839154e-04 -2.99363222e+01] [ 1.15080326e-03 2.42217858e-05 9.99999338e-01 -2.25262398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.705769231 meters Centerline goodness [0,1] 0.999831155948587 Centerline is valid? [True, True] Translation: X:238.03, Y:-29.94, Z:-2.25 [[ 9.86044445e-01 1.66473347e-01 -1.72567055e-03 2.38029470e+02] [-1.66473149e-01 9.86045954e-01 2.59047423e-04 -2.99425732e+01] [ 1.74471496e-03 3.18455385e-05 9.99998477e-01 -2.25450692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.735769231 meters Centerline goodness [0,1] 0.9998942716373094 Centerline is valid? [True, True] Translation: X:238.06, Y:-29.95, Z:-2.26 [[ 9.86612871e-01 1.63058522e-01 -2.63841828e-03 2.38057104e+02] [-1.63058046e-01 9.86616398e-01 3.96077934e-04 -2.99505441e+01] [ 2.66769062e-03 3.94397410e-05 9.99996441e-01 -2.25649721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.765769231 meters Centerline goodness [0,1] 0.999978789292835 Centerline is valid? [True, True] Translation: X:238.08, Y:-29.96, Z:-2.26 [[ 9.87448683e-01 1.57871985e-01 -4.64060038e-03 2.38083490e+02] [-1.57870455e-01 9.87459586e-01 6.96504490e-04 -2.99614702e+01] [ 4.69236388e-03 4.48512528e-05 9.99988990e-01 -2.26039153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.795769231 meters Centerline goodness [0,1] 0.9999787807414009 Centerline is valid? [True, True] Translation: X:238.11, Y:-29.97, Z:-2.26 [[ 9.87651373e-01 1.56614700e-01 -4.07453234e-03 2.38111753e+02] [-1.56613511e-01 9.87659777e-01 6.11380875e-04 -2.99678203e+01] [ 4.12000293e-03 3.42956532e-05 9.99991512e-01 -2.25983667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.825769231 meters Centerline goodness [0,1] 0.9999786379560797 Centerline is valid? [True, True] Translation: X:238.14, Y:-29.98, Z:-2.26 [[ 9.87833446e-01 1.55498229e-01 -2.32013955e-03 2.38139334e+02] [-1.55497841e-01 9.87836171e-01 3.47914488e-04 -2.99755118e+01] [ 2.34601785e-03 1.70951219e-05 9.99997248e-01 -2.25595121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.855769231 meters Centerline goodness [0,1] 0.9999151661682679 Centerline is valid? [True, True] Translation: X:238.17, Y:-29.98, Z:-2.26 [[ 9.87874977e-01 1.55235304e-01 -2.24295774e-03 2.38166772e+02] [-1.55234941e-01 9.87877523e-01 3.36136438e-04 -2.99805212e+01] [ 2.26794778e-03 1.61246364e-05 9.99997428e-01 -2.25649472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.885769231 meters Centerline goodness [0,1] 0.999914870070445 Centerline is valid? [True, True] Translation: X:238.20, Y:-29.99, Z:-2.26 [[ 9.87904737e-01 1.55038769e-01 -2.68531076e-03 2.38195107e+02] [-1.55038248e-01 9.87908386e-01 4.02422139e-04 -2.99866975e+01] [ 2.71523205e-03 1.87711373e-05 9.99996314e-01 -2.25659702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.915769231 meters Centerline goodness [0,1] 0.9999787780395153 Centerline is valid? [True, True] Translation: X:238.22, Y:-29.99, Z:-2.26 [[ 9.87825147e-01 1.55510908e-01 -4.22337329e-03 2.38222039e+02] [-1.55509624e-01 9.87834175e-01 6.32753825e-04 -2.99925698e+01] [ 4.27039259e-03 3.17250545e-05 9.99990881e-01 -2.26093190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.945769231 meters Centerline goodness [0,1] 0.9999788332909999 Centerline is valid? [True, True] Translation: X:238.25, Y:-30.00, Z:-2.26 [[ 9.87685404e-01 1.56358961e-01 -5.42385681e-03 2.38249667e+02] [-1.56356857e-01 9.87700295e-01 8.12407296e-04 -2.99981803e+01] [ 5.48417214e-03 4.56543785e-05 9.99984961e-01 -2.26357016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97576923100002 meters Centerline goodness [0,1] 0.9998510986790325 Centerline is valid? [True, True] Translation: X:238.28, Y:-30.00, Z:-2.26 [[ 9.87159175e-01 1.59598886e-01 -6.70512797e-03 2.38277764e+02] [-1.59595748e-01 9.87181943e-01 1.00385828e-03 -3.00024831e+01] [ 6.77939592e-03 7.91420082e-05 9.99977016e-01 -2.26407645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00576923100002 meters Centerline goodness [0,1] 0.9998730642294998 Centerline is valid? [True, True] Translation: X:238.31, Y:-30.00, Z:-2.26 [[ 9.86822764e-01 1.61669545e-01 -6.61740713e-03 2.38305731e+02] [-1.61666538e-01 9.86844947e-01 9.90392032e-04 -3.00022019e+01] [ 6.69047102e-03 9.24718982e-05 9.99977614e-01 -2.26448901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03576923100002 meters Centerline goodness [0,1] 0.9999146630256224 Centerline is valid? [True, True] Translation: X:238.34, Y:-30.00, Z:-2.26 [[ 9.86377179e-01 1.64377467e-01 -6.33312582e-03 2.38335120e+02] [-1.64374770e-01 9.86397505e-01 9.47597888e-04 -3.00024140e+01] [ 6.40274324e-03 1.06317167e-04 9.99979497e-01 -2.26275527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06576923100002 meters Centerline goodness [0,1] 0.9998302171098707 Centerline is valid? [True, True] Translation: X:238.36, Y:-30.00, Z:-2.26 [[ 9.85506675e-01 1.69523645e-01 -6.19097130e-03 2.38364925e+02] [-1.69521170e-01 9.85526111e-01 9.26171593e-04 -2.99970928e+01] [ 6.25837185e-03 1.36752413e-04 9.99980407e-01 -2.26232930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09576923100002 meters Centerline goodness [0,1] 0.9997445286553691 Centerline is valid? [True, True] Translation: X:238.39, Y:-30.00, Z:-2.26 [[ 9.85329232e-01 1.70555533e-01 -6.09226544e-03 2.38393792e+02] [-1.70553158e-01 9.85348055e-01 9.11048304e-04 -2.99996380e+01] [ 6.15838623e-03 1.41372587e-04 9.99981027e-01 -2.26188176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12576923100002 meters Centerline goodness [0,1] 0.9996792541590044 Centerline is valid? [True, True] Translation: X:238.42, Y:-30.00, Z:-2.26 [[ 9.85398343e-01 1.70186565e-01 -5.16123879e-03 2.38421507e+02] [-1.70184858e-01 9.85411853e-01 7.71414643e-04 -3.00023867e+01] [ 5.21723028e-03 1.18213976e-04 9.99986383e-01 -2.26114132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15576923100002 meters Centerline goodness [0,1] 0.9998709621919223 Centerline is valid? [True, True] Translation: X:238.45, Y:-30.01, Z:-2.26 [[ 9.85629190e-01 1.68871601e-01 -4.18121377e-03 2.38449214e+02] [-1.68870470e-01 9.85638054e-01 6.24732096e-04 -3.00099514e+01] [ 4.22666291e-03 9.03293446e-05 9.99991064e-01 -2.25852007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18576923100002 meters Centerline goodness [0,1] 0.9998083312036801 Centerline is valid? [True, True] Translation: X:238.48, Y:-30.01, Z:-2.26 [[ 9.85896686e-01 1.67325896e-01 -3.12547533e-03 2.38477553e+02] [-1.67325257e-01 9.85901638e-01 4.66772898e-04 -3.00116632e+01] [ 3.15951444e-03 6.27811095e-05 9.99995007e-01 -2.25862178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21576923100002 meters Centerline goodness [0,1] 0.9997858580667266 Centerline is valid? [True, True] Translation: X:238.51, Y:-30.02, Z:-2.25 [[ 9.86284731e-01 1.65038172e-01 -2.19807318e-03 2.38505418e+02] [-1.65037850e-01 9.86287179e-01 3.28088026e-04 -3.00213895e+01] [ 2.22207844e-03 3.91770615e-05 9.99997530e-01 -2.24817198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24576923100003 meters Centerline goodness [0,1] 0.999850736720899 Centerline is valid? [True, True] Translation: X:238.53, Y:-30.03, Z:-2.25 [[ 9.86525056e-01 1.63598168e-01 -1.98820781e-03 2.38533540e+02] [-1.63597902e-01 9.86527059e-01 2.96643460e-04 -3.00278092e+01] [ 2.00995113e-03 3.26204215e-05 9.99997980e-01 -2.25365972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27576923100003 meters Centerline goodness [0,1] 0.9999135714440051 Centerline is valid? [True, True] Translation: X:238.56, Y:-30.04, Z:-2.26 [[ 9.87226742e-01 1.59297497e-01 -2.76893548e-03 2.38561544e+02] [-1.59296965e-01 9.87230625e-01 4.13293122e-04 -3.00389352e+01] [ 2.79941446e-03 3.30689945e-05 9.99996081e-01 -2.25514648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30576923100003 meters Centerline goodness [0,1] 0.9999572082673628 Centerline is valid? [True, True] Translation: X:238.59, Y:-30.04, Z:-2.26 [[ 9.87659069e-01 1.56593818e-01 -2.81758847e-03 2.38589362e+02] [-1.56593256e-01 9.87663088e-01 4.20283601e-04 -3.00438849e+01] [ 2.84864195e-03 2.61184431e-05 9.99995942e-01 -2.25807095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33576923100003 meters Centerline goodness [0,1] 0.99991508512716 Centerline is valid? [True, True] Translation: X:238.62, Y:-30.05, Z:-2.26 [[ 9.88078546e-01 1.53933504e-01 -2.29405174e-03 2.38618040e+02] [-1.53933124e-01 9.88081209e-01 3.42223936e-04 -3.00535790e+01] [ 2.31938914e-03 1.49864216e-05 9.99997310e-01 -2.25536463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36576923100003 meters Centerline goodness [0,1] 0.9999571596872657 Centerline is valid? [True, True] Translation: X:238.65, Y:-30.07, Z:-2.25 [[ 9.88812064e-01 1.49166016e-01 -4.48526762e-04 2.38646030e+02] [-1.49166001e-01 9.88812166e-01 6.67916178e-05 -3.00650726e+01] [ 4.53471758e-04 8.60586153e-07 9.99999897e-01 -2.25184230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.68, Y:-30.07, Z:-2.25 [[ 9.89090536e-01 1.47308890e-01 -5.16838632e-05 2.38675849e+02] [-1.47308889e-01 9.89090537e-01 7.71191396e-06 -3.00736738e+01] [ 5.22560535e-05 -1.42886196e-08 9.99999999e-01 -2.25131895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.425769231 meters Centerline goodness [0,1] 0.999978840904763 Centerline is valid? [True, True] Translation: X:238.70, Y:-30.09, Z:-2.26 [[ 9.89619912e-01 1.43697969e-01 -1.82299500e-03 2.38704418e+02] [-1.43697711e-01 9.89621591e-01 2.72104137e-04 -3.00874571e+01] [ 1.84317603e-03 -7.31946257e-06 9.99998301e-01 -2.25522860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.455769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.74, Y:-30.09, Z:-2.25 [[ 9.89738942e-01 1.42863787e-01 -2.60109068e-03 2.38735426e+02] [-1.42863257e-01 9.89742360e-01 3.89494117e-04 -3.00940909e+01] [ 2.63005423e-03 -1.38972091e-05 9.99996541e-01 -2.25465383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.485769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.77, Y:-30.10, Z:-2.26 [[ 9.89775899e-01 1.42609906e-01 -2.46663135e-03 2.38766051e+02] [-1.42609427e-01 9.89778973e-01 3.69806680e-04 -3.01017889e+01] [ 2.49415794e-03 -1.42608544e-05 9.99996889e-01 -2.25627567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.515769231 meters Centerline goodness [0,1] 0.9999787220460881 Centerline is valid? [True, True] Translation: X:238.80, Y:-30.11, Z:-2.25 [[ 9.89480592e-01 1.44665641e-01 -1.02600988e-04 2.38796122e+02] [-1.44665640e-01 9.89480597e-01 1.53443344e-05 -3.01063540e+01] [ 1.03741484e-04 -3.40083514e-07 9.99999995e-01 -2.25082165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.545769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.83, Y:-30.11, Z:-2.25 [[ 9.89177785e-01 1.46719431e-01 8.47429925e-04 2.38826056e+02] [-1.46719376e-01 9.89178148e-01 -1.26679921e-04 -3.01099005e+01] [-8.56845570e-04 9.74573419e-07 9.99999633e-01 -2.24967178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.575769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.86, Y:-30.11, Z:-2.25 [[ 9.88407980e-01 1.51815123e-01 -1.35371053e-03 2.38856193e+02] [-1.51814989e-01 9.88408907e-01 2.02383082e-04 -3.01111488e+01] [ 1.36874435e-03 5.47649481e-06 9.99999063e-01 -2.25296415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.605769231 meters Centerline goodness [0,1] 0.9999571670271775 Centerline is valid? [True, True] Translation: X:238.89, Y:-30.11, Z:-2.25 [[ 9.88030523e-01 1.54232930e-01 -2.80879109e-03 2.38886524e+02] [-1.54232359e-01 9.88034515e-01 4.20063335e-04 -3.01138581e+01] [ 2.83997014e-03 1.81710787e-05 9.99995967e-01 -2.25489519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.635769231 meters Centerline goodness [0,1] 0.9999146120183584 Centerline is valid? [True, True] Translation: X:238.92, Y:-30.12, Z:-2.26 [[ 9.87757476e-01 1.55956497e-01 -3.56935592e-03 2.38915666e+02] [-1.55955587e-01 9.87763924e-01 5.33695107e-04 -3.01168557e+01] [ 3.60891423e-03 2.94996644e-05 9.99993487e-01 -2.25633409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.665769231 meters Centerline goodness [0,1] 0.9999362488843555 Centerline is valid? [True, True] Translation: X:238.94, Y:-30.12, Z:-2.25 [[ 9.87372775e-01 1.58388352e-01 -2.85175034e-03 2.38943736e+02] [-1.58387782e-01 9.87376893e-01 4.26147078e-04 -3.01203714e+01] [ 2.88324912e-03 3.09163883e-05 9.99995843e-01 -2.25489400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.695769231 meters Centerline goodness [0,1] 0.9998941036936632 Centerline is valid? [True, True] Translation: X:238.97, Y:-30.12, Z:-2.26 [[ 9.87252927e-01 1.59132776e-01 -2.90126798e-03 2.38972645e+02] [-1.59132189e-01 9.87257190e-01 4.33548965e-04 -3.01248618e+01] [ 2.93328952e-03 3.36626390e-05 9.99995697e-01 -2.25537225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72576923100002 meters Centerline goodness [0,1] 0.999914690325883 Centerline is valid? [True, True] Translation: X:239.00, Y:-30.13, Z:-2.26 [[ 9.87111709e-01 1.59991221e-01 -3.64465585e-03 2.39001565e+02] [-1.59990301e-01 9.87118436e-01 5.44581699e-04 -3.01315128e+01] [ 3.68483528e-03 4.55466156e-05 9.99993210e-01 -2.25678231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75576923100002 meters Centerline goodness [0,1] 0.9999151013477661 Centerline is valid? [True, True] Translation: X:239.03, Y:-30.14, Z:-2.26 [[ 9.87032582e-01 1.60472386e-01 -3.91083872e-03 2.39030384e+02] [-1.60471330e-01 9.87040329e-01 5.84158813e-04 -3.01353841e+01] [ 3.95389689e-03 5.09937103e-05 9.99992182e-01 -2.25732440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78576923100002 meters Centerline goodness [0,1] 0.9999352946251402 Centerline is valid? [True, True] Translation: X:239.06, Y:-30.14, Z:-2.26 [[ 9.86911287e-01 1.61221153e-01 -3.72164449e-03 2.39059513e+02] [-1.61220202e-01 9.86918303e-01 5.55866329e-04 -3.01399107e+01] [ 3.76257647e-03 5.14135237e-05 9.99992920e-01 -2.25590209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81576923100002 meters Centerline goodness [0,1] 0.9998731447418495 Centerline is valid? [True, True] Translation: X:239.09, Y:-30.14, Z:-2.25 [[ 9.86545517e-01 1.63481758e-01 -1.28734980e-03 2.39088667e+02] [-1.63481646e-01 9.86546357e-01 1.92079753e-04 -3.01393361e+01] [ 1.30143179e-03 2.09626456e-05 9.99999153e-01 -2.25165883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84576923100002 meters Centerline goodness [0,1] 0.9999360790914709 Centerline is valid? [True, True] Translation: X:239.12, Y:-30.14, Z:-2.25 [[ 9.86317787e-01 1.64855150e-01 4.90211518e-05 2.39118557e+02] [-1.64855149e-01 9.86317788e-01 -7.45275345e-06 -3.01412675e+01] [-4.95790588e-05 -7.30606019e-07 9.99999999e-01 -2.24944223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87576923100002 meters Centerline goodness [0,1] 0.9998943006933875 Centerline is valid? [True, True] Translation: X:239.15, Y:-30.14, Z:-2.25 [[ 9.86197181e-01 1.65572731e-01 8.88905500e-04 2.39147719e+02] [-1.65572678e-01 9.86197582e-01 -1.32858580e-04 -3.01446249e+01] [-8.98634213e-04 -1.61537070e-05 9.99999596e-01 -2.24783855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90576923100002 meters Centerline goodness [0,1] 0.9998942022852306 Centerline is valid? [True, True] Translation: X:239.18, Y:-30.15, Z:-2.25 [[ 9.86166904e-01 1.65755103e-01 2.88108672e-04 2.39177412e+02] [-1.65755098e-01 9.86166946e-01 -4.29630404e-05 -3.01475735e+01] [-2.91244593e-04 -5.38675267e-06 9.99999958e-01 -2.24952877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93576923100002 meters Centerline goodness [0,1] 0.9999151841564005 Centerline is valid? [True, True] Translation: X:239.21, Y:-30.15, Z:-2.25 [[ 9.86153968e-01 1.65831287e-01 -5.80282075e-04 2.39206316e+02] [-1.65831264e-01 9.86154138e-01 8.64339987e-05 -3.01514285e+01] [ 5.86581031e-04 1.09916794e-05 9.99999828e-01 -2.25134214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96576923100002 meters Centerline goodness [0,1] 0.9998306806637318 Centerline is valid? [True, True] Translation: X:239.24, Y:-30.15, Z:-2.25 [[ 9.85825210e-01 1.67774212e-01 -6.84699103e-04 2.39235524e+02] [-1.67774182e-01 9.85825448e-01 1.01999403e-04 -3.01506730e+01] [ 6.92106669e-04 1.43212495e-05 9.99999760e-01 -2.25085278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99576923100003 meters Centerline goodness [0,1] 0.9997865801604917 Centerline is valid? [True, True] Translation: X:239.26, Y:-30.15, Z:-2.25 [[ 9.85462726e-01 1.69891754e-01 -8.83375432e-05 2.39264621e+02] [-1.69891754e-01 9.85462730e-01 1.29243320e-05 -3.01511008e+01] [ 8.92490939e-05 2.27137271e-06 9.99999996e-01 -2.24954684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02576923100003 meters Centerline goodness [0,1] 0.9997244478358557 Centerline is valid? [True, True] Translation: X:239.29, Y:-30.15, Z:-2.25 [[ 9.85114457e-01 1.71899296e-01 3.71624922e-04 2.39293732e+02] [-1.71899288e-01 9.85114527e-01 -5.56878410e-05 -3.01511454e+01] [-3.75665810e-04 -9.02316208e-06 9.99999929e-01 -2.24880230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05576923100003 meters Centerline goodness [0,1] 0.999591222030981 Centerline is valid? [True, True] Translation: X:239.33, Y:-30.15, Z:-2.25 [[ 9.84206554e-01 1.77023526e-01 3.60786499e-04 2.39325018e+02] [-1.77023519e-01 9.84206620e-01 -5.38155825e-05 -3.01481899e+01] [-3.64615085e-04 -1.09020466e-05 9.99999933e-01 -2.24659164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08576923100003 meters Centerline goodness [0,1] 0.9987497616070861 Centerline is valid? [True, True] Translation: X:239.36, Y:-30.14, Z:-2.25 [[ 9.83665933e-01 1.80001911e-01 8.02243220e-04 2.39355179e+02] [-1.80001873e-01 9.83666260e-01 -1.19894134e-04 -3.01387168e+01] [-8.10720761e-04 -2.64695073e-05 9.99999671e-01 -2.24712859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11576923100003 meters Centerline goodness [0,1] 0.9991650252633382 Centerline is valid? [True, True] Translation: X:239.38, Y:-30.14, Z:-2.25 [[ 9.83183358e-01 1.82619653e-01 7.39854140e-04 2.39384099e+02] [-1.82619622e-01 9.83183636e-01 -1.10498805e-04 -3.01438475e+01] [-7.47591737e-04 -2.64712968e-05 9.99999720e-01 -2.24663011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14576923100003 meters Centerline goodness [0,1] 0.9986084052323964 Centerline is valid? [True, True] Translation: X:239.41, Y:-30.14, Z:-2.25 [[ 9.83133126e-01 1.82889740e-01 -7.74662542e-04 2.39412321e+02] [-1.82889706e-01 9.83133431e-01 1.15025026e-04 -3.01400443e+01] [ 7.82633539e-04 2.85928907e-05 9.99999693e-01 -2.25144036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.175769231 meters Centerline goodness [0,1] 0.99877453569693 Centerline is valid? [True, True] Translation: X:239.44, Y:-30.14, Z:-2.25 [[ 9.83401525e-01 1.81430355e-01 -2.11363780e-03 2.39440120e+02] [-1.81430098e-01 9.83403793e-01 3.14485775e-04 -3.01402474e+01] [ 2.13561670e-03 7.42117212e-05 9.99997717e-01 -2.25455255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.205769231 meters Centerline goodness [0,1] 0.9973906402477831 Centerline is valid? [True, True] Translation: X:239.47, Y:-30.14, Z:-2.26 [[ 9.84035775e-01 1.77953209e-01 -2.49968699e-03 2.39469782e+02] [-1.77952837e-01 9.84038947e-01 3.72031162e-04 -3.01354352e+01] [ 2.52599350e-03 7.87344202e-05 9.99996807e-01 -2.25733286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.235769231 meters Centerline goodness [0,1] 0.998984384918116 Centerline is valid? [True, True] Translation: X:239.50, Y:-30.14, Z:-2.26 [[ 9.84331417e-01 1.76321870e-01 -1.50290545e-03 2.39497840e+02] [-1.76321734e-01 9.84332564e-01 2.23484734e-04 -3.01384920e+01] [ 1.51876402e-03 4.50118491e-05 9.99998846e-01 -2.25512425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.265769231 meters Centerline goodness [0,1] 0.9996993772815117 Centerline is valid? [True, True] Translation: X:239.53, Y:-30.15, Z:-2.25 [[ 9.84668007e-01 1.74436667e-01 -8.74488269e-04 2.39525846e+02] [-1.74436621e-01 9.84668395e-01 1.29948861e-04 -3.01500648e+01] [ 8.83748806e-04 2.45862927e-05 9.99999609e-01 -2.25214558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.295769231 meters Centerline goodness [0,1] 0.9997639687580465 Centerline is valid? [True, True] Translation: X:239.55, Y:-30.15, Z:-2.26 [[ 9.85614704e-01 1.68972420e-01 -3.46069826e-03 2.39554256e+02] [-1.68971653e-01 9.85620777e-01 5.14730774e-04 -3.01542723e+01] [ 3.49791141e-03 7.74336872e-05 9.99993879e-01 -2.25733809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.325769231 meters Centerline goodness [0,1] 0.9997467499577917 Centerline is valid? [True, True] Translation: X:239.58, Y:-30.16, Z:-2.26 [[ 9.86145049e-01 1.65819598e-01 -4.66951153e-03 2.39582574e+02] [-1.65818169e-01 9.86156100e-01 6.94071897e-04 -3.01557266e+01] [ 4.71995800e-03 8.98342886e-05 9.99988857e-01 -2.26211768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.355769231 meters Centerline goodness [0,1] 0.9999360750053271 Centerline is valid? [True, True] Translation: X:239.61, Y:-30.17, Z:-2.26 [[ 9.87228951e-01 1.59187825e-01 -6.18346224e-03 2.39609470e+02] [-1.59185189e-01 9.87248312e-01 9.19237447e-04 -3.01685529e+01] [ 6.25094407e-03 7.68177874e-05 9.99980460e-01 -2.26490610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.385769231 meters Centerline goodness [0,1] 0.9999356595963712 Centerline is valid? [True, True] Translation: X:239.64, Y:-30.18, Z:-2.26 [[ 9.87856802e-01 1.55250392e-01 -6.02116079e-03 2.39636602e+02] [-1.55247822e-01 9.87875151e-01 8.94732290e-04 -3.01810511e+01] [ 6.08706266e-03 5.09047228e-05 9.99981472e-01 -2.26142991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.66, Y:-30.20, Z:-2.26 [[ 9.89140239e-01 1.46916608e-01 -4.13498961e-03 2.39664323e+02] [-1.46915323e-01 9.89148882e-01 6.14401034e-04 -3.01972993e+01] [ 4.18038606e-03 -2.35450681e-07 9.99991262e-01 -2.25863626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.69, Y:-30.21, Z:-2.26 [[ 9.89693121e-01 1.43182058e-01 -2.53446353e-03 2.39692863e+02] [-1.43181564e-01 9.89696367e-01 3.76471578e-04 -3.02073441e+01] [ 2.56225332e-03 -9.70287971e-06 9.99996717e-01 -2.25635211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.72, Y:-30.22, Z:-2.25 [[ 9.90140977e-01 1.40070559e-01 -1.04160501e-03 2.39720374e+02] [-1.40070474e-01 9.90141524e-01 1.54607734e-04 -3.02164772e+01] [ 1.05299236e-03 -7.18534555e-06 9.99999446e-01 -2.25368295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.75, Y:-30.22, Z:-2.25 [[ 9.90493667e-01 1.37556277e-01 -7.51862914e-04 2.39749595e+02] [-1.37556232e-01 9.90493953e-01 1.11703291e-04 -3.02248359e+01] [ 7.60081159e-04 -7.21797298e-06 9.99999711e-01 -2.25284962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.78, Y:-30.23, Z:-2.26 [[ 9.90632387e-01 1.36546100e-01 -1.62354834e-03 2.39778590e+02] [-1.36545888e-01 9.90633718e-01 2.41267133e-04 -3.02318661e+01] [ 1.64128581e-03 -1.73181860e-05 9.99998653e-01 -2.25555650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.81, Y:-30.24, Z:-2.26 [[ 9.91061311e-01 1.33373525e-01 -2.99671707e-03 2.39808305e+02] [-1.33372788e-01 9.91065841e-01 4.45450903e-04 -3.02442516e+01] [ 3.02935528e-03 -4.17886471e-05 9.99995411e-01 -2.25721708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59576923100002 meters Centerline goodness [0,1] 0.9998496789572014 Centerline is valid? [True, True] Translation: X:239.84, Y:-30.26, Z:-2.25 [[ 9.91291984e-01 1.31665666e-01 -2.08662450e-03 2.39837694e+02] [-1.31665305e-01 9.91294180e-01 3.10167321e-04 -3.02551638e+01] [ 2.10929711e-03 -3.27303277e-05 9.99997775e-01 -2.24997695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62576923100002 meters Centerline goodness [0,1] 0.9998496789572014 Centerline is valid? [True, True] Translation: X:239.87, Y:-30.26, Z:-2.25 [[ 9.91291984e-01 1.31665667e-01 -2.08663430e-03 2.39867372e+02] [-1.31665306e-01 9.91294180e-01 3.10101380e-04 -3.02595744e+01] [ 2.10929815e-03 -3.26636692e-05 9.99997775e-01 -2.25014621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.90, Y:-30.27, Z:-2.25 [[ 9.91452654e-01 1.30463611e-01 9.38868565e-04 2.39897536e+02] [-1.30463538e-01 9.91453098e-01 -1.39420338e-04 -3.02709296e+01] [-9.49033428e-04 1.57405493e-05 9.99999550e-01 -2.24885315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68576923100002 meters Centerline goodness [0,1] 0.9999783965953034 Centerline is valid? [True, True] Translation: X:239.93, Y:-30.28, Z:-2.25 [[ 9.91402596e-01 1.30841065e-01 1.22845943e-03 2.39929251e+02] [-1.30840940e-01 9.91403356e-01 -1.81861335e-04 -3.02757178e+01] [-1.24169373e-03 1.95650127e-05 9.99999229e-01 -2.24828320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.96, Y:-30.28, Z:-2.25 [[ 9.91371958e-01 1.31076692e-01 7.35808767e-04 2.39961797e+02] [-1.31076648e-01 9.91372231e-01 -1.08560465e-04 -3.02834324e+01] [-7.43690126e-04 1.11764543e-05 9.99999723e-01 -2.24983429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.99, Y:-30.30, Z:-2.25 [[ 9.91386389e-01 1.30963899e-01 1.21814702e-03 2.39992729e+02] [-1.30963776e-01 9.91387138e-01 -1.80977795e-04 -3.02953048e+01] [-1.23135684e-03 1.98857904e-05 9.99999242e-01 -2.24974795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.02, Y:-30.30, Z:-2.25 [[ 9.91324686e-01 1.31424594e-01 1.71544664e-03 2.40023478e+02] [-1.31424349e-01 9.91326170e-01 -2.55439722e-04 -3.03024234e+01] [-1.73413821e-03 2.77722443e-05 9.99998496e-01 -2.24903175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.06, Y:-30.30, Z:-2.25 [[ 9.90947691e-01 1.34245273e-01 9.37716545e-04 2.40056040e+02] [-1.34245202e-01 9.90948135e-01 -1.39144963e-04 -3.03043685e+01] [-9.47908015e-04 1.20014334e-05 9.99999551e-01 -2.25107973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.09, Y:-30.31, Z:-2.25 [[ 9.90717557e-01 1.35936459e-01 2.65306492e-05 2.40086336e+02] [-1.35936459e-01 9.90717558e-01 -3.43536777e-06 -3.03093979e+01] [-2.67513717e-05 -2.03003330e-07 1.00000000e+00 -2.25310560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.12, Y:-30.32, Z:-2.25 [[ 9.90566405e-01 1.37033031e-01 -3.82609295e-04 2.40118355e+02] [-1.37033019e-01 9.90566479e-01 5.81805013e-05 -3.03156046e+01] [ 3.86972592e-04 -5.20154336e-06 9.99999925e-01 -2.25373188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.15, Y:-30.33, Z:-2.25 [[ 9.90695354e-01 1.36096337e-01 -7.08999234e-04 2.40147930e+02] [-1.36096295e-01 9.90695608e-01 1.07061808e-04 -3.03298813e+01] [ 7.16973147e-04 -9.57346655e-06 9.99999743e-01 -2.25475037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.925769231 meters Centerline goodness [0,1] 0.9999785880992655 Centerline is valid? [True, True] Translation: X:240.18, Y:-30.34, Z:-2.26 [[ 9.90827157e-01 1.35125641e-01 -1.61412468e-03 2.40178847e+02] [-1.35125425e-01 9.90828472e-01 2.42894701e-04 -3.03372800e+01] [ 1.63214199e-03 -2.25573831e-05 9.99998668e-01 -2.25609600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.21, Y:-30.34, Z:-2.26 [[ 9.90813150e-01 1.35205997e-01 -2.93937031e-03 2.40210011e+02] [-1.35205280e-01 9.90817509e-01 4.42178241e-04 -3.03439165e+01] [ 2.97216472e-03 -4.06976301e-05 9.99995582e-01 -2.25882095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.985769231 meters Centerline goodness [0,1] 0.9999787775891341 Centerline is valid? [True, True] Translation: X:240.24, Y:-30.35, Z:-2.26 [[ 9.90469277e-01 1.37690877e-01 -3.44013140e-03 2.40242048e+02] [-1.37689908e-01 9.90475250e-01 5.17921772e-04 -3.03484935e+01] [ 3.47867811e-03 -3.93142265e-05 9.99993949e-01 -2.26087123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.27, Y:-30.35, Z:-2.26 [[ 9.90140050e-01 1.40049996e-01 -2.94632517e-03 2.40272860e+02] [-1.40049294e-01 9.90144433e-01 4.44095559e-04 -3.03511042e+01] [ 2.97948304e-03 -2.70860382e-05 9.99995561e-01 -2.26039479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.31, Y:-30.35, Z:-2.26 [[ 9.89375876e-01 1.45354697e-01 -2.71826977e-03 2.40305220e+02] [-1.45354122e-01 9.89379610e-01 4.09125051e-04 -3.03477676e+01] [ 2.74886893e-03 -9.66674149e-06 9.99996222e-01 -2.25892839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.34, Y:-30.35, Z:-2.26 [[ 9.89051987e-01 1.47534110e-01 -3.13904699e-03 2.40335546e+02] [-1.47533354e-01 9.89056968e-01 4.72405234e-04 -3.03493637e+01] [ 3.17439219e-03 -4.11920430e-06 9.99994962e-01 -2.26026750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.105769231 meters Centerline goodness [0,1] 0.9999786343047603 Centerline is valid? [True, True] Translation: X:240.37, Y:-30.35, Z:-2.26 [[ 9.88833964e-01 1.48973965e-01 -3.76166276e-03 2.40366829e+02] [-1.48972889e-01 9.88841119e-01 5.66247004e-04 -3.03524693e+01] [ 3.80404288e-03 4.61500228e-07 9.99992765e-01 -2.26172830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.40, Y:-30.36, Z:-2.26 [[ 9.88832974e-01 1.49000546e-01 -2.86136869e-03 2.40396709e+02] [-1.48999923e-01 9.88837114e-01 4.30723709e-04 -3.03592823e+01] [ 2.89360562e-03 4.29908407e-07 9.99995814e-01 -2.26287623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.43, Y:-30.37, Z:-2.26 [[ 9.89069463e-01 1.47443906e-01 -1.37546975e-03 2.40427166e+02] [-1.47443761e-01 9.89070419e-01 2.07177178e-04 -3.03677384e+01] [ 1.39098345e-03 -2.10818815e-06 9.99999033e-01 -2.25972782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.46, Y:-30.38, Z:-2.25 [[ 9.89417167e-01 1.45097987e-01 4.94508617e-04 2.40459136e+02] [-1.45097969e-01 9.89417290e-01 -7.34888778e-05 -3.03782567e+01] [-4.99938464e-04 9.58961308e-07 9.99999875e-01 -2.25399672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.49, Y:-30.38, Z:-2.25 [[ 9.89441445e-01 1.44933168e-01 -6.71781279e-05 2.40491990e+02] [-1.44933168e-01 9.89441447e-01 1.11812528e-05 -3.03835508e+01] [ 6.80893585e-05 -1.32685609e-06 9.99999998e-01 -2.25466475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.52, Y:-30.39, Z:-2.26 [[ 9.89294981e-01 1.45923357e-01 -1.34734847e-03 2.40524129e+02] [-1.45923214e-01 9.89295898e-01 2.04129978e-04 -3.03863089e+01] [ 1.36271364e-03 -5.33534333e-06 9.99999071e-01 -2.25759713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.56, Y:-30.38, Z:-2.26 [[ 9.88550376e-01 1.50872080e-01 -2.40205347e-03 2.40556376e+02] [-1.50871643e-01 9.88553294e-01 3.62950699e-04 -3.03815177e+01] [ 2.42931700e-03 3.60670362e-06 9.99997049e-01 -2.25937571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.59, Y:-30.38, Z:-2.26 [[ 9.88135766e-01 1.53578560e-01 -1.15518241e-03 2.40585787e+02] [-1.53578460e-01 9.88136441e-01 1.74565994e-04 -3.03813686e+01] [ 1.16828743e-03 4.91623492e-06 9.99999318e-01 -2.25768566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.62, Y:-30.38, Z:-2.26 [[ 9.87579334e-01 1.57120912e-01 2.78446430e-04 2.40615742e+02] [-1.57120906e-01 9.87579374e-01 -4.21217018e-05 -3.03793290e+01] [-2.81606151e-04 -2.15123317e-06 9.99999960e-01 -2.25511842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.65, Y:-30.39, Z:-2.25 [[ 9.87471852e-01 1.57794845e-01 3.56859695e-04 2.40647050e+02] [-1.57794836e-01 9.87471917e-01 -5.37707809e-05 -3.03850909e+01] [-3.60873679e-04 -3.21348460e-06 9.99999935e-01 -2.25382023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.68, Y:-30.39, Z:-2.26 [[ 9.87430705e-01 1.58052477e-01 -1.29152958e-04 2.40677741e+02] [-1.58052476e-01 9.87430714e-01 1.95826415e-05 -3.03871591e+01] [ 1.30624683e-04 1.07644332e-06 9.99999991e-01 -2.25714881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.71, Y:-30.39, Z:-2.26 [[ 9.87518100e-01 1.57503832e-01 -7.38815034e-04 2.40707252e+02] [-1.57503793e-01 9.87518376e-01 1.11622660e-04 -3.03947607e+01] [ 7.47174419e-04 6.13677303e-06 9.99999721e-01 -2.25750992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.74, Y:-30.40, Z:-2.26 [[ 9.87537794e-01 1.57378169e-01 -1.10304334e-03 2.40736275e+02] [-1.57378081e-01 9.87538410e-01 1.66572213e-04 -3.03983208e+01] [ 1.11551250e-03 9.09848788e-06 9.99999378e-01 -2.25846534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.77, Y:-30.40, Z:-2.26 [[ 9.87418826e-01 1.58125446e-01 -6.37343971e-04 2.40766408e+02] [-1.58125417e-01 9.87419031e-01 9.62845068e-05 -3.04012965e+01] [ 6.44550597e-04 5.70714635e-06 9.99999792e-01 -2.25738662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52576923100003 meters Centerline goodness [0,1] 0.9999788180470239 Centerline is valid? [True, True] Translation: X:240.80, Y:-30.40, Z:-2.26 [[ 9.87278772e-01 1.58998813e-01 5.71465602e-05 2.40796893e+02] [-1.58998813e-01 9.87278774e-01 -8.56585253e-06 -3.04047077e+01] [-5.77815463e-05 -6.29350853e-07 9.99999998e-01 -2.25629698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55576923100003 meters Centerline goodness [0,1] 0.9999576997102431 Centerline is valid? [True, True] Translation: X:240.83, Y:-30.41, Z:-2.25 [[ 9.87139417e-01 1.59859651e-01 8.14741895e-04 2.40826726e+02] [-1.59859604e-01 9.87139753e-01 -1.23094218e-04 -3.04086024e+01] [-8.23941912e-04 -8.73316177e-06 9.99999661e-01 -2.25463006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.86, Y:-30.41, Z:-2.25 [[ 9.86800455e-01 1.61940018e-01 5.41143102e-04 2.40857781e+02] [-1.61939997e-01 9.86800603e-01 -8.17579009e-05 -3.04095208e+01] [-5.47240216e-04 -6.95397870e-06 9.99999850e-01 -2.25438166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.89, Y:-30.40, Z:-2.26 [[ 9.86049897e-01 1.66449482e-01 -4.13761513e-04 2.40889764e+02] [-1.66449470e-01 9.86049983e-01 6.25126194e-05 -3.04039842e+01] [ 4.18394726e-04 7.22982279e-06 9.99999912e-01 -2.25616218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64576923100003 meters Centerline goodness [0,1] 0.9999788520915281 Centerline is valid? [True, True] Translation: X:240.92, Y:-30.40, Z:-2.26 [[ 9.85653325e-01 1.68782472e-01 -2.97795196e-05 2.40919370e+02] [-1.68782472e-01 9.85653325e-01 4.31939409e-06 -3.04020361e+01] [ 3.00813205e-05 7.68835791e-07 1.00000000e+00 -2.25549730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.675769231 meters Centerline goodness [0,1] 0.999978787493106 Centerline is valid? [True, True] Translation: X:240.95, Y:-30.40, Z:-2.25 [[ 9.85295278e-01 1.70858527e-01 7.61113587e-04 2.40949114e+02] [-1.70858489e-01 9.85295572e-01 -1.15139190e-04 -3.04004434e+01] [-7.69594360e-04 -1.65966174e-05 9.99999704e-01 -2.25440471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.705769231 meters Centerline goodness [0,1] 0.9999572640441035 Centerline is valid? [True, True] Translation: X:240.98, Y:-30.40, Z:-2.25 [[ 9.84990349e-01 1.72598921e-01 1.90365282e-03 2.40978095e+02] [-1.72598687e-01 9.84992188e-01 -2.87659230e-04 -3.03998129e+01] [-1.92473283e-03 -4.52264116e-05 9.99998147e-01 -2.25217203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.735769231 meters Centerline goodness [0,1] 0.9998096889471569 Centerline is valid? [True, True] Translation: X:241.01, Y:-30.39, Z:-2.25 [[ 9.84610924e-01 1.74739875e-01 2.70280415e-03 2.41007781e+02] [-1.74739412e-01 9.84614631e-01 -4.08160152e-04 -3.03938634e+01] [-2.73254237e-03 -7.04074649e-05 9.99996264e-01 -2.25178127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.765769231 meters Centerline goodness [0,1] 0.999936121284388 Centerline is valid? [True, True] Translation: X:241.04, Y:-30.39, Z:-2.25 [[ 9.84692448e-01 1.74289844e-01 1.95774706e-03 2.41036907e+02] [-1.74289600e-01 9.84694393e-01 -2.95645318e-04 -3.03946996e+01] [-1.97931053e-03 -5.00952408e-05 9.99998040e-01 -2.25245956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.795769231 meters Centerline goodness [0,1] 0.9998092977920923 Centerline is valid? [True, True] Translation: X:241.07, Y:-30.39, Z:-2.25 [[ 9.84837940e-01 1.73473448e-01 1.09355649e-03 2.41065226e+02] [-1.73473371e-01 9.84838546e-01 -1.65259604e-04 -3.03944097e+01] [-1.10564474e-03 -2.69490028e-05 9.99999388e-01 -2.25457099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.825769231 meters Centerline goodness [0,1] 0.9999358714007823 Centerline is valid? [True, True] Translation: X:241.09, Y:-30.40, Z:-2.26 [[ 9.85117146e-01 1.71884288e-01 -7.48115046e-06 2.41093216e+02] [-1.71884288e-01 9.85117146e-01 8.62776603e-07 -3.04010460e+01] [ 7.51810733e-06 4.35956192e-07 1.00000000e+00 -2.25632090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.855769231 meters Centerline goodness [0,1] 0.9999357684237571 Centerline is valid? [True, True] Translation: X:241.12, Y:-30.41, Z:-2.26 [[ 9.85437449e-01 1.70036625e-01 -7.61663170e-04 2.41121839e+02] [-1.70036587e-01 9.85437743e-01 1.14536640e-04 -3.04060992e+01] [ 7.70047059e-04 1.66419120e-05 9.99999703e-01 -2.25833021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.885769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.15, Y:-30.42, Z:-2.26 [[ 9.86168657e-01 1.65744918e-01 -3.99799048e-05 2.41150479e+02] [-1.65744918e-01 9.86168658e-01 6.02587123e-06 -3.04176534e+01] [ 4.04256866e-05 6.83940714e-07 9.99999999e-01 -2.25733446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.915769231 meters Centerline goodness [0,1] 0.9999570797029915 Centerline is valid? [True, True] Translation: X:241.18, Y:-30.43, Z:-2.26 [[ 9.87075692e-01 1.60254138e-01 4.36060159e-04 2.41177971e+02] [-1.60254124e-01 9.87075788e-01 -6.58467971e-05 -3.04319781e+01] [-4.40976647e-04 -4.88466620e-06 9.99999903e-01 -2.25601487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.945769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.21, Y:-30.44, Z:-2.26 [[ 9.87448550e-01 1.57940701e-01 3.09643704e-04 2.41206713e+02] [-1.57940694e-01 9.87448599e-01 -4.67879079e-05 -3.04410253e+01] [-3.13146956e-04 -2.70468969e-06 9.99999951e-01 -2.25612576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97576923100002 meters Centerline goodness [0,1] 0.9999789424919455 Centerline is valid? [True, True] Translation: X:241.23, Y:-30.45, Z:-2.26 [[ 9.87666606e-01 1.56571631e-01 -6.39826163e-06 2.41234444e+02] [-1.56571631e-01 9.87666606e-01 7.66593863e-07 -3.04479098e+01] [ 6.43937619e-06 2.44647100e-07 1.00000000e+00 -2.25722900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.26, Y:-30.45, Z:-2.26 [[ 9.87772839e-01 1.55900018e-01 -5.76902764e-05 2.41263302e+02] [-1.55900018e-01 9.87772841e-01 8.55974398e-06 -3.04542126e+01] [ 5.83193524e-05 5.38832494e-07 9.99999998e-01 -2.25784647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03576923100002 meters Centerline goodness [0,1] 0.9999578014558498 Centerline is valid? [True, True] Translation: X:241.29, Y:-30.46, Z:-2.26 [[ 9.87884088e-01 1.55191911e-01 7.06765230e-04 2.41292211e+02] [-1.55191875e-01 9.87884341e-01 -1.06564124e-04 -3.04618541e+01] [-7.14740193e-04 -4.41121904e-06 9.99999745e-01 -2.25657772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06576923100002 meters Centerline goodness [0,1] 0.9998945770430969 Centerline is valid? [True, True] Translation: X:241.32, Y:-30.47, Z:-2.25 [[ 9.87941806e-01 1.54820761e-01 1.23298218e-03 2.41321941e+02] [-1.54820650e-01 9.87942575e-01 -1.85678493e-04 -3.04687784e+01] [-1.24686247e-03 -7.45155662e-06 9.99999223e-01 -2.25496599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09576923100002 meters Centerline goodness [0,1] 0.9998728436400627 Centerline is valid? [True, True] Translation: X:241.35, Y:-30.48, Z:-2.25 [[ 9.88069538e-01 1.53998208e-01 1.77206195e-03 2.41351179e+02] [-1.53997977e-01 9.88071127e-01 -2.66860136e-04 -3.04778530e+01] [-1.79201923e-03 -9.21758405e-06 9.99998394e-01 -2.25310855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12576923100002 meters Centerline goodness [0,1] 0.9999150544713202 Centerline is valid? [True, True] Translation: X:241.38, Y:-30.48, Z:-2.25 [[ 9.88111849e-01 1.53723636e-01 2.00445602e-03 2.41380885e+02] [-1.53723340e-01 9.88113882e-01 -3.01857059e-04 -3.04845144e+01] [-2.02703338e-03 -9.86313772e-06 9.99997946e-01 -2.25273087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.41, Y:-30.49, Z:-2.25 [[ 9.88150915e-01 1.53458433e-01 2.87726499e-03 2.41410213e+02] [-1.53457822e-01 9.88155104e-01 -4.33295986e-04 -3.04912187e+01] [-2.90967701e-03 -1.33769946e-05 9.99995767e-01 -2.25261456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18576923100002 meters Centerline goodness [0,1] 0.9999352988116549 Centerline is valid? [True, True] Translation: X:241.44, Y:-30.50, Z:-2.25 [[ 9.88194586e-01 1.53162891e-01 3.54815605e-03 2.41440709e+02] [-1.53161960e-01 9.88200956e-01 -5.34278052e-04 -3.04982323e+01] [-3.58812277e-03 -1.54718564e-05 9.99993563e-01 -2.25211306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21576923100002 meters Centerline goodness [0,1] 0.9998940767731548 Centerline is valid? [True, True] Translation: X:241.47, Y:-30.51, Z:-2.25 [[ 9.88272718e-01 1.52649338e-01 3.90057853e-03 2.41471604e+02] [-1.52648209e-01 9.88280415e-01 -5.87210699e-04 -3.05065357e+01] [-3.94450270e-03 -1.50920135e-05 9.99992220e-01 -2.25194798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24576923100003 meters Centerline goodness [0,1] 0.9999143285500107 Centerline is valid? [True, True] Translation: X:241.50, Y:-30.52, Z:-2.25 [[ 9.88427029e-01 1.51637550e-01 4.24985462e-03 2.41502395e+02] [-1.51636198e-01 9.88436165e-01 -6.40581065e-04 -3.05156165e+01] [-4.29784615e-03 -1.12641571e-05 9.99990764e-01 -2.25144069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27576923100003 meters Centerline goodness [0,1] 0.9998936645328683 Centerline is valid? [True, True] Translation: X:241.53, Y:-30.52, Z:-2.25 [[ 9.88536912e-01 1.50957035e-01 2.59749453e-03 2.41534751e+02] [-1.50956528e-01 9.88540325e-01 -3.91566103e-04 -3.05242926e+01] [-2.62683775e-03 -5.03120886e-06 9.99996550e-01 -2.25318032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30576923100003 meters Centerline goodness [0,1] 0.9999148791283623 Centerline is valid? [True, True] Translation: X:241.57, Y:-30.53, Z:-2.25 [[ 9.88340808e-01 1.52244094e-01 2.04531382e-03 2.41565755e+02] [-1.52243780e-01 9.88342924e-01 -3.09084817e-04 -3.05273565e+01] [-2.06852778e-03 -5.90517008e-06 9.99997861e-01 -2.25467030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33576923100003 meters Centerline goodness [0,1] 0.999913791245501 Centerline is valid? [True, True] Translation: X:241.60, Y:-30.53, Z:-2.25 [[ 9.87976952e-01 1.54588306e-01 1.99963396e-03 2.41597505e+02] [-1.54588011e-01 9.87978975e-01 -3.02226076e-04 -3.05293996e+01] [-2.02231692e-03 -1.05270395e-05 9.99997955e-01 -2.25495665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36576923100003 meters Centerline goodness [0,1] 0.9998517671473647 Centerline is valid? [True, True] Translation: X:241.63, Y:-30.53, Z:-2.26 [[ 9.87231633e-01 1.59277227e-01 2.11391240e-03 2.41627609e+02] [-1.59276908e-01 9.87233896e-01 -3.19682534e-04 -3.05270899e+01] [-2.13784412e-03 -2.10967210e-05 9.99997715e-01 -2.25513422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39576923100003 meters Centerline goodness [0,1] 0.99982874879589 Centerline is valid? [True, True] Translation: X:241.66, Y:-30.53, Z:-2.26 [[ 9.86988978e-01 1.60779318e-01 1.66369034e-03 2.41657849e+02] [-1.60779123e-01 9.86990380e-01 -2.51543594e-04 -3.05297873e+01] [-1.68248937e-03 -1.92159187e-05 9.99998584e-01 -2.25663924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.425769231 meters Centerline goodness [0,1] 0.9997879424051572 Centerline is valid? [True, True] Translation: X:241.69, Y:-30.53, Z:-2.26 [[ 9.86947158e-01 1.61044393e-01 -1.04436571e-04 2.41686564e+02] [-1.61044392e-01 9.86947163e-01 1.57222445e-05 -3.05342071e+01] [ 1.05605357e-04 1.30189957e-06 9.99999994e-01 -2.26055709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.455769231 meters Centerline goodness [0,1] 0.9997640700068634 Centerline is valid? [True, True] Translation: X:241.72, Y:-30.54, Z:-2.26 [[ 9.87035431e-01 1.60501173e-01 -6.57588942e-04 2.41715418e+02] [-1.60501142e-01 9.87035650e-01 9.94939797e-05 -3.05402526e+01] [ 6.65032629e-04 7.33969313e-06 9.99999779e-01 -2.26220016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.485769231 meters Centerline goodness [0,1] 0.9998096567476683 Centerline is valid? [True, True] Translation: X:241.74, Y:-30.55, Z:-2.26 [[ 9.87095385e-01 1.60133269e-01 -1.94130304e-04 2.41744960e+02] [-1.60133266e-01 9.87095404e-01 2.93518236e-05 -3.05462639e+01] [ 1.96325334e-04 2.11366996e-06 9.99999981e-01 -2.26133115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.515769231 meters Centerline goodness [0,1] 0.9998096567476683 Centerline is valid? [True, True] Translation: X:241.77, Y:-30.55, Z:-2.26 [[ 9.87095385e-01 1.60133269e-01 -1.94130304e-04 2.41774625e+02] [-1.60133266e-01 9.87095404e-01 2.93518236e-05 -3.05507490e+01] [ 1.96325334e-04 2.11366998e-06 9.99999981e-01 -2.26150040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.545769231 meters Centerline goodness [0,1] 0.9997675155870231 Centerline is valid? [True, True] Translation: X:241.80, Y:-30.55, Z:-2.26 [[ 9.86943826e-01 1.61055731e-01 1.71361737e-03 2.41804186e+02] [-1.61055524e-01 9.86945313e-01 -2.59049137e-04 -3.05537238e+01] [-1.73296798e-03 -2.03205971e-05 9.99998498e-01 -2.25717193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.575769231 meters Centerline goodness [0,1] 0.9998095802301964 Centerline is valid? [True, True] Translation: X:241.83, Y:-30.56, Z:-2.26 [[ 9.86716485e-01 1.62445395e-01 1.43938757e-03 2.41834365e+02] [-1.62445251e-01 9.86717535e-01 -2.17646696e-04 -3.05554301e+01] [-1.45562466e-03 -1.90660928e-05 9.99998940e-01 -2.25736539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.605769231 meters Centerline goodness [0,1] 0.9998087710351862 Centerline is valid? [True, True] Translation: X:241.86, Y:-30.56, Z:-2.26 [[ 9.86369073e-01 1.64547588e-01 3.77143860e-04 2.41864534e+02] [-1.64547578e-01 9.86369146e-01 -5.71474889e-05 -3.05555905e+01] [-3.81406549e-04 -5.68959304e-06 9.99999927e-01 -2.25947951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.635769231 meters Centerline goodness [0,1] 0.999681339225017 Centerline is valid? [True, True] Translation: X:241.89, Y:-30.55, Z:-2.26 [[ 9.85628386e-01 1.68921550e-01 -1.48165553e-03 2.41893719e+02] [-1.68921405e-01 9.85629499e-01 2.23678328e-04 -3.05501839e+01] [ 1.49814749e-03 2.98196240e-05 9.99998877e-01 -2.26428344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.665769231 meters Centerline goodness [0,1] 0.9995552260934025 Centerline is valid? [True, True] Translation: X:241.92, Y:-30.55, Z:-2.26 [[ 9.85305233e-01 1.70797211e-01 -1.38205265e-03 2.41922685e+02] [-1.70797086e-01 9.85306202e-01 2.08560539e-04 -3.05505422e+01] [ 1.39736661e-03 3.05547752e-05 9.99999023e-01 -2.26449140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.695769231 meters Centerline goodness [0,1] 0.9996385439700629 Centerline is valid? [True, True] Translation: X:241.95, Y:-30.55, Z:-2.26 [[ 9.85016573e-01 1.72454571e-01 -1.33145802e-03 2.41951571e+02] [-1.72454457e-01 9.85017472e-01 2.00841107e-04 -3.05541529e+01] [ 1.34614538e-03 3.17840501e-05 9.99999093e-01 -2.26423160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72576923100002 meters Centerline goodness [0,1] 0.9988682710170613 Centerline is valid? [True, True] Translation: X:241.98, Y:-30.55, Z:-2.27 [[ 9.84804388e-01 1.73658778e-01 -1.71642914e-03 2.41980773e+02] [-1.73658591e-01 9.84805883e-01 2.58820968e-04 -3.05454100e+01] [ 1.73529605e-03 4.31846415e-05 9.99998493e-01 -2.26866501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75576923100002 meters Centerline goodness [0,1] 0.9995783526237008 Centerline is valid? [True, True] Translation: X:242.01, Y:-30.56, Z:-2.26 [[ 9.84982176e-01 1.72653400e-01 -9.57420371e-04 2.42007639e+02] [-1.72653341e-01 9.84982641e-01 1.44245614e-04 -3.05603330e+01] [ 9.67946941e-04 2.32224670e-05 9.99999531e-01 -2.26382527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78576923100002 meters Centerline goodness [0,1] 0.9996165399118042 Centerline is valid? [True, True] Translation: X:242.04, Y:-30.58, Z:-2.26 [[ 9.85840777e-01 1.67669798e-01 2.19123855e-03 2.42035341e+02] [-1.67669477e-01 9.85843211e-01 -3.30821390e-04 -3.05752214e+01] [-2.21568641e-03 -4.12666054e-05 9.99997545e-01 -2.25723959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81576923100002 meters Centerline goodness [0,1] 0.9995743231738464 Centerline is valid? [True, True] Translation: X:242.06, Y:-30.59, Z:-2.26 [[ 9.86338010e-01 1.64701089e-01 3.29859640e-03 2.42064783e+02] [-1.64700345e-01 9.86343525e-01 -4.97800888e-04 -3.05857616e+01] [-3.33553755e-03 -5.22800281e-05 9.99994436e-01 -2.25571303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84576923100002 meters Centerline goodness [0,1] 0.9996602828145569 Centerline is valid? [True, True] Translation: X:242.09, Y:-30.60, Z:-2.26 [[ 9.86866630e-01 1.61509999e-01 2.96215140e-03 2.42093669e+02] [-1.61509384e-01 9.86871075e-01 -4.46995527e-04 -3.05965080e+01] [-2.99545578e-03 -3.72902797e-05 9.99995513e-01 -2.25776783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87576923100002 meters Centerline goodness [0,1] 0.9996584043211854 Centerline is valid? [True, True] Translation: X:242.12, Y:-30.61, Z:-2.26 [[ 9.86836754e-01 1.61703976e-01 2.24606964e-03 2.42124075e+02] [-1.61703623e-01 9.86839310e-01 -3.38906195e-04 -3.06059163e+01] [-2.27131229e-03 -2.87525079e-05 9.99997420e-01 -2.25843371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90576923100002 meters Centerline goodness [0,1] 0.9997867076188038 Centerline is valid? [True, True] Translation: X:242.16, Y:-30.61, Z:-2.26 [[ 9.86635204e-01 1.62937986e-01 1.47870828e-03 2.42155440e+02] [-1.62937834e-01 9.86636312e-01 -2.23108927e-04 -3.06099806e+01] [-1.49530020e-03 -2.08104026e-05 9.99998882e-01 -2.25931463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93576923100002 meters Centerline goodness [0,1] 0.9995541495934269 Centerline is valid? [True, True] Translation: X:242.19, Y:-30.60, Z:-2.26 [[ 9.85851343e-01 1.67612671e-01 1.76697380e-03 2.42185968e+02] [-1.67612462e-01 9.85852926e-01 -2.66861374e-04 -3.06020351e+01] [-1.78670564e-03 -3.30811854e-05 9.99998403e-01 -2.25974204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96576923100002 meters Centerline goodness [0,1] 0.9995740965523116 Centerline is valid? [True, True] Translation: X:242.22, Y:-30.61, Z:-2.26 [[ 9.85368168e-01 1.70429601e-01 1.82333739e-03 2.42215084e+02] [-1.70429383e-01 9.85369854e-01 -2.75227849e-04 -3.06111853e+01] [-1.84356867e-03 -3.95495043e-05 9.99998300e-01 -2.25824708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99576923100003 meters Centerline goodness [0,1] 0.9995136495316234 Centerline is valid? [True, True] Translation: X:242.24, Y:-30.61, Z:-2.26 [[ 9.84925238e-01 1.72970543e-01 1.86211251e-03 2.42244300e+02] [-1.72970320e-01 9.84926997e-01 -2.81177429e-04 -3.06121340e+01] [-1.88268029e-03 -4.51514505e-05 9.99998227e-01 -2.25814663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02576923100003 meters Centerline goodness [0,1] 0.9994079086487629 Centerline is valid? [True, True] Translation: X:242.27, Y:-30.61, Z:-2.25 [[ 9.84293598e-01 1.76505081e-01 3.47402290e-03 2.42274215e+02] [-1.76504329e-01 9.84299724e-01 -5.24372276e-04 -3.06140418e+01] [-3.51203415e-03 -9.70438064e-05 9.99993828e-01 -2.25411775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05576923100003 meters Centerline goodness [0,1] 0.999319612178942 Centerline is valid? [True, True] Translation: X:242.30, Y:-30.62, Z:-2.25 [[ 9.84058639e-01 1.77766639e-01 5.25513788e-03 2.42303968e+02] [-1.77764937e-01 9.84072659e-01 -7.93021986e-04 -3.06181559e+01] [-5.31241036e-03 -1.53799119e-04 9.99985877e-01 -2.25114122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08576923100003 meters Centerline goodness [0,1] 0.9992482494952533 Centerline is valid? [True, True] Translation: X:242.33, Y:-30.62, Z:-2.25 [[ 9.83862015e-01 1.78713667e-01 8.77267969e-03 2.42333395e+02] [-1.78708962e-01 9.83901090e-01 -1.32362708e-03 -3.06241361e+01] [-8.86799935e-03 -2.65490074e-04 9.99960643e-01 -2.24643215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11576923100003 meters Centerline goodness [0,1] 0.9988974641675854 Centerline is valid? [True, True] Translation: X:242.36, Y:-30.62, Z:-2.25 [[ 9.83597718e-01 1.80157685e-01 8.87341342e-03 2.42363319e+02] [-1.80152930e-01 9.83637702e-01 -1.33881600e-03 -3.06241969e+01] [-8.96942198e-03 -2.81715069e-04 9.99959734e-01 -2.24672641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14576923100003 meters Centerline goodness [0,1] 0.9989045020751258 Centerline is valid? [True, True] Translation: X:242.39, Y:-30.62, Z:-2.25 [[ 9.83275578e-01 1.81960634e-01 7.71141985e-03 2.42392998e+02] [-1.81957100e-01 9.83305782e-01 -1.16338522e-03 -3.06246183e+01] [-7.79437404e-03 -2.59219315e-04 9.99969590e-01 -2.24903916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.175769231 meters Centerline goodness [0,1] 0.9988018314861569 Centerline is valid? [True, True] Translation: X:242.42, Y:-30.63, Z:-2.25 [[ 9.82936633e-01 1.83831269e-01 6.45295136e-03 2.42422933e+02] [-1.83828835e-01 9.82957787e-01 -9.73394180e-04 -3.06259169e+01] [-6.52191908e-03 -2.29453736e-04 9.99978706e-01 -2.25188953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.205769231 meters Centerline goodness [0,1] 0.998806275579809 Centerline is valid? [True, True] Translation: X:242.45, Y:-30.63, Z:-2.26 [[ 9.82598273e-01 1.85705837e-01 3.73834632e-03 2.42452171e+02] [-1.85705034e-01 9.82605375e-01 -5.63899309e-04 -3.06272752e+01] [-3.77803858e-03 -1.40143245e-04 9.99992853e-01 -2.25712271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.235769231 meters Centerline goodness [0,1] 0.9987682898341439 Centerline is valid? [True, True] Translation: X:242.48, Y:-30.63, Z:-2.26 [[ 9.82918812e-01 1.84012384e-01 3.17046227e-03 2.42481150e+02] [-1.84011798e-01 9.82923918e-01 -4.78125151e-04 -3.06314792e+01] [-3.20430415e-03 -1.13444258e-04 9.99994860e-01 -2.25892564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.265769231 meters Centerline goodness [0,1] 0.9994878361075544 Centerline is valid? [True, True] Translation: X:242.51, Y:-30.65, Z:-2.26 [[ 9.83932989e-01 1.78508662e-01 3.24500095e-03 2.42509124e+02] [-1.78508018e-01 9.83938336e-01 -4.89234368e-04 -3.06474538e+01] [-3.28021341e-03 -9.78848546e-05 9.99994615e-01 -2.25869139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.295769231 meters Centerline goodness [0,1] 0.9993832411739685 Centerline is valid? [True, True] Translation: X:242.54, Y:-30.65, Z:-2.26 [[ 9.84335894e-01 1.76283053e-01 2.67090261e-03 2.42538333e+02] [-1.76282609e-01 9.84339514e-01 -4.02669962e-04 -3.06546121e+01] [-2.70005886e-03 -7.44711828e-05 9.99996352e-01 -2.25637980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.325769231 meters Centerline goodness [0,1] 0.9994078710850762 Centerline is valid? [True, True] Translation: X:242.57, Y:-30.66, Z:-2.26 [[ 9.84678813e-01 1.74358665e-01 2.58670591e-03 2.42566756e+02] [-1.74358242e-01 9.84682208e-01 -3.90012114e-04 -3.06620808e+01] [-2.61508528e-03 -6.69768284e-05 9.99996578e-01 -2.25950313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.355769231 meters Centerline goodness [0,1] 0.9995580063983835 Centerline is valid? [True, True] Translation: X:242.60, Y:-30.67, Z:-2.26 [[ 9.85039503e-01 1.72312400e-01 2.36935623e-03 2.42596149e+02] [-1.72312039e-01 9.85042351e-01 -3.57179949e-04 -3.06725091e+01] [-2.39546276e-03 -5.64322444e-05 9.99997129e-01 -2.26009600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.385769231 meters Centerline goodness [0,1] 0.9992528870578692 Centerline is valid? [True, True] Translation: X:242.63, Y:-30.68, Z:-2.26 [[ 9.85128670e-01 1.71799988e-01 2.50338508e-03 2.42625582e+02] [-1.71799584e-01 9.85131849e-01 -3.77339564e-04 -3.06762990e+01] [-2.53099131e-03 -5.83524923e-05 9.99996795e-01 -2.25652509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.415769231 meters Centerline goodness [0,1] 0.9996794734817728 Centerline is valid? [True, True] Translation: X:242.65, Y:-30.69, Z:-2.26 [[ 9.85282199e-01 1.70907173e-01 3.11878711e-03 2.42654678e+02] [-1.70906540e-01 9.85287133e-01 -4.70202351e-04 -3.06865011e+01] [-3.15326176e-03 -6.97391073e-05 9.99995026e-01 -2.26070592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.445769231 meters Centerline goodness [0,1] 0.9994010054551289 Centerline is valid? [True, True] Translation: X:242.68, Y:-30.69, Z:-2.26 [[ 9.85145582e-01 1.71705493e-01 2.32506975e-03 2.42684113e+02] [-1.71705144e-01 9.85148324e-01 -3.50537957e-04 -3.06913072e+01] [-2.35072786e-03 -5.38955158e-05 9.99997236e-01 -2.26068812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47576923100002 meters Centerline goodness [0,1] 0.9994255563593039 Centerline is valid? [True, True] Translation: X:242.71, Y:-30.69, Z:-2.26 [[ 9.84832536e-01 1.73505407e-01 8.65907964e-04 2.42714318e+02] [-1.73505359e-01 9.84832916e-01 -1.30548173e-04 -3.06939880e+01] [-8.75425480e-04 -2.16715834e-05 9.99999617e-01 -2.26237824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50576923100002 meters Centerline goodness [0,1] 0.9990697674418605 Centerline is valid? [True, True] Translation: X:242.74, Y:-30.69, Z:-2.27 [[ 9.84048236e-01 1.77892807e-01 -1.79386136e-03 2.42744903e+02] [-1.77892609e-01 9.84049870e-01 2.70351826e-04 -3.06891171e+01] [ 1.81334268e-03 5.30754402e-05 9.99998354e-01 -2.26746740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53576923100002 meters Centerline goodness [0,1] 0.999189558095888 Centerline is valid? [True, True] Translation: X:242.77, Y:-30.69, Z:-2.27 [[ 9.83636781e-01 1.80152612e-01 -1.92862268e-03 2.42774823e+02] [-1.80152388e-01 9.83638670e-01 2.90567079e-04 -3.06886130e+01] [ 1.94941427e-03 6.16335155e-05 9.99998098e-01 -2.26837250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56576923100002 meters Centerline goodness [0,1] 0.9988507704094662 Centerline is valid? [True, True] Translation: X:242.80, Y:-30.69, Z:-2.27 [[ 9.83160132e-01 1.82741644e-01 -1.28304531e-03 2.42803651e+02] [-1.82741547e-01 9.83160968e-01 1.93182563e-04 -3.06865895e+01] [ 1.29674257e-03 4.45362908e-05 9.99999158e-01 -2.26753514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59576923100002 meters Centerline goodness [0,1] 0.9957339866106313 Centerline is valid? [True, True] Translation: X:242.83, Y:-30.68, Z:-2.26 [[ 9.82229739e-01 1.87679575e-01 1.05715207e-03 2.42834934e+02] [-1.87679512e-01 9.82230307e-01 -1.59373330e-04 -3.06776030e+01] [-1.06827792e-03 -4.18645617e-05 9.99999429e-01 -2.26237920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62576923100002 meters Centerline goodness [0,1] 0.9982415999322063 Centerline is valid? [True, True] Translation: X:242.86, Y:-30.68, Z:-2.26 [[ 9.81923689e-01 1.89266693e-01 1.99708199e-03 2.42863862e+02] [-1.89266471e-01 9.81925716e-01 -3.01084902e-04 -3.06815719e+01] [-2.01797151e-03 -8.23382641e-05 9.99997961e-01 -2.26020319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65576923100002 meters Centerline goodness [0,1] 0.9983253487090347 Centerline is valid? [True, True] Translation: X:242.89, Y:-30.68, Z:-2.26 [[ 9.81778343e-01 1.90017214e-01 2.17799599e-03 2.42893050e+02] [-1.90016952e-01 9.81780755e-01 -3.28255903e-04 -3.06824080e+01] [-2.20068882e-03 -9.15816245e-05 9.99997574e-01 -2.26030983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68576923100002 meters Centerline goodness [0,1] 0.998807140118434 Centerline is valid? [True, True] Translation: X:242.92, Y:-30.68, Z:-2.26 [[ 9.82007069e-01 1.88842233e-01 8.53034497e-04 2.42921678e+02] [-1.88842193e-01 9.82007439e-01 -1.28690152e-04 -3.06839184e+01] [-8.61988357e-04 -3.47142654e-05 9.99999628e-01 -2.26330370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71576923100002 meters Centerline goodness [0,1] 0.9980707259158752 Centerline is valid? [True, True] Translation: X:242.95, Y:-30.68, Z:-2.26 [[ 9.82293812e-01 1.87346163e-01 5.31033343e-04 2.42949961e+02] [-1.87346147e-01 9.82293955e-01 -8.02484227e-05 -3.06829951e+01] [-5.36665077e-04 -2.06595217e-05 9.99999856e-01 -2.26482711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74576923100003 meters Centerline goodness [0,1] 0.999293906196508 Centerline is valid? [True, True] Translation: X:242.98, Y:-30.69, Z:-2.26 [[ 9.83073111e-01 1.83200198e-01 2.22375089e-03 2.42979876e+02] [-1.83199909e-01 9.83075623e-01 -3.34644976e-04 -3.06896728e+01] [-2.24742232e-03 -7.84104838e-05 9.99997471e-01 -2.26123822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77576923100003 meters Centerline goodness [0,1] 0.9993235959331206 Centerline is valid? [True, True] Translation: X:243.01, Y:-30.69, Z:-2.26 [[ 9.83405769e-01 1.81401592e-01 2.56043775e-03 2.43007973e+02] [-1.81401203e-01 9.83409099e-01 -3.85474766e-04 -3.06900841e+01] [-2.58788351e-03 -8.53883774e-05 9.99996648e-01 -2.26047989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80576923100003 meters Centerline goodness [0,1] 0.999218634511013 Centerline is valid? [True, True] Translation: X:243.04, Y:-30.70, Z:-2.26 [[ 9.83742067e-01 1.79570461e-01 2.44834072e-03 2.43036556e+02] [-1.79570099e-01 9.83745111e-01 -3.68387927e-04 -3.06960958e+01] [-2.47469481e-03 -7.72500861e-05 9.99996935e-01 -2.26090587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83576923100003 meters Centerline goodness [0,1] 0.9994617057468295 Centerline is valid? [True, True] Translation: X:243.07, Y:-30.70, Z:-2.26 [[ 9.84553942e-01 1.75073204e-01 1.70537805e-03 2.43065249e+02] [-1.75073022e-01 9.84555418e-01 -2.56552097e-04 -3.07033700e+01] [-1.72395459e-03 -4.59763100e-05 9.99998513e-01 -2.26309464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86576923100003 meters Centerline goodness [0,1] 0.9995744318665418 Centerline is valid? [True, True] Translation: X:243.09, Y:-30.71, Z:-2.26 [[ 9.84933034e-01 1.72928233e-01 1.65661335e-03 2.43093194e+02] [-1.72928058e-01 9.84934427e-01 -2.49273787e-04 -3.07074922e+01] [-1.67476200e-03 -4.09569434e-05 9.99998597e-01 -2.26367549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89576923100003 meters Centerline goodness [0,1] 0.9995562974075092 Centerline is valid? [True, True] Translation: X:243.12, Y:-30.71, Z:-2.26 [[ 9.85237485e-01 1.71184022e-01 1.76853320e-03 2.43121950e+02] [-1.71183820e-01 9.85239072e-01 -2.66075139e-04 -3.07137368e+01] [-1.78797582e-03 -4.05970690e-05 9.99998401e-01 -2.26351778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.925769231 meters Centerline goodness [0,1] 0.9996201570017726 Centerline is valid? [True, True] Translation: X:243.15, Y:-30.72, Z:-2.26 [[ 9.85590546e-01 1.69130838e-01 2.45666048e-03 2.43149440e+02] [-1.69130443e-01 9.85593606e-01 -3.69287688e-04 -3.07197995e+01] [-2.48372680e-03 -5.15296206e-05 9.99996914e-01 -2.26224304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.955769231 meters Centerline goodness [0,1] 0.9995979346538005 Centerline is valid? [True, True] Translation: X:243.18, Y:-30.72, Z:-2.26 [[ 9.85654471e-01 1.68760625e-01 2.26177692e-03 2.43178235e+02] [-1.68760289e-01 9.85657065e-01 -3.39846362e-04 -3.07247491e+01] [-2.28668908e-03 -4.67270403e-05 9.99997384e-01 -2.26237483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.985769231 meters Centerline goodness [0,1] 0.9996784221245578 Centerline is valid? [True, True] Translation: X:243.21, Y:-30.73, Z:-2.27 [[ 9.85577380e-01 1.69224997e-01 3.57763814e-04 2.43206782e+02] [-1.69224989e-01 9.85577445e-01 -5.39678728e-05 -3.07270768e+01] [-3.61736659e-04 -7.35306271e-06 9.99999935e-01 -2.26513382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.015769231 meters Centerline goodness [0,1] 0.9997450172113382 Centerline is valid? [True, True] Translation: X:243.23, Y:-30.73, Z:-2.27 [[ 9.85473869e-01 1.69826256e-01 -5.45199807e-04 2.43234713e+02] [-1.69826237e-01 9.85474019e-01 8.14147554e-05 -3.07266572e+01] [ 5.51106608e-04 1.23571176e-05 9.99999848e-01 -2.26843185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.045769231 meters Centerline goodness [0,1] 0.9995742416178819 Centerline is valid? [True, True] Translation: X:243.26, Y:-30.73, Z:-2.27 [[ 9.85371820e-01 1.70416277e-01 -8.17792644e-04 2.43263369e+02] [-1.70416234e-01 9.85372159e-01 1.22387499e-04 -3.07296038e+01] [ 8.26686925e-04 1.87679502e-05 9.99999658e-01 -2.26983576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.075769231 meters Centerline goodness [0,1] 0.9995777829382085 Centerline is valid? [True, True] Translation: X:243.29, Y:-30.73, Z:-2.27 [[ 9.85206094e-01 1.71373532e-01 -2.56399500e-04 2.43292093e+02] [-1.71373528e-01 9.85206127e-01 3.81751961e-05 -3.07325390e+01] [ 2.59148576e-04 6.32965094e-06 9.99999966e-01 -2.26799761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.105769231 meters Centerline goodness [0,1] 0.9996147507651478 Centerline is valid? [True, True] Translation: X:243.32, Y:-30.74, Z:-2.27 [[ 9.85157073e-01 1.71655292e-01 5.48579232e-05 2.43320907e+02] [-1.71655292e-01 9.85157074e-01 -8.48883093e-06 -3.07360410e+01] [-5.55008239e-05 -1.05382098e-06 9.99999998e-01 -2.26692971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.135769231 meters Centerline goodness [0,1] 0.9995974405695156 Centerline is valid? [True, True] Translation: X:243.35, Y:-30.74, Z:-2.27 [[ 9.85510757e-01 1.69612547e-01 3.62711702e-04 2.43348429e+02] [-1.69612538e-01 9.85510824e-01 -5.46107469e-05 -3.07428307e+01] [-3.66718977e-04 -7.70097391e-06 9.99999933e-01 -2.26688680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.165769231 meters Centerline goodness [0,1] 0.9997452445652174 Centerline is valid? [True, True] Translation: X:243.38, Y:-30.75, Z:-2.27 [[ 9.85990476e-01 1.66796642e-01 1.28900750e-03 2.43375050e+02] [-1.66796531e-01 9.85991318e-01 -1.93389169e-04 -3.07506341e+01] [-1.30320687e-03 -2.43221015e-05 9.99999151e-01 -2.26636762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.195769231 meters Centerline goodness [0,1] 0.9997866985196877 Centerline is valid? [True, True] Translation: X:243.40, Y:-30.76, Z:-2.26 [[ 9.86542630e-01 1.63487570e-01 2.33517914e-03 2.43403491e+02] [-1.63487200e-01 9.86545393e-01 -3.49825636e-04 -3.07607070e+01] [-2.36095237e-03 -3.66539950e-05 9.99997212e-01 -2.26459335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22576923100002 meters Centerline goodness [0,1] 0.9998500139272782 Centerline is valid? [True, True] Translation: X:243.43, Y:-30.77, Z:-2.27 [[ 9.87538047e-01 1.57365974e-01 2.13467991e-03 2.43430639e+02] [-1.57365650e-01 9.87540354e-01 -3.19749920e-04 -3.07746914e+01] [-2.15840031e-03 -2.01600799e-05 9.99997670e-01 -2.26533579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25576923100002 meters Centerline goodness [0,1] 0.9998092654600941 Centerline is valid? [True, True] Translation: X:243.46, Y:-30.78, Z:-2.27 [[ 9.87914850e-01 1.54993708e-01 1.09517720e-03 2.43458760e+02] [-1.54993621e-01 9.87915457e-01 -1.64082113e-04 -3.07835465e+01] [-1.10737417e-03 -7.64632365e-06 9.99999387e-01 -2.26756819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28576923100002 meters Centerline goodness [0,1] 0.9999360899853007 Centerline is valid? [True, True] Translation: X:243.49, Y:-30.80, Z:-2.27 [[ 9.88654422e-01 1.50207015e-01 -5.35553545e-04 2.43486989e+02] [-1.50206993e-01 9.88654567e-01 8.02453598e-05 -3.07989267e+01] [ 5.41530874e-04 1.10895804e-06 9.99999853e-01 -2.27023466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31576923100002 meters Centerline goodness [0,1] 0.999915743354257 Centerline is valid? [True, True] Translation: X:243.52, Y:-30.81, Z:-2.27 [[ 9.88942234e-01 1.48298917e-01 -8.29907822e-04 2.43516751e+02] [-1.48298865e-01 9.88942582e-01 1.24249634e-04 -3.08089262e+01] [ 8.39157270e-04 1.98677110e-07 9.99999648e-01 -2.27074355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34576923100002 meters Centerline goodness [0,1] 0.9999787964886985 Centerline is valid? [True, True] Translation: X:243.55, Y:-30.82, Z:-2.27 [[ 9.89205706e-01 1.46530854e-01 -8.82695218e-04 2.43545605e+02] [-1.46530794e-01 9.89206100e-01 1.32227660e-04 -3.08184793e+01] [ 8.92542926e-04 -1.45832440e-06 9.99999602e-01 -2.27106372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37576923100002 meters Centerline goodness [0,1] 0.9999576001695993 Centerline is valid? [True, True] Translation: X:243.58, Y:-30.83, Z:-2.27 [[ 9.89359569e-01 1.45489207e-01 -7.31028264e-04 2.43575291e+02] [-1.45489165e-01 9.89359839e-01 1.10398508e-04 -3.08312323e+01] [ 7.39311797e-04 -2.86712852e-06 9.99999727e-01 -2.27014991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40576923100002 meters Centerline goodness [0,1] 0.9999365951600973 Centerline is valid? [True, True] Translation: X:243.61, Y:-30.84, Z:-2.27 [[ 9.89348133e-01 1.45568769e-01 7.37261022e-05 2.43606296e+02] [-1.45568769e-01 9.89348136e-01 -1.09234570e-05 -3.08387552e+01] [-7.45308960e-05 7.48838821e-08 9.99999997e-01 -2.26827812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43576923100002 meters Centerline goodness [0,1] 0.9999365951600973 Centerline is valid? [True, True] Translation: X:243.64, Y:-30.84, Z:-2.27 [[ 9.89344871e-01 1.45590937e-01 7.37258239e-05 2.43636781e+02] [-1.45590936e-01 9.89344874e-01 -1.09253231e-05 -3.08433729e+01] [-7.45308940e-05 7.51005983e-08 9.99999997e-01 -2.26845207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46576923100002 meters Centerline goodness [0,1] 0.9999785269486794 Centerline is valid? [True, True] Translation: X:243.67, Y:-30.85, Z:-2.27 [[ 9.89238172e-01 1.46311738e-01 8.44934296e-04 2.43667350e+02] [-1.46311683e-01 9.89238533e-01 -1.26565790e-04 -3.08496307e+01] [-8.54359624e-04 1.57995168e-06 9.99999635e-01 -2.26687173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49576923100003 meters Centerline goodness [0,1] 0.999936486429267 Centerline is valid? [True, True] Translation: X:243.70, Y:-30.85, Z:-2.26 [[ 9.88627493e-01 1.50372745e-01 1.92818746e-03 2.43697647e+02] [-1.50372468e-01 9.88629373e-01 -2.88905298e-04 -3.08510712e+01] [-1.94970624e-03 -4.32658684e-06 9.99998099e-01 -2.26480563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52576923100003 meters Centerline goodness [0,1] 0.9999358206400821 Centerline is valid? [True, True] Translation: X:243.73, Y:-30.85, Z:-2.26 [[ 9.88223913e-01 1.52998521e-01 2.22510048e-03 2.43728766e+02] [-1.52998157e-01 9.88226418e-01 -3.33774819e-04 -3.08523790e+01] [-2.24997013e-03 -1.05920152e-05 9.99997469e-01 -2.26496197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55576923100003 meters Centerline goodness [0,1] 0.9998939352156297 Centerline is valid? [True, True] Translation: X:243.76, Y:-30.85, Z:-2.27 [[ 9.87479261e-01 1.57742279e-01 1.44314641e-03 2.43759986e+02] [-1.57742131e-01 9.87480315e-01 -2.16478282e-04 -3.08513540e+01] [-1.45922645e-03 -1.38771754e-05 9.99998935e-01 -2.26690997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58576923100003 meters Centerline goodness [0,1] 0.9997893140064048 Centerline is valid? [True, True] Translation: X:243.79, Y:-30.85, Z:-2.27 [[ 9.87152196e-01 1.59778687e-01 1.14581253e-03 2.43789844e+02] [-1.59778595e-01 9.87152861e-01 -1.71926486e-04 -3.08534590e+01] [-1.15856230e-03 -1.33587080e-05 9.99999329e-01 -2.26721668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61576923100003 meters Centerline goodness [0,1] 0.9998085472994533 Centerline is valid? [True, True] Translation: X:243.82, Y:-30.86, Z:-2.27 [[ 9.86909532e-01 1.61269363e-01 1.32966352e-03 2.43819449e+02] [-1.61269241e-01 9.86910428e-01 -1.99534673e-04 -3.08561468e+01] [-1.34443762e-03 -1.75111546e-05 9.99999096e-01 -2.26617636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64576923100003 meters Centerline goodness [0,1] 0.9997015752563255 Centerline is valid? [True, True] Translation: X:243.85, Y:-30.86, Z:-2.26 [[ 9.86576826e-01 1.63273197e-01 2.83353040e-03 2.43848475e+02] [-1.63272649e-01 9.86580895e-01 -4.25038087e-04 -3.08564319e+01] [-2.86490428e-03 -4.33052873e-05 9.99995895e-01 -2.26339880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.675769231 meters Centerline goodness [0,1] 0.9997434143003763 Centerline is valid? [True, True] Translation: X:243.88, Y:-30.86, Z:-2.26 [[ 9.86536303e-01 1.63509568e-01 3.27764770e-03 2.43878266e+02] [-1.63508838e-01 9.86541747e-01 -4.91494461e-04 -3.08605912e+01] [-3.31390034e-03 -5.10472374e-05 9.99994508e-01 -2.26283186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.705769231 meters Centerline goodness [0,1] 0.9997057030543819 Centerline is valid? [True, True] Translation: X:243.91, Y:-30.87, Z:-2.26 [[ 9.86597474e-01 1.63131247e-01 3.69071138e-03 2.43906841e+02] [-1.63130318e-01 9.86604375e-01 -5.53358782e-04 -3.08661634e+01] [-3.73154211e-03 -5.61245445e-05 9.99993036e-01 -2.26298467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.735769231 meters Centerline goodness [0,1] 0.9998280272576796 Centerline is valid? [True, True] Translation: X:243.94, Y:-30.87, Z:-2.27 [[ 9.86946728e-01 1.61034973e-01 1.97342602e-03 2.43935818e+02] [-1.61034703e-01 9.86948700e-01 -2.95783602e-04 -3.08748416e+01] [-1.99530175e-03 -2.58674150e-05 9.99998009e-01 -2.26686146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.765769231 meters Centerline goodness [0,1] 0.9998731259647713 Centerline is valid? [True, True] Translation: X:243.96, Y:-30.88, Z:-2.27 [[ 9.87090459e-01 1.60162878e-01 5.27017198e-04 2.43964527e+02] [-1.60162859e-01 9.87090600e-01 -7.91004378e-05 -3.08804145e+01] [-5.32882676e-04 -6.32929381e-06 9.99999858e-01 -2.27003806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.795769231 meters Centerline goodness [0,1] 0.9998946370245496 Centerline is valid? [True, True] Translation: X:243.99, Y:-30.89, Z:-2.27 [[ 9.87234501e-01 1.59272205e-01 -6.35435329e-04 2.43993001e+02] [-1.59272177e-01 9.87234706e-01 9.50266250e-05 -3.08858600e+01] [ 6.42458911e-04 7.39360541e-06 9.99999794e-01 -2.27222888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.825769231 meters Centerline goodness [0,1] 0.9998498111912119 Centerline is valid? [True, True] Translation: X:244.02, Y:-30.90, Z:-2.27 [[ 9.87676969e-01 1.56505825e-01 3.62801508e-04 2.44023356e+02] [-1.56505815e-01 9.87677036e-01 -5.34907263e-05 -3.08997132e+01] [-3.66702328e-04 -3.94898743e-06 9.99999933e-01 -2.26858764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.855769231 meters Centerline goodness [0,1] 0.9998933651815991 Centerline is valid? [True, True] Translation: X:244.05, Y:-30.91, Z:-2.27 [[ 9.87969040e-01 1.54649075e-01 9.16878428e-04 2.44054832e+02] [-1.54649014e-01 9.87969465e-01 -1.36750291e-04 -3.09087176e+01] [-9.26996196e-04 -6.68929133e-06 9.99999570e-01 -2.26780422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.885769231 meters Centerline goodness [0,1] 0.9998710038053877 Centerline is valid? [True, True] Translation: X:244.09, Y:-30.92, Z:-2.27 [[ 9.88571483e-01 1.50739655e-01 1.99498686e-03 2.44085167e+02] [-1.50739359e-01 9.88573496e-01 -2.98943182e-04 -3.09237737e+01] [-2.01725373e-03 -5.19633546e-06 9.99997965e-01 -2.26538817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.915769231 meters Centerline goodness [0,1] 0.9999358302496203 Centerline is valid? [True, True] Translation: X:244.12, Y:-30.93, Z:-2.27 [[ 9.88827205e-01 1.49051537e-01 2.09688365e-03 2.44115811e+02] [-1.49051205e-01 9.88829429e-01 -3.14804405e-04 -3.09330619e+01] [-2.12038234e-03 -1.25587408e-06 9.99997752e-01 -2.26635409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.945769231 meters Centerline goodness [0,1] 0.9999571679444896 Centerline is valid? [True, True] Translation: X:244.15, Y:-30.94, Z:-2.27 [[ 9.89044531e-01 1.47609642e-01 1.51988464e-03 2.44147670e+02] [-1.47609466e-01 9.89045698e-01 -2.27882921e-04 -3.09449662e+01] [-1.53687308e-03 1.03699744e-06 9.99998819e-01 -2.26549981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.18, Y:-30.95, Z:-2.26 [[ 9.89119473e-01 1.47092612e-01 2.53598491e-03 2.44180158e+02] [-1.47092118e-01 9.89122724e-01 -3.81468844e-04 -3.09530821e+01] [-2.56451155e-03 4.29487057e-06 9.99996712e-01 -2.26442856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.21, Y:-30.96, Z:-2.26 [[ 9.89190662e-01 1.46576071e-01 4.15815371e-03 2.44211054e+02] [-1.46574730e-01 9.89199401e-01 -6.27040013e-04 -3.09616379e+01] [-4.20515223e-03 1.07818670e-05 9.99991158e-01 -2.26334134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.24, Y:-30.97, Z:-2.26 [[ 9.89302580e-01 1.45785704e-01 5.18976375e-03 2.44242764e+02] [-1.45783598e-01 9.89316192e-01 -7.83824854e-04 -3.09707666e+01] [-5.24858777e-03 1.88575196e-05 9.99986226e-01 -2.26262418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.27, Y:-30.99, Z:-2.27 [[ 9.89602956e-01 1.43820057e-01 1.33426625e-03 2.44271636e+02] [-1.43819917e-01 9.89603856e-01 -2.01145783e-04 -3.09851262e+01] [-1.34932383e-03 7.16039913e-06 9.99999090e-01 -2.27048407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09576923100002 meters Centerline goodness [0,1] 0.9999574531452763 Centerline is valid? [True, True] Translation: X:244.30, Y:-30.99, Z:-2.28 [[ 9.89723642e-01 1.42982879e-01 -1.73483634e-03 2.44302616e+02] [-1.42982636e-01 9.89725162e-01 2.63873228e-04 -3.09943368e+01] [ 1.75474053e-03 -1.31100985e-05 9.99998460e-01 -2.27527405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.33, Y:-31.01, Z:-2.28 [[ 9.89921944e-01 1.41567037e-01 -3.64938392e-03 2.44331393e+02] [-1.41565959e-01 9.89928671e-01 5.53304755e-04 -3.10089505e+01] [ 3.69095949e-03 -3.10999836e-05 9.99993188e-01 -2.27910030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15576923100002 meters Centerline goodness [0,1] 0.9999574060270472 Centerline is valid? [True, True] Translation: X:244.36, Y:-31.01, Z:-2.27 [[ 9.89846862e-01 1.42122869e-01 -2.06859707e-03 2.44363569e+02] [-1.42122523e-01 9.89849024e-01 3.14016948e-04 -3.10146554e+01] [ 2.09222778e-03 -1.68344560e-05 9.99997811e-01 -2.27464033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18576923100002 meters Centerline goodness [0,1] 0.9999789033986625 Centerline is valid? [True, True] Translation: X:244.39, Y:-31.02, Z:-2.27 [[ 9.89565002e-01 1.44087146e-01 -3.47302961e-05 2.44394718e+02] [-1.44087146e-01 9.89565003e-01 6.14230292e-06 -3.10197310e+01] [ 3.52529125e-05 -1.07401875e-06 9.99999999e-01 -2.27204420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21576923100002 meters Centerline goodness [0,1] 0.9999788462758868 Centerline is valid? [True, True] Translation: X:244.43, Y:-31.02, Z:-2.27 [[ 9.88801082e-01 1.49218911e-01 2.47729065e-03 2.44427088e+02] [-1.49218438e-01 9.88804185e-01 -3.75526248e-04 -3.10205311e+01] [-2.50559098e-03 1.66331939e-06 9.99996861e-01 -2.26716600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24576923100003 meters Centerline goodness [0,1] 0.9999574920297556 Centerline is valid? [True, True] Translation: X:244.46, Y:-31.02, Z:-2.27 [[ 9.88336570e-01 1.52258118e-01 2.87927974e-03 2.44460221e+02] [-1.52257490e-01 9.88340764e-01 -4.37031124e-04 -3.10244789e+01] [-2.91225108e-03 -6.45806650e-06 9.99995759e-01 -2.26687064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27576923100003 meters Centerline goodness [0,1] 0.9999134686107386 Centerline is valid? [True, True] Translation: X:244.49, Y:-31.03, Z:-2.27 [[ 9.87342509e-01 1.58594179e-01 1.62992757e-03 2.44492337e+02] [-1.58593987e-01 9.87343854e-01 -2.47336632e-04 -3.10263216e+01] [-1.64852511e-03 -1.42907402e-05 9.99998641e-01 -2.26834311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30576923100003 meters Centerline goodness [0,1] 0.9998733348814626 Centerline is valid? [True, True] Translation: X:244.52, Y:-31.03, Z:-2.27 [[ 9.86835444e-01 1.61724673e-01 9.68125085e-04 2.44523453e+02] [-1.61724607e-01 9.86835918e-01 -1.46754603e-04 -3.10283299e+01] [-9.79114447e-04 -1.17470050e-05 9.99999521e-01 -2.26917637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33576923100003 meters Centerline goodness [0,1] 0.9997891007254935 Centerline is valid? [True, True] Translation: X:244.55, Y:-31.03, Z:-2.27 [[ 9.86392466e-01 1.64404200e-01 1.07776495e-03 2.44554902e+02] [-1.64404120e-01 9.86393055e-01 -1.63641627e-04 -3.10306760e+01] [-1.09000323e-03 -1.57741292e-05 9.99999406e-01 -2.26922469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36576923100003 meters Centerline goodness [0,1] 0.9998302891448694 Centerline is valid? [True, True] Translation: X:244.59, Y:-31.03, Z:-2.27 [[ 9.85813959e-01 1.67823047e-01 2.50262066e-03 2.44585901e+02] [-1.67822618e-01 9.85817135e-01 -3.81878374e-04 -3.10303485e+01] [-2.53121432e-03 -4.35353199e-05 9.99996796e-01 -2.26671691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39576923100003 meters Centerline goodness [0,1] 0.9998723730111461 Centerline is valid? [True, True] Translation: X:244.62, Y:-31.03, Z:-2.27 [[ 9.85574000e-01 1.69218999e-01 2.97003761e-03 2.44617087e+02] [-1.69218402e-01 9.85578473e-01 -4.52968137e-04 -3.10334549e+01] [-3.00385595e-03 -5.61513985e-05 9.99995487e-01 -2.26568926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.425769231 meters Centerline goodness [0,1] 0.9997662260381689 Centerline is valid? [True, True] Translation: X:244.65, Y:-31.04, Z:-2.27 [[ 9.85330265e-01 1.70629816e-01 3.12001602e-03 2.44648822e+02] [-1.70629163e-01 9.85335203e-01 -4.76322882e-04 -3.10374506e+01] [-3.15553651e-03 -6.30303709e-05 9.99995019e-01 -2.26567296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.455769231 meters Centerline goodness [0,1] 0.999745287824758 Centerline is valid? [True, True] Translation: X:244.68, Y:-31.04, Z:-2.27 [[ 9.84805830e-01 1.73657081e-01 8.33599012e-04 2.44681057e+02] [-1.73657036e-01 9.84806183e-01 -1.27285769e-04 -3.10391139e+01] [-8.43037536e-04 -1.94085655e-05 9.99999644e-01 -2.27053640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.485769231 meters Centerline goodness [0,1] 0.9996591683708248 Centerline is valid? [True, True] Translation: X:244.71, Y:-31.04, Z:-2.27 [[ 9.84596710e-01 1.74840458e-01 3.64535529e-04 2.44711536e+02] [-1.74840450e-01 9.84596777e-01 -5.56539326e-05 -3.10421219e+01] [-3.68651067e-04 -8.93887696e-06 9.99999932e-01 -2.27227421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.515769231 meters Centerline goodness [0,1] 0.9995950381516688 Centerline is valid? [True, True] Translation: X:244.74, Y:-31.04, Z:-2.27 [[ 9.84348972e-01 1.76217133e-01 2.15025887e-03 2.44742543e+02] [-1.76216835e-01 9.84351319e-01 -3.28531513e-04 -3.10447181e+01] [-2.17450303e-03 -5.55221564e-05 9.99997634e-01 -2.26899920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.545769231 meters Centerline goodness [0,1] 0.9995776670326886 Centerline is valid? [True, True] Translation: X:244.77, Y:-31.05, Z:-2.27 [[ 9.84200104e-01 1.77033094e-01 3.07234553e-03 2.44774552e+02] [-1.77032488e-01 9.84204896e-01 -4.70181645e-04 -3.10474066e+01] [-3.10705522e-03 -8.11521492e-05 9.99995170e-01 -2.26689346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.575769231 meters Centerline goodness [0,1] 0.9996410472972973 Centerline is valid? [True, True] Translation: X:244.81, Y:-31.05, Z:-2.26 [[ 9.83953212e-01 1.78391390e-01 3.54810496e-03 2.44806690e+02] [-1.78390588e-01 9.83959604e-01 -5.43678247e-04 -3.10485117e+01] [-3.58817946e-03 -9.79945725e-05 9.99993558e-01 -2.26495878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.605769231 meters Centerline goodness [0,1] 0.9993662864385298 Centerline is valid? [True, True] Translation: X:244.84, Y:-31.04, Z:-2.27 [[ 9.83249827e-01 1.82242543e-01 2.72653046e-03 2.44838630e+02] [-1.82242083e-01 9.83253603e-01 -4.18425509e-04 -3.10410106e+01] [-2.75712582e-03 -8.54717794e-05 9.99996195e-01 -2.26658076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.635769231 meters Centerline goodness [0,1] 0.9991146151738095 Centerline is valid? [True, True] Translation: X:244.87, Y:-31.04, Z:-2.27 [[ 9.83000980e-01 1.83581184e-01 2.64991276e-03 2.44869670e+02] [-1.83580753e-01 9.83004548e-01 -4.06727639e-04 -3.10403226e+01] [-2.67954383e-03 -8.66593120e-05 9.99996406e-01 -2.26813915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.665769231 meters Centerline goodness [0,1] 0.9992999130194964 Centerline is valid? [True, True] Translation: X:244.90, Y:-31.04, Z:-2.27 [[ 9.83019534e-01 1.83483528e-01 2.52815370e-03 2.44899593e+02] [-1.83483136e-01 9.83022781e-01 -3.88106224e-04 -3.10414333e+01] [-2.55644378e-03 -8.23575703e-05 9.99996729e-01 -2.26929360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.695769231 meters Centerline goodness [0,1] 0.9996791100652476 Centerline is valid? [True, True] Translation: X:244.93, Y:-31.05, Z:-2.27 [[ 9.83351697e-01 1.81692316e-01 2.70963148e-03 2.44930259e+02] [-1.81691860e-01 9.83355427e-01 -4.15686409e-04 -3.10523831e+01] [-2.74005785e-03 -8.35520486e-05 9.99996243e-01 -2.26896132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72576923100002 meters Centerline goodness [0,1] 0.9998077703496444 Centerline is valid? [True, True] Translation: X:244.96, Y:-31.06, Z:-2.27 [[ 9.83846481e-01 1.78993410e-01 2.73150354e-03 2.44960916e+02] [-1.78992935e-01 9.83850270e-01 -4.19229171e-04 -3.10633003e+01] [-2.76242975e-03 -7.64626916e-05 9.99996182e-01 -2.26799274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75576923100002 meters Centerline goodness [0,1] 0.9997876722508865 Centerline is valid? [True, True] Translation: X:244.99, Y:-31.07, Z:-2.27 [[ 9.84808782e-01 1.73619777e-01 2.79927138e-03 2.44990546e+02] [-1.73619256e-01 9.84812758e-01 -4.29835594e-04 -3.10682043e+01] [-2.83138613e-03 -6.27015471e-05 9.99995990e-01 -2.26913399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78576923100002 meters Centerline goodness [0,1] 0.9999787771387338 Centerline is valid? [True, True] Translation: X:245.02, Y:-31.08, Z:-2.27 [[ 9.85241265e-01 1.71149125e-01 2.76173355e-03 2.45019649e+02] [-1.71148609e-01 9.85245134e-01 -4.23893528e-04 -3.10776704e+01] [-2.79353355e-03 -5.50294586e-05 9.99996097e-01 -2.26898397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81576923100002 meters Centerline goodness [0,1] 0.9999152919252028 Centerline is valid? [True, True] Translation: X:245.05, Y:-31.09, Z:-2.27 [[ 9.85686744e-01 1.68552992e-01 3.39577378e-03 2.45049997e+02] [-1.68552196e-01 9.85692592e-01 -5.21314360e-04 -3.10898834e+01] [-3.43505815e-03 -5.85124737e-05 9.99994098e-01 -2.26761727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84576923100002 meters Centerline goodness [0,1] 0.9999788395615558 Centerline is valid? [True, True] Translation: X:245.08, Y:-31.10, Z:-2.27 [[ 9.85712542e-01 1.68394624e-01 3.74630634e-03 2.45080639e+02] [-1.68393651e-01 9.85719659e-01 -5.75756812e-04 -3.11005632e+01] [-3.78976216e-03 -6.33234913e-05 9.99992817e-01 -2.26680587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87576923100002 meters Centerline goodness [0,1] 0.9999788140081778 Centerline is valid? [True, True] Translation: X:245.11, Y:-31.11, Z:-2.27 [[ 9.85575223e-01 1.69197736e-01 3.68873048e-03 2.45112236e+02] [-1.69196797e-01 9.85582123e-01 -5.67507582e-04 -3.11053627e+01] [-3.73156782e-03 -6.47999709e-05 9.99993036e-01 -2.26694970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90576923100002 meters Centerline goodness [0,1] 0.9998517608691049 Centerline is valid? [True, True] Translation: X:245.14, Y:-31.11, Z:-2.27 [[ 9.84972152e-01 1.72667761e-01 3.96291414e-03 2.45143499e+02] [-1.72666702e-01 9.84980120e-01 -6.10435077e-04 -3.11077774e+01] [-4.00879410e-03 -8.30017616e-05 9.99991961e-01 -2.26673593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93576923100002 meters Centerline goodness [0,1] 0.99987350045329 Centerline is valid? [True, True] Translation: X:245.18, Y:-31.11, Z:-2.27 [[ 9.84507757e-01 1.75295067e-01 4.01440370e-03 2.45175925e+02] [-1.75293999e-01 9.84515937e-01 -6.19158001e-04 -3.11090266e+01] [-4.06077977e-03 -9.41350246e-05 9.99991751e-01 -2.26675502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96576923100002 meters Centerline goodness [0,1] 0.99985288245308 Centerline is valid? [True, True] Translation: X:245.21, Y:-31.11, Z:-2.27 [[ 9.83980967e-01 1.78231439e-01 3.87443491e-03 2.45208213e+02] [-1.78230466e-01 9.83988589e-01 -5.97741711e-04 -3.11102681e+01] [-3.91893611e-03 -1.02375875e-04 9.99992316e-01 -2.26741872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99576923100003 meters Centerline goodness [0,1] 0.9996806404224062 Centerline is valid? [True, True] Translation: X:245.24, Y:-31.11, Z:-2.27 [[ 9.83210793e-01 1.82437302e-01 3.62863813e-03 2.45239253e+02] [-1.82436477e-01 9.83217483e-01 -5.60063340e-04 -3.11072947e+01] [-3.66991690e-03 -1.11335636e-04 9.99993260e-01 -2.26918763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02576923100003 meters Centerline goodness [0,1] 0.9996414334226235 Centerline is valid? [True, True] Translation: X:245.27, Y:-31.11, Z:-2.27 [[ 9.83106254e-01 1.83002317e-01 3.49932879e-03 2.45270080e+02] [-1.83001552e-01 9.83112476e-01 -5.40057565e-04 -3.11104252e+01] [-3.53906557e-03 -1.09448631e-04 9.99993731e-01 -2.27006546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05576923100003 meters Centerline goodness [0,1] 0.9995954520291275 Centerline is valid? [True, True] Translation: X:245.30, Y:-31.12, Z:-2.27 [[ 9.83243053e-01 1.82273063e-01 3.10296077e-03 2.45300488e+02] [-1.82272460e-01 9.83247945e-01 -4.78632743e-04 -3.11158491e+01] [-3.13822165e-03 -9.49719709e-05 9.99995071e-01 -2.27125343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08576923100003 meters Centerline goodness [0,1] 0.9996584699453552 Centerline is valid? [True, True] Translation: X:245.33, Y:-31.12, Z:-2.27 [[ 9.83428883e-01 1.81283525e-01 1.97894868e-03 2.45332212e+02] [-1.81283278e-01 9.83430872e-01 -3.05205223e-04 -3.11223040e+01] [-2.00148790e-03 -5.86026723e-05 9.99997995e-01 -2.27293635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11576923100003 meters Centerline goodness [0,1] 0.9996190153663802 Centerline is valid? [True, True] Translation: X:245.36, Y:-31.13, Z:-2.27 [[ 9.83607688e-01 1.80318548e-01 1.06615787e-03 2.45362193e+02] [-1.80318475e-01 9.83608266e-01 -1.64628876e-04 -3.11266748e+01] [-1.07836733e-03 -3.03177325e-05 9.99999418e-01 -2.27442203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14576923100003 meters Centerline goodness [0,1] 0.9997422348240753 Centerline is valid? [True, True] Translation: X:245.39, Y:-31.13, Z:-2.28 [[ 9.83754138e-01 1.79519867e-01 6.42658921e-04 2.45392141e+02] [-1.79519841e-01 9.83754348e-01 -9.93882478e-05 -3.11303627e+01] [-6.50060673e-04 -1.75964271e-05 9.99999789e-01 -2.27509057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.175769231 meters Centerline goodness [0,1] 0.9999358508318009 Centerline is valid? [True, True] Translation: X:245.42, Y:-31.14, Z:-2.27 [[ 9.84192629e-01 1.77098633e-01 9.71712302e-04 2.45422470e+02] [-1.77098570e-01 9.84193108e-01 -1.50268382e-04 -3.11355540e+01] [-9.82964875e-04 -2.41958255e-05 9.99999517e-01 -2.27469512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.205769231 meters Centerline goodness [0,1] 0.9998493975903614 Centerline is valid? [True, True] Translation: X:245.45, Y:-31.14, Z:-2.27 [[ 9.84466083e-01 1.75569045e-01 1.42901095e-03 2.45453430e+02] [-1.75568909e-01 9.84467120e-01 -2.21077696e-04 -3.11424524e+01] [-1.44562870e-03 -3.32463999e-05 9.99998955e-01 -2.27426527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.235769231 meters Centerline goodness [0,1] 0.9998934991905939 Centerline is valid? [True, True] Translation: X:245.48, Y:-31.15, Z:-2.27 [[ 9.85112096e-01 1.71898347e-01 2.26191038e-03 2.45484000e+02] [-1.71897997e-01 9.85114692e-01 -3.49968439e-04 -3.11516862e+01] [-2.28840014e-03 -4.40597208e-05 9.99997381e-01 -2.27379845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.265769231 meters Centerline goodness [0,1] 0.9998716714789863 Centerline is valid? [True, True] Translation: X:245.51, Y:-31.16, Z:-2.28 [[ 9.85523267e-01 1.69531128e-01 1.75694243e-03 2.45514033e+02] [-1.69530913e-01 9.85524833e-01 -2.71496985e-04 -3.11596884e+01] [-1.77753759e-03 -3.02894591e-05 9.99998420e-01 -2.27560453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.295769231 meters Centerline goodness [0,1] 0.9999362773210986 Centerline is valid? [True, True] Translation: X:245.54, Y:-31.18, Z:-2.28 [[ 9.86443051e-01 1.64103484e-01 -3.90855489e-04 2.45543408e+02] [-1.64103473e-01 9.86443129e-01 6.08607412e-05 -3.11765669e+01] [ 3.95544171e-04 4.10508775e-06 9.99999922e-01 -2.27866507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.325769231 meters Centerline goodness [0,1] 0.9999362773210986 Centerline is valid? [True, True] Translation: X:245.58, Y:-31.18, Z:-2.28 [[ 9.86412486e-01 1.64287112e-01 -3.90723249e-04 2.45575488e+02] [-1.64287100e-01 9.86412563e-01 6.17130257e-05 -3.11817390e+01] [ 3.95552976e-04 3.31629039e-06 9.99999922e-01 -2.27884841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.355769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.61, Y:-31.19, Z:-2.28 [[ 9.86727750e-01 1.62383252e-01 -1.61992265e-04 2.45606312e+02] [-1.62383250e-01 9.86727764e-01 2.60962703e-05 -3.11891257e+01] [ 1.64079862e-04 5.54916389e-07 9.99999987e-01 -2.27960353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.385769231 meters Centerline goodness [0,1] 0.9999786452549757 Centerline is valid? [True, True] Translation: X:245.64, Y:-31.20, Z:-2.28 [[ 9.86937277e-01 1.61102207e-01 9.43352635e-04 2.45637507e+02] [-1.61102141e-01 9.86937728e-01 -1.45821306e-04 -3.11992914e+01] [-9.54522440e-04 -8.05964697e-06 9.99999544e-01 -2.27661544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.67, Y:-31.21, Z:-2.27 [[ 9.87303984e-01 1.58804260e-01 3.47118950e-03 2.45668269e+02] [-1.58803345e-01 9.87310086e-01 -5.39622402e-04 -3.12076918e+01] [-3.51283474e-03 -1.84651542e-05 9.99993830e-01 -2.27356634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.70, Y:-31.21, Z:-2.27 [[ 9.87368597e-01 1.58402022e-01 3.47187940e-03 2.45700765e+02] [-1.58401101e-01 9.87374701e-01 -5.40281792e-04 -3.12144498e+01] [-3.51362762e-03 -1.64922457e-05 9.99993827e-01 -2.27390121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47576923100002 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:245.73, Y:-31.22, Z:-2.28 [[ 9.87196758e-01 1.59507228e-01 -6.76579032e-05 2.45731302e+02] [-1.59507227e-01 9.87196761e-01 1.06707636e-05 -3.12176974e+01] [ 6.84937268e-05 2.57781293e-07 9.99999998e-01 -2.28029434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.76, Y:-31.22, Z:-2.29 [[ 9.86934921e-01 1.61104586e-01 -2.18476364e-03 2.45763297e+02] [-1.61104225e-01 9.86937339e-01 3.41822181e-04 -3.12204242e+01] [ 2.21129394e-03 1.46184050e-05 9.99997555e-01 -2.28503150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53576923100002 meters Centerline goodness [0,1] 0.9999787052810903 Centerline is valid? [True, True] Translation: X:245.80, Y:-31.22, Z:-2.29 [[ 9.86732605e-01 1.62318886e-01 -3.36841371e-03 2.45795435e+02] [-1.62318033e-01 9.86738354e-01 5.27056344e-04 -3.12233071e+01] [ 3.40929420e-03 2.66906070e-05 9.99994188e-01 -2.28797682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56576923100002 meters Centerline goodness [0,1] 0.9999788346350033 Centerline is valid? [True, True] Translation: X:245.83, Y:-31.23, Z:-2.28 [[ 9.86635027e-01 1.62944689e-01 -5.93729869e-04 2.45827404e+02] [-1.62944662e-01 9.86635205e-01 9.37709808e-05 -3.12300882e+01] [ 6.01074274e-04 4.22737858e-06 9.99999819e-01 -2.28195980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59576923100002 meters Centerline goodness [0,1] 0.9999787960391001 Centerline is valid? [True, True] Translation: X:245.86, Y:-31.23, Z:-2.28 [[ 9.86646711e-01 1.62870871e-01 1.16020061e-03 2.45858911e+02] [-1.62870771e-01 9.86647394e-01 -1.80768375e-04 -3.12330966e+01] [-1.17415081e-03 -1.06082450e-05 9.99999311e-01 -2.27929874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62576923100002 meters Centerline goodness [0,1] 0.9999785844308813 Centerline is valid? [True, True] Translation: X:245.89, Y:-31.24, Z:-2.28 [[ 9.86603616e-01 1.63117528e-01 2.44480533e-03 2.45891481e+02] [-1.63117082e-01 9.86606645e-01 -3.82087571e-04 -3.12409018e+01] [-2.47438636e-03 -2.18205320e-05 9.99996938e-01 -2.27503436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.92, Y:-31.25, Z:-2.28 [[ 9.86599133e-01 1.63139809e-01 2.74845136e-03 2.45923050e+02] [-1.63139243e-01 9.86602961e-01 -4.30259867e-04 -3.12456923e+01] [-2.78182276e-03 -2.38862628e-05 9.99996130e-01 -2.27504151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.95, Y:-31.25, Z:-2.28 [[ 9.86601125e-01 1.63126371e-01 2.82970734e-03 2.45954518e+02] [-1.63125770e-01 9.86605183e-01 -4.43541518e-04 -3.12495945e+01] [-2.86415724e-03 -2.39996273e-05 9.99995898e-01 -2.27602477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.99, Y:-31.26, Z:-2.28 [[ 9.86686129e-01 1.62624399e-01 1.94608856e-03 2.45986392e+02] [-1.62624114e-01 9.86688048e-01 -3.05033201e-04 -3.12579205e+01] [-1.96978816e-03 -1.55088983e-05 9.99998060e-01 -2.27724006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.02, Y:-31.26, Z:-2.28 [[ 9.86709770e-01 1.62486440e-01 1.40984307e-03 2.46018721e+02] [-1.62486290e-01 9.86710777e-01 -2.20954885e-04 -3.12640646e+01] [-1.42700953e-03 -1.10618265e-05 9.99998982e-01 -2.27778377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77576923100003 meters Centerline goodness [0,1] 0.9999787978373794 Centerline is valid? [True, True] Translation: X:246.05, Y:-31.27, Z:-2.28 [[ 9.86682885e-01 1.62648305e-01 1.55351695e-03 2.46051539e+02] [-1.62648123e-01 9.86684108e-01 -2.43866987e-04 -3.12690095e+01] [-1.57249504e-03 -1.20572334e-05 9.99998764e-01 -2.27627490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80576923100003 meters Centerline goodness [0,1] 0.9999789402746189 Centerline is valid? [True, True] Translation: X:246.08, Y:-31.27, Z:-2.28 [[ 9.86630156e-01 1.62960855e-01 2.16661570e-03 2.46083498e+02] [-1.62960499e-01 9.86632535e-01 -3.41014320e-04 -3.12719143e+01] [-2.19322553e-03 -1.66177652e-05 9.99997595e-01 -2.27612389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83576923100003 meters Centerline goodness [0,1] 0.9999788891469105 Centerline is valid? [True, True] Translation: X:246.12, Y:-31.28, Z:-2.27 [[ 9.86533366e-01 1.63522618e-01 3.50307827e-03 2.46115496e+02] [-1.63521686e-01 9.86539585e-01 -5.52641269e-04 -3.12777579e+01] [-3.54629473e-03 -2.76302157e-05 9.99993711e-01 -2.27410220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.15, Y:-31.28, Z:-2.27 [[ 9.86242495e-01 1.65217180e-01 5.38740431e-03 2.46146269e+02] [-1.65214993e-01 9.86257208e-01 -8.51478793e-04 -3.12816902e+01] [-5.45404526e-03 -5.03153970e-05 9.99985125e-01 -2.27099540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.18, Y:-31.29, Z:-2.27 [[ 9.86019779e-01 1.66536133e-01 5.54184425e-03 2.46177735e+02] [-1.66533835e-01 9.86035351e-01 -8.76745276e-04 -3.12863858e+01] [-5.61046411e-03 -5.84163935e-05 9.99984260e-01 -2.27092017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.925769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.21, Y:-31.29, Z:-2.27 [[ 9.85777175e-01 1.68029835e-01 3.05560407e-03 2.46210213e+02] [-1.68029143e-01 9.85781910e-01 -4.83491013e-04 -3.12882398e+01] [-3.09340013e-03 -3.68161302e-05 9.99995215e-01 -2.27498062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.955769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.24, Y:-31.29, Z:-2.28 [[ 9.85761458e-01 1.68137358e-01 2.04385867e-03 2.46242054e+02] [-1.68137049e-01 9.85763576e-01 -3.23395318e-04 -3.12914173e+01] [-2.06913626e-03 -2.48577251e-05 9.99997859e-01 -2.27757576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.985769231 meters Centerline goodness [0,1] 0.9999787301924917 Centerline is valid? [True, True] Translation: X:246.27, Y:-31.30, Z:-2.28 [[ 9.85860275e-01 1.67560267e-01 1.75366655e-03 2.46273517e+02] [-1.67560038e-01 9.85861834e-01 -2.77720911e-04 -3.12986181e+01] [-1.77540791e-03 -2.00504190e-05 9.99998424e-01 -2.27807343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.015769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.30, Y:-31.31, Z:-2.28 [[ 9.86321644e-01 1.64804353e-01 3.02339393e-03 2.46304115e+02] [-1.64803655e-01 9.86326277e-01 -4.80016772e-04 -3.13075188e+01] [-3.06116173e-03 -2.48154395e-05 9.99995314e-01 -2.27562309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.045769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.34, Y:-31.32, Z:-2.27 [[ 9.86607679e-01 1.63067419e-01 3.78218970e-03 2.46335829e+02] [-1.63066312e-01 9.86614928e-01 -6.01380152e-04 -3.13150727e+01] [-3.82963033e-03 -2.34214492e-05 9.99992667e-01 -2.27463971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.075769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.37, Y:-31.32, Z:-2.27 [[ 9.87034382e-01 1.60461237e-01 3.91423367e-03 2.46367328e+02] [-1.60460028e-01 9.87042143e-01 -6.23050010e-04 -3.13236702e+01] [-3.96348896e-03 -1.31062609e-05 9.99992145e-01 -2.27454343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.105769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.40, Y:-31.33, Z:-2.28 [[ 9.87045361e-01 1.60413182e-01 3.01115238e-03 2.46399096e+02] [-1.60412465e-01 9.87049954e-01 -4.79729877e-04 -3.13289375e+01] [-3.04911281e-03 -9.51122637e-06 9.99995351e-01 -2.27669200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.135769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.43, Y:-31.33, Z:-2.28 [[ 9.86921672e-01 1.61196462e-01 1.14624144e-03 2.46430804e+02] [-1.61196359e-01 9.86922338e-01 -1.82109908e-04 -3.13341517e+01] [-1.16060676e-03 -5.04173271e-06 9.99999326e-01 -2.28104103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.165769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.46, Y:-31.34, Z:-2.28 [[ 9.86824744e-01 1.61791250e-01 7.17902483e-04 2.46462573e+02] [-1.61791210e-01 9.86825005e-01 -1.14061335e-04 -3.13396424e+01] [-7.26898248e-04 -3.59176362e-06 9.99999736e-01 -2.28297408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.195769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.49, Y:-31.35, Z:-2.28 [[ 9.86727428e-01 1.62385199e-01 1.75490574e-04 2.46493766e+02] [-1.62385197e-01 9.86727443e-01 -2.70688079e-05 -3.13455414e+01] [-1.77556939e-04 -1.78753626e-06 9.99999984e-01 -2.28422741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.53, Y:-31.35, Z:-2.28 [[ 9.86656946e-01 1.62812506e-01 3.97421709e-04 2.46525732e+02] [-1.62812494e-01 9.86657026e-01 -6.25865971e-05 -3.13526053e+01] [-4.02308802e-04 -2.95371878e-06 9.99999919e-01 -2.28395786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.56, Y:-31.36, Z:-2.28 [[ 9.86475741e-01 1.63883054e-01 2.82092817e-03 2.46557375e+02] [-1.63882433e-01 9.86479774e-01 -4.51469845e-04 -3.13603324e+01] [-2.85677684e-03 -1.69365219e-05 9.99995919e-01 -2.27928606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.59, Y:-31.37, Z:-2.28 [[ 9.86358490e-01 1.64551021e-01 4.45994634e-03 2.46589564e+02] [-1.64549469e-01 9.86368572e-01 -7.15175471e-04 -3.13670529e+01] [-4.51683375e-03 -2.84624037e-05 9.99989799e-01 -2.27642924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.62, Y:-31.38, Z:-2.27 [[ 9.86056648e-01 1.66300337e-01 6.04031496e-03 2.46620422e+02] [-1.66297515e-01 9.86075147e-01 -9.70137818e-04 -3.13750619e+01] [-6.11753871e-03 -4.78785216e-05 9.99981287e-01 -2.27474502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34576923100002 meters Centerline goodness [0,1] 0.99997891585317 Centerline is valid? [True, True] Translation: X:246.65, Y:-31.38, Z:-2.28 [[ 9.85828303e-01 1.67661284e-01 5.67889850e-03 2.46651330e+02] [-1.67658806e-01 9.85844659e-01 -9.12996081e-04 -3.13797514e+01] [-5.75158585e-03 -5.20599659e-05 9.99983458e-01 -2.27575949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.68, Y:-31.39, Z:-2.28 [[ 9.85531972e-01 1.69428904e-01 4.53642113e-03 2.46683232e+02] [-1.69427339e-01 9.85542411e-01 -7.29841423e-04 -3.13861627e+01] [-4.59449165e-03 -4.93117037e-05 9.99989444e-01 -2.27750344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40576923100002 meters Centerline goodness [0,1] 0.9999574286930609 Centerline is valid? [True, True] Translation: X:246.72, Y:-31.39, Z:-2.28 [[ 9.84925677e-01 1.72969626e-01 1.70839246e-03 2.46715184e+02] [-1.72969409e-01 9.84927159e-01 -2.75019157e-04 -3.13902940e+01] [-1.73021209e-03 -2.46262052e-05 9.99998503e-01 -2.28309190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.75, Y:-31.39, Z:-2.28 [[ 9.84528275e-01 1.75224206e-01 7.44395089e-04 2.46746959e+02] [-1.75224166e-01 9.84528556e-01 -1.19134316e-04 -3.13944253e+01] [-7.53753438e-04 -1.31449058e-05 9.99999716e-01 -2.28447310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46576923100002 meters Centerline goodness [0,1] 0.9999785752544188 Centerline is valid? [True, True] Translation: X:246.78, Y:-31.40, Z:-2.28 [[ 9.84141125e-01 1.77384277e-01 1.03128396e-03 2.46777504e+02] [-1.77384200e-01 9.84141666e-01 -1.65952275e-04 -3.13989897e+01] [-1.04436684e-03 -1.96130218e-05 9.99999454e-01 -2.28385100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49576923100003 meters Centerline goodness [0,1] 0.9999788476182419 Centerline is valid? [True, True] Translation: X:246.81, Y:-31.40, Z:-2.28 [[ 9.83514482e-01 1.80822951e-01 1.52415607e-03 2.46808736e+02] [-1.80822788e-01 9.83515663e-01 -2.45371673e-04 -3.14033257e+01] [-1.54340020e-03 -3.42755563e-05 9.99998808e-01 -2.28178642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52576923100003 meters Centerline goodness [0,1] 0.9999147957227453 Centerline is valid? [True, True] Translation: X:246.84, Y:-31.41, Z:-2.28 [[ 9.83077523e-01 1.83180275e-01 1.88956194e-03 2.46840195e+02] [-1.83180028e-01 9.83079338e-01 -3.04699512e-04 -3.14051865e+01] [-1.91340424e-03 -4.65867671e-05 9.99998168e-01 -2.28196740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55576923100003 meters Centerline goodness [0,1] 0.9999149840595112 Centerline is valid? [True, True] Translation: X:246.87, Y:-31.40, Z:-2.28 [[ 9.82198180e-01 1.87830740e-01 2.51945508e-03 2.46871112e+02] [-1.87830312e-01 9.82201409e-01 -4.07374539e-04 -3.14041194e+01] [-2.55112979e-03 -7.31075042e-05 9.99996743e-01 -2.28188175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58576923100003 meters Centerline goodness [0,1] 0.9997449630196379 Centerline is valid? [True, True] Translation: X:246.90, Y:-31.41, Z:-2.28 [[ 9.81780185e-01 1.90002403e-01 2.59895072e-03 2.46903206e+02] [-1.90001956e-01 9.81783622e-01 -4.20157416e-04 -3.14070470e+01] [-2.63143817e-03 -8.13034941e-05 9.99996534e-01 -2.28185328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61576923100003 meters Centerline goodness [0,1] 0.9997256342070828 Centerline is valid? [True, True] Translation: X:246.93, Y:-31.41, Z:-2.28 [[ 9.81524363e-01 1.91317040e-01 2.77770131e-03 2.46933899e+02] [-1.91316535e-01 9.81528289e-01 -4.49106604e-04 -3.14090948e+01] [-2.81231416e-03 -9.06111158e-05 9.99996041e-01 -2.28167121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64576923100003 meters Centerline goodness [0,1] 0.9996803069053708 Centerline is valid? [True, True] Translation: X:246.96, Y:-31.41, Z:-2.28 [[ 9.81276969e-01 1.92583011e-01 2.70069472e-03 2.46964814e+02] [-1.92582537e-01 9.81280681e-01 -4.36863033e-04 -3.14103191e+01] [-2.73427196e-03 -9.14230099e-05 9.99996258e-01 -2.28238938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67576923100003 meters Centerline goodness [0,1] 0.9995133716993907 Centerline is valid? [True, True] Translation: X:247.00, Y:-31.42, Z:-2.28 [[ 9.81329591e-01 1.92315222e-01 2.66239870e-03 2.46995315e+02] [-1.92314760e-01 9.81333199e-01 -4.30679173e-04 -3.14159143e+01] [-2.69552640e-03 -8.93803519e-05 9.99996363e-01 -2.28280522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.705769231 meters Centerline goodness [0,1] 0.9996191201675871 Centerline is valid? [True, True] Translation: X:247.03, Y:-31.42, Z:-2.28 [[ 9.81589557e-01 1.90990029e-01 2.17961477e-03 2.47027225e+02] [-1.90989716e-01 9.81591974e-01 -3.53065877e-04 -3.14235057e+01] [-2.20692443e-03 -6.97182276e-05 9.99997562e-01 -2.28399306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.735769231 meters Centerline goodness [0,1] 0.9996830762729769 Centerline is valid? [True, True] Translation: X:247.06, Y:-31.43, Z:-2.28 [[ 9.81878565e-01 1.89499608e-01 2.09339771e-03 2.47057632e+02] [-1.89499315e-01 9.81880794e-01 -3.39088446e-04 -3.14312287e+01] [-2.11972414e-03 -6.37537562e-05 9.99997751e-01 -2.28429057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.765769231 meters Centerline goodness [0,1] 0.9998310275636287 Centerline is valid? [True, True] Translation: X:247.09, Y:-31.44, Z:-2.28 [[ 9.82275241e-01 1.87406042e-01 3.78495738e-03 2.47087587e+02] [-1.87405067e-01 9.82282528e-01 -6.13958722e-04 -3.14391688e+01] [-3.83295708e-03 -1.06243740e-04 9.99992649e-01 -2.28068567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.795769231 meters Centerline goodness [0,1] 0.999829703897652 Centerline is valid? [True, True] Translation: X:247.12, Y:-31.45, Z:-2.28 [[ 9.82311056e-01 1.87182643e-01 5.25802578e-03 2.47119025e+02] [-1.87180757e-01 9.82325118e-01 -8.53030854e-04 -3.14450052e+01] [-5.32476337e-03 -1.46259604e-04 9.99985813e-01 -2.27798059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.825769231 meters Centerline goodness [0,1] 0.9998077169593642 Centerline is valid? [True, True] Translation: X:247.15, Y:-31.45, Z:-2.28 [[ 9.81919456e-01 1.89195857e-01 6.25384552e-03 2.47150666e+02] [-1.89193221e-01 9.81939353e-01 -1.01572315e-03 -3.14453603e+01] [-6.33306764e-03 -1.85826853e-04 9.99979929e-01 -2.27515704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.855769231 meters Centerline goodness [0,1] 0.9995079792923459 Centerline is valid? [True, True] Translation: X:247.18, Y:-31.45, Z:-2.28 [[ 9.81423577e-01 1.91762845e-01 5.89689108e-03 2.47182702e+02] [-1.91760543e-01 9.81441274e-01 -9.58552900e-04 -3.14453693e+01] [-5.97126713e-03 -1.90044621e-04 9.99982154e-01 -2.27550719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.885769231 meters Centerline goodness [0,1] 0.9991264142501012 Centerline is valid? [True, True] Translation: X:247.21, Y:-31.45, Z:-2.28 [[ 9.80966642e-01 1.94099386e-01 5.46577930e-03 2.47214493e+02] [-1.94097441e-01 9.80981851e-01 -8.89212967e-04 -3.14454762e+01] [-5.53442599e-03 -1.88605515e-04 9.99984667e-01 -2.27680753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.915769231 meters Centerline goodness [0,1] 0.9986700986700987 Centerline is valid? [True, True] Translation: X:247.25, Y:-31.45, Z:-2.28 [[ 9.80675778e-01 1.95561919e-01 5.52755972e-03 2.47245726e+02] [-1.95559952e-01 9.80691336e-01 -8.99387500e-04 -3.14476734e+01] [-5.59671587e-03 -1.98961778e-04 9.99984318e-01 -2.27747001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.945769231 meters Centerline goodness [0,1] 0.9996598856365453 Centerline is valid? [True, True] Translation: X:247.28, Y:-31.46, Z:-2.28 [[ 9.80849023e-01 1.94660447e-01 6.51957664e-03 2.47275891e+02] [-1.94657689e-01 9.80870663e-01 -1.06110063e-03 -3.14626918e+01] [-6.60141579e-03 -2.28306203e-04 9.99978184e-01 -2.27688736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97576923100002 meters Centerline goodness [0,1] 0.9989697007926996 Centerline is valid? [True, True] Translation: X:247.31, Y:-31.46, Z:-2.28 [[ 9.81236574e-01 1.92678354e-01 7.05956505e-03 2.47306685e+02] [-1.92675061e-01 9.81261942e-01 -1.15009118e-03 -3.14622618e+01] [-7.14888018e-03 -2.31690596e-04 9.99974420e-01 -2.27590595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00576923100002 meters Centerline goodness [0,1] 0.999936263782957 Centerline is valid? [True, True] Translation: X:247.34, Y:-31.48, Z:-2.28 [[ 9.81896771e-01 1.89313708e-01 6.24905637e-03 2.47335953e+02] [-1.89311058e-01 9.81916639e-01 -1.01842102e-03 -3.14808597e+01] [-6.32885349e-03 -1.83031163e-04 9.99979956e-01 -2.27863932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03576923100002 meters Centerline goodness [0,1] 0.9998093341524903 Centerline is valid? [True, True] Translation: X:247.37, Y:-31.48, Z:-2.28 [[ 9.82033050e-01 1.88647757e-01 4.80756235e-03 2.47367264e+02] [-1.88646180e-01 9.82044808e-01 -7.83579499e-04 -3.14831096e+01] [-4.86906216e-03 -1.37427304e-04 9.99988137e-01 -2.28154394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06576923100002 meters Centerline goodness [0,1] 0.9995749293320014 Centerline is valid? [True, True] Translation: X:247.40, Y:-31.48, Z:-2.28 [[ 9.81951244e-01 1.89103308e-01 3.41961891e-03 2.47399003e+02] [-1.89102512e-01 9.81957193e-01 -5.57419304e-04 -3.14809009e+01] [-3.46332922e-03 -9.92999482e-05 9.99993998e-01 -2.28425995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09576923100002 meters Centerline goodness [0,1] 0.9996608085476246 Centerline is valid? [True, True] Translation: X:247.43, Y:-31.48, Z:-2.29 [[ 9.81614644e-01 1.90863142e-01 1.98810282e-03 2.47429536e+02] [-1.90862876e-01 9.81616655e-01 -3.24565159e-04 -3.14789592e+01] [-2.01350236e-03 -6.08571083e-05 9.99997971e-01 -2.28800238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12576923100002 meters Centerline goodness [0,1] 0.9999785274097615 Centerline is valid? [True, True] Translation: X:247.46, Y:-31.49, Z:-2.29 [[ 9.81424144e-01 1.91830351e-01 2.78688347e-03 2.47459391e+02] [-1.91829833e-01 9.81428097e-01 -4.54527181e-04 -3.14924651e+01] [-2.82231785e-03 -8.85234405e-05 9.99996013e-01 -2.28599398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15576923100002 meters Centerline goodness [0,1] 0.9996421730619461 Centerline is valid? [True, True] Translation: X:247.49, Y:-31.48, Z:-2.28 [[ 9.81021707e-01 1.93794645e-01 6.32816172e-03 2.47492581e+02] [-1.93792001e-01 9.81042094e-01 -1.03416800e-03 -3.14816067e+01] [-6.40860925e-03 -2.11805861e-04 9.99979442e-01 -2.28026781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18576923100002 meters Centerline goodness [0,1] 0.9997652532064278 Centerline is valid? [True, True] Translation: X:247.52, Y:-31.49, Z:-2.28 [[ 9.80796393e-01 1.94916431e-01 6.78377588e-03 2.47523617e+02] [-1.94913415e-01 9.80819825e-01 -1.10935152e-03 -3.14930660e+01] [-6.86989271e-03 -2.34200955e-04 9.99976375e-01 -2.27901277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21576923100002 meters Centerline goodness [0,1] 0.9998719562944152 Centerline is valid? [True, True] Translation: X:247.55, Y:-31.49, Z:-2.29 [[ 9.80681235e-01 1.95594754e-01 2.64706070e-03 2.47554656e+02] [-1.95594297e-01 9.80684803e-01 -4.33169585e-04 -3.14932128e+01] [-2.68065790e-03 -9.29486914e-05 9.99996403e-01 -2.28571760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24576923100003 meters Centerline goodness [0,1] 0.9998719562944152 Centerline is valid? [True, True] Translation: X:247.59, Y:-31.50, Z:-2.29 [[ 9.80644725e-01 1.95777723e-01 2.64712860e-03 2.47586713e+02] [-1.95777268e-01 9.80648293e-01 -4.32755084e-04 -3.14986438e+01] [-2.68062595e-03 -9.38686150e-05 9.99996403e-01 -2.28590103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27576923100003 meters Centerline goodness [0,1] 0.9995349722040203 Centerline is valid? [True, True] Translation: X:247.62, Y:-31.50, Z:-2.29 [[ 9.80637092e-01 1.95833830e-01 -6.59002142e-05 2.47618288e+02] [-1.95833830e-01 9.80637094e-01 1.16715431e-05 -3.14994965e+01] [ 6.69098775e-05 1.45994327e-06 9.99999998e-01 -2.29182516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30576923100003 meters Centerline goodness [0,1] 0.9997014225084775 Centerline is valid? [True, True] Translation: X:247.65, Y:-31.50, Z:-2.30 [[ 9.80676466e-01 1.95628196e-01 -1.81073757e-03 2.47649309e+02] [-1.95627980e-01 9.80678135e-01 2.97206642e-04 -3.15034923e+01] [ 1.83389274e-03 6.27673736e-05 9.99998316e-01 -2.29589190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33576923100003 meters Centerline goodness [0,1] 0.999597338193532 Centerline is valid? [True, True] Translation: X:247.68, Y:-31.51, Z:-2.30 [[ 9.80744501e-01 1.95286465e-01 -1.84957198e-03 2.47680106e+02] [-1.95286239e-01 9.80746243e-01 3.03621568e-04 -3.15068387e+01] [ 1.87325395e-03 6.34207729e-05 9.99998243e-01 -2.29651256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36576923100003 meters Centerline goodness [0,1] 0.9998725411054935 Centerline is valid? [True, True] Translation: X:247.71, Y:-31.51, Z:-2.29 [[ 9.80968148e-01 1.94159221e-01 1.92078331e-03 2.47711048e+02] [-1.94158976e-01 9.80970026e-01 -3.15140384e-04 -3.15105195e+01] [-1.94541827e-03 -6.37946420e-05 9.99998106e-01 -2.28851540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39576923100003 meters Centerline goodness [0,1] 0.9998713964205337 Centerline is valid? [True, True] Translation: X:247.74, Y:-31.51, Z:-2.28 [[ 9.81044579e-01 1.93741577e-01 3.96686815e-03 2.47741506e+02] [-1.93740528e-01 9.81052590e-01 -6.50842854e-04 -3.15144261e+01] [-4.01780159e-03 -1.30037276e-04 9.99991920e-01 -2.28456929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42576923100003 meters Centerline goodness [0,1] 0.9998500974366662 Centerline is valid? [True, True] Translation: X:247.77, Y:-31.52, Z:-2.28 [[ 9.81159742e-01 1.93093123e-01 6.37226627e-03 2.47773083e+02] [-1.93090397e-01 9.81180414e-01 -1.04608504e-03 -3.15182528e+01] [-6.45433468e-03 -2.04046898e-04 9.99979150e-01 -2.28057423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.455769231 meters Centerline goodness [0,1] 0.9995787345184936 Centerline is valid? [True, True] Translation: X:247.80, Y:-31.52, Z:-2.28 [[ 9.81147610e-01 1.93148323e-01 6.56445764e-03 2.47804421e+02] [-1.93145430e-01 9.81169548e-01 -1.07792004e-03 -3.15224962e+01] [-6.64904438e-03 -2.10296325e-04 9.99977873e-01 -2.28138277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.485769231 meters Centerline goodness [0,1] 0.9997670774573328 Centerline is valid? [True, True] Translation: X:247.83, Y:-31.53, Z:-2.28 [[ 9.81196855e-01 1.92904809e-01 6.36125435e-03 2.47834855e+02] [-1.92902081e-01 9.81217455e-01 -1.04538382e-03 -3.15278608e+01] [-6.44343337e-03 -2.01371889e-04 9.99979221e-01 -2.28241450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.515769231 meters Centerline goodness [0,1] 0.9998524607440193 Centerline is valid? [True, True] Translation: X:247.87, Y:-31.53, Z:-2.29 [[ 9.81363598e-01 1.92101754e-01 4.73333155e-03 2.47865193e+02] [-1.92100234e-01 9.81375002e-01 -7.77943701e-04 -3.15298317e+01] [-4.79461761e-03 -1.45828470e-04 9.99988495e-01 -2.28564107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.545769231 meters Centerline goodness [0,1] 0.9998295333475389 Centerline is valid? [True, True] Translation: X:247.90, Y:-31.53, Z:-2.29 [[ 9.81413748e-01 1.91868438e-01 3.68216698e-03 2.47895832e+02] [-1.91867516e-01 9.81420649e-01 -6.05186843e-04 -3.15337299e+01] [-3.72987096e-03 -1.12549545e-04 9.99993038e-01 -2.28747589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.575769231 meters Centerline goodness [0,1] 0.9998931783707565 Centerline is valid? [True, True] Translation: X:247.93, Y:-31.54, Z:-2.29 [[ 9.81592273e-01 1.90973945e-01 2.35833435e-03 2.47926143e+02] [-1.90973565e-01 9.81595104e-01 -3.87613850e-04 -3.15410773e+01] [-2.38895359e-03 -6.99007575e-05 9.99997144e-01 -2.28909813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.605769231 meters Centerline goodness [0,1] 0.9999149822525453 Centerline is valid? [True, True] Translation: X:247.96, Y:-31.54, Z:-2.29 [[ 9.81712702e-01 1.90347747e-01 2.81165900e-03 2.47956299e+02] [-1.90347203e-01 9.81716725e-01 -4.62245325e-04 -3.15437591e+01] [-2.84824003e-03 -8.13993198e-05 9.99995940e-01 -2.28847459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.635769231 meters Centerline goodness [0,1] 0.9998935943817834 Centerline is valid? [True, True] Translation: X:247.99, Y:-31.55, Z:-2.29 [[ 9.81832847e-01 1.89717607e-01 3.38977371e-03 2.47986334e+02] [-1.89716812e-01 9.81838694e-01 -5.57367306e-04 -3.15478908e+01] [-3.43395338e-03 -9.58555324e-05 9.99994099e-01 -2.28691275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.665769231 meters Centerline goodness [0,1] 0.9999787775891341 Centerline is valid? [True, True] Translation: X:248.02, Y:-31.55, Z:-2.29 [[ 9.82088801e-01 1.88360959e-01 4.66220434e-03 2.48016915e+02] [-1.88359441e-01 9.82099859e-01 -7.66577695e-04 -3.15532584e+01] [-4.72314353e-03 -1.25322832e-04 9.99988838e-01 -2.28580879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.695769231 meters Centerline goodness [0,1] 0.9999786516374194 Centerline is valid? [True, True] Translation: X:248.05, Y:-31.56, Z:-2.29 [[ 9.82394676e-01 1.86753482e-01 4.88239536e-03 2.48046949e+02] [-1.86751797e-01 9.82406801e-01 -8.02841768e-04 -3.15579220e+01] [-4.94643190e-03 -1.23088628e-04 9.99987759e-01 -2.28545640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72576923100002 meters Centerline goodness [0,1] 0.9999578085775161 Centerline is valid? [True, True] Translation: X:248.08, Y:-31.57, Z:-2.28 [[ 9.82850935e-01 1.84326894e-01 5.25687612e-03 2.48077289e+02] [-1.84324906e-01 9.82864987e-01 -8.64481660e-04 -3.15667687e+01] [-5.32614670e-03 -1.19316587e-04 9.99985809e-01 -2.28456476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.11, Y:-31.58, Z:-2.28 [[ 9.83875033e-01 1.78771361e-01 5.54257580e-03 2.48106344e+02] [-1.78769061e-01 9.83890640e-01 -9.11596744e-04 -3.15815417e+01] [-5.61625584e-03 -9.39437951e-05 9.99984224e-01 -2.28424272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78576923100002 meters Centerline goodness [0,1] 0.9999786598378148 Centerline is valid? [True, True] Translation: X:248.14, Y:-31.59, Z:-2.29 [[ 9.84265375e-01 1.76638634e-01 4.52371302e-03 2.48137345e+02] [-1.76637080e-01 9.84275769e-01 -7.43904253e-04 -3.15903720e+01] [-4.58398334e-03 -6.68562602e-05 9.99989491e-01 -2.28646356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.17, Y:-31.60, Z:-2.29 [[ 9.84646331e-01 1.74554170e-01 1.56351871e-03 2.48168140e+02] [-1.74553982e-01 9.84647572e-01 -2.56738548e-04 -3.16022646e+01] [-1.58432969e-03 -2.01217481e-05 9.99998745e-01 -2.29089337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.20, Y:-31.61, Z:-2.29 [[ 9.84555824e-01 1.75067422e-01 1.10787814e-03 2.48200049e+02] [-1.75067329e-01 9.84556447e-01 -1.81779939e-04 -3.16051710e+01] [-1.12259231e-03 -1.49807684e-05 9.99999370e-01 -2.29244976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.23, Y:-31.61, Z:-2.29 [[ 9.84229268e-01 1.76890073e-01 1.62797270e-03 2.48232293e+02] [-1.76889871e-01 9.84230614e-01 -2.67970134e-04 -3.16070838e+01] [-1.64970182e-03 -2.42278314e-05 9.99998639e-01 -2.29064405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90576923100002 meters Centerline goodness [0,1] 0.9999789726012995 Centerline is valid? [True, True] Translation: X:248.26, Y:-31.60, Z:-2.29 [[ 9.83301203e-01 1.81924118e-01 4.72864556e-03 2.48264113e+02] [-1.81922465e-01 9.83312568e-01 -7.80987086e-04 -3.15984737e+01] [-4.79181699e-03 -9.23013165e-05 9.99988515e-01 -2.28542381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.30, Y:-31.60, Z:-2.28 [[ 9.82802647e-01 1.84582649e-01 5.31056448e-03 2.48295217e+02] [-1.84580601e-01 9.82816988e-01 -8.77460497e-04 -3.16014683e+01] [-5.38127697e-03 -1.17856681e-04 9.99985514e-01 -2.28462194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96576923100002 meters Centerline goodness [0,1] 0.9999150995457826 Centerline is valid? [True, True] Translation: X:248.33, Y:-31.60, Z:-2.29 [[ 9.81937276e-01 1.89164572e-01 3.99392822e-03 2.48327474e+02] [-1.89163451e-01 9.81945392e-01 -6.59973179e-04 -3.15992112e+01] [-4.04666296e-03 -1.07452982e-04 9.99991806e-01 -2.28725176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99576923100003 meters Centerline goodness [0,1] 0.9999153008935756 Centerline is valid? [True, True] Translation: X:248.36, Y:-31.60, Z:-2.29 [[ 9.81622086e-01 1.90803791e-01 3.46326862e-03 2.48358165e+02] [-1.90802959e-01 9.81628190e-01 -5.72302711e-04 -3.15974553e+01] [-3.50883963e-03 -9.90169186e-05 9.99993839e-01 -2.28871876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02576923100003 meters Centerline goodness [0,1] 0.9999575776858628 Centerline is valid? [True, True] Translation: X:248.39, Y:-31.60, Z:-2.29 [[ 9.81487792e-01 1.91491625e-01 3.55972204e-03 2.48387745e+02] [-1.91490749e-01 9.81494242e-01 -5.88558046e-04 -3.15983740e+01] [-3.60655062e-03 -1.03991303e-04 9.99993491e-01 -2.28905707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05576923100003 meters Centerline goodness [0,1] 0.9997041982716728 Centerline is valid? [True, True] Translation: X:248.42, Y:-31.59, Z:-2.29 [[ 9.81781381e-01 1.89961158e-01 4.48087427e-03 2.48417974e+02] [-1.89959755e-01 9.81791599e-01 -7.40732160e-04 -3.15921620e+01] [-4.53999505e-03 -1.23948733e-04 9.99989686e-01 -2.28838447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08576923100003 meters Centerline goodness [0,1] 0.9999575055773929 Centerline is valid? [True, True] Translation: X:248.45, Y:-31.61, Z:-2.29 [[ 9.82068300e-01 1.88458262e-01 5.03362490e-03 2.48446984e+02] [-1.88456472e-01 9.82081191e-01 -8.31883405e-04 -3.16063463e+01] [-5.10020364e-03 -1.31652865e-04 9.99986985e-01 -2.28711050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.48, Y:-31.61, Z:-2.29 [[ 9.82618436e-01 1.85574669e-01 4.80123875e-03 2.48477417e+02] [-1.85573006e-01 9.82630159e-01 -7.93514227e-04 -3.16100845e+01] [-4.86509814e-03 -1.11258599e-04 9.99988159e-01 -2.28772427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.51, Y:-31.61, Z:-2.29 [[ 9.82870021e-01 1.84259999e-01 3.84373891e-03 2.48506569e+02] [-1.84258923e-01 9.82877533e-01 -6.35286400e-04 -3.16134962e+01] [-3.89498249e-03 -8.38392362e-05 9.99992411e-01 -2.28977937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.54, Y:-31.62, Z:-2.29 [[ 9.83142957e-01 1.82808389e-01 3.31948885e-03 2.48536107e+02] [-1.82807579e-01 9.83148559e-01 -5.48581032e-04 -3.16207304e+01] [-3.36383589e-03 -6.74941421e-05 9.99994340e-01 -2.29130309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.205769231 meters Centerline goodness [0,1] 0.9999788793376561 Centerline is valid? [True, True] Translation: X:248.57, Y:-31.63, Z:-2.29 [[ 9.84101109e-01 1.77573235e-01 3.57122388e-03 2.48565602e+02] [-1.77572262e-01 9.84107587e-01 -5.90134102e-04 -3.16313483e+01] [-3.61926054e-03 -5.33986794e-05 9.99993449e-01 -2.29101512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.235769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.60, Y:-31.64, Z:-2.29 [[ 9.84721110e-01 1.74093367e-01 3.97936013e-03 2.48596878e+02] [-1.74092131e-01 9.84729149e-01 -6.57463151e-04 -3.16413682e+01] [-4.03305189e-03 -4.53574420e-05 9.99991866e-01 -2.29067745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.265769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.63, Y:-31.66, Z:-2.29 [[ 9.85803417e-01 1.67856252e-01 3.98763979e-03 2.48627226e+02] [-1.67854957e-01 9.85811482e-01 -6.59620597e-04 -3.16565112e+01] [-4.04178254e-03 -1.90888678e-05 9.99991832e-01 -2.29072557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.295769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.66, Y:-31.67, Z:-2.29 [[ 9.86225936e-01 1.65353013e-01 4.09675510e-03 2.48657480e+02] [-1.65351623e-01 9.86234445e-01 -6.78059576e-04 -3.16670782e+01] [-4.15248018e-03 -8.68516528e-06 9.99991378e-01 -2.29083363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.325769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.69, Y:-31.68, Z:-2.29 [[ 9.87050166e-01 1.60376962e-01 3.34665356e-03 2.48687875e+02] [-1.60376006e-01 9.87055839e-01 -5.53918618e-04 -3.16830985e+01] [-3.39216972e-03 1.00225330e-05 9.99994247e-01 -2.29352063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.355769231 meters Centerline goodness [0,1] 0.9999788717515318 Centerline is valid? [True, True] Translation: X:248.72, Y:-31.70, Z:-2.30 [[ 9.87479296e-01 1.57722009e-01 2.89967702e-03 2.48718402e+02] [-1.57721278e-01 9.87483553e-01 -4.80413713e-04 -3.16950082e+01] [-2.93915518e-03 1.70578305e-05 9.99995681e-01 -2.29526891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.385769231 meters Centerline goodness [0,1] 0.9999578947368422 Centerline is valid? [True, True] Translation: X:248.75, Y:-31.71, Z:-2.30 [[ 9.87797146e-01 1.55718319e-01 2.93303883e-03 2.48748169e+02] [-1.55717560e-01 9.87801501e-01 -4.86646582e-04 -3.17078784e+01] [-2.97303994e-03 2.39824539e-05 9.99995580e-01 -2.29556853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.415769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.78, Y:-31.73, Z:-2.29 [[ 9.88069471e-01 1.53969266e-01 3.49088828e-03 2.48778270e+02] [-1.53968180e-01 9.88075637e-01 -5.79461743e-04 -3.17250792e+01] [-3.53848096e-03 3.50627425e-05 9.99993739e-01 -2.29298909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.445769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.81, Y:-31.73, Z:-2.29 [[ 9.87956359e-01 1.54695818e-01 3.38177272e-03 2.48811164e+02] [-1.54694801e-01 9.87962146e-01 -5.61806773e-04 -3.17308742e+01] [-3.42797259e-03 3.18979157e-05 9.99994124e-01 -2.29217878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.84, Y:-31.73, Z:-2.29 [[ 9.87291815e-01 1.58878729e-01 3.52427560e-03 2.48842704e+02] [-1.58877648e-01 9.87298105e-01 -5.86319586e-04 -3.17330300e+01] [-3.57266434e-03 1.89399088e-05 9.99993618e-01 -2.29328467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.87, Y:-31.74, Z:-2.29 [[ 9.86841161e-01 1.61655863e-01 3.45027978e-03 2.48874930e+02] [-1.61654842e-01 9.86847193e-01 -5.74547724e-04 -3.17362094e+01] [-3.49777792e-03 9.23290981e-06 9.99993883e-01 -2.29355338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.91, Y:-31.74, Z:-2.29 [[ 9.86428207e-01 1.64149964e-01 3.76596276e-03 2.48907388e+02] [-1.64148764e-01 9.86435395e-01 -6.27779591e-04 -3.17405524e+01] [-3.81792896e-03 1.08136348e-06 9.99992712e-01 -2.29265340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.94, Y:-31.74, Z:-2.29 [[ 9.85730012e-01 1.68292699e-01 3.72976668e-03 2.48940950e+02] [-1.68291549e-01 9.85737068e-01 -6.22436225e-04 -3.17408491e+01] [-3.78132074e-03 -1.41341441e-05 9.99992851e-01 -2.29064938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.97, Y:-31.74, Z:-2.29 [[ 9.85231277e-01 1.71174714e-01 4.30670666e-03 2.48973348e+02] [-1.71173203e-01 9.85240690e-01 -7.19712834e-04 -3.17394852e+01] [-4.36633927e-03 -2.81091794e-05 9.99990467e-01 -2.29011108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.01, Y:-31.73, Z:-2.29 [[ 9.84077161e-01 1.77654979e-01 5.55422634e-03 2.49007464e+02] [-1.77652563e-01 9.84092833e-01 -9.29355219e-04 -3.17315345e+01] [-5.63097891e-03 -7.21653004e-05 9.99984143e-01 -2.28888552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.04, Y:-31.73, Z:-2.29 [[ 9.83663174e-01 1.79919882e-01 5.96619348e-03 2.49039404e+02] [-1.79917133e-01 9.83681263e-01 -9.98637329e-04 -3.17320340e+01] [-6.04850745e-03 -9.10976620e-05 9.99981703e-01 -2.28799147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68576923100002 meters Centerline goodness [0,1] 0.9999786343047603 Centerline is valid? [True, True] Translation: X:249.07, Y:-31.73, Z:-2.29 [[ 9.83449988e-01 1.81081462e-01 5.96868175e-03 2.49071315e+02] [-1.81078727e-01 9.83468095e-01 -9.99984720e-04 -3.17345562e+01] [-6.05108677e-03 -9.73663326e-05 9.99981687e-01 -2.28742267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71576923100002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.10, Y:-31.74, Z:-2.29 [[ 9.83337466e-01 1.81712239e-01 5.30008127e-03 2.49103479e+02] [-1.81710087e-01 9.83351745e-01 -8.88744365e-04 -3.17374424e+01] [-5.37333989e-03 -8.91425980e-05 9.99985560e-01 -2.28919267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.14, Y:-31.74, Z:-2.30 [[ 9.83347727e-01 1.81716054e-01 2.55403309e-03 2.49135059e+02] [-1.81715553e-01 9.83351043e-01 -4.28650219e-04 -3.17375828e+01] [-2.58940373e-03 -4.25953171e-05 9.99996647e-01 -2.29622922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.16, Y:-31.74, Z:-2.30 [[ 9.83741899e-01 1.79567020e-01 2.74977411e-03 2.49164742e+02] [-1.79566431e-01 9.83745741e-01 -4.61610612e-04 -3.17444390e+01] [-2.78796861e-03 -3.96614212e-05 9.99996113e-01 -2.29608560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80576923100003 meters Centerline goodness [0,1] 0.9999788695192816 Centerline is valid? [True, True] Translation: X:249.20, Y:-31.75, Z:-2.29 [[ 9.84009320e-01 1.78077576e-01 3.74634369e-03 2.49195631e+02] [-1.78076472e-01 9.84016450e-01 -6.28953941e-04 -3.17505218e+01] [-3.79846642e-03 -4.82391287e-05 9.99992785e-01 -2.29382344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83576923100003 meters Centerline goodness [0,1] 0.9999787559483345 Centerline is valid? [True, True] Translation: X:249.23, Y:-31.76, Z:-2.29 [[ 9.84344125e-01 1.76201463e-01 4.43703721e-03 2.49225801e+02] [-1.76199894e-01 9.84354124e-01 -7.45038606e-04 -3.17567445e+01] [-4.49889277e-03 -4.84311102e-05 9.99989879e-01 -2.29206360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86576923100003 meters Centerline goodness [0,1] 0.9999787315496192 Centerline is valid? [True, True] Translation: X:249.26, Y:-31.76, Z:-2.29 [[ 9.84555526e-01 1.75009466e-01 4.70136120e-03 2.49257501e+02] [-1.75007691e-01 9.84566750e-01 -7.89418800e-04 -3.17643327e+01] [-4.76695968e-03 -4.55477273e-05 9.99988637e-01 -2.29216549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89576923100003 meters Centerline goodness [0,1] 0.9998943810730883 Centerline is valid? [True, True] Translation: X:249.29, Y:-31.78, Z:-2.29 [[ 9.84910541e-01 1.73004440e-01 4.54856536e-03 2.49287562e+02] [-1.73002755e-01 9.84921044e-01 -7.64474065e-04 -3.17783617e+01] [-4.61223515e-03 -3.39757713e-05 9.99989363e-01 -2.29319992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92576923100003 meters Centerline goodness [0,1] 0.9999365159979685 Centerline is valid? [True, True] Translation: X:249.32, Y:-31.78, Z:-2.29 [[ 9.84669311e-01 1.74336235e-01 5.76409404e-03 2.49318420e+02] [-1.74333543e-01 9.84686181e-01 -9.69956166e-04 -3.17800380e+01] [-5.84492225e-03 -4.97888680e-05 9.99982917e-01 -2.29070594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.955769231 meters Centerline goodness [0,1] 0.9999571091571949 Centerline is valid? [True, True] Translation: X:249.35, Y:-31.78, Z:-2.29 [[ 9.84193029e-01 1.76980972e-01 6.46663068e-03 2.49350249e+02] [-1.76977636e-01 9.84214270e-01 -1.08914448e-03 -3.17787803e+01] [-6.55730805e-03 -7.25206015e-05 9.99978498e-01 -2.28993539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.985769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.38, Y:-31.78, Z:-2.29 [[ 9.83601735e-01 1.80231075e-01 6.66235000e-03 2.49382310e+02] [-1.80227607e-01 9.83624293e-01 -1.12226778e-03 -3.17777879e+01] [-6.75551684e-03 -9.68748673e-05 9.99977177e-01 -2.28984121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01576923100004 meters Centerline goodness [0,1] 0.9999572530831213 Centerline is valid? [True, True] Translation: X:249.41, Y:-31.78, Z:-2.29 [[ 9.83083148e-01 1.83034316e-01 6.77969648e-03 2.49412636e+02] [-1.83030790e-01 9.83106518e-01 -1.14223672e-03 -3.17781574e+01] [-6.87423231e-03 -1.17979528e-04 9.99976365e-01 -2.29036777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04576923100007 meters Centerline goodness [0,1] 0.9999361797179144 Centerline is valid? [True, True] Translation: X:249.44, Y:-31.78, Z:-2.29 [[ 9.82281737e-01 1.87265209e-01 7.37100410e-03 2.49443444e+02] [-1.87261157e-01 9.82309379e-01 -1.24218818e-03 -3.17761512e+01] [-7.47322508e-03 -1.60123995e-04 9.99972062e-01 -2.28925324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07576923100004 meters Centerline goodness [0,1] 0.9999788887012329 Centerline is valid? [True, True] Translation: X:249.47, Y:-31.78, Z:-2.29 [[ 9.82111878e-01 1.88141676e-01 7.67910466e-03 2.49472287e+02] [-1.88137307e-01 9.82141884e-01 -1.29396974e-03 -3.17755998e+01] [-7.78541995e-03 -1.73903017e-04 9.99969678e-01 -2.28899994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10576923100007 meters Centerline goodness [0,1] 0.9999787856930714 Centerline is valid? [True, True] Translation: X:249.50, Y:-31.78, Z:-2.29 [[ 9.82225079e-01 1.87620844e-01 5.68445813e-03 2.49501758e+02] [-1.87618442e-01 9.82241520e-01 -9.57718768e-04 -3.17822024e+01] [-5.76319879e-03 -1.25813785e-04 9.99983385e-01 -2.29330408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13576923100004 meters Centerline goodness [0,1] 0.9999787856930714 Centerline is valid? [True, True] Translation: X:249.53, Y:-31.79, Z:-2.29 [[ 9.82225079e-01 1.87620844e-01 5.68445813e-03 2.49531347e+02] [-1.87618442e-01 9.82241520e-01 -9.57718768e-04 -3.17871877e+01] [-5.76319879e-03 -1.25813785e-04 9.99983385e-01 -2.29347335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16576923100007 meters Centerline goodness [0,1] 0.9999573014517507 Centerline is valid? [True, True] Translation: X:249.56, Y:-31.79, Z:-2.30 [[ 9.82586014e-01 1.85765837e-01 3.97231253e-03 2.49559997e+02] [-1.85764649e-01 9.82594040e-01 -6.69275041e-04 -3.17928815e+01] [-4.02749906e-03 -8.02949490e-05 9.99991886e-01 -2.29694394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19576923100004 meters Centerline goodness [0,1] 0.9999787563996346 Centerline is valid? [True, True] Translation: X:249.59, Y:-31.80, Z:-2.30 [[ 9.83481768e-01 1.80974892e-01 3.42056095e-03 2.49588565e+02] [-1.80973982e-01 9.83487715e-01 -5.76256123e-04 -3.18039207e+01] [-3.46836756e-03 -5.22951462e-05 9.99993984e-01 -2.29808732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2257692310001 meters Centerline goodness [0,1] 0.9999155726286462 Centerline is valid? [True, True] Translation: X:249.62, Y:-31.81, Z:-2.30 [[ 9.83949658e-01 1.78401101e-01 4.01454610e-03 2.49618190e+02] [-1.78399827e-01 9.83957847e-01 -6.76305544e-04 -3.18128139e+01] [-4.07079779e-03 -5.07437205e-05 9.99991713e-01 -2.29669667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25576923100004 meters Centerline goodness [0,1] 0.9999575073830922 Centerline is valid? [True, True] Translation: X:249.65, Y:-31.82, Z:-2.30 [[ 9.84333661e-01 1.76250597e-01 4.79285518e-03 2.49649563e+02] [-1.76248755e-01 9.84345328e-01 -8.07370639e-04 -3.18226722e+01] [-4.86012416e-03 -5.00126614e-05 9.99988188e-01 -2.29539527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2857692310001 meters Centerline goodness [0,1] 0.9998731527874675 Centerline is valid? [True, True] Translation: X:249.68, Y:-31.83, Z:-2.29 [[ 9.84538026e-01 1.75086823e-01 5.42953978e-03 2.49681397e+02] [-1.75084436e-01 9.84552996e-01 -9.15664493e-04 -3.18299801e+01] [-5.50599044e-03 -4.91213946e-05 9.99984841e-01 -2.29426774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31576923100005 meters Centerline goodness [0,1] 0.9998732760259361 Centerline is valid? [True, True] Translation: X:249.71, Y:-31.83, Z:-2.30 [[ 9.84447179e-01 1.75612356e-01 4.90437822e-03 2.49712765e+02] [-1.75610410e-01 9.84459394e-01 -8.27888916e-04 -3.18329686e+01] [-4.97354873e-03 -4.62469645e-05 9.99987631e-01 -2.29588599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.345769231 meters Centerline goodness [0,1] 0.9999359959037378 Centerline is valid? [True, True] Translation: X:249.74, Y:-31.83, Z:-2.30 [[ 9.84229292e-01 1.76861993e-01 3.54071892e-03 2.49743633e+02] [-1.76860986e-01 9.84235660e-01 -5.98070092e-04 -3.18330758e+01] [-3.59067769e-03 -3.75769372e-05 9.99993553e-01 -2.29867602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37576923100005 meters Centerline goodness [0,1] 0.9999366406893493 Centerline is valid? [True, True] Translation: X:249.77, Y:-31.84, Z:-2.30 [[ 9.84201446e-01 1.77016345e-01 3.56754127e-03 2.49773086e+02] [-1.77015324e-01 9.84207911e-01 -6.02624410e-04 -3.18352423e+01] [-3.61787672e-03 -3.84056581e-05 9.99993455e-01 -2.29823434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.405769231 meters Centerline goodness [0,1] 0.9998712888278702 Centerline is valid? [True, True] Translation: X:249.80, Y:-31.84, Z:-2.30 [[ 9.84305031e-01 1.76415610e-01 4.59762864e-03 2.49802991e+02] [-1.76413907e-01 9.84315768e-01 -7.76540254e-04 -3.18404390e+01] [-4.66251219e-03 -4.67331512e-05 9.99989129e-01 -2.29599370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43576923100005 meters Centerline goodness [0,1] 0.9998519114007066 Centerline is valid? [True, True] Translation: X:249.83, Y:-31.85, Z:-2.29 [[ 9.84475037e-01 1.75419562e-01 6.07286266e-03 2.49832326e+02] [-1.75416572e-01 9.84493766e-01 -1.02570753e-03 -3.18468095e+01] [-6.15862460e-03 -5.54972911e-05 9.99981034e-01 -2.29451539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.465769231 meters Centerline goodness [0,1] 0.9998734417515661 Centerline is valid? [True, True] Translation: X:249.86, Y:-31.85, Z:-2.30 [[ 9.84573128e-01 1.74890989e-01 5.37565514e-03 2.49862587e+02] [-1.74888638e-01 9.84587802e-01 -9.07946882e-04 -3.18522737e+01] [-5.45159621e-03 -4.62009070e-05 9.99985139e-01 -2.29674091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49576923100005 meters Centerline goodness [0,1] 0.9998932991890739 Centerline is valid? [True, True] Translation: X:249.89, Y:-31.86, Z:-2.30 [[ 9.84787604e-01 1.73729673e-01 3.37280153e-03 2.49892503e+02] [-1.73728741e-01 9.84793379e-01 -5.69655114e-04 -3.18642730e+01] [-3.42047861e-03 -2.49632696e-05 9.99994150e-01 -2.30255641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.525769231 meters Centerline goodness [0,1] 0.999936460870486 Centerline is valid? [True, True] Translation: X:249.92, Y:-31.87, Z:-2.30 [[ 9.84829759e-01 1.73505740e-01 2.47077669e-03 2.49922721e+02] [-1.73505239e-01 9.84832858e-01 -4.17328126e-04 -3.18709091e+01] [-2.50571089e-03 -1.76955422e-05 9.99996861e-01 -2.30462789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55576923100006 meters Centerline goodness [0,1] 0.9999146721276505 Centerline is valid? [True, True] Translation: X:249.95, Y:-31.88, Z:-2.30 [[ 9.84796799e-01 1.73690335e-01 2.63308236e-03 2.49952297e+02] [-1.73689766e-01 9.84800318e-01 -4.44847914e-04 -3.18760783e+01] [-2.67032613e-03 -1.92546562e-05 9.99996434e-01 -2.30447210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58576923100003 meters Centerline goodness [0,1] 0.9998718879446556 Centerline is valid? [True, True] Translation: X:249.98, Y:-31.88, Z:-2.30 [[ 9.84629423e-01 1.74599657e-01 4.45627914e-03 2.49982511e+02] [-1.74598037e-01 9.84639507e-01 -7.52979533e-04 -3.18815837e+01] [-4.51929847e-03 -3.66517885e-05 9.99989787e-01 -2.30063585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61576923100006 meters Centerline goodness [0,1] 0.9998079139454475 Centerline is valid? [True, True] Translation: X:250.01, Y:-31.89, Z:-2.30 [[ 9.84570683e-01 1.74899610e-01 5.54051029e-03 2.50013270e+02] [-1.74897111e-01 9.84586271e-01 -9.36182058e-04 -3.18871467e+01] [-5.61884824e-03 -4.72818347e-05 9.99984213e-01 -2.29897290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64576923100003 meters Centerline goodness [0,1] 0.999872994369417 Centerline is valid? [True, True] Translation: X:250.04, Y:-31.89, Z:-2.30 [[ 9.84376949e-01 1.75958027e-01 6.38716949e-03 2.50043972e+02] [-1.75954727e-01 9.84397668e-01 -1.07941274e-03 -3.18915968e+01] [-6.47744609e-03 -6.13036393e-05 9.99979019e-01 -2.29792184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67576923100006 meters Centerline goodness [0,1] 0.9998730266220849 Centerline is valid? [True, True] Translation: X:250.07, Y:-31.90, Z:-2.30 [[ 9.84331692e-01 1.76193746e-01 6.84712955e-03 2.50074968e+02] [-1.76189958e-01 9.84355505e-01 -1.15731416e-03 -3.18969667e+01] [-6.94392118e-03 -6.72144575e-05 9.99975888e-01 -2.29764751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70576923100003 meters Centerline goodness [0,1] 0.9998706757193663 Centerline is valid? [True, True] Translation: X:250.11, Y:-31.90, Z:-2.30 [[ 9.84315692e-01 1.76290126e-01 6.66408907e-03 2.50105487e+02] [-1.76286539e-01 9.84338248e-01 -1.12652780e-03 -3.19034404e+01] [-6.75831349e-03 -6.59302048e-05 9.99977160e-01 -2.29793735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73576923100006 meters Centerline goodness [0,1] 0.9999364783602948 Centerline is valid? [True, True] Translation: X:250.14, Y:-31.92, Z:-2.30 [[ 9.84577922e-01 1.74865791e-01 5.31706486e-03 2.50136531e+02] [-1.74863486e-01 9.84592278e-01 -8.98909517e-04 -3.19155376e+01] [-5.39232952e-03 -4.47140345e-05 9.99985460e-01 -2.30049005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76576923100004 meters Centerline goodness [0,1] 0.999850663480821 Centerline is valid? [True, True] Translation: X:250.17, Y:-31.92, Z:-2.30 [[ 9.84840958e-01 1.73387870e-01 4.99349001e-03 2.50166782e+02] [-1.73385817e-01 9.84853616e-01 -8.44422361e-04 -3.19242352e+01] [-5.06426928e-03 -3.41786173e-05 9.99987176e-01 -2.30160137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79576923100007 meters Centerline goodness [0,1] 0.9997675205004649 Centerline is valid? [True, True] Translation: X:250.20, Y:-31.94, Z:-2.30 [[ 9.85242991e-01 1.71067274e-01 5.67776319e-03 2.50196440e+02] [-1.71064576e-01 9.85259350e-01 -9.61099064e-04 -3.19354216e+01] [-5.75848187e-03 -2.43480347e-05 9.99983420e-01 -2.30093503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82576923100004 meters Centerline goodness [0,1] 0.9998724164327635 Centerline is valid? [True, True] Translation: X:250.23, Y:-31.94, Z:-2.30 [[ 9.85227108e-01 1.71159393e-01 5.65748095e-03 2.50229237e+02] [-1.71156711e-01 9.85243351e-01 -9.58497293e-04 -3.19417153e+01] [-5.73805131e-03 -2.39783143e-05 9.99983537e-01 -2.30026689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85576923100007 meters Centerline goodness [0,1] 0.9998940543289401 Centerline is valid? [True, True] Translation: X:250.26, Y:-31.95, Z:-2.30 [[ 9.85087819e-01 1.71973692e-01 5.19988981e-03 2.50261961e+02] [-1.71971433e-01 9.85101542e-01 -8.81827480e-04 -3.19461883e+01] [-5.27407060e-03 -2.55549929e-05 9.99986092e-01 -2.30124076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88576923100004 meters Centerline goodness [0,1] 0.9999789047337777 Centerline is valid? [True, True] Translation: X:250.29, Y:-31.94, Z:-2.31 [[ 9.84366305e-01 1.76120483e-01 2.13356359e-03 2.50294177e+02] [-1.76120112e-01 9.84368617e-01 -3.62158712e-04 -3.19442978e+01] [-2.16399661e-03 -1.92666243e-05 9.99997658e-01 -2.30745866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91576923100007 meters Centerline goodness [0,1] 0.9999576513435111 Centerline is valid? [True, True] Translation: X:250.33, Y:-31.95, Z:-2.31 [[ 9.83805102e-01 1.79231037e-01 1.93825905e-03 2.50325202e+02] [-1.79230736e-01 9.83807011e-01 -3.29120734e-04 -3.19459162e+01] [-1.96586149e-03 -2.36049392e-05 9.99998067e-01 -2.30879015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94576923100004 meters Centerline goodness [0,1] 0.9999576513435111 Centerline is valid? [True, True] Translation: X:250.36, Y:-31.94, Z:-2.31 [[ 9.82685198e-01 1.85240494e-01 3.97006105e-03 2.50355807e+02] [-1.85239282e-01 9.82693215e-01 -6.74162941e-04 -3.19381483e+01] [-4.02623433e-03 -7.29213146e-05 9.99991892e-01 -2.30579041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.9757692310001 meters Centerline goodness [0,1] 0.9999574766653201 Centerline is valid? [True, True] Translation: X:250.39, Y:-31.94, Z:-2.30 [[ 9.82459273e-01 1.86399316e-01 5.39183109e-03 2.50385697e+02] [-1.86397098e-01 9.82474063e-01 -9.15421130e-04 -3.19410369e+01] [-5.46796807e-03 -1.05657691e-04 9.99985045e-01 -2.30325214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.41, Y:-31.94, Z:-2.30 [[ 9.82403709e-01 1.86679979e-01 5.79123136e-03 2.50414103e+02] [-1.86677426e-01 9.82420771e-01 -9.83091019e-04 -3.19441190e+01] [-5.87294939e-03 -1.15299903e-04 9.99982747e-01 -2.30222361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0357692310001 meters Centerline goodness [0,1] 0.9999573333333334 Centerline is valid? [True, True] Translation: X:250.44, Y:-31.95, Z:-2.30 [[ 9.82620719e-01 1.85537855e-01 5.67692529e-03 2.50443756e+02] [-1.85535384e-01 9.82637112e-01 -9.63504132e-04 -3.19489353e+01] [-5.75712396e-03 -1.06511388e-04 9.99983422e-01 -2.30373276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06576923100005 meters Centerline goodness [0,1] 0.9999575875816439 Centerline is valid? [True, True] Translation: X:250.47, Y:-31.96, Z:-2.30 [[ 9.82867559e-01 1.84217350e-01 5.94392007e-03 2.50472941e+02] [-1.84214618e-01 9.82885526e-01 -1.00869163e-03 -3.19584352e+01] [-6.02801150e-03 -1.03546688e-04 9.99981826e-01 -2.30328178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.50, Y:-31.96, Z:-2.30 [[ 9.83345205e-01 1.81597243e-01 7.39253378e-03 2.50502416e+02] [-1.81592942e-01 9.83372986e-01 -1.25454433e-03 -3.19641855e+01] [-7.49743981e-03 -1.08781806e-04 9.99971888e-01 -2.30090010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12576923100005 meters Centerline goodness [0,1] 0.9999575281376089 Centerline is valid? [True, True] Translation: X:250.53, Y:-31.97, Z:-2.30 [[ 9.83462209e-01 1.80980392e-01 6.94130241e-03 2.50533136e+02] [-1.80976583e-01 9.83486699e-01 -1.17825815e-03 -3.19734222e+01] [-7.03992022e-03 -9.74408337e-05 9.99975215e-01 -2.30250336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.155769231 meters Centerline goodness [0,1] 0.9999788453808889 Centerline is valid? [True, True] Translation: X:250.56, Y:-31.98, Z:-2.30 [[ 9.83533127e-01 1.80631185e-01 5.91304675e-03 2.50563626e+02] [-1.80628409e-01 9.83550898e-01 -1.00450995e-03 -3.19763281e+01] [-5.99722826e-03 -8.00954150e-05 9.99982013e-01 -2.30470527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18576923100005 meters Centerline goodness [0,1] 0.9999152003391987 Centerline is valid? [True, True] Translation: X:250.59, Y:-31.98, Z:-2.31 [[ 9.83680264e-01 1.79870311e-01 4.45085906e-03 2.50594924e+02] [-1.79868731e-01 9.83690331e-01 -7.56137108e-04 -3.19800920e+01] [-4.51427364e-03 -5.67732194e-05 9.99989809e-01 -2.30732558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.215769231 meters Centerline goodness [0,1] 0.9999574721442545 Centerline is valid? [True, True] Translation: X:250.62, Y:-31.98, Z:-2.31 [[ 9.83840910e-01 1.78981306e-01 4.77025267e-03 2.50624698e+02] [-1.78979479e-01 9.83852473e-01 -8.10543954e-04 -3.19824868e+01] [-4.83829710e-03 -5.63310371e-05 9.99988294e-01 -2.30727792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24576923100005 meters Centerline goodness [0,1] 0.999873166194563 Centerline is valid? [True, True] Translation: X:250.65, Y:-31.99, Z:-2.30 [[ 9.84178070e-01 1.77048710e-01 6.87612299e-03 2.50653502e+02] [-1.77044868e-01 9.84202088e-01 -1.16824603e-03 -3.19900002e+01] [-6.97433105e-03 -6.76201620e-05 9.99975677e-01 -2.30255877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.275769231 meters Centerline goodness [0,1] 0.9999365119674941 Centerline is valid? [True, True] Translation: X:250.68, Y:-32.00, Z:-2.30 [[ 9.84476387e-01 1.75362496e-01 7.36461909e-03 2.50683359e+02] [-1.75358043e-01 9.84503932e-01 -1.25115442e-03 -3.19995024e+01] [-7.46990201e-03 -5.97132097e-05 9.99972098e-01 -2.30228755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30576923100006 meters Centerline goodness [0,1] 0.9998733776511555 Centerline is valid? [True, True] Translation: X:250.71, Y:-32.01, Z:-2.30 [[ 9.84735215e-01 1.73925324e-01 6.82193858e-03 2.50714119e+02] [-1.73921468e-01 9.84758843e-01 -1.15910239e-03 -3.20066602e+01] [-6.91956161e-03 -4.50726316e-05 9.99976059e-01 -2.30366496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.33576923100003 meters Centerline goodness [0,1] 0.9999149479055922 Centerline is valid? [True, True] Translation: X:250.75, Y:-32.01, Z:-2.31 [[ 9.84753840e-01 1.73858721e-01 5.74634001e-03 2.50745985e+02] [-1.73855983e-01 9.84770605e-01 -9.76483938e-04 -3.20130583e+01] [-5.82859697e-03 -3.74392805e-05 9.99983013e-01 -2.30740513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36576923100006 meters Centerline goodness [0,1] 0.9998731420597501 Centerline is valid? [True, True] Translation: X:250.78, Y:-32.02, Z:-2.31 [[ 9.84602378e-01 1.74727346e-01 5.33962337e-03 2.50777494e+02] [-1.74724990e-01 9.84616856e-01 -9.08191908e-04 -3.20188569e+01] [-5.41616914e-03 -3.87577287e-05 9.99985332e-01 -2.30747261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39576923100003 meters Centerline goodness [0,1] 0.9999366554054054 Centerline is valid? [True, True] Translation: X:250.81, Y:-32.02, Z:-2.31 [[ 9.84260392e-01 1.76674345e-01 4.20192315e-03 2.50808175e+02] [-1.76672900e-01 9.84269361e-01 -7.15397273e-04 -3.20220723e+01] [-4.26221656e-03 -3.82287503e-05 9.99990916e-01 -2.30860213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42576923100006 meters Centerline goodness [0,1] 0.9999368274758366 Centerline is valid? [True, True] Translation: X:250.84, Y:-32.02, Z:-2.31 [[ 9.83981915e-01 1.78244991e-01 2.88355691e-03 2.50837120e+02] [-1.78244318e-01 9.83986139e-01 -4.91073275e-04 -3.20236322e+01] [-2.92491138e-03 -3.07704115e-05 9.99995722e-01 -2.31181721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45576923100003 meters Centerline goodness [0,1] 0.9998941552530748 Centerline is valid? [True, True] Translation: X:250.87, Y:-32.03, Z:-2.31 [[ 9.83621887e-01 1.80231264e-01 2.16237531e-03 2.50867594e+02] [-1.80230890e-01 9.83624263e-01 -3.68116495e-04 -3.20264782e+01] [-2.19331092e-03 -2.76393856e-05 9.99997594e-01 -2.31338805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.90, Y:-32.02, Z:-2.31 [[ 9.82677899e-01 1.85270440e-01 4.36006244e-03 2.50897421e+02] [-1.85268970e-01 9.82687569e-01 -7.42286296e-04 -3.20227343e+01] [-4.42210287e-03 -7.83559394e-05 9.99990219e-01 -2.30982366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51576923100004 meters Centerline goodness [0,1] 0.9999361851481569 Centerline is valid? [True, True] Translation: X:250.93, Y:-32.02, Z:-2.31 [[ 9.82181529e-01 1.87862597e-01 5.20472292e-03 2.50926496e+02] [-1.87860540e-01 9.82195313e-01 -8.85871612e-04 -3.20197823e+01] [-5.27847660e-03 -1.07675323e-04 9.99986063e-01 -2.30738476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54576923100007 meters Centerline goodness [0,1] 0.9998941843731483 Centerline is valid? [True, True] Translation: X:250.96, Y:-32.02, Z:-2.31 [[ 9.81158658e-01 1.93127773e-01 5.41771047e-03 2.50957516e+02] [-1.93125625e-01 9.81173605e-01 -9.21856933e-04 -3.20188059e+01] [-5.49375069e-03 -1.41810808e-04 9.99984899e-01 -2.30733381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57576923100004 meters Centerline goodness [0,1] 0.9998298632525893 Centerline is valid? [True, True] Translation: X:250.99, Y:-32.01, Z:-2.31 [[ 9.80564284e-01 1.96136198e-01 4.92718015e-03 2.50987844e+02] [-1.96134459e-01 9.80576652e-01 -8.38418693e-04 -3.20115931e+01] [-4.99592207e-03 -1.44266390e-04 9.99987510e-01 -2.30848835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60576923100007 meters Centerline goodness [0,1] 0.9997217525309818 Centerline is valid? [True, True] Translation: X:251.02, Y:-32.01, Z:-2.31 [[ 9.79445223e-01 2.01652887e-01 4.81329558e-03 2.51019395e+02] [-2.01651295e-01 9.79457036e-01 -8.18797086e-04 -3.20052208e+01] [-4.87952902e-03 -1.68640395e-04 9.99988081e-01 -2.30871156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63576923100004 meters Centerline goodness [0,1] 0.9996395403078749 Centerline is valid? [True, True] Translation: X:251.05, Y:-32.00, Z:-2.31 [[ 9.79096572e-01 2.03341772e-01 4.69329377e-03 2.51049609e+02] [-2.03340278e-01 9.79107805e-01 -7.98391879e-04 -3.20035639e+01] [-4.75758698e-03 -1.72632910e-04 9.99988668e-01 -2.30865106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66576923100007 meters Centerline goodness [0,1] 0.9995744861920769 Centerline is valid? [True, True] Translation: X:251.08, Y:-32.00, Z:-2.31 [[ 9.78932846e-01 2.04123847e-01 4.89265909e-03 2.51079147e+02] [-2.04122234e-01 9.78945055e-01 -8.32199764e-04 -3.20024667e+01] [-4.95951624e-03 -1.84032820e-04 9.99987685e-01 -2.30842520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69576923100004 meters Centerline goodness [0,1] 0.9991129321815532 Centerline is valid? [True, True] Translation: X:251.11, Y:-31.99, Z:-2.31 [[ 9.79196985e-01 2.02831579e-01 5.71092418e-03 2.51109247e+02] [-2.02829360e-01 9.79213617e-01 -9.71061574e-04 -3.19907221e+01] [-5.78917667e-03 -2.07482531e-04 9.99983221e-01 -2.30780294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7257692310001 meters Centerline goodness [0,1] 0.9998081187105577 Centerline is valid? [True, True] Translation: X:251.14, Y:-32.00, Z:-2.31 [[ 9.79587305e-01 2.00922407e-01 6.23686561e-03 2.51137434e+02] [-2.00919725e-01 9.79607136e-01 -1.06010643e-03 -3.20001675e+01] [-6.32267719e-03 -2.14642519e-04 9.99979989e-01 -2.30787769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75576923100004 meters Centerline goodness [0,1] 0.9998305766746437 Centerline is valid? [True, True] Translation: X:251.17, Y:-32.01, Z:-2.31 [[ 9.80777326e-01 1.95000708e-01 7.11057500e-03 2.51166079e+02] [-1.94997068e-01 9.80803081e-01 -1.20836847e-03 -3.20057495e+01] [-7.20970657e-03 -2.01400875e-04 9.99973989e-01 -2.30724581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7857692310001 meters Centerline goodness [0,1] 0.9999360899853007 Centerline is valid? [True, True] Translation: X:251.20, Y:-32.01, Z:-2.31 [[ 9.81525772e-01 1.91174540e-01 7.71062940e-03 2.51195446e+02] [-1.91170143e-01 9.81556040e-01 -1.31013983e-03 -3.20122587e+01] [-7.81888024e-03 -1.88106112e-04 9.99969414e-01 -2.30583054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81576923100005 meters Centerline goodness [0,1] 0.999978793790822 Centerline is valid? [True, True] Translation: X:251.22, Y:-32.02, Z:-2.30 [[ 9.82220876e-01 1.87527284e-01 8.69881141e-03 2.51224919e+02] [-1.87521548e-01 9.82259378e-01 -1.47766561e-03 -3.20187549e+01] [-8.82159170e-03 -1.79820575e-04 9.99961073e-01 -2.30383511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.845769231 meters Centerline goodness [0,1] 0.9999360709186609 Centerline is valid? [True, True] Translation: X:251.25, Y:-32.02, Z:-2.30 [[ 9.83127034e-01 1.82701205e-01 9.02804379e-03 2.51253330e+02] [-1.82694825e-01 9.83168475e-01 -1.53340373e-03 -3.20215144e+01] [-9.15624275e-03 -1.41846220e-04 9.99958071e-01 -2.30270364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87576923100005 meters Centerline goodness [0,1] 0.9998512379130804 Centerline is valid? [True, True] Translation: X:251.28, Y:-32.02, Z:-2.30 [[ 9.83395647e-01 1.81253780e-01 8.94809963e-03 2.51281659e+02] [-1.81247456e-01 9.83436348e-01 -1.51943636e-03 -3.20210595e+01] [-9.07529000e-03 -1.27613196e-04 9.99958811e-01 -2.30288463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.905769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.31, Y:-32.02, Z:-2.31 [[ 9.83679519e-01 1.79756131e-01 7.89533073e-03 2.51311007e+02] [-1.79751163e-01 9.83711199e-01 -1.34030481e-03 -3.20233187e+01] [-8.00765327e-03 -1.00764484e-04 9.99967933e-01 -2.30633808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93576923100005 meters Centerline goodness [0,1] 0.9999572421165153 Centerline is valid? [True, True] Translation: X:251.34, Y:-32.03, Z:-2.31 [[ 9.83888652e-01 1.78628496e-01 7.41493478e-03 2.51339453e+02] [-1.78624084e-01 9.83916588e-01 -1.25848669e-03 -3.20258044e+01] [-7.52047892e-03 -8.62751613e-05 9.99971717e-01 -2.30816918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.965769231 meters Centerline goodness [0,1] 0.9999571587695999 Centerline is valid? [True, True] Translation: X:251.37, Y:-32.03, Z:-2.31 [[ 9.84234529e-01 1.76744153e-01 6.62548783e-03 2.51366885e+02] [-1.76740589e-01 9.84256826e-01 -1.12420079e-03 -3.20283988e+01] [-6.71987754e-03 -6.45153862e-05 9.99977419e-01 -2.30969842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99576923100005 meters Centerline goodness [0,1] 0.9998933196782521 Centerline is valid? [True, True] Translation: X:251.40, Y:-32.03, Z:-2.31 [[ 9.85100805e-01 1.71894700e-01 5.34945498e-03 2.51395397e+02] [-1.71892306e-01 9.85115329e-01 -9.07406092e-04 -3.20332337e+01] [-5.42580840e-03 -2.56436839e-05 9.99985280e-01 -2.31208865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.025769231 meters Centerline goodness [0,1] 0.9998522614550136 Centerline is valid? [True, True] Translation: X:251.42, Y:-32.04, Z:-2.31 [[ 9.85533563e-01 1.69383923e-01 5.71685383e-03 2.51422610e+02] [-1.69381150e-01 9.85550144e-01 -9.69444494e-04 -3.20393059e+01] [-5.79845443e-03 -1.29071884e-05 9.99983189e-01 -2.31130929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05576923100006 meters Centerline goodness [0,1] 0.9998522614550136 Centerline is valid? [True, True] Translation: X:251.45, Y:-32.04, Z:-2.31 [[ 9.85544840e-01 1.69318297e-01 5.71690805e-03 2.51449742e+02] [-1.69315524e-01 9.85561421e-01 -9.69124660e-04 -3.20437600e+01] [-5.79845456e-03 -1.28454721e-05 9.99983189e-01 -2.31146438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08576923100003 meters Centerline goodness [0,1] 0.9997658727624885 Centerline is valid? [True, True] Translation: X:251.48, Y:-32.05, Z:-2.31 [[ 9.86471890e-01 1.63760889e-01 7.45525949e-03 2.51476084e+02] [-1.63756019e-01 9.86500061e-01 -1.26320389e-03 -3.20540914e+01] [-7.56147733e-03 2.52715199e-05 9.99971411e-01 -2.30949621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11576923100006 meters Centerline goodness [0,1] 0.9997843061127648 Centerline is valid? [True, True] Translation: X:251.50, Y:-32.06, Z:-2.31 [[ 9.87000550e-01 1.60545252e-01 7.42541304e-03 2.51503996e+02] [-1.60540333e-01 9.87028480e-01 -1.25774773e-03 -3.20627088e+01] [-7.53101957e-03 4.93194193e-05 9.99971640e-01 -2.30996020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14576923100003 meters Centerline goodness [0,1] 0.9997659624263313 Centerline is valid? [True, True] Translation: X:251.53, Y:-32.07, Z:-2.31 [[ 9.87589876e-01 1.56926895e-01 6.33930621e-03 2.51531597e+02] [-1.56923237e-01 9.87610219e-01 -1.07352654e-03 -3.20710024e+01] [-6.42922878e-03 6.54194931e-05 9.99979330e-01 -2.31200359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17576923100006 meters Centerline goodness [0,1] 0.9995962772512855 Centerline is valid? [True, True] Translation: X:251.56, Y:-32.09, Z:-2.32 [[ 9.88498308e-01 1.51200594e-01 3.07829494e-03 2.51558123e+02] [-1.51199704e-01 9.88503100e-01 -5.21222581e-04 -3.20881823e+01] [-3.12171325e-03 4.97903561e-05 9.99995126e-01 -2.31695781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20576923100003 meters Centerline goodness [0,1] 0.9995321338947727 Centerline is valid? [True, True] Translation: X:251.59, Y:-32.10, Z:-2.32 [[ 9.88897280e-01 1.48577170e-01 2.64463350e-03 2.51586304e+02] [-1.48576503e-01 9.88900815e-01 -4.47746241e-04 -3.20993813e+01] [-2.68180509e-03 4.98446423e-05 9.99996403e-01 -2.31789696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23576923100006 meters Centerline goodness [0,1] 0.9991491353087575 Centerline is valid? [True, True] Translation: X:251.62, Y:-32.11, Z:-2.31 [[ 9.89707643e-01 1.42997479e-01 5.52293035e-03 2.51615036e+02] [-1.42994488e-01 9.89723043e-01 -9.34793890e-04 -3.21130605e+01] [-5.59984461e-03 1.35424059e-04 9.99984312e-01 -2.31344663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26576923100004 meters Centerline goodness [0,1] 0.9970817120622568 Centerline is valid? [True, True] Translation: X:251.64, Y:-32.13, Z:-2.31 [[ 9.90027133e-01 1.40747741e-01 6.02901730e-03 2.51643574e+02] [-1.40744134e-01 9.90045477e-01 -1.02059756e-03 -3.21321700e+01] [-6.11264811e-03 1.61870462e-04 9.99981304e-01 -2.31315215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29576923100007 meters Centerline goodness [0,1] 0.9991206622914254 Centerline is valid? [True, True] Translation: X:251.68, Y:-32.13, Z:-2.32 [[ 9.90265100e-01 1.39123004e-01 4.45205947e-03 2.51675402e+02] [-1.39121018e-01 9.90275100e-01 -7.54100097e-04 -3.21340860e+01] [-4.51367631e-03 1.27383960e-04 9.99989805e-01 -2.31574934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32576923100004 meters Centerline goodness [0,1] 0.9989176111040367 Centerline is valid? [True, True] Translation: X:251.70, Y:-32.16, Z:-2.32 [[ 9.90458529e-01 1.37810450e-01 4.26559824e-04 2.51702766e+02] [-1.37810432e-01 9.90458621e-01 -7.18738412e-05 -3.21575274e+01] [-4.32394821e-04 1.24036656e-05 9.99999906e-01 -2.32240263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35576923100007 meters Centerline goodness [0,1] 0.9985898641141783 Centerline is valid? [True, True] Translation: X:251.73, Y:-32.17, Z:-2.32 [[ 9.90424607e-01 1.38053416e-01 5.92775482e-04 2.51732967e+02] [-1.38053381e-01 9.90424785e-01 -9.97440072e-05 -3.21689349e+01] [-6.00869530e-04 1.69542599e-05 9.99999819e-01 -2.32234186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38576923100004 meters Centerline goodness [0,1] 0.996897577560561 Centerline is valid? [True, True] Translation: X:251.76, Y:-32.19, Z:-2.32 [[ 9.90175964e-01 1.39775157e-01 3.80350411e-03 2.51760251e+02] [-1.39773707e-01 9.90183263e-01 -6.45741522e-04 -3.21928385e+01] [-3.85642473e-03 1.07767864e-04 9.99992558e-01 -2.31675313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41576923100007 meters Centerline goodness [0,1] 0.9988031119090365 Centerline is valid? [True, True] Translation: X:251.79, Y:-32.19, Z:-2.32 [[ 9.89895064e-01 1.41725980e-01 4.63774644e-03 2.51792959e+02] [-1.41723841e-01 9.89905920e-01 -7.88275834e-04 -3.21927987e+01] [-4.70265183e-03 1.23031115e-04 9.99988935e-01 -2.31506712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44576923100004 meters Centerline goodness [0,1] 0.999380116709061 Centerline is valid? [True, True] Translation: X:251.82, Y:-32.20, Z:-2.32 [[ 9.89467211e-01 1.44712483e-01 3.59660381e-03 2.51822494e+02] [-1.44711214e-01 9.89473744e-01 -6.11894491e-04 -3.22013943e+01] [-3.64729381e-03 8.49806304e-05 9.99993345e-01 -2.31732957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.4757692310001 meters Centerline goodness [0,1] 0.9998493975903614 Centerline is valid? [True, True] Translation: X:251.85, Y:-32.21, Z:-2.32 [[ 9.88460501e-01 1.51477523e-01 6.30574102e-04 2.51852186e+02] [-1.51477485e-01 9.88460702e-01 -1.07350241e-04 -3.22075399e+01] [-6.39558868e-04 1.05936944e-05 9.99999795e-01 -2.32390133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50576923100004 meters Centerline goodness [0,1] 0.9997651028209016 Centerline is valid? [True, True] Translation: X:251.88, Y:-32.22, Z:-2.32 [[ 9.87984171e-01 1.54549697e-01 1.29203714e-03 2.51881744e+02] [-1.54549542e-01 9.87985016e-01 -2.19279188e-04 -3.22203348e+01] [-1.31040287e-03 1.69606172e-05 9.99999141e-01 -2.32430249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5357692310001 meters Centerline goodness [0,1] 0.9998713964205337 Centerline is valid? [True, True] Translation: X:251.91, Y:-32.22, Z:-2.32 [[ 9.86945246e-01 1.60986951e-01 4.72053927e-03 2.51912346e+02] [-1.60984945e-01 9.86956534e-01 -8.04377190e-04 -3.22241068e+01] [-4.78846131e-03 3.39404906e-05 9.99988535e-01 -2.31674130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56576923100005 meters Centerline goodness [0,1] 0.9999140376515087 Centerline is valid? [True, True] Translation: X:251.94, Y:-32.23, Z:-2.32 [[ 9.86316003e-01 1.64788006e-01 5.06519260e-03 2.51944203e+02] [-1.64785746e-01 9.86329008e-01 -8.63082678e-04 -3.22260876e+01] [-5.13817206e-03 1.66007144e-05 9.99986799e-01 -2.31597215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.595769231 meters Centerline goodness [0,1] 0.9999362041467305 Centerline is valid? [True, True] Translation: X:251.98, Y:-32.23, Z:-2.32 [[ 9.85116490e-01 1.71854427e-01 3.39940395e-03 2.51975486e+02] [-1.71853451e-01 9.85122356e-01 -5.79493443e-04 -3.22304870e+01] [-3.44841734e-03 -1.33307539e-05 9.99994054e-01 -2.32015112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62576923100005 meters Centerline goodness [0,1] 0.999957172530461 Centerline is valid? [True, True] Translation: X:252.01, Y:-32.23, Z:-2.32 [[ 9.84594831e-01 1.74839672e-01 2.02673455e-03 2.52006914e+02] [-1.74839331e-01 9.84596917e-01 -3.45560081e-04 -3.22344404e+01] [-2.05593420e-03 -1.41162437e-05 9.99997886e-01 -2.32303949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.655769231 meters Centerline goodness [0,1] 0.9999577372524988 Centerline is valid? [True, True] Translation: X:252.04, Y:-32.24, Z:-2.33 [[ 9.84067264e-01 1.77796281e-01 3.19613848e-04 2.52037604e+02] [-1.77796272e-01 9.84067316e-01 -5.45694189e-05 -3.22364976e+01] [-3.24223781e-04 -3.12617198e-06 9.99999947e-01 -2.32698285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.07, Y:-32.24, Z:-2.33 [[ 9.83042428e-01 1.83370190e-01 -1.72003752e-03 2.52068086e+02] [-1.83369957e-01 9.83043932e-01 2.94031481e-04 -3.22402388e+01] [ 1.74478905e-03 2.63577837e-05 9.99998478e-01 -2.33201416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.715769231 meters Centerline goodness [0,1] 0.9999572722611519 Centerline is valid? [True, True] Translation: X:252.10, Y:-32.25, Z:-2.33 [[ 9.82671565e-01 1.85350537e-01 -1.33159138e-03 2.52097629e+02] [-1.85350398e-01 9.82672467e-01 2.27628631e-04 -3.22476955e+01] [ 1.35070928e-03 2.31268091e-05 9.99999088e-01 -2.33079028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74576923100005 meters Centerline goodness [0,1] 0.9999363435749449 Centerline is valid? [True, True] Translation: X:252.13, Y:-32.25, Z:-2.33 [[ 9.82019051e-01 1.88774230e-01 1.69527002e-03 2.52127262e+02] [-1.88774011e-01 9.82020513e-01 -2.89890469e-04 -3.22473617e+01] [-1.71951379e-03 -3.53449585e-05 9.99998521e-01 -2.32546145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.775769231 meters Centerline goodness [0,1] 0.9999360286591606 Centerline is valid? [True, True] Translation: X:252.16, Y:-32.25, Z:-2.32 [[ 9.81816933e-01 1.89806157e-01 3.02200459e-03 2.52156766e+02] [-1.89805466e-01 9.81821582e-01 -5.16553342e-04 -3.22526757e+01] [-3.06511433e-03 -6.64321711e-05 9.99995300e-01 -2.32299132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.19, Y:-32.26, Z:-2.32 [[ 9.81755952e-01 1.90113939e-01 3.45559535e-03 2.52186836e+02] [-1.90113038e-01 9.81762030e-01 -5.90540544e-04 -3.22599780e+01] [-3.50484230e-03 -7.71870356e-05 9.99993855e-01 -2.32329812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.83576923100003 meters Centerline goodness [0,1] 0.9999361376021798 Centerline is valid? [True, True] Translation: X:252.22, Y:-32.27, Z:-2.33 [[ 9.81747405e-01 1.90165082e-01 3.04533064e-03 2.52216882e+02] [-1.90164383e-01 9.81752126e-01 -5.20150048e-04 -3.22679113e+01] [-3.08867421e-03 -6.84574606e-05 9.99995228e-01 -2.32513346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.25, Y:-32.27, Z:-2.33 [[ 9.81817870e-01 1.89806364e-01 2.68576234e-03 2.52246704e+02] [-1.89805817e-01 9.81821542e-01 -4.59478629e-04 -3.22715648e+01] [-2.72415129e-03 -5.86489865e-05 9.99996288e-01 -2.32587876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89576923100003 meters Centerline goodness [0,1] 0.9999789025084918 Centerline is valid? [True, True] Translation: X:252.28, Y:-32.28, Z:-2.32 [[ 9.81629484e-01 1.90772747e-01 3.05208475e-03 2.52276825e+02] [-1.90772045e-01 9.81634226e-01 -5.22224710e-04 -3.22760568e+01] [-3.09565710e-03 -6.96212777e-05 9.99995206e-01 -2.32334415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92576923100006 meters Centerline goodness [0,1] 0.9999574630992386 Centerline is valid? [True, True] Translation: X:252.31, Y:-32.28, Z:-2.32 [[ 9.81360163e-01 1.92140911e-01 3.75508273e-03 2.52307404e+02] [-1.92139858e-01 9.81367343e-01 -6.42510659e-04 -3.22797043e+01] [-3.80856814e-03 -9.09666976e-05 9.99992743e-01 -2.32200392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95576923100003 meters Centerline goodness [0,1] 0.9999787622647921 Centerline is valid? [True, True] Translation: X:252.34, Y:-32.28, Z:-2.32 [[ 9.81067917e-01 1.93630522e-01 3.60039237e-03 2.52337201e+02] [-1.93629564e-01 9.81074519e-01 -6.16042480e-04 -3.22825160e+01] [-3.65153784e-03 -9.27628934e-05 9.99993329e-01 -2.32184920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98576923100006 meters Centerline goodness [0,1] 0.9999358755129959 Centerline is valid? [True, True] Translation: X:252.37, Y:-32.29, Z:-2.33 [[ 9.80857954e-01 1.94722935e-01 8.07698335e-04 2.52367802e+02] [-1.94722887e-01 9.80858287e-01 -1.38200628e-04 -3.22860990e+01] [-8.19148436e-04 -2.17221666e-05 9.99999664e-01 -2.32884962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01576923100004 meters Centerline goodness [0,1] 0.999914855573767 Centerline is valid? [True, True] Translation: X:252.40, Y:-32.29, Z:-2.33 [[ 9.80822794e-01 1.94901265e-01 -3.78089782e-04 2.52397129e+02] [-1.94901255e-01 9.80822867e-01 6.44790745e-05 -3.22875574e+01] [ 3.83406157e-04 1.04476269e-05 9.99999926e-01 -2.33195552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04576923100007 meters Centerline goodness [0,1] 0.9998939374655297 Centerline is valid? [True, True] Translation: X:252.43, Y:-32.28, Z:-2.33 [[ 9.80469695e-01 1.96669954e-01 -3.26804876e-04 2.52427655e+02] [-1.96669946e-01 9.80469749e-01 5.56957650e-05 -3.22781603e+01] [ 3.31375978e-04 9.66468757e-06 9.99999945e-01 -2.33174660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07576923100004 meters Centerline goodness [0,1] 0.9998932627444284 Centerline is valid? [True, True] Translation: X:252.46, Y:-32.28, Z:-2.33 [[ 9.80145283e-01 1.98279629e-01 -6.42741772e-04 2.52457493e+02] [-1.98279600e-01 9.80145493e-01 1.09780657e-04 -3.22814980e+01] [ 6.51747719e-04 1.98415879e-05 9.99999787e-01 -2.32994601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10576923100007 meters Centerline goodness [0,1] 0.9994500380742871 Centerline is valid? [True, True] Translation: X:252.49, Y:-32.27, Z:-2.33 [[ 9.79780993e-01 2.00070351e-01 -1.03022441e-03 2.52488513e+02] [-2.00070276e-01 9.79781534e-01 1.75941454e-04 -3.22718328e+01] [ 1.04459552e-03 3.37331886e-05 9.99999454e-01 -2.33140954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13576923100004 meters Centerline goodness [0,1] 0.9997653983961782 Centerline is valid? [True, True] Translation: X:252.52, Y:-32.27, Z:-2.33 [[ 9.79268287e-01 2.02566524e-01 6.52705605e-04 2.52519345e+02] [-2.02566494e-01 9.79268504e-01 -1.11710155e-04 -3.22669944e+01] [-6.61802779e-04 -2.28220742e-05 9.99999781e-01 -2.32865521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16576923100007 meters Centerline goodness [0,1] 0.999914528088207 Centerline is valid? [True, True] Translation: X:252.55, Y:-32.27, Z:-2.33 [[ 9.79301340e-01 2.02401595e-01 1.57477648e-03 2.52548138e+02] [-2.02401423e-01 9.79302605e-01 -2.69400831e-04 -3.22698904e+01] [-1.59670986e-03 -5.49124049e-05 9.99998724e-01 -2.32707822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19576923100004 meters Centerline goodness [0,1] 0.9998518800651728 Centerline is valid? [True, True] Translation: X:252.58, Y:-32.26, Z:-2.33 [[ 9.79917050e-01 1.99392952e-01 2.24185608e-03 2.52578138e+02] [-1.99392596e-01 9.79919612e-01 -3.83255229e-04 -3.22639502e+01] [-2.27325713e-03 -7.14511710e-05 9.99997414e-01 -2.32536518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2257692310001 meters Centerline goodness [0,1] 0.9999136982459168 Centerline is valid? [True, True] Translation: X:252.61, Y:-32.27, Z:-2.32 [[ 9.80386028e-01 1.97076734e-01 1.99913492e-03 2.52607131e+02] [-1.97076446e-01 9.80388065e-01 -3.41666847e-04 -3.22683525e+01] [-2.02726261e-03 -5.90170032e-05 9.99997943e-01 -2.32477223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25576923100004 meters Centerline goodness [0,1] 0.9999365065927321 Centerline is valid? [True, True] Translation: X:252.64, Y:-32.27, Z:-2.33 [[ 9.80794891e-01 1.95033828e-01 1.78560795e-03 2.52636257e+02] [-1.95033596e-01 9.80796515e-01 -3.05236035e-04 -3.22650049e+01] [-1.81084940e-03 -4.88795945e-05 9.99998359e-01 -2.32582381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2857692310001 meters Centerline goodness [0,1] 0.9999574205360755 Centerline is valid? [True, True] Translation: X:252.67, Y:-32.26, Z:-2.33 [[ 9.81484905e-01 1.91532345e-01 1.65586240e-03 2.52667123e+02] [-1.91532140e-01 9.81486301e-01 -2.82854897e-04 -3.22642946e+01] [-1.67938212e-03 -3.95330572e-05 9.99998589e-01 -2.32824897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31576923100005 meters Centerline goodness [0,1] 0.9999786073376832 Centerline is valid? [True, True] Translation: X:252.69, Y:-32.27, Z:-2.33 [[ 9.82024212e-01 1.88747231e-01 1.71162617e-03 2.52694438e+02] [-1.88747008e-01 9.82025703e-01 -2.92543205e-04 -3.22677707e+01] [-1.73607761e-03 -3.57798060e-05 9.99998492e-01 -2.32928249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.345769231 meters Centerline goodness [0,1] 0.9999355891446239 Centerline is valid? [True, True] Translation: X:252.72, Y:-32.28, Z:-2.33 [[ 9.83638136e-01 1.80149948e-01 1.41900105e-03 2.52723599e+02] [-1.80149786e-01 9.83639159e-01 -2.42250706e-04 -3.22771632e+01] [-1.43942645e-03 -1.73457023e-05 9.99998964e-01 -2.32919545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37576923100005 meters Centerline goodness [0,1] 0.9999148156824329 Centerline is valid? [True, True] Translation: X:252.75, Y:-32.29, Z:-2.33 [[ 9.84578710e-01 1.74938350e-01 1.15612151e-03 2.52751133e+02] [-1.74938239e-01 9.84579389e-01 -1.97586107e-04 -3.22851447e+01] [-1.17285880e-03 -7.71078639e-06 9.99999312e-01 -2.32892856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.405769231 meters Centerline goodness [0,1] 0.9998503889886295 Centerline is valid? [True, True] Translation: X:252.78, Y:-32.29, Z:-2.33 [[ 9.85537634e-01 1.69444596e-01 2.02507708e-03 2.52777646e+02] [-1.69444243e-01 9.85539714e-01 -3.45835190e-04 -3.22930182e+01] [-2.05439379e-03 -2.30405831e-06 9.99997890e-01 -2.32793315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43576923100005 meters Centerline goodness [0,1] 0.9996981327353487 Centerline is valid? [True, True] Translation: X:252.81, Y:-32.31, Z:-2.32 [[ 9.86989010e-01 1.60764759e-01 2.71784276e-03 2.52806031e+02] [-1.60764091e-01 9.86992752e-01 -4.63762454e-04 -3.23053682e+01] [-2.75704776e-03 2.07969239e-05 9.99996199e-01 -2.32095131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.465769231 meters Centerline goodness [0,1] 0.9998716879450824 Centerline is valid? [True, True] Translation: X:252.83, Y:-32.31, Z:-2.33 [[ 9.87264993e-01 1.59080171e-01 1.15464571e-03 2.52834460e+02] [-1.59080049e-01 9.87265668e-01 -1.97092394e-04 -3.23103744e+01] [-1.17129556e-03 1.09013245e-05 9.99999314e-01 -2.32999128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49576923100005 meters Centerline goodness [0,1] 0.999828447665816 Centerline is valid? [True, True] Translation: X:252.86, Y:-32.31, Z:-2.34 [[ 9.87328672e-01 1.58656465e-01 -3.19679436e-03 2.52862684e+02] [-1.58655532e-01 9.87333847e-01 5.45073071e-04 -3.23119518e+01] [ 3.24278264e-03 -3.09771619e-05 9.99994742e-01 -2.33720925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.525769231 meters Centerline goodness [0,1] 0.9998513768869828 Centerline is valid? [True, True] Translation: X:252.89, Y:-32.31, Z:-2.34 [[ 9.87186191e-01 1.59545357e-01 -2.95003972e-03 2.52891807e+02] [-1.59544567e-01 9.87190599e-01 5.02676657e-04 -3.23127340e+01] [ 2.99245121e-03 -2.55726432e-05 9.99995522e-01 -2.33645033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55576923100006 meters Centerline goodness [0,1] 0.9998734284026665 Centerline is valid? [True, True] Translation: X:252.92, Y:-32.31, Z:-2.33 [[ 9.86795320e-01 1.61971757e-01 -3.81604013e-04 2.52920520e+02] [-1.61971744e-01 9.86795394e-01 6.47710168e-05 -3.23130882e+01] [ 3.87056157e-04 -2.10666864e-06 9.99999925e-01 -2.33172657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58576923100003 meters Centerline goodness [0,1] 0.9998935286727284 Centerline is valid? [True, True] Translation: X:252.95, Y:-32.32, Z:-2.33 [[ 9.86727431e-01 1.62384769e-01 4.05106028e-04 2.52949237e+02] [-1.62384755e-01 9.86727514e-01 -6.92966709e-05 -3.23174542e+01] [-4.10981988e-04 2.59388313e-06 9.99999916e-01 -2.33048867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61576923100006 meters Centerline goodness [0,1] 0.9999137429107455 Centerline is valid? [True, True] Translation: X:252.98, Y:-32.32, Z:-2.33 [[ 9.86780202e-01 1.62063159e-01 6.04894664e-04 2.52977965e+02] [-1.62063127e-01 9.86780387e-01 -1.03313103e-04 -3.23222805e+01] [-6.13641439e-04 3.91620426e-06 9.99999812e-01 -2.33001805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64576923100003 meters Centerline goodness [0,1] 0.9999364177775893 Centerline is valid? [True, True] Translation: X:253.01, Y:-32.33, Z:-2.33 [[ 9.86722157e-01 1.62413513e-01 1.11156731e-03 2.53005007e+02] [-1.62413403e-01 9.86722783e-01 -1.89619372e-04 -3.23265465e+01] [-1.12760554e-03 6.56820638e-06 9.99999364e-01 -2.33026841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67576923100006 meters Centerline goodness [0,1] 0.9999359931726051 Centerline is valid? [True, True] Translation: X:253.03, Y:-32.33, Z:-2.33 [[ 9.86375859e-01 1.64477291e-01 3.14401822e-03 2.53033844e+02] [-1.64476420e-01 9.86380870e-01 -5.35484152e-04 -3.23273125e+01] [-3.18927441e-03 1.10717810e-05 9.99994914e-01 -2.32586009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.06, Y:-32.33, Z:-2.32 [[ 9.86217071e-01 1.65417724e-01 3.58681097e-03 2.53062612e+02] [-1.65416597e-01 9.86223594e-01 -6.10691815e-04 -3.23317120e+01] [-3.63841686e-03 8.95662763e-06 9.99993381e-01 -2.32463426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73576923100006 meters Centerline goodness [0,1] 0.9999788050274475 Centerline is valid? [True, True] Translation: X:253.09, Y:-32.34, Z:-2.33 [[ 9.86168469e-01 1.65726272e-01 2.55980643e-03 2.53090047e+02] [-1.65725700e-01 9.86171792e-01 -4.35821982e-04 -3.23363535e+01] [-2.59663604e-03 5.56818629e-06 9.99996629e-01 -2.32687139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.12, Y:-32.34, Z:-2.33 [[ 9.86216939e-01 1.65447926e-01 1.77012084e-03 2.53118340e+02] [-1.65447652e-01 9.86218527e-01 -3.01324555e-04 -3.23403068e+01] [-1.79557949e-03 4.30904432e-06 9.99998388e-01 -2.32878057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79576923100007 meters Centerline goodness [0,1] 0.9999573706198311 Centerline is valid? [True, True] Translation: X:253.15, Y:-32.34, Z:-2.33 [[ 9.86254523e-01 1.65223557e-01 1.78677614e-03 2.53146749e+02] [-1.65223277e-01 9.86256141e-01 -3.04075158e-04 -3.23448120e+01] [-1.81245932e-03 4.67849057e-06 9.99998357e-01 -2.32901262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.17, Y:-32.36, Z:-2.33 [[ 9.86517774e-01 1.63645226e-01 1.70952952e-03 2.53172919e+02] [-1.63644967e-01 9.86519255e-01 -2.90902917e-04 -3.23552922e+01] [-1.73408867e-03 7.22499490e-06 9.99998496e-01 -2.32959944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85576923100007 meters Centerline goodness [0,1] 0.9999367262143294 Centerline is valid? [True, True] Translation: X:253.20, Y:-32.36, Z:-2.33 [[ 9.86635456e-01 1.62942258e-01 5.45254105e-04 2.53199759e+02] [-1.62942231e-01 9.86635607e-01 -9.29770369e-05 -3.23646701e+01] [-5.53117003e-04 2.88952071e-06 9.99999847e-01 -2.33238970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.23, Y:-32.37, Z:-2.34 [[ 9.86825820e-01 1.61769220e-01 -2.34979585e-03 2.53226995e+02] [-1.61768729e-01 9.86828617e-01 3.98728774e-04 -3.23737523e+01] [ 2.38334783e-03 -1.33523624e-05 9.99997160e-01 -2.33656272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.25, Y:-32.38, Z:-2.34 [[ 9.86776627e-01 1.62044310e-01 -3.67818944e-03 2.53254360e+02] [-1.62043109e-01 9.86783482e-01 6.24109500e-04 -3.23801790e+01] [ 3.73070998e-03 -1.98314135e-05 9.99993041e-01 -2.33914790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.28, Y:-32.38, Z:-2.34 [[ 9.86784599e-01 1.61995758e-01 -3.67820820e-03 2.53282308e+02] [-1.61994557e-01 9.86791454e-01 6.23998914e-04 -3.23848332e+01] [ 3.73070960e-03 -1.99028082e-05 9.99993041e-01 -2.33930771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.9757692310001 meters Centerline goodness [0,1] 0.9999785734181826 Centerline is valid? [True, True] Translation: X:253.31, Y:-32.39, Z:-2.34 [[ 9.86697172e-01 1.62515834e-01 -4.15874574e-03 2.53308882e+02] [-1.62514305e-01 9.86705936e-01 7.05176926e-04 -3.23918261e+01] [ 4.21806153e-03 -1.99404032e-05 9.99991104e-01 -2.34200214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00576923100004 meters Centerline goodness [0,1] 0.9999786228863379 Centerline is valid? [True, True] Translation: X:253.34, Y:-32.40, Z:-2.34 [[ 9.86495483e-01 1.63770792e-01 -2.40631672e-03 2.53337145e+02] [-1.63770285e-01 9.86498417e-01 4.07850607e-04 -3.23989329e+01] [ 2.44062165e-03 -8.25960658e-06 9.99997022e-01 -2.33600234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0357692310001 meters Centerline goodness [0,1] 0.9999573233185387 Centerline is valid? [True, True] Translation: X:253.36, Y:-32.41, Z:-2.33 [[ 9.86316919e-01 1.64857477e-01 9.73913907e-04 2.53364447e+02] [-1.64857394e-01 9.86317399e-01 -1.65410943e-04 -3.24081948e+01] [-9.87857463e-04 2.59070257e-06 9.99999512e-01 -2.33121895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.39, Y:-32.42, Z:-2.33 [[ 9.86235797e-01 1.65332479e-01 2.03088474e-03 2.53392348e+02] [-1.65332120e-01 9.86237888e-01 -3.44526274e-04 -3.24151345e+01] [-2.05989685e-03 4.01366542e-06 9.99997878e-01 -2.33030908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.095769231 meters Centerline goodness [0,1] 0.9999787120808941 Centerline is valid? [True, True] Translation: X:253.42, Y:-32.42, Z:-2.33 [[ 9.86102712e-01 1.66117575e-01 2.52822537e-03 2.53419822e+02] [-1.66117022e-01 9.86105953e-01 -4.28663265e-04 -3.24218579e+01] [-2.56430659e-03 2.72473839e-06 9.99996712e-01 -2.32990043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12576923100005 meters Centerline goodness [0,1] 0.999957604663487 Centerline is valid? [True, True] Translation: X:253.45, Y:-32.43, Z:-2.33 [[ 9.85924131e-01 1.67175005e-01 2.47503061e-03 2.53449052e+02] [-1.67174479e-01 9.85927238e-01 -4.19517597e-04 -3.24284124e+01] [-2.51033295e-03 -1.49430093e-07 9.99996849e-01 -2.32983625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.155769231 meters Centerline goodness [0,1] 0.9999576082579114 Centerline is valid? [True, True] Translation: X:253.48, Y:-32.44, Z:-2.33 [[ 9.85708945e-01 1.68456276e-01 5.98198495e-04 2.53476515e+02] [-1.68456246e-01 9.85709127e-01 -1.01491674e-04 -3.24363363e+01] [-6.06746625e-04 -7.29021345e-07 9.99999816e-01 -2.33256190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18576923100005 meters Centerline goodness [0,1] 0.999978810865788 Centerline is valid? [True, True] Translation: X:253.50, Y:-32.44, Z:-2.34 [[ 9.85571206e-01 1.69256903e-01 -1.22405992e-03 2.53504772e+02] [-1.69256776e-01 9.85571966e-01 2.07213961e-04 -3.24449761e+01] [ 1.24147154e-03 2.95632332e-06 9.99999229e-01 -2.33612729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.53, Y:-32.45, Z:-2.34 [[ 9.85428970e-01 1.70085279e-01 -8.62222613e-04 2.53533476e+02] [-1.70085217e-01 9.85429347e-01 1.45743639e-04 -3.24506304e+01] [ 8.74448314e-04 3.03131577e-06 9.99999618e-01 -2.33537959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24576923100005 meters Centerline goodness [0,1] 0.999957346982299 Centerline is valid? [True, True] Translation: X:253.56, Y:-32.46, Z:-2.33 [[ 9.85269900e-01 1.71006310e-01 2.57168222e-04 2.53562076e+02] [-1.71006305e-01 9.85269934e-01 -4.38074519e-05 -3.24551063e+01] [-2.60871468e-04 -8.15223515e-07 9.99999966e-01 -2.33327205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.59, Y:-32.46, Z:-2.33 [[ 9.84906073e-01 1.73078375e-01 1.97550530e-03 2.53589618e+02] [-1.73078052e-01 9.84908055e-01 -3.34662734e-04 -3.24587349e+01] [-2.00361396e-03 -1.23052502e-05 9.99997993e-01 -2.33013522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.62, Y:-32.46, Z:-2.33 [[ 9.84724413e-01 1.74108067e-01 2.05196257e-03 2.53618428e+02] [-1.74107721e-01 9.84726551e-01 -3.47436022e-04 -3.24635257e+01] [-2.08111343e-03 -1.51337934e-05 9.99997834e-01 -2.33033583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.65, Y:-32.47, Z:-2.33 [[ 9.84678688e-01 1.74378382e-01 2.45521106e-04 2.53647005e+02] [-1.74378377e-01 9.84678719e-01 -4.16683694e-05 -3.24712566e+01] [-2.49025471e-04 -1.78361675e-06 9.99999969e-01 -2.33417725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.68, Y:-32.48, Z:-2.33 [[ 9.84892531e-01 1.73166169e-01 4.25425724e-04 2.53675035e+02] [-1.73166154e-01 9.84892623e-01 -7.21526461e-05 -3.24786249e+01] [-4.31493055e-04 -2.60673434e-06 9.99999907e-01 -2.33429220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.70, Y:-32.49, Z:-2.33 [[ 9.85326580e-01 1.70677452e-01 8.58841916e-04 2.53702309e+02] [-1.70677390e-01 9.85326955e-01 -1.45352521e-04 -3.24875579e+01] [-8.71048488e-04 -3.36519411e-06 9.99999621e-01 -2.33432677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.73, Y:-32.50, Z:-2.33 [[ 9.86232984e-01 1.65355649e-01 1.41827312e-03 2.53731756e+02] [-1.65355476e-01 9.86234003e-01 -2.39099707e-04 -3.25037992e+01] [-1.43828566e-03 1.28879121e-06 9.99998966e-01 -2.33200314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45576923100003 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:253.76, Y:-32.51, Z:-2.33 [[ 9.86624875e-01 1.62999750e-01 1.56129683e-03 2.53761296e+02] [-1.62999537e-01 9.86626110e-01 -2.63644652e-04 -3.25147642e+01] [-1.58339023e-03 5.62771046e-06 9.99998746e-01 -2.33205710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48576923100006 meters Centerline goodness [0,1] 0.9999151697665047 Centerline is valid? [True, True] Translation: X:253.79, Y:-32.53, Z:-2.34 [[ 9.87362808e-01 1.58475234e-01 5.33826419e-04 2.53789214e+02] [-1.58475208e-01 9.87362953e-01 -9.00244001e-05 -3.25334351e+01] [-5.41347067e-04 4.28849158e-06 9.99999853e-01 -2.33521220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51576923100004 meters Centerline goodness [0,1] 0.9999574431866541 Centerline is valid? [True, True] Translation: X:253.82, Y:-32.54, Z:-2.34 [[ 9.87588514e-01 1.57058628e-01 -1.23078544e-03 2.53820512e+02] [-1.57058489e-01 9.87589281e-01 2.09760737e-04 -3.25419814e+01] [ 1.24845524e-03 -1.38519943e-05 9.99999221e-01 -2.33853472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54576923100007 meters Centerline goodness [0,1] 0.9999147775694562 Centerline is valid? [True, True] Translation: X:253.85, Y:-32.55, Z:-2.34 [[ 9.87720494e-01 1.56208817e-01 -2.65150526e-03 2.53851843e+02] [-1.56208168e-01 9.87724053e-01 4.51290611e-04 -3.25500471e+01] [ 2.68945110e-03 -3.15622068e-05 9.99996383e-01 -2.34223257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57576923100004 meters Centerline goodness [0,1] 0.9998724842199223 Centerline is valid? [True, True] Translation: X:253.88, Y:-32.56, Z:-2.34 [[ 9.88010860e-01 1.54357281e-01 -2.89322948e-03 2.53881477e+02] [-1.54356501e-01 9.88015095e-01 4.92181436e-04 -3.25614608e+01] [ 2.93452618e-03 -3.96918249e-05 9.99995693e-01 -2.34408288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60576923100007 meters Centerline goodness [0,1] 0.9999141483516484 Centerline is valid? [True, True] Translation: X:253.91, Y:-32.57, Z:-2.34 [[ 9.88145781e-01 1.53511951e-01 -1.41307937e-03 2.53913661e+02] [-1.53511762e-01 9.88146791e-01 2.41508287e-04 -3.25680153e+01] [ 1.43340425e-03 -2.17210908e-05 9.99998972e-01 -2.33972578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63576923100004 meters Centerline goodness [0,1] 0.9998501199040767 Centerline is valid? [True, True] Translation: X:253.94, Y:-32.58, Z:-2.33 [[ 9.88404497e-01 1.51837412e-01 1.39673270e-03 2.53944857e+02] [-1.51837229e-01 9.88405484e-01 -2.36914518e-04 -3.25789172e+01] [-1.41651075e-03 2.20913521e-05 9.99998997e-01 -2.33298073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66576923100007 meters Centerline goodness [0,1] 0.9998302279190188 Centerline is valid? [True, True] Translation: X:253.98, Y:-32.59, Z:-2.33 [[ 9.88521835e-01 1.51071722e-01 1.38446457e-03 2.53975102e+02] [-1.51071540e-01 9.88522804e-01 -2.35124350e-04 -3.25883271e+01] [-1.40409544e-03 2.32723582e-05 9.99999014e-01 -2.33316136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69576923100004 meters Centerline goodness [0,1] 0.9995332555425904 Centerline is valid? [True, True] Translation: X:254.00, Y:-32.60, Z:-2.34 [[ 9.88686819e-01 1.49991071e-01 1.02612269e-03 2.54004453e+02] [-1.49990971e-01 9.88687351e-01 -1.74211396e-04 -3.25998444e+01] [-1.04064467e-03 1.83313729e-05 9.99999458e-01 -2.33558096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7257692310001 meters Centerline goodness [0,1] 0.9995509750256586 Centerline is valid? [True, True] Translation: X:254.03, Y:-32.61, Z:-2.34 [[ 9.88836352e-01 1.49005469e-01 1.97717399e-04 2.54033489e+02] [-1.49005466e-01 9.88836372e-01 -3.32716029e-05 -3.26130723e+01] [-2.00467806e-04 3.43919735e-06 9.99999980e-01 -2.33852125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75576923100004 meters Centerline goodness [0,1] 0.9997842223373037 Centerline is valid? [True, True] Translation: X:254.07, Y:-32.61, Z:-2.34 [[ 9.88752052e-01 1.49563726e-01 2.68929746e-04 2.54065910e+02] [-1.49563719e-01 9.88752088e-01 -4.49873971e-05 -3.26119081e+01] [-2.72633331e-04 4.25924812e-06 9.99999963e-01 -2.33659237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7857692310001 meters Centerline goodness [0,1] 0.9998718551108453 Centerline is valid? [True, True] Translation: X:254.10, Y:-32.61, Z:-2.33 [[ 9.88236838e-01 1.52929436e-01 7.34001035e-04 2.54098504e+02] [-1.52929386e-01 9.88237111e-01 -1.24602331e-04 -3.26123376e+01] [-7.44422426e-04 1.08862862e-05 9.99999723e-01 -2.33425228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81576923100005 meters Centerline goodness [0,1] 0.9998519176662224 Centerline is valid? [True, True] Translation: X:254.13, Y:-32.62, Z:-2.33 [[ 9.87919594e-01 1.54966603e-01 4.78012586e-04 2.54129745e+02] [-1.54966582e-01 9.87919709e-01 -8.09558784e-05 -3.26158795e+01] [-4.84783513e-04 5.90192199e-06 9.99999882e-01 -2.33469377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.845769231 meters Centerline goodness [0,1] 0.9999575812848629 Centerline is valid? [True, True] Translation: X:254.16, Y:-32.62, Z:-2.33 [[ 9.87578968e-01 1.57122866e-01 4.31743575e-04 2.54162108e+02] [-1.57122849e-01 9.87579063e-01 -7.30247010e-05 -3.26172371e+01] [-4.37854765e-04 4.28087826e-06 9.99999904e-01 -2.33472861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87576923100005 meters Centerline goodness [0,1] 0.99995757858567 Centerline is valid? [True, True] Translation: X:254.19, Y:-32.62, Z:-2.34 [[ 9.86964835e-01 1.60932453e-01 1.07727195e-03 2.54193848e+02] [-1.60932348e-01 9.86965423e-01 -1.83924746e-04 -3.26177591e+01] [-1.09282963e-03 8.15935147e-06 9.99999403e-01 -2.33602517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.905769231 meters Centerline goodness [0,1] 0.9999788444858152 Centerline is valid? [True, True] Translation: X:254.23, Y:-32.62, Z:-2.34 [[ 9.86596762e-01 1.63174177e-01 1.00880183e-03 2.54226594e+02] [-1.63174086e-01 9.86597277e-01 -1.72309292e-04 -3.26172252e+01] [-1.02339756e-03 5.38947282e-06 9.99999476e-01 -2.33613647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.26, Y:-32.62, Z:-2.34 [[ 9.85975196e-01 1.66888903e-01 -1.00337540e-03 2.54257827e+02] [-1.66888814e-01 9.85975707e-01 1.72738162e-04 -3.26154619e+01] [ 1.01813185e-03 -2.86341268e-06 9.99999482e-01 -2.34120759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.29, Y:-32.62, Z:-2.34 [[ 9.85772101e-01 1.68074629e-01 -2.06957556e-03 2.54288509e+02] [-1.68074253e-01 9.85774274e-01 3.55572091e-04 -3.26180071e+01] [ 2.09989699e-03 -2.67068191e-06 9.99997795e-01 -2.34242915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.32, Y:-32.62, Z:-2.34 [[ 9.85679851e-01 1.68614288e-01 -2.11016764e-03 2.54319213e+02] [-1.68613898e-01 9.85682110e-01 3.62546185e-04 -3.26214774e+01] [ 2.14108496e-03 -1.55087699e-06 9.99997708e-01 -2.34205203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.35, Y:-32.63, Z:-2.34 [[ 9.85759262e-01 1.68155896e-01 -1.50728170e-03 2.54349418e+02] [-1.68155696e-01 9.85760414e-01 2.59050237e-04 -3.26263720e+01] [ 1.52937946e-03 -1.90316591e-06 9.99998830e-01 -2.34138087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.38, Y:-32.63, Z:-2.34 [[ 9.85811418e-01 1.67850390e-01 -1.44704056e-03 2.54379482e+02] [-1.67850205e-01 9.85812481e-01 2.48632346e-04 -3.26322985e+01] [ 1.46824368e-03 -2.21855116e-06 9.99998922e-01 -2.34154320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.41, Y:-32.64, Z:-2.34 [[ 9.86072263e-01 1.66311274e-01 -1.43225766e-03 2.54410632e+02] [-1.66311091e-01 9.86073304e-01 2.47297952e-04 -3.26405926e+01] [ 1.45343948e-03 -5.65331883e-06 9.99998944e-01 -2.34257220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.44, Y:-32.65, Z:-2.34 [[ 9.86164724e-01 1.65760568e-01 -1.60323405e-03 2.54441386e+02] [-1.65760337e-01 9.86166028e-01 2.76882244e-04 -3.26469586e+01] [ 1.62695111e-03 -7.29888545e-06 9.99998676e-01 -2.34370280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14576923100003 meters Centerline goodness [0,1] 0.9999788485130505 Centerline is valid? [True, True] Translation: X:254.47, Y:-32.65, Z:-2.34 [[ 9.86217794e-01 1.65442687e-01 -1.78342454e-03 2.54471678e+02] [-1.65442402e-01 9.86219406e-01 3.07109019e-04 -3.26523059e+01] [ 1.80965683e-03 -7.82233938e-06 9.99998363e-01 -2.34390397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.50, Y:-32.66, Z:-2.34 [[ 9.86216859e-01 1.65454029e-01 -1.12740538e-03 2.54502273e+02] [-1.65453915e-01 9.86217504e-01 1.94257905e-04 -3.26594286e+01] [ 1.14400767e-03 -5.04678690e-06 9.99999346e-01 -2.34233871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.53, Y:-32.67, Z:-2.34 [[ 9.86158758e-01 1.65798130e-01 -1.37255535e-03 2.54533317e+02] [-1.65797960e-01 9.86159713e-01 2.37515374e-04 -3.26662781e+01] [ 1.39293840e-03 -6.66098968e-06 9.99999030e-01 -2.34216946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.56, Y:-32.68, Z:-2.34 [[ 9.86177246e-01 1.65690967e-01 -9.71426979e-04 2.54563244e+02] [-1.65690882e-01 9.86177724e-01 1.68053611e-04 -3.26754932e+01] [ 9.85844613e-04 -4.77405379e-06 9.99999514e-01 -2.34206436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.59, Y:-32.68, Z:-2.34 [[ 9.86251626e-01 1.65249395e-01 -6.06239100e-04 2.54594492e+02] [-1.65249361e-01 9.86251812e-01 1.05087636e-04 -3.26827106e+01] [ 6.15270080e-04 -3.46222782e-06 9.99999811e-01 -2.34129525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.63, Y:-32.69, Z:-2.34 [[ 9.86354663e-01 1.64632916e-01 -6.93767851e-04 2.54625796e+02] [-1.64632872e-01 9.86354907e-01 1.20453793e-04 -3.26905585e+01] [ 7.04131984e-04 -4.59316654e-06 9.99999752e-01 -2.34209298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.66, Y:-32.70, Z:-2.34 [[ 9.86564948e-01 1.63364500e-01 -1.28206622e-03 2.54656558e+02] [-1.63364349e-01 9.86565781e-01 2.22520080e-04 -3.27018990e+01] [ 1.30119454e-03 -1.00865982e-05 9.99999153e-01 -2.34377480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35576923100007 meters Centerline goodness [0,1] 0.9999788668399586 Centerline is valid? [True, True] Translation: X:254.69, Y:-32.71, Z:-2.35 [[ 9.86821028e-01 1.61804470e-01 -1.89016077e-03 2.54685743e+02] [-1.61804139e-01 9.86822838e-01 3.27664164e-04 -3.27133614e+01] [ 1.91827134e-03 -1.75100509e-05 9.99998160e-01 -2.34568700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.72, Y:-32.72, Z:-2.35 [[ 9.86989546e-01 1.60752898e-01 -3.18456234e-03 2.54717116e+02] [-1.60751952e-01 9.86994683e-01 5.52287231e-04 -3.27212918e+01] [ 3.23192787e-03 -3.31771106e-05 9.99994777e-01 -2.34814916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.75, Y:-32.73, Z:-2.35 [[ 9.87080574e-01 1.60126330e-01 -5.61235491e-03 2.54747213e+02] [-1.60123384e-01 9.87096527e-01 9.73420947e-04 -3.27297667e+01] [ 5.69580636e-03 -6.21756496e-05 9.99983777e-01 -2.35421819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.78, Y:-32.73, Z:-2.36 [[ 9.86722458e-01 1.62254868e-01 -7.22141450e-03 2.54779796e+02] [-1.62250039e-01 9.86748881e-01 1.25352381e-03 -3.27328827e+01] [ 7.32911302e-03 -6.52053120e-05 9.99973140e-01 -2.35614425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.81, Y:-32.74, Z:-2.35 [[ 9.86383048e-01 1.64370879e-01 -5.54054302e-03 2.54812025e+02] [-1.64368063e-01 9.86398607e-01 9.62938039e-04 -3.27351192e+01] [ 5.62346289e-03 -3.91374342e-05 9.99984187e-01 -2.35182086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.84, Y:-32.73, Z:-2.35 [[ 9.85722229e-01 1.68368159e-01 -1.96222551e-03 2.54843283e+02] [-1.68367814e-01 9.85724182e-01 3.40878543e-04 -3.27349638e+01] [ 1.99160623e-03 -5.63593709e-06 9.99998017e-01 -2.34508205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.87, Y:-32.74, Z:-2.35 [[ 9.85403652e-01 1.70225090e-01 -1.74991694e-03 2.54874595e+02] [-1.70224818e-01 9.85405205e-01 3.04041755e-04 -3.27371144e+01] [ 1.77613279e-03 -1.72456361e-06 9.99998423e-01 -2.34504209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.91, Y:-32.74, Z:-2.35 [[ 9.85078657e-01 1.72086662e-01 -2.49420935e-03 2.54905810e+02] [-1.72086116e-01 9.85081814e-01 4.33362541e-04 -3.27400212e+01] [ 2.53157618e-03 2.32260955e-06 9.99996796e-01 -2.34688563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.595769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.94, Y:-32.74, Z:-2.35 [[ 9.84657948e-01 1.74447998e-01 -4.07689084e-03 2.54936254e+02] [-1.74446561e-01 9.84666388e-01 7.08142474e-04 -3.27433306e+01] [ 4.13791142e-03 1.39214733e-05 9.99991439e-01 -2.35069636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.97, Y:-32.75, Z:-2.35 [[ 9.84618838e-01 1.74660650e-01 -4.40464029e-03 2.54966066e+02] [-1.74658975e-01 9.84628690e-01 7.65071470e-04 -3.27495294e+01] [ 4.47056308e-03 1.60061747e-05 9.99990007e-01 -2.35066468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.00, Y:-32.76, Z:-2.35 [[ 9.84950596e-01 1.72812047e-01 -2.88442513e-03 2.54996770e+02] [-1.72811320e-01 9.84954819e-01 5.01427456e-04 -3.27585246e+01] [ 2.92768114e-03 4.58004240e-06 9.99995714e-01 -2.34757282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.03, Y:-32.77, Z:-2.35 [[ 9.85263183e-01 1.71027860e-01 -2.43554511e-03 2.55027172e+02] [-1.71027333e-01 9.85266193e-01 4.24579420e-04 -3.27678640e+01] [ 2.47227517e-03 -1.77768535e-06 9.99996944e-01 -2.34636951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.06, Y:-32.78, Z:-2.34 [[ 9.85560823e-01 1.69311695e-01 -1.84772565e-03 2.55059162e+02] [-1.69311388e-01 9.85562555e-01 3.22752086e-04 -3.27786779e+01] [ 1.87569492e-03 -5.25081702e-06 9.99998241e-01 -2.34479272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74576923100005 meters Centerline goodness [0,1] 0.9999786425184742 Centerline is valid? [True, True] Translation: X:255.09, Y:-32.80, Z:-2.34 [[ 9.86011647e-01 1.66673383e-01 -1.00802995e-03 2.55089203e+02] [-1.66673290e-01 9.86012162e-01 1.76661353e-04 -3.27953651e+01] [ 1.02337454e-03 -6.17848270e-06 9.99999476e-01 -2.34379484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.12, Y:-32.81, Z:-2.34 [[ 9.86199686e-01 1.65557573e-01 -9.32609673e-04 2.55120615e+02] [-1.65557492e-01 9.86200127e-01 1.63762513e-04 -3.28059289e+01] [ 9.46851902e-04 -7.10202019e-06 9.99999552e-01 -2.34369754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80576923100006 meters Centerline goodness [0,1] 0.9999574640039133 Centerline is valid? [True, True] Translation: X:255.15, Y:-32.82, Z:-2.34 [[ 9.86513957e-01 1.63675898e-01 -6.43406151e-04 2.55149522e+02] [-1.63675859e-01 9.86514166e-01 1.13198876e-04 -3.28191673e+01] [ 6.53257210e-04 -6.36221626e-06 9.99999787e-01 -2.34482223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.83576923100003 meters Centerline goodness [0,1] 0.9999786233433091 Centerline is valid? [True, True] Translation: X:255.18, Y:-32.83, Z:-2.34 [[ 9.86711063e-01 1.62483066e-01 -7.28731801e-04 2.55180133e+02] [-1.62483016e-01 9.86711332e-01 1.28255464e-04 -3.28278057e+01] [ 7.39887267e-04 -8.14454437e-06 9.99999726e-01 -2.34401136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86576923100006 meters Centerline goodness [0,1] 0.9999786233433091 Centerline is valid? [True, True] Translation: X:255.21, Y:-32.83, Z:-2.34 [[ 9.86680095e-01 1.62671016e-01 -7.28672351e-04 2.55212102e+02] [-1.62670965e-01 9.86680364e-01 1.28594924e-04 -3.28335967e+01] [ 7.39885367e-04 -8.34821746e-06 9.99999726e-01 -2.34419478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.24, Y:-32.84, Z:-2.34 [[ 9.86864287e-01 1.61551360e-01 -1.94736276e-04 2.55241323e+02] [-1.61551356e-01 9.86864306e-01 3.49869777e-05 -3.28446567e+01] [ 1.97830474e-04 -3.06748927e-06 9.99999980e-01 -2.34428071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92576923100006 meters Centerline goodness [0,1] 0.9999577889871467 Centerline is valid? [True, True] Translation: X:255.27, Y:-32.85, Z:-2.34 [[ 9.86717475e-01 1.62429538e-01 2.29538469e-03 2.55271523e+02] [-1.62429043e-01 9.86720145e-01 -4.01525298e-04 -3.28526239e+01] [-2.33012188e-03 2.33548896e-05 9.99997285e-01 -2.33873272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.30, Y:-32.85, Z:-2.34 [[ 9.86330357e-01 1.64738368e-01 3.70097657e-03 2.55303575e+02] [-1.64737095e-01 9.86337300e-01 -6.48433634e-04 -3.28542396e+01] [-3.75723314e-03 2.98816507e-05 9.99992941e-01 -2.33584927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.34, Y:-32.85, Z:-2.34 [[ 9.85329385e-01 1.70618795e-01 3.90261812e-03 2.55335287e+02] [-1.70617421e-01 9.85337113e-01 -6.84582532e-04 -3.28527510e+01] [-3.96219712e-03 8.68464564e-06 9.99992150e-01 -2.33745646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.37, Y:-32.85, Z:-2.34 [[ 9.84753982e-01 1.73941569e-01 1.98125084e-03 2.55368100e+02] [-1.73941222e-01 9.84755975e-01 -3.47166437e-04 -3.28540525e+01] [-2.01143528e-03 -2.74766120e-06 9.99997977e-01 -2.34163060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.40, Y:-32.85, Z:-2.35 [[ 9.83922227e-01 1.78593444e-01 -1.19738677e-03 2.55400338e+02] [-1.78593320e-01 9.83922955e-01 2.11008928e-04 -3.28521406e+01] [ 1.21582114e-03 6.22890505e-06 9.99999261e-01 -2.34708874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.43, Y:-32.85, Z:-2.35 [[ 9.83566240e-01 1.80543808e-01 -1.17652633e-03 2.55432111e+02] [-1.80543690e-01 9.83566944e-01 2.07004193e-04 -3.28547143e+01] [ 1.19456573e-03 8.81206811e-06 9.99999286e-01 -2.34670197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.46, Y:-32.86, Z:-2.35 [[ 9.83313536e-01 1.81914729e-01 -1.23365870e-03 2.55463497e+02] [-1.81914600e-01 9.83314309e-01 2.17076717e-04 -3.28583768e+01] [ 1.25256370e-03 1.09660546e-05 9.99999215e-01 -2.34682749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.50, Y:-32.87, Z:-2.35 [[ 9.83243583e-01 1.82287098e-01 -1.86304248e-03 2.55496065e+02] [-1.82286802e-01 9.83245348e-01 3.29028738e-04 -3.28661250e+01] [ 1.89180555e-03 1.60926601e-05 9.99998210e-01 -2.34870137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.53, Y:-32.87, Z:-2.35 [[ 9.83351980e-01 1.81704750e-01 -1.50594081e-03 2.55526542e+02] [-1.81704556e-01 9.83353133e-01 2.66190777e-04 -3.28713397e+01] [ 1.52923975e-03 1.18770789e-05 9.99998831e-01 -2.35038257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.56, Y:-32.88, Z:-2.34 [[ 9.83365801e-01 1.81635823e-01 -3.58040280e-04 2.55557591e+02] [-1.81635812e-01 9.83365867e-01 6.40858568e-05 -3.28803977e+01] [ 3.63724877e-04 2.01309694e-06 9.99999934e-01 -2.34478617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.59, Y:-32.88, Z:-2.35 [[ 9.83004448e-01 1.83576428e-01 -1.39657297e-03 2.55588868e+02] [-1.83576263e-01 9.83005440e-01 2.46983233e-04 -3.28801058e+01] [ 1.41817913e-03 1.35920308e-05 9.99998994e-01 -2.34822577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.62, Y:-32.87, Z:-2.35 [[ 9.81469253e-01 1.91610311e-01 -1.89599658e-03 2.55621101e+02] [-1.91610021e-01 9.81471083e-01 3.34824145e-04 -3.28742977e+01] [ 1.92502158e-03 3.46723432e-05 9.99998147e-01 -2.34647676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2857692310001 meters Centerline goodness [0,1] 0.999978728382719 Centerline is valid? [True, True] Translation: X:255.65, Y:-32.87, Z:-2.35 [[ 9.80574521e-01 1.96139690e-01 -1.68229969e-03 2.55652472e+02] [-1.96139469e-01 9.80575964e-01 2.96891016e-04 -3.28707749e+01] [ 1.70785475e-03 3.88416019e-05 9.99998541e-01 -2.34596999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31576923100005 meters Centerline goodness [0,1] 0.9999362122855138 Centerline is valid? [True, True] Translation: X:255.68, Y:-32.87, Z:-2.35 [[ 9.79769906e-01 2.00114631e-01 -2.25086258e-03 2.55683591e+02] [-2.00114246e-01 9.79772489e-01 3.97216398e-04 -3.28687551e+01] [ 2.28482205e-03 6.12489958e-05 9.99997388e-01 -2.34613506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.345769231 meters Centerline goodness [0,1] 0.9996394103298335 Centerline is valid? [True, True] Translation: X:255.72, Y:-32.86, Z:-2.35 [[ 9.78617832e-01 2.05655297e-01 -3.61090674e-03 2.55715387e+02] [-2.05654344e-01 9.78624486e-01 6.37149498e-04 -3.28577659e+01] [ 3.66475492e-03 1.19072798e-04 9.99993278e-01 -2.34874058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37576923100005 meters Centerline goodness [0,1] 0.9998078113989195 Centerline is valid? [True, True] Translation: X:255.74, Y:-32.86, Z:-2.35 [[ 9.78445734e-01 2.06468286e-01 -3.84620453e-03 2.55743866e+02] [-2.06467213e-01 9.78453284e-01 6.78297438e-04 -3.28607635e+01] [ 3.90337837e-03 1.30437896e-04 9.99992373e-01 -2.34861402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.405769231 meters Centerline goodness [0,1] 0.9998058336209872 Centerline is valid? [True, True] Translation: X:255.77, Y:-32.86, Z:-2.35 [[ 9.78858269e-01 2.04528612e-01 -2.12991212e-03 2.55773991e+02] [-2.04528278e-01 9.78860584e-01 3.75677354e-04 -3.28624455e+01] [ 2.16172379e-03 6.78923748e-05 9.99997661e-01 -2.34555009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43576923100005 meters Centerline goodness [0,1] 0.9999354449991392 Centerline is valid? [True, True] Translation: X:255.80, Y:-32.87, Z:-2.34 [[ 9.79315156e-01 2.02339668e-01 -6.96116870e-04 2.55802141e+02] [-2.02339632e-01 9.79315403e-01 1.22577966e-04 -3.28661755e+01] [ 7.06520358e-04 2.08095712e-05 9.99999750e-01 -2.34359677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.465769231 meters Centerline goodness [0,1] 0.9999786898521076 Centerline is valid? [True, True] Translation: X:255.83, Y:-32.87, Z:-2.34 [[ 9.79725002e-01 2.00346521e-01 4.38011048e-04 2.55831308e+02] [-2.00346507e-01 9.79725100e-01 -7.73790237e-05 -3.28704296e+01] [-4.44633036e-04 -1.19438191e-05 9.99999901e-01 -2.34179194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49576923100005 meters Centerline goodness [0,1] 0.99991515717134 Centerline is valid? [True, True] Translation: X:255.86, Y:-32.87, Z:-2.34 [[ 9.80210966e-01 1.97947915e-01 1.75642677e-03 2.55860860e+02] [-1.97947678e-01 9.80212539e-01 -3.09842312e-04 -3.28698701e+01] [-1.78300419e-03 -4.39697687e-05 9.99998409e-01 -2.33949341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.525769231 meters Centerline goodness [0,1] 0.9999788032303877 Centerline is valid? [True, True] Translation: X:255.89, Y:-32.87, Z:-2.34 [[ 9.80357848e-01 1.97189954e-01 3.82252855e-03 2.55890546e+02] [-1.97188824e-01 9.80365296e-01 -6.74084619e-04 -3.28703411e+01] [-3.88039704e-03 -9.29157602e-05 9.99992467e-01 -2.33633167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55576923100006 meters Centerline goodness [0,1] 0.9999151049515037 Centerline is valid? [True, True] Translation: X:255.92, Y:-32.87, Z:-2.34 [[ 9.80514367e-01 1.96397787e-01 4.41417358e-03 2.55918765e+02] [-1.96396273e-01 9.80524298e-01 -7.78252452e-04 -3.28713284e+01] [-4.48105150e-03 -1.03839527e-04 9.99989955e-01 -2.33608245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.95, Y:-32.88, Z:-2.34 [[ 9.80862958e-01 1.94664489e-01 3.68706918e-03 2.55946906e+02] [-1.94663421e-01 9.80869885e-01 -6.49866017e-04 -3.28759313e+01] [-3.74304096e-03 -8.03079955e-05 9.99992992e-01 -2.33838115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.98, Y:-32.88, Z:-2.35 [[ 9.81860494e-01 1.89599405e-01 -1.42684851e-03 2.55975532e+02] [-1.89599240e-01 9.81861530e-01 2.51216146e-04 -3.28846031e+01] [ 1.44859810e-03 2.38701850e-05 9.99998950e-01 -2.34734201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.00, Y:-32.89, Z:-2.35 [[ 9.82392950e-01 1.86799221e-01 -3.18482590e-03 2.56003015e+02] [-1.86798385e-01 9.82398111e-01 5.60606044e-04 -3.28922876e+01] [ 3.23348772e-03 4.41849113e-05 9.99994771e-01 -2.35032885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.03, Y:-32.90, Z:-2.35 [[ 9.83341162e-01 1.81765069e-01 -1.27205928e-03 2.56030947e+02] [-1.81764932e-01 9.83341985e-01 2.23855385e-04 -3.29026295e+01] [ 1.29155839e-03 1.10895548e-05 9.99999166e-01 -2.34665874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.06, Y:-32.91, Z:-2.34 [[ 9.83584493e-01 1.80445662e-01 9.52681752e-04 2.56059761e+02] [-1.80445584e-01 9.83584955e-01 -1.67864969e-04 -3.29075233e+01] [-9.67333944e-04 -6.79783473e-06 9.99999532e-01 -2.34295912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.09, Y:-32.91, Z:-2.34 [[ 9.83635814e-01 1.80154396e-01 2.23119800e-03 2.56089624e+02] [-1.80153968e-01 9.83638345e-01 -3.92907272e-04 -3.29111945e+01] [-2.26547588e-03 -1.54815081e-05 9.99997434e-01 -2.34048157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.12, Y:-32.91, Z:-2.35 [[ 9.83266894e-01 1.82169770e-01 -6.24910923e-04 2.56120380e+02] [-1.82169737e-01 9.83267092e-01 1.09852529e-04 -3.29088582e+01] [ 6.34466156e-04 5.82550318e-06 9.99999799e-01 -2.34622620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.15, Y:-32.90, Z:-2.35 [[ 9.82410747e-01 1.86666465e-01 -4.97548922e-03 2.56151129e+02] [-1.86664425e-01 9.82423344e-01 8.75351019e-04 -3.29008438e+01] [ 5.05143544e-03 6.87925850e-05 9.99987239e-01 -2.35364779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.18, Y:-32.89, Z:-2.36 [[ 9.81712083e-01 1.90292809e-01 -5.48028796e-03 2.56181717e+02] [-1.90290392e-01 9.81727374e-01 9.63984935e-04 -3.28938318e+01] [ 5.56358811e-03 9.64904854e-05 9.99984518e-01 -2.35615759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85576923100007 meters Centerline goodness [0,1] 0.9999785908497292 Centerline is valid? [True, True] Translation: X:256.21, Y:-32.89, Z:-2.35 [[ 9.80879201e-01 1.94551497e-01 -5.07024289e-03 2.56212758e+02] [-1.94549485e-01 9.80892299e-01 8.91797560e-04 -3.28897607e+01] [ 5.14686275e-03 1.11667466e-04 9.99986749e-01 -2.35402088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88576923100004 meters Centerline goodness [0,1] 0.9998292240367168 Centerline is valid? [True, True] Translation: X:256.25, Y:-32.88, Z:-2.35 [[ 9.79341093e-01 2.02145417e-01 -5.31536911e-03 2.56245653e+02] [-2.02143317e-01 9.79355505e-01 9.35044680e-04 -3.28787518e+01] [ 5.39465100e-03 1.58738663e-04 9.99985436e-01 -2.35398248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91576923100007 meters Centerline goodness [0,1] 0.9994049769428566 Centerline is valid? [True, True] Translation: X:256.28, Y:-32.87, Z:-2.36 [[ 9.78849660e-01 2.04504865e-01 -5.57711877e-03 2.56276208e+02] [-2.04502593e-01 9.78865531e-01 9.80689700e-04 -3.28716248e+01] [ 5.65980514e-03 1.80587472e-04 9.99983967e-01 -2.35654225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94576923100004 meters Centerline goodness [0,1] 0.9992994820412668 Centerline is valid? [True, True] Translation: X:256.31, Y:-32.87, Z:-2.36 [[ 9.78637911e-01 2.05501124e-01 -6.09327252e-03 2.56305878e+02] [-2.05498434e-01 9.78656858e-01 1.07113327e-03 -3.28709414e+01] [ 6.18334203e-03 2.03906335e-04 9.99980862e-01 -2.35812400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.9757692310001 meters Centerline goodness [0,1] 0.9991356228785866 Centerline is valid? [True, True] Translation: X:256.33, Y:-32.87, Z:-2.36 [[ 9.78916139e-01 2.04171130e-01 -6.11093372e-03 2.56334548e+02] [-2.04168399e-01 9.78935193e-01 1.07395855e-03 -3.28717435e+01] [ 6.20147941e-03 1.96344199e-04 9.99980751e-01 -2.36035466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00576923100004 meters Centerline goodness [0,1] 0.9996182477572055 Centerline is valid? [True, True] Translation: X:256.36, Y:-32.88, Z:-2.36 [[ 9.79411386e-01 2.01801787e-01 -5.41998273e-03 2.56363202e+02] [-2.01799603e-01 9.79426369e-01 9.52505642e-04 -3.28788833e+01] [ 5.50069135e-03 1.60855491e-04 9.99984858e-01 -2.35947479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0357692310001 meters Centerline goodness [0,1] 0.9998940543289401 Centerline is valid? [True, True] Translation: X:256.39, Y:-32.89, Z:-2.36 [[ 9.80019056e-01 1.98863272e-01 -4.00608608e-03 2.56391882e+02] [-1.98862054e-01 9.80027238e-01 7.04007270e-04 -3.28909222e+01] [ 4.06607466e-03 1.06717965e-04 9.99991728e-01 -2.35568758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06576923100005 meters Centerline goodness [0,1] 0.9999152290933752 Centerline is valid? [True, True] Translation: X:256.42, Y:-32.90, Z:-2.35 [[ 9.81110234e-01 1.93435132e-01 -2.35778805e-03 2.56420145e+02] [-1.93434694e-01 9.81113066e-01 4.14197188e-04 -3.28983765e+01] [ 2.39337695e-03 4.97049116e-05 9.99997135e-01 -2.35275204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.45, Y:-32.90, Z:-2.35 [[ 9.81523040e-01 1.91329208e-01 -2.37820460e-03 2.56447947e+02] [-1.91328758e-01 9.81525920e-01 4.17532761e-04 -3.29045808e+01] [ 2.41415567e-03 4.52009059e-05 9.99997085e-01 -2.35217385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12576923100005 meters Centerline goodness [0,1] 0.9999785094128771 Centerline is valid? [True, True] Translation: X:256.48, Y:-32.91, Z:-2.35 [[ 9.81702352e-01 1.90421880e-01 5.49272613e-06 2.56476019e+02] [-1.90421880e-01 9.81702352e-01 -1.24543431e-06 -3.29096585e+01] [-5.62938011e-06 1.76710556e-07 1.00000000e+00 -2.34712454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.50, Y:-32.91, Z:-2.34 [[ 9.81645724e-01 1.90706969e-01 1.58888739e-03 2.56503856e+02] [-1.90706766e-01 9.81647009e-01 -2.79555467e-04 -3.29079837e+01] [-1.61303973e-03 -2.85871479e-05 9.99998699e-01 -2.34420760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18576923100005 meters Centerline goodness [0,1] 0.9999148954277569 Centerline is valid? [True, True] Translation: X:256.53, Y:-32.91, Z:-2.34 [[ 9.81581119e-01 1.91030199e-01 2.44326003e-03 2.56532095e+02] [-1.91029723e-01 9.81584159e-01 -4.28947628e-04 -3.29122337e+01] [-2.48020729e-03 -4.56883946e-05 9.99996923e-01 -2.34227043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.56, Y:-32.92, Z:-2.34 [[ 9.81764247e-01 1.90084092e-01 2.64596468e-03 2.56559426e+02] [-1.90083530e-01 9.81767812e-01 -4.64492386e-04 -3.29153346e+01] [-2.68601557e-03 -4.69322885e-05 9.99996392e-01 -2.34286460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.59, Y:-32.92, Z:-2.34 [[ 9.82003279e-01 1.88841529e-01 2.90474694e-03 2.56587386e+02] [-1.88840848e-01 9.82007574e-01 -5.09535517e-04 -3.29241975e+01] [-2.94870496e-03 -4.81693270e-05 9.99995651e-01 -2.34316076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.61, Y:-32.93, Z:-2.34 [[ 9.82611880e-01 1.85649858e-01 2.83248409e-03 2.56614313e+02] [-1.85649197e-01 9.82615962e-01 -4.96757689e-04 -3.29313033e+01] [-2.87546708e-03 -3.77283907e-05 9.99995865e-01 -2.34369231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.64, Y:-32.94, Z:-2.35 [[ 9.82914741e-01 1.84051314e-01 1.93033316e-03 2.56642536e+02] [-1.84051004e-01 9.82916636e-01 -3.38480191e-04 -3.29375574e+01] [-1.95965430e-03 -2.25825858e-05 9.99998080e-01 -2.34561280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.33576923100003 meters Centerline goodness [0,1] 0.9999571972777469 Centerline is valid? [True, True] Translation: X:256.67, Y:-32.94, Z:-2.35 [[ 9.83290431e-01 1.82038973e-01 -1.31945535e-03 2.56670332e+02] [-1.82038827e-01 9.83291316e-01 2.30835316e-04 -3.29444056e+01] [ 1.33943001e-03 1.32139463e-05 9.99999103e-01 -2.35067221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.70, Y:-32.95, Z:-2.35 [[ 9.83458859e-01 1.81105552e-01 -3.07426889e-03 2.56697907e+02] [-1.81104756e-01 9.83463664e-01 5.37944769e-04 -3.29500449e+01] [ 3.12085654e-03 2.77181682e-05 9.99995130e-01 -2.35432880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.72, Y:-32.96, Z:-2.36 [[ 9.83694855e-01 1.79793940e-01 -4.30933139e-03 2.56724707e+02] [-1.79792364e-01 9.83704294e-01 7.53711173e-04 -3.29554968e+01] [ 4.37462050e-03 3.33630734e-05 9.99990431e-01 -2.35873506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.75, Y:-32.97, Z:-2.36 [[ 9.84370083e-01 1.76066688e-01 -4.00757176e-03 2.56751758e+02] [-1.76065294e-01 9.84378241e-01 7.00894175e-04 -3.29688737e+01] [ 4.06837056e-03 1.56550417e-05 9.99991724e-01 -2.35599014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.78, Y:-32.98, Z:-2.35 [[ 9.84674804e-01 1.74369848e-01 -3.26899135e-03 2.56779669e+02] [-1.74368912e-01 9.84680230e-01 5.71493847e-04 -3.29769555e+01] [ 3.31856245e-03 7.27487217e-06 9.99994494e-01 -2.35392496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.81, Y:-32.99, Z:-2.35 [[ 9.84902645e-01 1.73101198e-01 -1.66002944e-03 2.56806349e+02] [-1.73100955e-01 9.84904044e-01 2.89859753e-04 -3.29852205e+01] [ 1.68514478e-03 1.86904400e-06 9.99998580e-01 -2.35317517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.83, Y:-32.99, Z:-2.35 [[ 9.84975158e-01 1.72689858e-01 -1.46671864e-03 2.56832322e+02] [-1.72689668e-01 9.84976250e-01 2.55851413e-04 -3.29918103e+01] [ 1.48886597e-03 1.27987022e-06 9.99998892e-01 -2.35293912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.86, Y:-33.00, Z:-2.35 [[ 9.84968738e-01 1.72726396e-01 -1.47552925e-03 2.56858883e+02] [-1.72726205e-01 9.84969843e-01 2.57272574e-04 -3.29975878e+01] [ 1.49778958e-03 1.45712532e-06 9.99998878e-01 -2.35292682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.89, Y:-33.00, Z:-2.35 [[ 9.84624221e-01 1.74668300e-01 -2.47545784e-03 2.56887960e+02] [-1.74667766e-01 9.84627333e-01 4.32001385e-04 -3.29992586e+01] [ 2.51286040e-03 7.02366401e-06 9.99996843e-01 -2.35347152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.92, Y:-33.00, Z:-2.36 [[ 9.84062296e-01 1.77797998e-01 -3.04454524e-03 2.56917018e+02] [-1.77797205e-01 9.84067006e-01 5.31125378e-04 -3.29965955e+01] [ 3.09046954e-03 1.86511759e-05 9.99995224e-01 -2.35588029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63576923100004 meters Centerline goodness [0,1] 0.9999787536915461 Centerline is valid? [True, True] Translation: X:256.95, Y:-32.98, Z:-2.35 [[ 9.82185930e-01 1.87897910e-01 -2.27454566e-03 2.56949020e+02] [-1.87897495e-01 9.82188563e-01 3.96770943e-04 -3.29830613e+01] [ 2.30858517e-03 3.76785938e-05 9.99997335e-01 -2.35216914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66576923100007 meters Centerline goodness [0,1] 0.9999364931518449 Centerline is valid? [True, True] Translation: X:256.98, Y:-32.98, Z:-2.35 [[ 9.81234258e-01 1.92818653e-01 -5.45361677e-04 2.56979320e+02] [-1.92818630e-01 9.81234410e-01 9.48637825e-05 -3.29787915e+01] [ 5.53419150e-04 1.20722983e-05 9.99999847e-01 -2.34861461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69576923100004 meters Centerline goodness [0,1] 0.9999146302422367 Centerline is valid? [True, True] Translation: X:257.01, Y:-32.98, Z:-2.35 [[ 9.80544651e-01 1.96293492e-01 1.02596533e-03 2.57009870e+02] [-1.96293412e-01 9.80545187e-01 -1.79117139e-04 -3.29765884e+01] [-1.04116489e-03 -2.57578831e-05 9.99999458e-01 -2.34558911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7257692310001 meters Centerline goodness [0,1] 0.9998515754208896 Centerline is valid? [True, True] Translation: X:257.04, Y:-32.97, Z:-2.34 [[ 9.80075534e-01 1.98608525e-01 2.56938952e-03 2.57041221e+02] [-1.98608032e-01 9.80078899e-01 -4.48341435e-04 -3.29654696e+01] [-2.60724888e-03 -7.08929235e-05 9.99996599e-01 -2.34398858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75576923100004 meters Centerline goodness [0,1] 0.9998515754208896 Centerline is valid? [True, True] Translation: X:257.07, Y:-32.97, Z:-2.34 [[ 9.80089222e-01 1.98540968e-01 2.56938805e-03 2.57068338e+02] [-1.98540474e-01 9.80092587e-01 -4.48349904e-04 -3.29700598e+01] [-2.60725400e-03 -7.07046126e-05 9.99996599e-01 -2.34414373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7857692310001 meters Centerline goodness [0,1] 0.9998088806778366 Centerline is valid? [True, True] Translation: X:257.10, Y:-32.97, Z:-2.35 [[ 9.80243831e-01 1.97777576e-01 2.46228271e-03 2.57097264e+02] [-1.97777121e-01 9.80246921e-01 -4.29431811e-04 -3.29740786e+01] [-2.49857703e-03 -6.60353011e-05 9.99996876e-01 -2.34588561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81576923100005 meters Centerline goodness [0,1] 0.9999150544713202 Centerline is valid? [True, True] Translation: X:257.13, Y:-32.98, Z:-2.35 [[ 9.81123265e-01 1.93382573e-01 5.65580088e-04 2.57125366e+02] [-1.93382549e-01 9.81123428e-01 -9.86978297e-05 -3.29812239e+01] [-5.73990315e-04 -1.25385821e-05 9.99999835e-01 -2.35069910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.845769231 meters Centerline goodness [0,1] 0.9999787613626709 Centerline is valid? [True, True] Translation: X:257.15, Y:-32.99, Z:-2.35 [[ 9.81896309e-01 1.89419188e-01 -9.95269823e-05 2.57152785e+02] [-1.89419188e-01 9.81896314e-01 1.70725146e-05 -3.29908665e+01] [ 1.00959039e-04 2.08888105e-06 9.99999995e-01 -2.35161827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.18, Y:-33.00, Z:-2.35 [[ 9.82768158e-01 1.84841378e-01 -6.41949500e-04 2.57180755e+02] [-1.84841344e-01 9.82768368e-01 1.11337319e-04 -3.30004086e+01] [ 6.51467406e-04 9.24003609e-06 9.99999788e-01 -2.35208713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.905769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.21, Y:-33.02, Z:-2.35 [[ 9.84596380e-01 1.74841722e-01 -5.83804244e-04 2.57207345e+02] [-1.74841693e-01 9.84596553e-01 1.01438077e-04 -3.30157933e+01] [ 5.92547254e-04 2.19775872e-06 9.99999824e-01 -2.35189441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.23, Y:-33.03, Z:-2.35 [[ 9.85454650e-01 1.69936449e-01 -8.57716954e-04 2.57233040e+02] [-1.69936383e-01 9.85455024e-01 1.48783375e-04 -3.30273093e+01] [ 8.70525200e-04 -8.61951602e-07 9.99999621e-01 -2.35330346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.26, Y:-33.04, Z:-2.36 [[ 9.86664351e-01 1.62763318e-01 -1.24908556e-03 2.57258964e+02] [-1.62763174e-01 9.86665142e-01 2.16956992e-04 -3.30426756e+01] [ 1.26774183e-03 -1.07585992e-05 9.99999196e-01 -2.35502160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.29, Y:-33.05, Z:-2.36 [[ 9.87049845e-01 1.60399086e-01 -2.17650253e-03 2.57286753e+02] [-1.60398642e-01 9.87052244e-01 3.78254493e-04 -3.30504988e+01] [ 2.20899338e-03 -2.42479889e-05 9.99997560e-01 -2.35655472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.025769231 meters Centerline goodness [0,1] 0.999957856585962 Centerline is valid? [True, True] Translation: X:257.31, Y:-33.06, Z:-2.36 [[ 9.87369316e-01 1.58401197e-01 -3.30085334e-03 2.57314548e+02] [-1.58400164e-01 9.87374832e-01 5.73630700e-04 -3.30570571e+01] [ 3.35004330e-03 -4.35296426e-05 9.99994388e-01 -2.35751287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05576923100006 meters Centerline goodness [0,1] 0.9999786475348579 Centerline is valid? [True, True] Translation: X:257.34, Y:-33.06, Z:-2.36 [[ 9.87520167e-01 1.57436549e-01 -4.20147156e-03 2.57341354e+02] [-1.57434869e-01 9.87529103e-01 7.29782726e-04 -3.30625236e+01] [ 4.26396991e-03 -5.92170378e-05 9.99990907e-01 -2.35920195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08576923100003 meters Centerline goodness [0,1] 0.9999786807657869 Centerline is valid? [True, True] Translation: X:257.37, Y:-33.06, Z:-2.36 [[ 9.87478349e-01 1.57686855e-01 -4.62234256e-03 2.57369488e+02] [-1.57684825e-01 9.87489165e-01 8.02595386e-04 -3.30649220e+01] [ 4.69107194e-03 -6.36722889e-05 9.99988995e-01 -2.35994275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.40, Y:-33.07, Z:-2.36 [[ 9.87369810e-01 1.58332529e-01 -5.62746380e-03 2.57396168e+02] [-1.58329534e-01 9.87385844e-01 9.76669889e-04 -3.30684141e+01] [ 5.71111671e-03 -7.33406406e-05 9.99983689e-01 -2.36427581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.42, Y:-33.07, Z:-2.36 [[ 9.87482347e-01 1.57643874e-01 -5.19846305e-03 2.57424507e+02] [-1.57641308e-01 9.87496027e-01 9.02145264e-04 -3.30741955e+01] [ 5.27567928e-03 -7.13600058e-05 9.99986081e-01 -2.36368230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.45, Y:-33.08, Z:-2.36 [[ 9.87650227e-01 1.56601076e-01 -4.80952081e-03 2.57451567e+02] [-1.56598869e-01 9.87661935e-01 8.34290241e-04 -3.30812656e+01] [ 4.88083138e-03 -7.08214253e-05 9.99988086e-01 -2.36321005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20576923100003 meters Centerline goodness [0,1] 0.9998711672249421 Centerline is valid? [True, True] Translation: X:257.48, Y:-33.09, Z:-2.36 [[ 9.88223230e-01 1.52999540e-01 -2.44717104e-03 2.57478712e+02] [-1.52998959e-01 9.88226259e-01 4.24175367e-04 -3.30905162e+01] [ 2.48325731e-03 -4.47653310e-05 9.99996916e-01 -2.35703882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23576923100006 meters Centerline goodness [0,1] 0.9999149117209104 Centerline is valid? [True, True] Translation: X:257.51, Y:-33.10, Z:-2.36 [[ 9.88419604e-01 1.51733134e-01 -1.93456819e-03 2.57505803e+02] [-1.51732769e-01 9.88421496e-01 3.35139877e-04 -3.30993095e+01] [ 1.96302061e-03 -3.77214373e-05 9.99998073e-01 -2.35611723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26576923100004 meters Centerline goodness [0,1] 0.999915435191645 Centerline is valid? [True, True] Translation: X:257.53, Y:-33.11, Z:-2.35 [[ 9.88601860e-01 1.50551603e-01 -7.60046100e-04 2.57532716e+02] [-1.50551547e-01 9.88602152e-01 1.31377899e-04 -3.31099798e+01] [ 7.71162364e-04 -1.54543191e-05 9.99999703e-01 -2.35438993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29576923100007 meters Centerline goodness [0,1] 0.9999788104167991 Centerline is valid? [True, True] Translation: X:257.56, Y:-33.12, Z:-2.35 [[ 9.88506380e-01 1.51176228e-01 -9.40518373e-04 2.57560660e+02] [-1.51176141e-01 9.88506827e-01 1.62722341e-04 -3.31166844e+01] [ 9.54308582e-04 -1.86681342e-05 9.99999544e-01 -2.35488268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32576923100004 meters Centerline goodness [0,1] 0.9999576943416182 Centerline is valid? [True, True] Translation: X:257.59, Y:-33.12, Z:-2.36 [[ 9.88288739e-01 1.52590015e-01 -1.28635319e-03 2.57589249e+02] [-1.52589855e-01 9.88289576e-01 2.22592875e-04 -3.31215903e+01] [ 1.30525490e-03 -2.37015847e-05 9.99999148e-01 -2.35586962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.62, Y:-33.13, Z:-2.36 [[ 9.87971683e-01 1.54629471e-01 -1.29651958e-03 2.57617959e+02] [-1.54629310e-01 9.87972533e-01 2.24293495e-04 -3.31260887e+01] [ 1.31560811e-03 -2.11156945e-05 9.99999134e-01 -2.35583435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.65, Y:-33.13, Z:-2.35 [[ 9.87067013e-01 1.60307141e-01 -5.76577653e-04 2.57647633e+02] [-1.60307110e-01 9.87067181e-01 9.97154497e-05 -3.31274658e+01] [ 5.85105978e-04 -5.99633398e-06 9.99999829e-01 -2.35360463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.68, Y:-33.13, Z:-2.35 [[ 9.86547590e-01 1.63473822e-01 -4.02408189e-04 2.57675984e+02] [-1.63473808e-01 9.86547672e-01 6.94000746e-05 -3.31302125e+01] [ 4.08339958e-04 -2.68327735e-06 9.99999917e-01 -2.35265808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.70, Y:-33.13, Z:-2.35 [[ 9.85598310e-01 1.69100998e-01 9.07292240e-04 2.57704135e+02] [-1.69100925e-01 9.85598728e-01 -1.57356970e-04 -3.31314324e+01] [-9.20835298e-04 1.66680624e-06 9.99999576e-01 -2.35112257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.73, Y:-33.13, Z:-2.35 [[ 9.85213612e-01 1.71324287e-01 1.45881659e-03 2.57732659e+02] [-1.71324101e-01 9.85214692e-01 -2.52666772e-04 -3.31347625e+01] [-1.48053549e-03 -9.99698034e-07 9.99998904e-01 -2.35039517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.76, Y:-33.14, Z:-2.35 [[ 9.84856042e-01 1.73370132e-01 1.17189079e-03 2.57761319e+02] [-1.73370013e-01 9.84856740e-01 -2.02967055e-04 -3.31377590e+01] [-1.18933297e-03 -3.27739177e-06 9.99999293e-01 -2.35135272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.79, Y:-33.14, Z:-2.35 [[ 9.84195425e-01 1.77085412e-01 3.49844809e-04 2.57790985e+02] [-1.77085402e-01 9.84195487e-01 -6.07572129e-05 -3.31372794e+01] [-3.55074898e-04 -2.15543751e-06 9.99999937e-01 -2.35195021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.82, Y:-33.14, Z:-2.35 [[ 9.83787975e-01 1.79335319e-01 -2.53252467e-04 2.57820124e+02] [-1.79335314e-01 9.83788007e-01 4.35226799e-05 -3.31378199e+01] [ 2.56951894e-04 2.60002155e-06 9.99999967e-01 -2.35324785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.595769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.85, Y:-33.13, Z:-2.36 [[ 9.82822000e-01 1.84553086e-01 -1.03656157e-03 2.57850437e+02] [-1.84552999e-01 9.82822547e-01 1.78971589e-04 -3.31315234e+01] [ 1.05178584e-03 1.54033320e-05 9.99999447e-01 -2.35582059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62576923100005 meters Centerline goodness [0,1] 0.999936764891868 Centerline is valid? [True, True] Translation: X:257.88, Y:-33.13, Z:-2.36 [[ 9.82391976e-01 1.86826149e-01 -1.41231580e-03 2.57879298e+02] [-1.86825992e-01 9.82392991e-01 2.43714554e-04 -3.31305369e+01] [ 1.43298139e-03 2.44340768e-05 9.99998973e-01 -2.35672659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.655769231 meters Centerline goodness [0,1] 0.9999575010624734 Centerline is valid? [True, True] Translation: X:257.91, Y:-33.13, Z:-2.35 [[ 9.81815185e-01 1.89839009e-01 -3.04979691e-04 2.57908213e+02] [-1.89839002e-01 9.81815232e-01 5.23423261e-05 -3.31300274e+01] [ 3.09370321e-04 6.50654938e-06 9.99999952e-01 -2.35412472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68576923100005 meters Centerline goodness [0,1] 0.9999155084280343 Centerline is valid? [True, True] Translation: X:257.94, Y:-33.13, Z:-2.35 [[ 9.81641213e-01 1.90734209e-01 9.95204333e-04 2.57936931e+02] [-1.90734132e-01 9.81641717e-01 -1.72174218e-04 -3.31282559e+01] [-1.00977360e-03 -2.08061268e-05 9.99999490e-01 -2.35275213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.715769231 meters Centerline goodness [0,1] 0.999914967794052 Centerline is valid? [True, True] Translation: X:257.96, Y:-33.13, Z:-2.35 [[ 9.81461841e-01 1.91656654e-01 6.16951175e-04 2.57964831e+02] [-1.91656625e-01 9.81462035e-01 -1.07022204e-04 -3.31268968e+01] [-6.26025673e-04 -1.32045701e-05 9.99999804e-01 -2.35379715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74576923100005 meters Centerline goodness [0,1] 0.9999573887847282 Centerline is valid? [True, True] Translation: X:257.99, Y:-33.13, Z:-2.36 [[ 9.81540115e-01 1.91252941e-01 -1.14673796e-03 2.57992759e+02] [-1.91252841e-01 9.81540785e-01 1.97568967e-04 -3.31342038e+01] [ 1.16335572e-03 2.53950262e-05 9.99999323e-01 -2.35699345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.775769231 meters Centerline goodness [0,1] 0.9998524576342636 Centerline is valid? [True, True] Translation: X:258.02, Y:-33.13, Z:-2.36 [[ 9.81695305e-01 1.90431411e-01 -3.19450139e-03 2.58020267e+02] [-1.90430628e-01 9.81700501e-01 5.50387296e-04 -3.31344920e+01] [ 3.24085465e-03 6.80182819e-05 9.99994746e-01 -2.36312117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80576923100006 meters Centerline goodness [0,1] 0.9999787224988297 Centerline is valid? [True, True] Translation: X:258.05, Y:-33.15, Z:-2.36 [[ 9.82426271e-01 1.86618332e-01 -3.49565314e-03 2.58046776e+02] [-1.86617370e-01 9.82432488e-01 6.02346218e-04 -3.31489236e+01] [ 3.54665206e-03 6.05888471e-05 9.99993709e-01 -2.36187269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.83576923100003 meters Centerline goodness [0,1] 0.9999787726336793 Centerline is valid? [True, True] Translation: X:258.07, Y:-33.16, Z:-2.36 [[ 9.82867746e-01 1.84293677e-01 -2.61446396e-03 2.58074389e+02] [-1.84293131e-01 9.82871222e-01 4.50314435e-04 -3.31564707e+01] [ 2.65267149e-03 3.92282162e-05 9.99996481e-01 -2.36048565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.10, Y:-33.17, Z:-2.36 [[ 9.83687659e-01 1.79861577e-01 -2.89884899e-03 2.58101841e+02] [-1.79860886e-01 9.83691930e-01 4.99188557e-04 -3.31677799e+01] [ 2.94135920e-03 3.03439273e-05 9.99995674e-01 -2.36187853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.13, Y:-33.18, Z:-2.36 [[ 9.84098217e-01 1.77580578e-01 -3.97970113e-03 2.58128617e+02] [-1.77579260e-01 9.84106263e-01 6.84864515e-04 -3.31772880e+01] [ 4.03806745e-03 3.27384362e-05 9.99991846e-01 -2.36468465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.16, Y:-33.19, Z:-2.36 [[ 9.84464457e-01 1.75539565e-01 -3.94890492e-03 2.58155896e+02] [-1.75538251e-01 9.84472377e-01 6.79585619e-04 -3.31876948e+01] [ 4.00688197e-03 2.41559738e-05 9.99991972e-01 -2.36480769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.18, Y:-33.20, Z:-2.36 [[ 9.84964595e-01 1.72706050e-01 -4.16747338e-03 2.58183348e+02] [-1.72704562e-01 9.84973411e-01 7.16999078e-04 -3.32009014e+01] [ 4.22868055e-03 1.35229583e-05 9.99991059e-01 -2.36405083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.21, Y:-33.21, Z:-2.37 [[ 9.85016187e-01 1.72416716e-01 -3.94810937e-03 2.58209825e+02] [-1.72415380e-01 9.85024099e-01 6.78701225e-04 -3.32062399e+01] [ 4.00600231e-03 1.21830867e-05 9.99991976e-01 -2.36515860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.24, Y:-33.21, Z:-2.36 [[ 9.84556836e-01 1.75043127e-01 -2.78202966e-03 2.58237569e+02] [-1.75042476e-01 9.84560767e-01 4.77970242e-04 -3.32082774e+01] [ 2.82274266e-03 1.63844893e-05 9.99996016e-01 -2.36105344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.27, Y:-33.21, Z:-2.36 [[ 9.84119542e-01 1.77486895e-01 -2.67010166e-03 2.58266780e+02] [-1.77486303e-01 9.84123164e-01 4.58723630e-04 -3.32099046e+01] [ 2.70912633e-03 2.24675845e-05 9.99996330e-01 -2.36021808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.29, Y:-33.21, Z:-2.36 [[ 9.83636151e-01 1.80135248e-01 -3.34875288e-03 2.58294442e+02] [-1.80134335e-01 9.83641851e-01 5.75002109e-04 -3.32101437e+01] [ 3.39755163e-03 3.76325106e-05 9.99994228e-01 -2.36153707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.32, Y:-33.20, Z:-2.37 [[ 9.82638297e-01 1.85459279e-01 -5.18015445e-03 2.58324011e+02] [-1.85457166e-01 9.82651947e-01 8.89485045e-04 -3.32037178e+01] [ 5.25525211e-03 8.66546935e-05 9.99986187e-01 -2.36520772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13576923100004 meters Centerline goodness [0,1] 0.9999360954308233 Centerline is valid? [True, True] Translation: X:258.35, Y:-33.20, Z:-2.36 [[ 9.82141026e-01 1.88076505e-01 -5.12185770e-03 2.58353717e+02] [-1.88074477e-01 9.82154376e-01 8.79274718e-04 -3.32032101e+01] [ 5.19582587e-03 9.97189330e-05 9.99986497e-01 -2.36426568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16576923100007 meters Centerline goodness [0,1] 0.9999786311088318 Centerline is valid? [True, True] Translation: X:258.38, Y:-33.20, Z:-2.36 [[ 9.81721240e-01 1.90276379e-01 -4.27869429e-03 2.58382488e+02] [-1.90274985e-01 9.81730559e-01 7.34161061e-04 -3.32017129e+01] [ 4.34021844e-03 9.33869847e-05 9.99990577e-01 -2.36287431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19576923100004 meters Centerline goodness [0,1] 0.9999573260503126 Centerline is valid? [True, True] Translation: X:258.41, Y:-33.20, Z:-2.36 [[ 9.81466773e-01 1.91628127e-01 -1.27833207e-03 2.58412064e+02] [-1.91628004e-01 9.81467605e-01 2.19116299e-04 -3.32011846e+01] [ 1.29663036e-03 2.99088554e-05 9.99999159e-01 -2.35773458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2257692310001 meters Centerline goodness [0,1] 0.9997880412895568 Centerline is valid? [True, True] Translation: X:258.44, Y:-33.20, Z:-2.36 [[ 9.81628499e-01 1.90802072e-01 -2.44497372e-04 2.58440083e+02] [-1.90802068e-01 9.81628529e-01 4.16151588e-05 -3.32022210e+01] [ 2.47945854e-04 5.79997829e-06 9.99999969e-01 -2.35685616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25576923100004 meters Centerline goodness [0,1] 0.9998939554612938 Centerline is valid? [True, True] Translation: X:258.47, Y:-33.21, Z:-2.36 [[ 9.82174075e-01 1.87973477e-01 2.41369076e-04 2.58466895e+02] [-1.87973472e-01 9.82174105e-01 -4.17044122e-05 -3.32098663e+01] [-2.44905780e-04 -4.40999089e-06 9.99999970e-01 -2.35718088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.49, Y:-33.22, Z:-2.36 [[ 9.82654188e-01 1.85447280e-01 -2.32378205e-04 2.58494103e+02] [-1.85447276e-01 9.82654215e-01 3.95719614e-05 -3.32233122e+01] [ 2.35685935e-04 4.20835136e-06 9.99999972e-01 -2.35711441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.52, Y:-33.23, Z:-2.36 [[ 9.83158027e-01 1.82754381e-01 -1.06340283e-03 2.58521874e+02] [-1.82754291e-01 9.83158602e-01 1.82002273e-04 -3.32288682e+01] [ 1.07875535e-03 1.54044349e-05 9.99999418e-01 -2.36049097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.345769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.55, Y:-33.25, Z:-2.36 [[ 9.84150639e-01 1.77313610e-01 -2.72107727e-03 2.58548050e+02] [-1.77313000e-01 9.84154400e-01 4.66000445e-04 -3.32470078e+01] [ 2.76058839e-03 2.38677379e-05 9.99996189e-01 -2.36212915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.58, Y:-33.26, Z:-2.36 [[ 9.84476528e-01 1.75486086e-01 -3.25555469e-03 2.58575106e+02] [-1.75485202e-01 9.84481911e-01 5.57321715e-04 -3.32550003e+01] [ 3.30283691e-03 2.26315260e-05 9.99994545e-01 -2.36354836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.405769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.60, Y:-33.27, Z:-2.36 [[ 9.84876003e-01 1.73252055e-01 -1.72755211e-03 2.58602247e+02] [-1.73251804e-01 9.84877518e-01 2.95570431e-04 -3.32654627e+01] [ 1.75263542e-03 8.20129412e-06 9.99998464e-01 -2.36048471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.63, Y:-33.27, Z:-2.36 [[ 9.84970841e-01 1.72720415e-01 -3.18116098e-04 2.58629218e+02] [-1.72720406e-01 9.84970892e-01 5.40091782e-05 -3.32718380e+01] [ 3.22663584e-04 1.74767593e-06 9.99999948e-01 -2.35688683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.66, Y:-33.28, Z:-2.36 [[ 9.85004343e-01 1.72528778e-01 5.14900598e-04 2.58657239e+02] [-1.72528756e-01 9.85004477e-01 -8.83727049e-05 -3.32780148e+01] [-5.22426230e-04 -1.78766135e-06 9.99999864e-01 -2.35560477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.68, Y:-33.29, Z:-2.36 [[ 9.85340561e-01 1.70595478e-01 -1.07804347e-03 2.58684822e+02] [-1.70595379e-01 9.85341150e-01 1.84161689e-04 -3.32881743e+01] [ 1.09365774e-03 2.44725214e-06 9.99999402e-01 -2.36013249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.71, Y:-33.30, Z:-2.36 [[ 9.85720273e-01 1.68383494e-01 -1.59418146e-03 2.58710845e+02] [-1.68383274e-01 9.85721563e-01 2.72132586e-04 -3.32987004e+01] [ 1.61724167e-03 1.86886840e-07 9.99998692e-01 -2.36122535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.74, Y:-33.32, Z:-2.36 [[ 9.86714895e-01 1.62461245e-01 -2.45036251e-04 2.58736278e+02] [-1.62461240e-01 9.86714925e-01 4.15592262e-05 -3.33183073e+01] [ 2.48532690e-04 -1.19821425e-06 9.99999969e-01 -2.35824957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.76, Y:-33.33, Z:-2.36 [[ 9.87130736e-01 1.59913234e-01 8.17433102e-04 2.58763638e+02] [-1.59913173e-01 9.87131074e-01 -1.39951298e-04 -3.33284698e+01] [-8.29293680e-04 7.43190663e-06 9.99999656e-01 -2.35574623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61576923100006 meters Centerline goodness [0,1] 0.9999786621145844 Centerline is valid? [True, True] Translation: X:258.79, Y:-33.34, Z:-2.36 [[ 9.87543094e-01 1.57346745e-01 -8.00062993e-04 2.58791542e+02] [-1.57346686e-01 9.87543418e-01 1.36561744e-04 -3.33409402e+01] [ 8.11584488e-04 -8.97334703e-06 9.99999671e-01 -2.35935715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.82, Y:-33.35, Z:-2.36 [[ 9.87575055e-01 1.57128207e-01 -2.49763063e-03 2.58818567e+02] [-1.57127631e-01 9.87578212e-01 4.26252754e-04 -3.33492031e+01] [ 2.53358193e-03 -2.85098005e-05 9.99996790e-01 -2.36282341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.85, Y:-33.35, Z:-2.36 [[ 9.87582431e-01 1.57081835e-01 -2.49763895e-03 2.58846512e+02] [-1.57081260e-01 9.87585589e-01 4.26204018e-04 -3.33538834e+01] [ 2.53358114e-03 -2.85793284e-05 9.99996790e-01 -2.36298323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70576923100003 meters Centerline goodness [0,1] 0.9999787527886965 Centerline is valid? [True, True] Translation: X:258.87, Y:-33.36, Z:-2.37 [[ 9.87561226e-01 1.57203756e-01 -3.13104985e-03 2.58873392e+02] [-1.57202853e-01 9.87566189e-01 5.34105492e-04 -3.33622025e+01] [ 3.17608236e-03 -3.52519057e-05 9.99994956e-01 -2.36526982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.90, Y:-33.37, Z:-2.36 [[ 9.87539657e-01 1.57341549e-01 -3.01052705e-03 2.58901941e+02] [-1.57340715e-01 9.87544245e-01 5.13451080e-04 -3.33685247e+01] [ 3.05381585e-03 -3.33748242e-05 9.99995337e-01 -2.36441488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.93, Y:-33.38, Z:-2.36 [[ 9.87289254e-01 1.58923409e-01 -1.81060747e-03 2.58928570e+02] [-1.58923111e-01 9.87290914e-01 3.08517387e-04 -3.33787114e+01] [ 1.83662694e-03 -1.68485286e-05 9.99998313e-01 -2.36287891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.96, Y:-33.38, Z:-2.36 [[ 9.87067529e-01 1.60298435e-01 -1.45058356e-03 2.58956950e+02] [-1.60298245e-01 9.87068595e-01 2.47112366e-04 -3.33849024e+01] [ 1.47143720e-03 -1.13905936e-05 9.99998917e-01 -2.36150387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82576923100004 meters Centerline goodness [0,1] 0.9999356747716455 Centerline is valid? [True, True] Translation: X:258.99, Y:-33.39, Z:-2.35 [[ 9.86290435e-01 1.65018171e-01 -4.24465296e-04 2.58985899e+02] [-1.65018155e-01 9.86290527e-01 7.20921380e-05 -3.33878584e+01] [ 4.30542614e-04 -1.05930592e-06 9.99999907e-01 -2.35373742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.01, Y:-33.39, Z:-2.36 [[ 9.85775870e-01 1.68064417e-01 5.34460088e-04 2.59014686e+02] [-1.68064392e-01 9.85776015e-01 -9.13644977e-05 -3.33898461e+01] [-5.42213057e-04 2.41207618e-07 9.99999853e-01 -2.35602284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.04, Y:-33.39, Z:-2.36 [[ 9.85260834e-01 1.71052013e-01 1.51617377e-03 2.59042445e+02] [-1.71051818e-01 9.85262000e-01 -2.58657290e-04 -3.33899939e+01] [-1.53807225e-03 -4.49938155e-06 9.99998817e-01 -2.35603463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.07, Y:-33.39, Z:-2.36 [[ 9.84436885e-01 1.75729458e-01 1.78260715e-03 2.59071637e+02] [-1.75729196e-01 9.84438498e-01 -3.03966645e-04 -3.33877312e+01] [-1.80828300e-03 -1.40201434e-05 9.99998365e-01 -2.35699171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.10, Y:-33.39, Z:-2.36 [[ 9.84211122e-01 1.76997095e-01 7.03961652e-04 2.59100068e+02] [-1.76997054e-01 9.84211374e-01 -1.20125242e-04 -3.33930832e+01] [-7.14108883e-04 -6.37053974e-06 9.99999745e-01 -2.35829314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.13, Y:-33.39, Z:-2.37 [[ 9.83730084e-01 1.79634135e-01 -2.58831582e-03 2.59128242e+02] [-1.79633599e-01 9.83733489e-01 4.40090267e-04 -3.33907930e+01] [ 2.62526819e-03 3.20184503e-05 9.99996553e-01 -2.36504862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.16, Y:-33.39, Z:-2.37 [[ 9.83562599e-01 1.80534745e-01 -3.43792669e-03 2.59156513e+02] [-1.80533804e-01 9.83568607e-01 5.84654088e-04 -3.33944946e+01] [ 3.48698714e-03 4.56180885e-05 9.99993919e-01 -2.36526560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0357692310001 meters Centerline goodness [0,1] 0.9999786971155894 Centerline is valid? [True, True] Translation: X:259.18, Y:-33.40, Z:-2.36 [[ 9.83476826e-01 1.81017437e-01 -2.45347543e-03 2.59184904e+02] [-1.81016961e-01 9.83479886e-01 4.16846879e-04 -3.33964519e+01] [ 2.48840029e-03 3.41614198e-05 9.99996903e-01 -2.36317258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.21, Y:-33.40, Z:-2.36 [[ 9.83936451e-01 1.78504688e-01 2.26657449e-03 2.59212493e+02] [-1.78504273e-01 9.83939061e-01 -3.85663146e-04 -3.34019287e+01] [-2.29901386e-03 -2.51252064e-05 9.99997357e-01 -2.35570741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.24, Y:-33.41, Z:-2.35 [[ 9.84532929e-01 1.75161825e-01 3.63955134e-03 2.59240577e+02] [-1.75160734e-01 9.84539656e-01 -6.18812657e-04 -3.34119727e+01] [-3.69167498e-03 -2.82650463e-05 9.99993185e-01 -2.35389656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.27, Y:-33.42, Z:-2.35 [[ 9.85229389e-01 1.71194481e-01 3.93719794e-03 2.59268441e+02] [-1.71193174e-01 9.85237255e-01 -6.69239566e-04 -3.34234215e+01] [-3.99364422e-03 -1.46669227e-05 9.99992025e-01 -2.35357181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.30, Y:-33.44, Z:-2.36 [[ 9.86377212e-01 1.64473788e-01 2.89298630e-03 2.59295463e+02] [-1.64473053e-01 9.86381454e-01 -4.91611011e-04 -3.34395101e+01] [-2.93444516e-03 9.09560753e-06 9.99995694e-01 -2.35510205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.32, Y:-33.45, Z:-2.36 [[ 9.86761712e-01 1.62169072e-01 1.58610295e-03 2.59324415e+02] [-1.62168848e-01 9.86762987e-01 -2.69567152e-04 -3.34495566e+01] [-1.60882314e-03 8.78205669e-06 9.99998706e-01 -2.35597030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.35, Y:-33.45, Z:-2.36 [[ 9.86709596e-01 1.62492419e-01 6.21371383e-04 2.59352179e+02] [-1.62492384e-01 9.86709792e-01 -1.05790814e-04 -3.34542817e+01] [-6.30303434e-04 3.41669344e-06 9.99999801e-01 -2.35854979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.38, Y:-33.46, Z:-2.36 [[ 9.86537820e-01 1.63531237e-01 -8.15049789e-04 2.59381747e+02] [-1.63531179e-01 9.86538157e-01 1.38341155e-04 -3.34569196e+01] [ 8.26700816e-04 -3.19272844e-06 9.99999658e-01 -2.36171477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.41, Y:-33.46, Z:-2.37 [[ 9.86284446e-01 1.65039005e-01 -2.26255227e-03 2.59409230e+02] [-1.65038558e-01 9.86287041e-01 3.83936763e-04 -3.34585729e+01] [ 2.29489052e-03 -5.26249258e-06 9.99997367e-01 -2.36508733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.44, Y:-33.46, Z:-2.37 [[ 9.85735772e-01 1.68287225e-01 -2.09700687e-03 2.59437598e+02] [-1.68286849e-01 9.85738003e-01 3.55700294e-04 -3.34586013e+01] [ 2.12695918e-03 2.27217420e-06 9.99997738e-01 -2.36552052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.47, Y:-33.46, Z:-2.36 [[ 9.85562727e-01 1.69301193e-01 1.79370284e-03 2.59465979e+02] [-1.69300919e-01 9.85564359e-01 -3.04712702e-04 -3.34640745e+01] [-1.81939781e-03 -3.36205693e-06 9.99998345e-01 -2.35683818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.49, Y:-33.47, Z:-2.36 [[ 9.85565166e-01 1.69269211e-01 3.03943948e-03 2.59493056e+02] [-1.69268425e-01 9.85569852e-01 -5.16033290e-04 -3.34683257e+01] [-3.08292847e-03 -5.89669810e-06 9.99995248e-01 -2.35574171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.52, Y:-33.47, Z:-2.36 [[ 9.85603229e-01 1.69038863e-01 3.48397197e-03 2.59521526e+02] [-1.69037829e-01 9.85609387e-01 -5.91221448e-04 -3.34729141e+01] [-3.53377488e-03 -6.21328943e-06 9.99993756e-01 -2.35533729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.55, Y:-33.48, Z:-2.36 [[ 9.85545797e-01 1.69379160e-01 3.19108578e-03 2.59550241e+02] [-1.69378295e-01 9.85550963e-01 -5.41391270e-04 -3.34761820e+01] [-3.23667806e-03 -6.93477667e-06 9.99994762e-01 -2.35618149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.58, Y:-33.48, Z:-2.36 [[ 9.85185496e-01 1.71480857e-01 1.96327272e-03 2.59579462e+02] [-1.71480534e-01 9.85187452e-01 -3.33093852e-04 -3.34765856e+01] [-1.99131087e-03 -8.50382091e-06 9.99998017e-01 -2.35785842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.61, Y:-33.47, Z:-2.36 [[ 9.84359342e-01 1.76171931e-01 3.69550325e-04 2.59608464e+02] [-1.76171919e-01 9.84359411e-01 -6.30147964e-05 -3.34708122e+01] [-3.74871779e-04 -3.07518663e-06 9.99999930e-01 -2.36004643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.64, Y:-33.47, Z:-2.36 [[ 9.84001187e-01 1.78161329e-01 4.53318556e-04 2.59637881e+02] [-1.78161312e-01 9.84001291e-01 -7.70621287e-05 -3.34706688e+01] [-4.59795536e-04 -4.93460264e-06 9.99999894e-01 -2.36111493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.67, Y:-33.47, Z:-2.36 [[ 9.83829159e-01 1.79108703e-01 5.09253727e-04 2.59666015e+02] [-1.79108682e-01 9.83829290e-01 -8.66367744e-05 -3.34709763e+01] [-5.16536133e-04 -5.97597902e-06 9.99999867e-01 -2.36252583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.69, Y:-33.48, Z:-2.36 [[ 9.83830974e-01 1.79098963e-01 4.20051623e-04 2.59693959e+02] [-1.79098949e-01 9.83831063e-01 -7.14968353e-05 -3.34750443e+01] [-4.26064844e-04 -4.89000316e-06 9.99999909e-01 -2.36311750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.72, Y:-33.48, Z:-2.37 [[ 9.84163356e-01 1.77262772e-01 -6.30569013e-04 2.59721344e+02] [-1.77262741e-01 9.84163558e-01 1.06339346e-04 -3.34806952e+01] [ 6.39433051e-04 7.12110345e-06 9.99999796e-01 -2.36564795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.75, Y:-33.49, Z:-2.37 [[ 9.84574020e-01 1.74965840e-01 -9.76981362e-04 2.59748107e+02] [-1.74965763e-01 9.84574504e-01 1.64918092e-04 -3.34880798e+01] [ 9.90765973e-04 8.56421993e-06 9.99999509e-01 -2.36625742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.78, Y:-33.49, Z:-2.36 [[ 9.84778736e-01 1.73812656e-01 -2.51324195e-05 2.59775497e+02] [-1.73812656e-01 9.84778737e-01 3.92354721e-06 -3.34944518e+01] [ 2.54318345e-05 5.04506726e-07 1.00000000e+00 -2.36486764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.80, Y:-33.50, Z:-2.36 [[ 9.84985173e-01 1.72631277e-01 1.62846688e-03 2.59803255e+02] [-1.72631058e-01 9.84986519e-01 -2.75526159e-04 -3.35011456e+01] [-1.65158236e-03 -9.73477929e-06 9.99998636e-01 -2.36143628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.83, Y:-33.51, Z:-2.36 [[ 9.85156535e-01 1.71642563e-01 2.33053475e-03 2.59830555e+02] [-1.71642111e-01 9.85159292e-01 -3.94138899e-04 -3.35075281e+01] [-2.36359897e-03 -1.17293907e-05 9.99997207e-01 -2.36009225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.86, Y:-33.52, Z:-2.36 [[ 9.85445476e-01 1.69974678e-01 2.41300304e-03 2.59858357e+02] [-1.69974189e-01 9.85448430e-01 -4.07884538e-04 -3.35161486e+01] [-2.44722010e-03 -8.20026079e-06 9.99997006e-01 -2.35978883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.89, Y:-33.52, Z:-2.36 [[ 9.85609074e-01 1.69020158e-01 2.63435241e-03 2.59885175e+02] [-1.69019572e-01 9.85612594e-01 -4.45182119e-04 -3.35227169e+01] [-2.67169567e-03 -6.48157934e-06 9.99996431e-01 -2.36042313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.91, Y:-33.53, Z:-2.36 [[ 9.85763050e-01 1.68123410e-01 2.39338902e-03 2.59913652e+02] [-1.68122924e-01 9.85765956e-01 -4.04311952e-04 -3.35297264e+01] [-2.42729572e-03 -3.82777587e-06 9.99997054e-01 -2.36010171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.845769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.94, Y:-33.54, Z:-2.36 [[ 9.85987950e-01 1.66810901e-01 1.37299507e-03 2.59941599e+02] [-1.66810740e-01 9.85988906e-01 -2.31935207e-04 -3.35362478e+01] [-1.39244723e-03 -3.45005069e-07 9.99999031e-01 -2.36248373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.97, Y:-33.54, Z:-2.37 [[ 9.86407127e-01 1.64317797e-01 -8.01384028e-04 2.59970583e+02] [-1.64317742e-01 9.86407452e-01 1.35096119e-04 -3.35427021e+01] [ 8.12689874e-04 -1.57816122e-06 9.99999670e-01 -2.36570029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.905769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.00, Y:-33.55, Z:-2.36 [[ 9.86558040e-01 1.63411189e-01 -1.28182608e-04 2.59998631e+02] [-1.63411187e-01 9.86558049e-01 2.12771063e-05 -3.35465944e+01] [ 1.29936501e-04 -4.46280739e-08 9.99999992e-01 -2.36497740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.03, Y:-33.55, Z:-2.36 [[ 9.86670432e-01 1.62724177e-01 1.51711313e-03 2.60026038e+02] [-1.62723975e-01 9.86671598e-01 -2.56171073e-04 -3.35514234e+01] [-1.53857767e-03 5.88574275e-06 9.99998816e-01 -2.36322488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.05, Y:-33.56, Z:-2.36 [[ 9.86823035e-01 1.61794561e-01 1.67861642e-03 2.60054510e+02] [-1.61794314e-01 9.86824463e-01 -2.83155709e-04 -3.35581746e+01] [-1.70231280e-03 7.83398444e-06 9.99998551e-01 -2.36237922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.08, Y:-33.56, Z:-2.36 [[ 9.86855019e-01 1.61603946e-01 1.15582625e-03 2.60082759e+02] [-1.61603828e-01 9.86855696e-01 -1.94986043e-04 -3.35646432e+01] [-1.17214423e-03 5.63700799e-06 9.99999313e-01 -2.36439064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.11, Y:-33.57, Z:-2.36 [[ 9.87042752e-01 1.60457221e-01 2.91712441e-04 2.60111587e+02] [-1.60457214e-01 9.87042795e-01 -4.93046570e-05 -3.35703652e+01] [-2.95843951e-04 1.85843888e-06 9.99999956e-01 -2.36468185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.14, Y:-33.58, Z:-2.37 [[ 9.87260669e-01 1.59110773e-01 3.64031622e-04 2.60140252e+02] [-1.59110761e-01 9.87260737e-01 -6.14857302e-05 -3.35780389e+01] [-3.69177170e-04 2.78109463e-06 9.99999932e-01 -2.36530181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.17, Y:-33.59, Z:-2.37 [[ 9.87514187e-01 1.57529539e-01 4.18798978e-04 2.60168096e+02] [-1.57529523e-01 9.87514276e-01 -7.07049700e-05 -3.35872100e+01] [-4.24708091e-04 3.84895775e-06 9.99999910e-01 -2.36595023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.20, Y:-33.60, Z:-2.36 [[ 9.87995241e-01 1.54476952e-01 1.50821738e-03 2.60196205e+02] [-1.54476744e-01 9.87996392e-01 -2.54119008e-04 -3.36009746e+01] [-1.52936886e-03 1.80838605e-05 9.99998830e-01 -2.36420225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14576923100003 meters Centerline goodness [0,1] 0.9999784663752449 Centerline is valid? [True, True] Translation: X:260.23, Y:-33.61, Z:-2.36 [[ 9.88226461e-01 1.52984122e-01 2.07833416e-03 2.60225915e+02] [-1.52983723e-01 9.88228646e-01 -3.50227237e-04 -3.36108885e+01] [-2.10744856e-03 2.81525252e-05 9.99997779e-01 -2.36337615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17576923100006 meters Centerline goodness [0,1] 0.9999155708466133 Centerline is valid? [True, True] Translation: X:260.25, Y:-33.63, Z:-2.37 [[ 9.88689554e-01 1.49972419e-01 1.11313117e-03 2.60253261e+02] [-1.49972304e-01 9.88690181e-01 -1.86879391e-04 -3.36346075e+01] [-1.12856861e-03 1.78268564e-05 9.99999363e-01 -2.36717871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.29, Y:-33.64, Z:-2.37 [[ 9.88879707e-01 1.48716393e-01 5.99015805e-04 2.60285110e+02] [-1.48716359e-01 9.88879889e-01 -1.00196582e-04 -3.36407957e+01] [-6.07255557e-04 9.99891689e-06 9.99999816e-01 -2.36673125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.31, Y:-33.65, Z:-2.37 [[ 9.88965278e-01 1.48147047e-01 3.63205267e-04 2.60314539e+02] [-1.48147035e-01 9.88965344e-01 -6.05107740e-05 -3.36526022e+01] [-3.68161914e-04 6.03527128e-06 9.99999932e-01 -2.36730153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.34, Y:-33.67, Z:-2.37 [[ 9.88704251e-01 1.49879612e-01 -7.41133440e-05 2.60344404e+02] [-1.49879612e-01 9.88704254e-01 1.34636408e-05 -3.36661427e+01] [ 7.52941038e-05 -2.20347968e-06 9.99999997e-01 -2.36736234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.38, Y:-33.67, Z:-2.37 [[ 9.88403338e-01 1.51851139e-01 -2.69202645e-04 2.60375974e+02] [-1.51851132e-01 9.88403375e-01 4.65208367e-05 -3.36728559e+01] [ 2.73145045e-04 -5.10262390e-06 9.99999963e-01 -2.36711722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.41, Y:-33.68, Z:-2.37 [[ 9.87670818e-01 1.56529251e-01 -2.22475110e-03 2.60406568e+02] [-1.56528798e-01 9.87673323e-01 3.77466492e-04 -3.36786801e+01] [ 2.25641186e-03 -2.45750224e-05 9.99997454e-01 -2.37049790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.44, Y:-33.68, Z:-2.37 [[ 9.87194053e-01 1.59492416e-01 -3.17360870e-03 2.60439155e+02] [-1.59491510e-01 9.87199153e-01 5.38245536e-04 -3.36816176e+01] [ 3.21882990e-03 -2.51891503e-05 9.99994819e-01 -2.37256463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.47, Y:-33.69, Z:-2.37 [[ 9.86671091e-01 1.62693684e-01 -3.30516644e-03 2.60469670e+02] [-1.62692715e-01 9.86676626e-01 5.61637902e-04 -3.36863374e+01] [ 3.35250541e-03 -1.64253799e-05 9.99994380e-01 -2.37430737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.50, Y:-33.68, Z:-2.37 [[ 9.85709198e-01 1.68455587e-01 -3.04484976e-04 2.60501467e+02] [-1.68455579e-01 9.85709245e-01 5.16874370e-05 -3.36849375e+01] [ 3.08840693e-04 3.43410850e-07 9.99999952e-01 -2.36544787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.53, Y:-33.68, Z:-2.36 [[ 9.84711525e-01 1.74166467e-01 3.04213382e-03 2.60533100e+02] [-1.74165703e-01 9.84716224e-01 -5.16122831e-04 -3.36809630e+01] [-3.08552982e-03 -2.16032765e-05 9.99995240e-01 -2.36032466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.56, Y:-33.68, Z:-2.36 [[ 9.84171514e-01 1.77196670e-01 2.78778167e-03 2.60563043e+02] [-1.77196041e-01 9.84175462e-01 -4.73003806e-04 -3.36806800e+01] [-2.82748101e-03 -2.84670044e-05 9.99996002e-01 -2.36217871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.59, Y:-33.68, Z:-2.37 [[ 9.83860177e-01 1.78934360e-01 1.28346009e-03 2.60591488e+02] [-1.78934228e-01 9.83861014e-01 -2.17882177e-04 -3.36827715e+01] [-1.30173295e-03 -1.52893431e-05 9.99999153e-01 -2.36679257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.62, Y:-33.69, Z:-2.37 [[ 9.83854054e-01 1.78971431e-01 -6.53755575e-04 2.60619405e+02] [-1.78971397e-01 9.83854271e-01 1.10675145e-04 -3.36885030e+01] [ 6.63007904e-04 8.11535837e-06 9.99999780e-01 -2.37153569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.65, Y:-33.69, Z:-2.37 [[ 9.83861833e-01 1.78928663e-01 -6.53770534e-04 2.60647358e+02] [-1.78928629e-01 9.83862050e-01 1.10586896e-04 -3.36931472e+01] [ 6.63007183e-04 8.17603900e-06 9.99999780e-01 -2.37169551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.595769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.68, Y:-33.70, Z:-2.37 [[ 9.84366619e-01 1.76118882e-01 -2.12083152e-03 2.60676712e+02] [-1.76118516e-01 9.84368904e-01 3.59550686e-04 -3.37047942e+01] [ 2.15100427e-03 1.95880076e-05 9.99997686e-01 -2.37244882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.71, Y:-33.71, Z:-2.37 [[ 9.84789538e-01 1.73749597e-01 8.01849067e-04 2.60705301e+02] [-1.73749544e-01 9.84789865e-01 -1.35834958e-04 -3.37129223e+01] [-8.13254103e-04 -5.55206441e-06 9.99999669e-01 -2.36713465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.74, Y:-33.72, Z:-2.36 [[ 9.84843579e-01 1.73435480e-01 1.80514986e-03 2.60735517e+02] [-1.73435211e-01 9.84845234e-01 -3.05978954e-04 -3.37215247e+01] [-1.83086084e-03 -1.17351370e-05 9.99998324e-01 -2.36435234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.77, Y:-33.73, Z:-2.37 [[ 9.84795787e-01 1.73707314e-01 1.73990994e-03 2.60767214e+02] [-1.73707065e-01 9.84797324e-01 -2.94378632e-04 -3.37276736e+01] [-1.76459437e-03 -1.23318120e-05 9.99998443e-01 -2.36511880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.80, Y:-33.73, Z:-2.37 [[ 9.84400610e-01 1.75938048e-01 -1.11461333e-03 2.60798406e+02] [-1.75937947e-01 9.84401241e-01 1.89558635e-04 -3.37269774e+01] [ 1.13057732e-03 9.50114440e-06 9.99999361e-01 -2.37270678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.83, Y:-33.73, Z:-2.38 [[ 9.84154765e-01 1.77295072e-01 -2.41973926e-03 2.60828114e+02] [-1.77294598e-01 9.84157740e-01 4.10702953e-04 -3.37302574e+01] [ 2.45422073e-03 2.48114308e-05 9.99996988e-01 -2.37605896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.86, Y:-33.74, Z:-2.37 [[ 9.83914566e-01 1.78633575e-01 -1.47423389e-03 2.60857344e+02] [-1.78633400e-01 9.83915670e-01 2.50302039e-04 -3.37389484e+01] [ 1.49523417e-03 1.70715902e-05 9.99998882e-01 -2.37107096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.89, Y:-33.74, Z:-2.37 [[ 9.83796162e-01 1.79290488e-01 1.82713895e-04 2.60886462e+02] [-1.79290485e-01 9.83796179e-01 -3.10880284e-05 -3.37426531e+01] [-1.85327020e-04 -2.17458004e-06 9.99999983e-01 -2.36724860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.92, Y:-33.75, Z:-2.36 [[ 9.83645766e-01 1.80105065e-01 1.78104471e-03 2.60916716e+02] [-1.80104813e-01 9.83647378e-01 -3.02371886e-04 -3.37466120e+01] [-1.80637867e-03 -2.33478985e-05 9.99998368e-01 -2.36408356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.95, Y:-33.75, Z:-2.36 [[ 9.83285665e-01 1.82029921e-01 3.79597023e-03 2.60946782e+02] [-1.82028789e-01 9.83292990e-01 -6.44471741e-04 -3.37460233e+01] [-3.84986406e-03 -5.72760423e-05 9.99992588e-01 -2.36321172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.98, Y:-33.75, Z:-2.36 [[ 9.83251302e-01 1.82207527e-01 4.15860722e-03 2.60977043e+02] [-1.82206171e-01 9.83260094e-01 -7.05965253e-04 -3.37510701e+01] [-4.21762471e-03 -6.35826433e-05 9.99991104e-01 -2.36309678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.01, Y:-33.76, Z:-2.36 [[ 9.83774403e-01 1.79383908e-01 3.05583616e-03 2.61007123e+02] [-1.79383162e-01 9.83779148e-01 -5.18697446e-04 -3.37603531e+01] [-3.09931387e-03 -3.78842834e-05 9.99995196e-01 -2.36389261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.04, Y:-33.77, Z:-2.36 [[ 9.84103461e-01 1.77574980e-01 2.73938779e-03 2.61037568e+02] [-1.77574375e-01 9.84107273e-01 -4.64657592e-04 -3.37678445e+01] [-2.77836301e-03 -2.91739284e-05 9.99996140e-01 -2.36367041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.07, Y:-33.78, Z:-2.36 [[ 9.84343008e-01 1.76251245e-01 2.08351204e-03 2.61068496e+02] [-1.76250892e-01 9.84345213e-01 -3.53483544e-04 -3.37764572e+01] [-2.11319702e-03 -1.92718011e-05 9.99997767e-01 -2.36467338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.10, Y:-33.79, Z:-2.37 [[ 9.84459563e-01 1.75609710e-01 7.73312429e-04 2.61098682e+02] [-1.75609662e-01 9.84459867e-01 -1.30795432e-04 -3.37871363e+01] [-7.84263999e-04 -7.03831986e-06 9.99999692e-01 -2.36638933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.13, Y:-33.79, Z:-2.37 [[ 9.84489289e-01 1.75436637e-01 1.68097605e-03 2.61128165e+02] [-1.75436404e-01 9.84490724e-01 -2.86177388e-04 -3.37924867e+01] [-1.70511133e-03 -1.31658186e-05 9.99998546e-01 -2.36532870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.16, Y:-33.80, Z:-2.36 [[ 9.84588245e-01 1.74854195e-01 3.46398077e-03 2.61159238e+02] [-1.74853203e-01 9.84594338e-01 -5.89508572e-04 -3.37993573e+01] [-3.51369390e-03 -2.52649225e-05 9.99993827e-01 -2.36191349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.19, Y:-33.81, Z:-2.36 [[ 9.84575328e-01 1.74922459e-01 3.68208000e-03 2.61191680e+02] [-1.74921336e-01 9.84582212e-01 -6.27241618e-04 -3.38072835e+01] [-3.73502912e-03 -2.65077310e-05 9.99993024e-01 -2.36098795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.22, Y:-33.81, Z:-2.36 [[ 9.84525561e-01 1.75216650e-01 2.92335310e-03 2.61223058e+02] [-1.75215942e-01 9.84529901e-01 -4.98552843e-04 -3.38124689e+01] [-2.96548330e-03 -2.13800514e-05 9.99995603e-01 -2.36203689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.25, Y:-33.82, Z:-2.36 [[ 9.84455051e-01 1.75631177e-01 1.39363730e-03 2.61254269e+02] [-1.75631016e-01 9.84456037e-01 -2.37909078e-04 -3.38171785e+01] [-1.41375890e-03 -1.05551413e-05 9.99999001e-01 -2.36473954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.29, Y:-33.82, Z:-2.37 [[ 9.84239549e-01 1.76812248e-01 -3.15273406e-03 2.61285454e+02] [-1.76811430e-01 9.84244598e-01 5.38599176e-04 -3.38167950e+01] [ 3.19829240e-03 2.73288070e-05 9.99994885e-01 -2.37435249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.32, Y:-33.82, Z:-2.37 [[ 9.83939002e-01 1.78466422e-01 -3.71178221e-03 2.61315721e+02] [-1.78465300e-01 9.83946002e-01 6.34028528e-04 -3.38201323e+01] [ 3.76534607e-03 3.85789284e-05 9.99992910e-01 -2.37361146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.34, Y:-33.82, Z:-2.37 [[ 9.83906276e-01 1.78676317e-01 -1.79267297e-03 2.61344549e+02] [-1.78676055e-01 9.83907909e-01 3.06125906e-04 -3.38244137e+01] [ 1.81852256e-03 1.91085348e-05 9.99998346e-01 -2.37071906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.37, Y:-33.83, Z:-2.37 [[ 9.84084243e-01 1.77700761e-01 8.01788933e-04 2.61374092e+02] [-1.77700709e-01 9.84084569e-01 -1.36947888e-04 -3.38305286e+01] [-8.13363861e-04 -7.71020318e-06 9.99999669e-01 -2.36638221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.40, Y:-33.84, Z:-2.36 [[ 9.84613841e-01 1.74701083e-01 3.88793741e-03 2.61404621e+02] [-1.74699824e-01 9.84621517e-01 -6.63807498e-04 -3.38374950e+01] [-3.94411472e-03 -2.56279312e-05 9.99992222e-01 -2.36194004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.345769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.44, Y:-33.84, Z:-2.36 [[ 9.84865478e-01 1.73283464e-01 3.58207255e-03 2.61435168e+02] [-1.73282384e-01 9.84871992e-01 -6.12204161e-04 -3.38444945e+01] [-3.63396778e-03 -1.77713255e-05 9.99993397e-01 -2.36258137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.47, Y:-33.85, Z:-2.37 [[ 9.85245847e-01 1.71145026e-01 -3.65217754e-05 2.61465976e+02] [-1.71145026e-01 9.85245848e-01 7.19082006e-06 -3.38533625e+01] [ 3.72136007e-05 -8.34205401e-07 9.99999999e-01 -2.36854565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.405769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.50, Y:-33.86, Z:-2.37 [[ 9.85380036e-01 1.70368179e-01 -9.31666637e-04 2.61496707e+02] [-1.70368103e-01 9.85380477e-01 1.60536417e-04 -3.38590000e+01] [ 9.45396412e-04 5.36896951e-07 9.99999553e-01 -2.37055307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.53, Y:-33.86, Z:-2.37 [[ 9.85464580e-01 1.69877854e-01 -1.03725956e-03 2.61526475e+02] [-1.69877761e-01 9.85465126e-01 1.77844304e-04 -3.38637533e+01] [ 1.05239493e-03 9.48069317e-07 9.99999446e-01 -2.37149367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.56, Y:-33.87, Z:-2.37 [[ 9.85594118e-01 1.69125134e-01 -9.61252880e-04 2.61556869e+02] [-1.69125053e-01 9.85594587e-01 1.64828427e-04 -3.38699399e+01] [ 9.75282265e-04 1.18016916e-07 9.99999524e-01 -2.37107762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.59, Y:-33.88, Z:-2.37 [[ 9.85550593e-01 1.69370843e-01 -1.88327326e-03 2.61588068e+02] [-1.69370535e-01 9.85552392e-01 3.22976566e-04 -3.38753990e+01] [ 1.91076728e-03 6.61253881e-07 9.99998174e-01 -2.37236967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.62, Y:-33.88, Z:-2.37 [[ 9.85197827e-01 1.71395480e-01 -2.97155778e-03 2.61618318e+02] [-1.71394723e-01 9.85202309e-01 5.09407409e-04 -3.38780235e+01] [ 3.01489571e-03 7.44225076e-06 9.99995455e-01 -2.37402859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.65, Y:-33.88, Z:-2.37 [[ 9.84996362e-01 1.72563770e-01 -1.97768015e-03 2.61647426e+02] [-1.72563437e-01 9.84998348e-01 3.38939005e-04 -3.38818157e+01] [ 2.00650028e-03 7.42159772e-06 9.99997987e-01 -2.37330271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.68, Y:-33.89, Z:-2.37 [[ 9.84863966e-01 1.73325910e-01 -1.04805338e-03 2.61677458e+02] [-1.73325817e-01 9.84864523e-01 1.79652870e-04 -3.38873853e+01] [ 1.06332909e-03 4.72107102e-06 9.99999435e-01 -2.37163443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.71, Y:-33.89, Z:-2.37 [[ 9.84667336e-01 1.74441874e-01 -5.20409503e-04 2.61708237e+02] [-1.74441851e-01 9.84667473e-01 8.93548511e-05 -3.38929462e+01] [ 5.28017538e-04 2.79639390e-06 9.99999861e-01 -2.36973855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.74, Y:-33.90, Z:-2.37 [[ 9.84460990e-01 1.75598467e-01 -1.31795472e-03 2.61738545e+02] [-1.75598321e-01 9.84461873e-01 2.26034014e-04 -3.38954716e+01] [ 1.33716740e-03 8.90896805e-06 9.99999106e-01 -2.37255712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.77, Y:-33.90, Z:-2.37 [[ 9.84068797e-01 1.77774750e-01 -2.17748105e-03 2.61768443e+02] [-1.77774359e-01 9.84071206e-01 3.73334216e-04 -3.38999348e+01] [ 2.20916580e-03 1.97137460e-05 9.99997560e-01 -2.37480113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.80, Y:-33.91, Z:-2.37 [[ 9.84056933e-01 1.77843456e-01 -1.91267708e-03 2.61797780e+02] [-1.77843155e-01 9.84058791e-01 3.27843062e-04 -3.39057943e+01] [ 1.94049144e-03 1.75402887e-05 9.99998117e-01 -2.37430894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.83, Y:-33.91, Z:-2.37 [[ 9.84149106e-01 1.77336826e-01 -1.47875177e-03 2.61827570e+02] [-1.77336646e-01 9.84150217e-01 2.53517657e-04 -3.39128068e+01] [ 1.50027189e-03 1.27377027e-05 9.99998875e-01 -2.37375191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.86, Y:-33.92, Z:-2.37 [[ 9.84568703e-01 1.74985899e-01 -2.09874135e-03 2.61857425e+02] [-1.74985527e-01 9.84570939e-01 3.61001621e-04 -3.39246274e+01] [ 2.12952994e-03 1.18184651e-05 9.99997732e-01 -2.37410368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.89, Y:-33.94, Z:-2.38 [[ 9.84773973e-01 1.73829975e-01 -1.83352272e-03 2.61887745e+02] [-1.73829689e-01 9.84775680e-01 3.15854684e-04 -3.39350418e+01] [ 1.86051359e-03 7.67521124e-06 9.99998269e-01 -2.37529071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.92, Y:-33.94, Z:-2.37 [[ 9.84837007e-01 1.73477655e-01 -1.25414484e-03 2.61918844e+02] [-1.73477520e-01 9.84837806e-01 2.16547979e-04 -3.39429848e+01] [ 1.27269549e-03 4.30147303e-06 9.99999190e-01 -2.37416293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.95, Y:-33.95, Z:-2.37 [[ 9.84819693e-01 1.73579817e-01 -4.68671424e-04 2.61950293e+02] [-1.73579798e-01 9.84819804e-01 8.15773455e-05 -3.39506578e+01] [ 4.75717081e-04 1.01291485e-06 9.99999887e-01 -2.37308290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.98, Y:-33.96, Z:-2.37 [[ 9.84581613e-01 1.74925234e-01 4.58751408e-04 2.61980189e+02] [-1.74925217e-01 9.84581720e-01 -7.81670093e-05 -3.39583311e+01] [-4.65351632e-04 -3.28538931e-06 9.99999892e-01 -2.37035037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.01, Y:-33.96, Z:-2.37 [[ 9.84293829e-01 1.76537281e-01 4.95819184e-04 2.62011865e+02] [-1.76537261e-01 9.84293954e-01 -8.45312726e-05 -3.39636494e+01] [-5.02954746e-04 -4.32695075e-06 9.99999874e-01 -2.36883538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.04, Y:-33.96, Z:-2.37 [[ 9.83471619e-01 1.81052703e-01 1.86901517e-03 2.62044421e+02] [-1.81052419e-01 9.83473395e-01 -3.21623543e-04 -3.39638663e+01] [-1.89635750e-03 -2.20820905e-05 9.99998202e-01 -2.36640305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.08, Y:-33.97, Z:-2.36 [[ 9.82941131e-01 1.83895098e-01 3.05387714e-03 2.62076376e+02] [-1.83894349e-01 9.82945874e-01 -5.26645310e-04 -3.39665794e+01] [-3.09864342e-03 -4.39294116e-05 9.99995198e-01 -2.36468979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00576923100004 meters Centerline goodness [0,1] 0.9999789695057834 Centerline is valid? [True, True] Translation: X:262.11, Y:-33.97, Z:-2.36 [[ 9.82508032e-01 1.86172376e-01 4.22054763e-03 2.62107474e+02] [-1.86170962e-01 9.82517095e-01 -7.29116611e-04 -3.39671668e+01] [-4.28250157e-03 -6.93804838e-05 9.99990828e-01 -2.36291448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.14, Y:-33.98, Z:-2.36 [[ 9.82240371e-01 1.87581306e-01 4.13610770e-03 2.62138473e+02] [-1.87579960e-01 9.82249076e-01 -7.14424050e-04 -3.39754055e+01] [-4.19670057e-03 -7.41147735e-05 9.99991191e-01 -2.36234450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06576923100005 meters Centerline goodness [0,1] 0.9999784793509372 Centerline is valid? [True, True] Translation: X:262.17, Y:-33.98, Z:-2.37 [[ 9.82256153e-01 1.87531627e-01 2.17694701e-03 2.62169631e+02] [-1.87531254e-01 9.82258564e-01 -3.75946781e-04 -3.39821050e+01] [-2.20882676e-03 -3.89695651e-05 9.99997560e-01 -2.36533163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.095769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.20, Y:-33.99, Z:-2.37 [[ 9.82319744e-01 1.87196933e-01 -2.28685430e-03 2.62200859e+02] [-1.87196515e-01 9.82322405e-01 3.97202216e-04 -3.39907445e+01] [ 2.32078325e-03 3.79115770e-05 9.99997306e-01 -2.37481619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.23, Y:-34.00, Z:-2.38 [[ 9.82453575e-01 1.86476282e-01 -3.40123507e-03 2.62230089e+02] [-1.86475359e-01 9.82459461e-01 5.89491453e-04 -3.39977947e+01] [ 3.45150175e-03 5.50985448e-05 9.99994042e-01 -2.37759665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.155769231 meters Centerline goodness [0,1] 0.9999788922661264 Centerline is valid? [True, True] Translation: X:262.26, Y:-34.01, Z:-2.38 [[ 9.82605946e-01 1.85671547e-01 -3.41039805e-03 2.62260966e+02] [-1.85670613e-01 9.82611863e-01 5.91225961e-04 -3.40054637e+01] [ 3.46087142e-03 5.22685508e-05 9.99994010e-01 -2.37795666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.29, Y:-34.01, Z:-2.37 [[ 9.82765139e-01 1.84846263e-01 -2.13068870e-03 2.62290199e+02] [-1.84845896e-01 9.82767449e-01 3.69384079e-04 -3.40129233e+01] [ 2.16225076e-03 3.08312656e-05 9.99997662e-01 -2.37377835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.32, Y:-34.02, Z:-2.37 [[ 9.82710499e-01 1.85142820e-01 -1.48727872e-03 2.62320840e+02] [-1.85142642e-01 9.82711624e-01 2.57960205e-04 -3.40179492e+01] [ 1.50932556e-03 2.18585089e-05 9.99998861e-01 -2.37204716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.35, Y:-34.02, Z:-2.37 [[ 9.82486190e-01 1.86335395e-01 -7.98915451e-05 2.62351102e+02] [-1.86335395e-01 9.82486194e-01 1.39157490e-05 -3.40189646e+01] [ 8.10853366e-05 1.21459135e-06 9.99999997e-01 -2.37040371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.38, Y:-34.02, Z:-2.37 [[ 9.82320993e-01 1.87202949e-01 7.22338060e-04 2.62382165e+02] [-1.87202907e-01 9.82321259e-01 -1.25118999e-04 -3.40214305e+01] [-7.32990678e-04 -1.23167658e-05 9.99999731e-01 -2.36995100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.41, Y:-34.03, Z:-2.37 [[ 9.82154516e-01 1.88073936e-01 8.36807037e-04 2.62413414e+02] [-1.88073882e-01 9.82154873e-01 -1.44294413e-04 -3.40283184e+01] [-8.49012127e-04 -1.56621379e-05 9.99999639e-01 -2.37067947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.33576923100003 meters Centerline goodness [0,1] 0.9999786621145844 Centerline is valid? [True, True] Translation: X:262.44, Y:-34.03, Z:-2.38 [[ 9.81986169e-01 1.88943382e-01 -1.88727808e-03 2.62443983e+02] [-1.88943101e-01 9.81987982e-01 3.27737430e-04 -3.40310252e+01] [ 1.91520821e-03 3.47545496e-05 9.99998165e-01 -2.37555570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.47, Y:-34.03, Z:-2.38 [[ 9.81786178e-01 1.89960431e-01 -3.30681197e-03 2.62472942e+02] [-1.89959576e-01 9.81791745e-01 5.73708898e-04 -3.40326777e+01] [ 3.35558268e-03 6.49011316e-05 9.99994368e-01 -2.37807772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39576923100003 meters Centerline goodness [0,1] 0.9998937774850757 Centerline is valid? [True, True] Translation: X:262.50, Y:-34.03, Z:-2.38 [[ 9.81003056e-01 1.93935551e-01 -4.69113120e-03 2.62504282e+02] [-1.93933874e-01 9.81014266e-01 8.14027198e-04 -3.40293534e+01] [ 4.75993544e-03 1.11206078e-04 9.99988665e-01 -2.38022727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42576923100006 meters Centerline goodness [0,1] 0.9996835443037975 Centerline is valid? [True, True] Translation: X:262.53, Y:-34.03, Z:-2.38 [[ 9.80584074e-01 1.96047434e-01 -4.50309430e-03 2.62533893e+02] [-1.96045913e-01 9.80594406e-01 7.81139180e-04 -3.40251845e+01] [ 4.56884941e-03 1.16840591e-04 9.99989556e-01 -2.38218125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45576923100003 meters Centerline goodness [0,1] 0.999657416923604 Centerline is valid? [True, True] Translation: X:262.56, Y:-34.02, Z:-2.38 [[ 9.80042757e-01 1.98775755e-01 -2.09594099e-03 2.62563836e+02] [-1.98775432e-01 9.80044997e-01 3.63400799e-04 -3.40236337e+01] [ 2.12635175e-03 6.04732539e-05 9.99997737e-01 -2.37766928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48576923100006 meters Centerline goodness [0,1] 0.999657416923604 Centerline is valid? [True, True] Translation: X:262.59, Y:-34.03, Z:-2.38 [[ 9.80051431e-01 1.98732986e-01 -2.09596723e-03 2.62591780e+02] [-1.98732663e-01 9.80053670e-01 3.63249463e-04 -3.40283872e+01] [ 2.12635003e-03 6.05339944e-05 9.99997737e-01 -2.37782916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51576923100004 meters Centerline goodness [0,1] 0.9996612394401981 Centerline is valid? [True, True] Translation: X:262.62, Y:-34.03, Z:-2.37 [[ 9.79930929e-01 1.99336744e-01 -4.86051181e-04 2.62619777e+02] [-1.99336727e-01 9.79931050e-01 8.39568358e-05 -3.40294397e+01] [ 4.93032326e-04 1.46159514e-05 9.99999878e-01 -2.37482090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54576923100007 meters Centerline goodness [0,1] 0.9998512663607003 Centerline is valid? [True, True] Translation: X:262.65, Y:-34.04, Z:-2.37 [[ 9.79882728e-01 1.99573615e-01 4.60815097e-04 2.62647812e+02] [-1.99573599e-01 9.79882836e-01 -8.01353386e-05 -3.40361375e+01] [-4.67537703e-04 -1.34432930e-05 9.99999891e-01 -2.37194253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57576923100004 meters Centerline goodness [0,1] 0.9996197075973972 Centerline is valid? [True, True] Translation: X:262.68, Y:-34.04, Z:-2.37 [[ 9.80095743e-01 1.98525222e-01 2.65738926e-04 2.62675867e+02] [-1.98525216e-01 9.80095779e-01 -4.63754838e-05 -3.40351269e+01] [-2.69656303e-04 -7.30346347e-06 9.99999964e-01 -2.37429985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60576923100007 meters Centerline goodness [0,1] 0.9997028673302629 Centerline is valid? [True, True] Translation: X:262.70, Y:-34.04, Z:-2.38 [[ 9.80490287e-01 1.96567536e-01 -3.62946164e-05 2.62703262e+02] [-1.96567536e-01 9.80490287e-01 5.98206530e-06 -3.40418277e+01] [ 3.67623987e-05 1.26898639e-06 9.99999999e-01 -2.37626428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63576923100004 meters Centerline goodness [0,1] 0.9998943252668288 Centerline is valid? [True, True] Translation: X:262.73, Y:-34.05, Z:-2.38 [[ 9.81368420e-01 1.92112856e-01 -2.94538568e-03 2.62731640e+02] [-1.92112190e-01 9.81372838e-01 5.09984140e-04 -3.40503139e+01] [ 2.98849601e-03 6.53621641e-05 9.99995532e-01 -2.38264273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66576923100007 meters Centerline goodness [0,1] 0.9998065057080816 Centerline is valid? [True, True] Translation: X:262.76, Y:-34.06, Z:-2.39 [[ 9.81614237e-01 1.90805107e-01 -5.18656857e-03 2.62759697e+02] [-1.90803026e-01 9.81627933e-01 8.97782282e-04 -3.40553828e+01] [ 5.26258203e-03 1.08337107e-04 9.99986147e-01 -2.38681586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69576923100004 meters Centerline goodness [0,1] 0.999871890680047 Centerline is valid? [True, True] Translation: X:262.79, Y:-34.06, Z:-2.39 [[ 9.81549337e-01 1.91104197e-01 -6.33121803e-03 2.62788087e+02] [-1.91101103e-01 9.81569747e-01 1.09569673e-03 -3.40582015e+01] [ 6.42392432e-03 1.34422352e-04 9.99979357e-01 -2.38720687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7257692310001 meters Centerline goodness [0,1] 0.9998100544510574 Centerline is valid? [True, True] Translation: X:262.82, Y:-34.06, Z:-2.38 [[ 9.81417850e-01 1.91836782e-01 -4.20158794e-03 2.62816726e+02] [-1.91835427e-01 9.81426839e-01 7.26873404e-04 -3.40610287e+01] [ 4.26299222e-03 9.26468822e-05 9.99990909e-01 -2.38224810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.84, Y:-34.07, Z:-2.37 [[ 9.81413473e-01 1.91904073e-01 6.50096236e-04 2.62844479e+02] [-1.91904040e-01 9.81413688e-01 -1.12736219e-04 -3.40703062e+01] [-6.59647884e-04 -1.41152505e-05 9.99999782e-01 -2.37126138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7857692310001 meters Centerline goodness [0,1] 0.999936579075323 Centerline is valid? [True, True] Translation: X:262.87, Y:-34.07, Z:-2.37 [[ 9.81512550e-01 1.91392717e-01 1.39330240e-03 2.62873054e+02] [-1.91392567e-01 9.81513539e-01 -2.41310471e-04 -3.40697190e+01] [-1.41373023e-03 -2.98184666e-05 9.99999000e-01 -2.37192725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81576923100005 meters Centerline goodness [0,1] 0.9998725004781233 Centerline is valid? [True, True] Translation: X:262.90, Y:-34.08, Z:-2.37 [[ 9.81661804e-01 1.90625381e-01 1.43781061e-03 2.62901004e+02] [-1.90625221e-01 9.81662856e-01 -2.48843786e-04 -3.40766913e+01] [-1.45888121e-03 -2.98025250e-05 9.99998935e-01 -2.37262311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.845769231 meters Centerline goodness [0,1] 0.9999788000847997 Centerline is valid? [True, True] Translation: X:262.93, Y:-34.09, Z:-2.37 [[ 9.82173784e-01 1.87969883e-01 1.40758569e-03 2.62928927e+02] [-1.87969727e-01 9.82174792e-01 -2.43427445e-04 -3.40922365e+01] [-1.42825221e-03 -2.54954428e-05 9.99998980e-01 -2.37183033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87576923100005 meters Centerline goodness [0,1] 0.9999788225328251 Centerline is valid? [True, True] Translation: X:262.96, Y:-34.10, Z:-2.37 [[ 9.82468955e-01 1.86416917e-01 1.86672683e-03 2.62957502e+02] [-1.86416640e-01 9.82470728e-01 -3.22873159e-04 -3.40962597e+01] [-1.89419349e-03 -3.07760873e-05 9.99998206e-01 -2.37184006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.905769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.99, Y:-34.11, Z:-2.37 [[ 9.82875652e-01 1.84268821e-01 6.73451611e-04 2.62985131e+02] [-1.84268784e-01 9.82875883e-01 -1.16524208e-04 -3.41101168e+01] [-6.83391125e-04 -9.56730283e-06 9.99999766e-01 -2.37245986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.02, Y:-34.12, Z:-2.37 [[ 9.82960775e-01 1.83815427e-01 5.26383082e-05 2.63016214e+02] [-1.83815426e-01 9.82960777e-01 -8.13357640e-06 -3.41213238e+01] [-5.32364692e-05 -1.68074651e-06 9.99999999e-01 -2.37171004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.965769231 meters Centerline goodness [0,1] 0.9999787771387338 Centerline is valid? [True, True] Translation: X:263.05, Y:-34.12, Z:-2.37 [[ 9.83139835e-01 1.82848106e-01 1.62319970e-03 2.63046995e+02] [-1.82847892e-01 9.83141175e-01 -2.80735417e-04 -3.41239131e+01] [-1.64716640e-03 -2.07964712e-05 9.99998643e-01 -2.37168185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.08, Y:-34.13, Z:-2.37 [[ 9.83162720e-01 1.82717204e-01 2.34313393e-03 2.63075927e+02] [-1.82716756e-01 9.83165511e-01 -4.05449434e-04 -3.41343184e+01] [-2.37777106e-03 -2.95070638e-05 9.99997173e-01 -2.36970796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.11, Y:-34.15, Z:-2.37 [[ 9.83381360e-01 1.81540010e-01 2.07999371e-03 2.63106025e+02] [-1.81539656e-01 9.83383559e-01 -3.59317243e-04 -3.41491156e+01] [-2.11066207e-03 -2.42554637e-05 9.99997772e-01 -2.36994156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.14, Y:-34.16, Z:-2.37 [[ 9.83556109e-01 1.80595270e-01 1.65194522e-03 2.63136035e+02] [-1.80595045e-01 9.83557496e-01 -2.85512093e-04 -3.41571324e+01] [-1.67634524e-03 -1.75159579e-05 9.99998595e-01 -2.37098571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.17, Y:-34.17, Z:-2.37 [[ 9.83760805e-01 1.79480701e-01 1.16498492e-03 2.63167414e+02] [-1.79480588e-01 9.83761494e-01 -2.01705956e-04 -3.41674070e+01] [-1.18226964e-03 -1.06617655e-05 9.99999301e-01 -2.37188081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.20, Y:-34.18, Z:-2.37 [[ 9.84078794e-01 1.77732723e-01 8.29327961e-05 2.63197981e+02] [-1.77732722e-01 9.84078797e-01 -1.34467420e-05 -3.41817651e+01] [-8.40023323e-05 -1.50721793e-06 9.99999996e-01 -2.37335988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.23, Y:-34.19, Z:-2.37 [[ 9.83989568e-01 1.78226057e-01 4.15465510e-05 2.63229778e+02] [-1.78226057e-01 9.83989569e-01 -6.20729249e-06 -3.41884256e+01] [-4.19876741e-05 -1.29676692e-06 9.99999999e-01 -2.37336496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.26, Y:-34.19, Z:-2.37 [[ 9.83532014e-01 1.80733870e-01 2.14570999e-04 2.63260940e+02] [-1.80733866e-01 9.83532037e-01 -3.64659021e-05 -3.41898593e+01] [-2.17628076e-04 -2.91486408e-06 9.99999976e-01 -2.37484879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.29, Y:-34.20, Z:-2.37 [[ 9.83156841e-01 1.82763663e-01 2.62543699e-04 2.63292068e+02] [-1.82763657e-01 9.83156876e-01 -4.48540486e-05 -3.41956021e+01] [-2.66319333e-04 -3.88488201e-06 9.99999965e-01 -2.37363371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.32, Y:-34.20, Z:-2.37 [[ 9.82807240e-01 1.84633338e-01 6.78287377e-04 2.63323246e+02] [-1.84633301e-01 9.82807474e-01 -1.17337786e-04 -3.41981722e+01] [-6.88290371e-04 -9.91401248e-06 9.99999763e-01 -2.37376808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26576923100004 meters Centerline goodness [0,1] 0.9999575137018312 Centerline is valid? [True, True] Translation: X:263.36, Y:-34.20, Z:-2.37 [[ 9.82279604e-01 1.87415550e-01 1.48059857e-03 2.63355241e+02] [-1.87415375e-01 9.82280719e-01 -2.57306890e-04 -3.42025179e+01] [-1.50258674e-03 -2.47396258e-05 9.99998871e-01 -2.37165633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.39, Y:-34.21, Z:-2.37 [[ 9.82116913e-01 1.88269700e-01 9.42822029e-04 2.63386185e+02] [-1.88269629e-01 9.82117366e-01 -1.64021216e-04 -3.42065259e+01] [-9.56842112e-04 -1.64167430e-05 9.99999542e-01 -2.37324202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.42, Y:-34.21, Z:-2.38 [[ 9.82019289e-01 1.88776164e-01 -1.29469317e-03 2.63416688e+02] [-1.88776030e-01 9.82020142e-01 2.26080553e-04 -3.42097626e+01] [ 1.31409339e-03 2.23915729e-05 9.99999136e-01 -2.37858533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.45, Y:-34.22, Z:-2.38 [[ 9.82145104e-01 1.88107810e-01 -2.53914356e-03 2.63448050e+02] [-1.88107289e-01 9.82148385e-01 4.44466463e-04 -3.42185855e+01] [ 2.57742336e-03 4.11008523e-05 9.99996678e-01 -2.38030235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.48, Y:-34.23, Z:-2.38 [[ 9.83051567e-01 1.83297530e-01 -3.41061277e-03 2.63476657e+02] [-1.83296566e-01 9.83057482e-01 5.95890208e-04 -3.42324957e+01] [ 3.46205361e-03 3.93628060e-05 9.99994006e-01 -2.38156109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.51, Y:-34.24, Z:-2.38 [[ 9.83525378e-01 1.80755003e-01 -2.33664655e-03 2.63506117e+02] [-1.80754541e-01 9.83528153e-01 4.09401246e-04 -3.42431094e+01] [ 2.37215899e-03 1.97029598e-05 9.99997186e-01 -2.37863539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44576923100004 meters Centerline goodness [0,1] 0.9999575064802617 Centerline is valid? [True, True] Translation: X:263.54, Y:-34.25, Z:-2.37 [[ 9.83876971e-01 1.78846220e-01 -3.68576065e-04 2.63537285e+02] [-1.78846208e-01 9.83877040e-01 6.54057499e-05 -3.42528932e+01] [ 3.74331099e-04 1.56722038e-06 9.99999930e-01 -2.37497080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.4757692310001 meters Centerline goodness [0,1] 0.9999364218200314 Centerline is valid? [True, True] Translation: X:263.57, Y:-34.26, Z:-2.37 [[ 9.84010608e-01 1.78096176e-01 2.20781666e-03 2.63568313e+02] [-1.78095759e-01 9.84013085e-01 -3.85847424e-04 -3.42604323e+01] [-2.24123843e-03 -1.35248235e-05 9.99997488e-01 -2.37005292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50576923100004 meters Centerline goodness [0,1] 0.9999363989060612 Centerline is valid? [True, True] Translation: X:263.60, Y:-34.26, Z:-2.37 [[ 9.83704553e-01 1.79782797e-01 1.87026165e-03 2.63600554e+02] [-1.79782500e-01 9.83706331e-01 -3.27024990e-04 -3.42628773e+01] [-1.89858170e-03 -1.45443447e-05 9.99998198e-01 -2.37101251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5357692310001 meters Centerline goodness [0,1] 0.9999787487249235 Centerline is valid? [True, True] Translation: X:263.63, Y:-34.26, Z:-2.37 [[ 9.82909154e-01 1.84089441e-01 8.20668051e-04 2.63633468e+02] [-1.84089386e-01 9.82909496e-01 -1.43106449e-04 -3.42605980e+01] [-8.32986806e-04 -1.04156385e-05 9.99999653e-01 -2.37336688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.67, Y:-34.26, Z:-2.37 [[ 9.82437713e-01 1.86589469e-01 7.13961143e-04 2.63666189e+02] [-1.86589428e-01 9.82437973e-01 -1.24496276e-04 -3.42622064e+01] [-7.24652232e-04 -1.09077647e-05 9.99999737e-01 -2.37324571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.595769231 meters Centerline goodness [0,1] 0.9999789278489548 Centerline is valid? [True, True] Translation: X:263.70, Y:-34.26, Z:-2.37 [[ 9.82014300e-01 1.88802017e-01 1.30884556e-03 2.63698731e+02] [-1.88801880e-01 9.82015172e-01 -2.29219333e-04 -3.42639783e+01] [-1.32858327e-03 -2.20158385e-05 9.99999117e-01 -2.37184784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.73, Y:-34.27, Z:-2.37 [[ 9.81416390e-01 1.91875913e-01 2.34593168e-03 2.63730826e+02] [-1.91875476e-01 9.81419193e-01 -4.11942598e-04 -3.42656956e+01] [-2.38138424e-03 -4.58395416e-05 9.99997163e-01 -2.37001877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.76, Y:-34.27, Z:-2.37 [[ 9.81322939e-01 1.92346708e-01 2.83413850e-03 2.63763223e+02] [-1.92346070e-01 9.81327030e-01 -4.98484697e-04 -3.42672743e+01] [-2.87709861e-03 -5.59609344e-05 9.99995860e-01 -2.36989962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.79, Y:-34.27, Z:-2.37 [[ 9.81637086e-01 1.90716707e-01 3.97096638e-03 2.63794811e+02] [-1.90715439e-01 9.81645115e-01 -6.99114921e-04 -3.42739651e+01] [-4.03141265e-03 -7.10474636e-05 9.99991871e-01 -2.36878213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.83, Y:-34.28, Z:-2.37 [[ 9.81983071e-01 1.88927505e-01 3.95548749e-03 2.63826089e+02] [-1.88926230e-01 9.81991036e-01 -6.97051517e-04 -3.42807483e+01] [-4.01594546e-03 -6.28025488e-05 9.99991934e-01 -2.36912238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74576923100005 meters Centerline goodness [0,1] 0.9999788485130505 Centerline is valid? [True, True] Translation: X:263.86, Y:-34.29, Z:-2.37 [[ 9.82900164e-01 1.84115033e-01 2.98691667e-03 2.63855448e+02] [-1.84114282e-01 9.82904702e-01 -5.26889489e-04 -3.42904947e+01] [-3.03286272e-03 -3.20542516e-05 9.99995400e-01 -2.37226786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.775769231 meters Centerline goodness [0,1] 0.999978727477717 Centerline is valid? [True, True] Translation: X:263.89, Y:-34.30, Z:-2.37 [[ 9.83346289e-01 1.81726870e-01 2.32823413e-03 2.63886473e+02] [-1.81726407e-01 9.83349045e-01 -4.10470634e-04 -3.42999049e+01] [-2.36406035e-03 -1.94668494e-05 9.99997205e-01 -2.37357866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80576923100006 meters Centerline goodness [0,1] 0.9999356858037131 Centerline is valid? [True, True] Translation: X:263.92, Y:-34.31, Z:-2.37 [[ 9.83782607e-01 1.79358914e-01 1.47050427e-03 2.63917062e+02] [-1.79358727e-01 9.83783706e-01 -2.59111279e-04 -3.43108331e+01] [-1.49313206e-03 -8.83860314e-06 9.99998885e-01 -2.37421020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.83576923100003 meters Centerline goodness [0,1] 0.9998511113474423 Centerline is valid? [True, True] Translation: X:263.95, Y:-34.32, Z:-2.38 [[ 9.84574843e-01 1.74963464e-01 4.05431975e-04 2.63946373e+02] [-1.74963450e-01 9.84574927e-01 -7.08695468e-05 -3.43237038e+01] [-4.11577739e-04 -1.15940402e-06 9.99999915e-01 -2.37669748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86576923100006 meters Centerline goodness [0,1] 0.9998728894349935 Centerline is valid? [True, True] Translation: X:263.98, Y:-34.33, Z:-2.38 [[ 9.84938531e-01 1.72903000e-01 8.01535889e-04 2.63976930e+02] [-1.72902942e-01 9.84938857e-01 -1.41024877e-04 -3.43330166e+01] [-8.13847467e-04 3.12921173e-07 9.99999669e-01 -2.37671390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89576923100003 meters Centerline goodness [0,1] 0.9998726736413216 Centerline is valid? [True, True] Translation: X:264.01, Y:-34.34, Z:-2.37 [[ 9.85392494e-01 1.70288020e-01 1.90334517e-03 2.64008641e+02] [-1.70287688e-01 9.85394332e-01 -3.36599398e-04 -3.43439495e+01] [-1.93286439e-03 7.56627261e-06 9.99998132e-01 -2.37469651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92576923100006 meters Centerline goodness [0,1] 0.9998723458576231 Centerline is valid? [True, True] Translation: X:264.04, Y:-34.35, Z:-2.37 [[ 9.85355770e-01 1.70503600e-01 1.59022248e-03 2.64041051e+02] [-1.70503368e-01 9.85357053e-01 -2.81354817e-04 -3.43505124e+01] [-1.61490894e-03 6.09630339e-06 9.99998696e-01 -2.37498365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95576923100003 meters Centerline goodness [0,1] 0.9998299138939087 Centerline is valid? [True, True] Translation: X:264.07, Y:-34.35, Z:-2.38 [[ 9.85141979e-01 1.71739961e-01 8.17238073e-04 2.64074212e+02] [-1.71739900e-01 9.85142318e-01 -1.44222063e-04 -3.43548077e+01] [-8.29864501e-04 1.72682321e-06 9.99999656e-01 -2.37583503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98576923100006 meters Centerline goodness [0,1] 0.9998931760885357 Centerline is valid? [True, True] Translation: X:264.11, Y:-34.35, Z:-2.38 [[ 9.83997406e-01 1.78182395e-01 -3.72266996e-04 2.64108409e+02] [-1.78182382e-01 9.83997477e-01 6.73777396e-05 -3.43489442e+01] [ 3.78315311e-04 3.18990444e-08 9.99999928e-01 -2.37693397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01576923100004 meters Centerline goodness [0,1] 0.9999575200186912 Centerline is valid? [True, True] Translation: X:264.14, Y:-34.35, Z:-2.38 [[ 9.83210176e-01 1.82475254e-01 -7.28495803e-04 2.64140224e+02] [-1.82475207e-01 9.83210446e-01 1.30693604e-04 -3.43462474e+01] [ 7.40113032e-04 4.43314083e-06 9.99999726e-01 -2.37816308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.17, Y:-34.33, Z:-2.38 [[ 9.81618226e-01 1.90845302e-01 -1.93097662e-03 2.64172755e+02] [-1.90844993e-01 9.81620125e-01 3.44477028e-04 -3.43334293e+01] [ 1.96122733e-03 3.03722908e-05 9.99998076e-01 -2.38097455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.20, Y:-34.33, Z:-2.38 [[ 9.81073871e-01 1.93624131e-01 -1.93807880e-03 2.64203838e+02] [-1.93623826e-01 9.81075784e-01 3.45423771e-04 -3.43326519e+01] [ 1.96828455e-03 3.63719961e-05 9.99998062e-01 -2.38019604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10576923100007 meters Centerline goodness [0,1] 0.999957285949213 Centerline is valid? [True, True] Translation: X:264.23, Y:-34.33, Z:-2.38 [[ 9.80833373e-01 1.94846443e-01 -8.70818187e-04 2.64232815e+02] [-1.94846382e-01 9.80833759e-01 1.54971864e-04 -3.43311685e+01] [ 8.84323593e-04 1.76741967e-05 9.99999609e-01 -2.37958619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.26, Y:-34.33, Z:-2.38 [[ 9.80823136e-01 1.94899215e-01 5.21311573e-04 2.64262438e+02] [-1.94899193e-01 9.80823275e-01 -9.30149222e-05 -3.43315061e+01] [-5.29443059e-04 -1.03720170e-05 9.99999860e-01 -2.37708530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16576923100007 meters Centerline goodness [0,1] 0.9999368793132469 Centerline is valid? [True, True] Translation: X:264.29, Y:-34.33, Z:-2.38 [[ 9.80884472e-01 1.94586795e-01 1.27783590e-03 2.64291493e+02] [-1.94586663e-01 9.80885304e-01 -2.27926763e-04 -3.43262099e+01] [-1.29776200e-03 -2.50800018e-05 9.99999158e-01 -2.37595998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19576923100004 meters Centerline goodness [0,1] 0.9999787405927123 Centerline is valid? [True, True] Translation: X:264.32, Y:-34.33, Z:-2.37 [[ 9.80889347e-01 1.94552390e-01 2.33607165e-03 2.64320100e+02] [-1.94551950e-01 9.80892127e-01 -4.16230214e-04 -3.43324634e+01] [-2.37241287e-03 -4.62115120e-05 9.99997185e-01 -2.37349178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.35, Y:-34.34, Z:-2.37 [[ 9.80961243e-01 1.94167457e-01 3.74672259e-03 2.64348613e+02] [-1.94166325e-01 9.80968396e-01 -6.67237056e-04 -3.43357464e+01] [-3.80497217e-03 -7.29536625e-05 9.99992758e-01 -2.37108569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.38, Y:-34.34, Z:-2.37 [[ 9.81373345e-01 1.92006313e-01 6.31925474e-03 2.64378008e+02] [-1.92003049e-01 9.81393684e-01 -1.12490114e-03 -3.43386788e+01] [-6.41766481e-03 -1.09368179e-04 9.99979401e-01 -2.36725683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2857692310001 meters Centerline goodness [0,1] 0.9999576486532272 Centerline is valid? [True, True] Translation: X:264.41, Y:-34.34, Z:-2.37 [[ 9.81651932e-01 1.90561129e-01 6.77794308e-03 2.64407537e+02] [-1.90557340e-01 9.81675326e-01 -1.20638095e-03 -3.43437521e+01] [-6.88362880e-03 -1.07340611e-04 9.99976302e-01 -2.36664592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31576923100005 meters Centerline goodness [0,1] 0.999957422349009 Centerline is valid? [True, True] Translation: X:264.44, Y:-34.35, Z:-2.37 [[ 9.82105381e-01 1.88272465e-01 4.74338591e-03 2.64436695e+02] [-1.88270584e-01 9.82116834e-01 -8.44172659e-04 -3.43460795e+01] [-4.81749361e-03 -6.39735219e-05 9.99988394e-01 -2.36995164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.345769231 meters Centerline goodness [0,1] 0.9999786365869812 Centerline is valid? [True, True] Translation: X:264.47, Y:-34.35, Z:-2.37 [[ 9.82264716e-01 1.87476436e-01 2.93487435e-03 2.64466543e+02] [-1.87475712e-01 9.82269100e-01 -5.22304607e-04 -3.43504979e+01] [-2.98075619e-03 -3.71762717e-05 9.99995557e-01 -2.37331678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37576923100005 meters Centerline goodness [0,1] 0.9999786365869812 Centerline is valid? [True, True] Translation: X:264.50, Y:-34.36, Z:-2.37 [[ 9.82269105e-01 1.87453439e-01 2.93487501e-03 2.64495268e+02] [-1.87452715e-01 9.82273489e-01 -5.22300879e-04 -3.43555635e+01] [-2.98075701e-03 -3.71102734e-05 9.99995557e-01 -2.37348131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.405769231 meters Centerline goodness [0,1] 0.9999571835327867 Centerline is valid? [True, True] Translation: X:264.52, Y:-34.36, Z:-2.38 [[ 9.82475108e-01 1.86390971e-01 1.03382723e-03 2.64524100e+02] [-1.86390880e-01 9.82475652e-01 -1.84046046e-04 -3.43610429e+01] [-1.05001461e-03 -1.18753089e-05 9.99999449e-01 -2.37652889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.55, Y:-34.37, Z:-2.38 [[ 9.82867345e-01 1.84314342e-01 6.84722518e-05 2.64552935e+02] [-1.84314342e-01 9.82867348e-01 -1.23137081e-05 -3.43651163e+01] [-6.95687335e-05 -5.17676426e-07 9.99999998e-01 -2.37930165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.465769231 meters Centerline goodness [0,1] 0.9999577345731192 Centerline is valid? [True, True] Translation: X:264.58, Y:-34.37, Z:-2.38 [[ 9.82897623e-01 1.84145511e-01 1.64094534e-03 2.64581426e+02] [-1.84145280e-01 9.82898993e-01 -2.92061376e-04 -3.43705121e+01] [-1.66666531e-03 -1.51059061e-05 9.99998611e-01 -2.37563900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.61, Y:-34.38, Z:-2.37 [[ 9.82864345e-01 1.84301130e-01 3.28220883e-03 2.64609485e+02] [-1.84300208e-01 9.82869825e-01 -5.83756344e-04 -3.43753411e+01] [-3.33357097e-03 -3.11584725e-05 9.99994443e-01 -2.37323517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.525769231 meters Centerline goodness [0,1] 0.9999574178163856 Centerline is valid? [True, True] Translation: X:264.64, Y:-34.38, Z:-2.38 [[ 9.83206083e-01 1.82485462e-01 2.20322362e-03 2.64637487e+02] [-1.82485043e-01 9.83208551e-01 -3.91756245e-04 -3.43846729e+01] [-2.23771812e-03 -1.68782338e-05 9.99997496e-01 -2.37540036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55576923100006 meters Centerline goodness [0,1] 0.999957179865973 Centerline is valid? [True, True] Translation: X:264.67, Y:-34.39, Z:-2.38 [[ 9.83544517e-01 1.80665915e-01 -1.04176305e-04 2.64667108e+02] [-1.80665914e-01 9.83544522e-01 1.85172389e-05 -3.43941148e+01] [ 1.05807468e-04 6.08578667e-07 9.99999994e-01 -2.37976965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58576923100003 meters Centerline goodness [0,1] 0.9999365254004189 Centerline is valid? [True, True] Translation: X:264.69, Y:-34.41, Z:-2.39 [[ 9.84091420e-01 1.77636331e-01 -3.06779070e-03 2.64694680e+02] [-1.77635495e-01 9.84096201e-01 5.45190364e-04 -3.44059670e+01] [ 3.11584679e-03 8.43135996e-06 9.99995146e-01 -2.38692966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61576923100006 meters Centerline goodness [0,1] 0.9998729997459995 Centerline is valid? [True, True] Translation: X:264.72, Y:-34.41, Z:-2.39 [[ 9.84353188e-01 1.76185238e-01 -2.75025301e-03 2.64723734e+02] [-1.76184560e-01 9.84357030e-01 4.88820874e-04 -3.44148180e+01] [ 2.79335391e-03 3.37973075e-06 9.99996099e-01 -2.38521610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64576923100003 meters Centerline goodness [0,1] 0.999872800508798 Centerline is valid? [True, True] Translation: X:264.75, Y:-34.42, Z:-2.38 [[ 9.84502660e-01 1.75363512e-01 -1.46698994e-03 2.64753329e+02] [-1.75363318e-01 9.84503753e-01 2.60737940e-04 -3.44223796e+01] [ 1.48998102e-03 5.59028129e-07 9.99998890e-01 -2.38290452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67576923100006 meters Centerline goodness [0,1] 0.9999146466370775 Centerline is valid? [True, True] Translation: X:264.78, Y:-34.43, Z:-2.38 [[ 9.84606252e-01 1.74786663e-01 3.87384509e-04 2.64781652e+02] [-1.74786650e-01 9.84606329e-01 -6.87750239e-05 -3.44296370e+01] [-3.93442196e-04 6.67812220e-09 9.99999923e-01 -2.37967715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70576923100003 meters Centerline goodness [0,1] 0.9998737798720969 Centerline is valid? [True, True] Translation: X:264.81, Y:-34.44, Z:-2.38 [[ 9.84576682e-01 1.74953525e-01 -1.47100014e-04 2.64810336e+02] [-1.74953523e-01 9.84576693e-01 2.60785870e-05 -3.44354319e+01] [ 1.49393786e-04 5.92969321e-08 9.99999989e-01 -2.38111910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73576923100006 meters Centerline goodness [0,1] 0.9998934288211097 Centerline is valid? [True, True] Translation: X:264.84, Y:-34.44, Z:-2.38 [[ 9.84510133e-01 1.75322897e-01 -1.29627463e-03 2.64840031e+02] [-1.75322745e-01 9.84510986e-01 2.30319040e-04 -3.44398256e+01] [ 1.31657682e-03 5.14999001e-07 9.99999133e-01 -2.38310887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76576923100004 meters Centerline goodness [0,1] 0.9998940902351197 Centerline is valid? [True, True] Translation: X:264.87, Y:-34.44, Z:-2.38 [[ 9.84418274e-01 1.75840449e-01 -8.93768371e-04 2.64870313e+02] [-1.75840377e-01 9.84418680e-01 1.58847577e-04 -3.44438744e+01] [ 9.07774109e-04 7.88109577e-07 9.99999588e-01 -2.38217765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79576923100007 meters Centerline goodness [0,1] 0.999957211013885 Centerline is valid? [True, True] Translation: X:264.90, Y:-34.45, Z:-2.38 [[ 9.84266082e-01 1.76688738e-01 1.17015699e-03 2.64900039e+02] [-1.76688616e-01 9.84266778e-01 -2.07969546e-04 -3.44503037e+01] [-1.18849253e-03 -2.05604862e-06 9.99999294e-01 -2.37943271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82576923100004 meters Centerline goodness [0,1] 0.9999368633723378 Centerline is valid? [True, True] Translation: X:264.93, Y:-34.46, Z:-2.38 [[ 9.84244943e-01 1.76806492e-01 1.16428064e-03 2.64928868e+02] [-1.76806371e-01 9.84245632e-01 -2.06978279e-04 -3.44562351e+01] [-1.18253324e-03 -2.13491002e-06 9.99999301e-01 -2.37997598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85576923100007 meters Centerline goodness [0,1] 0.9999146921452793 Centerline is valid? [True, True] Translation: X:264.96, Y:-34.46, Z:-2.38 [[ 9.84076633e-01 1.77744425e-01 3.16714837e-04 2.64959319e+02] [-1.77744416e-01 9.84076684e-01 -5.62852305e-05 -3.44604279e+01] [-3.21676073e-04 -9.05313697e-07 9.99999948e-01 -2.38046787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.99, Y:-34.46, Z:-2.38 [[ 9.83435408e-01 1.81256107e-01 -1.01094998e-03 2.64989737e+02] [-1.81256018e-01 9.83435928e-01 1.79501604e-04 -3.44582219e+01] [ 1.02674029e-03 6.71253497e-06 9.99999473e-01 -2.38261730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.02, Y:-34.46, Z:-2.38 [[ 9.83076437e-01 1.83194483e-01 -7.07738915e-04 2.65019122e+02] [-1.83194440e-01 9.83076691e-01 1.25606750e-04 -3.44605338e+01] [ 7.18772095e-04 6.17279803e-06 9.99999742e-01 -2.38201415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94576923100004 meters Centerline goodness [0,1] 0.9999788587979113 Centerline is valid? [True, True] Translation: X:265.05, Y:-34.46, Z:-2.38 [[ 9.82522699e-01 1.86142796e-01 7.17749307e-05 2.65047741e+02] [-1.86142795e-01 9.82522702e-01 -1.29507745e-05 -3.44620373e+01] [-7.29311922e-05 -6.35956320e-07 9.99999997e-01 -2.38129389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.08, Y:-34.47, Z:-2.38 [[ 9.82333196e-01 1.87138133e-01 9.00436364e-04 2.65076073e+02] [-1.87138065e-01 9.82333609e-01 -1.60167712e-04 -3.44660863e+01] [-9.14502390e-04 -1.11678580e-05 9.99999582e-01 -2.37952808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.10, Y:-34.47, Z:-2.38 [[ 9.82124541e-01 1.88216507e-01 2.43575239e-03 2.65104440e+02] [-1.88216013e-01 9.82127561e-01 -4.32732890e-04 -3.44671029e+01] [-2.47366703e-03 -3.34500122e-05 9.99996940e-01 -2.37636388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0357692310001 meters Centerline goodness [0,1] 0.9999787649706957 Centerline is valid? [True, True] Translation: X:265.13, Y:-34.47, Z:-2.38 [[ 9.82117747e-01 1.88245788e-01 2.87307910e-03 2.65132456e+02] [-1.88245101e-01 9.82121948e-01 -5.10166687e-04 -3.44725621e+01] [-2.91775078e-03 -3.97993091e-05 9.99995743e-01 -2.37547946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06576923100005 meters Centerline goodness [0,1] 0.9999787138934417 Centerline is valid? [True, True] Translation: X:265.16, Y:-34.48, Z:-2.38 [[ 9.82082627e-01 1.88426837e-01 3.00690291e-03 2.65160364e+02] [-1.88426086e-01 9.82087229e-01 -5.33804449e-04 -3.44761467e+01] [-3.05362403e-03 -4.23388701e-05 9.99995337e-01 -2.37548634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.095769231 meters Centerline goodness [0,1] 0.9999786848555899 Centerline is valid? [True, True] Translation: X:265.19, Y:-34.48, Z:-2.38 [[ 9.81926252e-01 1.89251378e-01 2.17974787e-03 2.65188260e+02] [-1.89250985e-01 9.81928671e-01 -3.86944788e-04 -3.44776697e+01] [-2.21358676e-03 -3.25681856e-05 9.99997549e-01 -2.37884728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12576923100005 meters Centerline goodness [0,1] 0.9999575704860301 Centerline is valid? [True, True] Translation: X:265.22, Y:-34.48, Z:-2.38 [[ 9.81784599e-01 1.89986298e-01 2.05104553e-03 2.65216577e+02] [-1.89985953e-01 9.81786741e-01 -3.63962172e-04 -3.44797357e+01] [-2.08283713e-03 -3.23373825e-05 9.99997830e-01 -2.37951681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.24, Y:-34.48, Z:-2.38 [[ 9.81608428e-01 1.90889888e-01 2.43840248e-03 2.65244947e+02] [-1.90889402e-01 9.81611455e-01 -4.32465541e-04 -3.44828917e+01] [-2.47611711e-03 -4.09533729e-05 9.99996934e-01 -2.37774022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.27, Y:-34.49, Z:-2.38 [[ 9.81522718e-01 1.91330737e-01 2.38802619e-03 2.65272428e+02] [-1.91330272e-01 9.81525622e-01 -4.23459304e-04 -3.44850585e+01] [-2.42492967e-03 -4.12667741e-05 9.99997059e-01 -2.37788284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.30, Y:-34.49, Z:-2.38 [[ 9.81258841e-01 1.92687669e-01 1.59665222e-03 2.65300744e+02] [-1.92687463e-01 9.81260139e-01 -2.83139376e-04 -3.44858572e+01] [-1.62128864e-03 -2.98218495e-05 9.99998685e-01 -2.38061595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24576923100005 meters Centerline goodness [0,1] 0.9999578192555099 Centerline is valid? [True, True] Translation: X:265.33, Y:-34.49, Z:-2.38 [[ 9.81185067e-01 1.93062811e-01 1.61689270e-03 2.65328403e+02] [-1.93062601e-01 9.81186399e-01 -2.86626608e-04 -3.44879746e+01] [-1.64181006e-03 -3.09277618e-05 9.99998652e-01 -2.38090140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.275769231 meters Centerline goodness [0,1] 0.9999787464666001 Centerline is valid? [True, True] Translation: X:265.36, Y:-34.50, Z:-2.38 [[ 9.81491674e-01 1.91480691e-01 3.03953400e-03 2.65356209e+02] [-1.91479942e-01 9.81496379e-01 -5.38325259e-04 -3.44976971e+01] [-3.08637051e-03 -5.36480348e-05 9.99995236e-01 -2.37767760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30576923100006 meters Centerline goodness [0,1] 0.9999788904838302 Centerline is valid? [True, True] Translation: X:265.38, Y:-34.51, Z:-2.38 [[ 9.81984779e-01 1.88924438e-01 3.66752457e-03 2.65383703e+02] [-1.88923330e-01 9.81991626e-01 -6.49323076e-04 -3.45069427e+01] [-3.72415142e-03 -5.52555773e-05 9.99993064e-01 -2.37684410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.41, Y:-34.52, Z:-2.38 [[ 9.82583212e-01 1.85790240e-01 3.49536207e-03 2.65410799e+02] [-1.85789214e-01 9.82589429e-01 -6.18627246e-04 -3.45160930e+01] [-3.54944072e-03 -4.15478258e-05 9.99993700e-01 -2.37781248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36576923100006 meters Centerline goodness [0,1] 0.9999577301067315 Centerline is valid? [True, True] Translation: X:265.44, Y:-34.54, Z:-2.38 [[ 9.83621428e-01 1.80244192e-01 9.57553191e-04 2.65437895e+02] [-1.80244113e-01 9.83621894e-01 -1.69449158e-04 -3.45358407e+01] [-9.72412510e-04 -5.91950255e-06 9.99999527e-01 -2.38326586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39576923100003 meters Centerline goodness [0,1] 0.9999575164092869 Centerline is valid? [True, True] Translation: X:265.47, Y:-34.55, Z:-2.39 [[ 9.84044454e-01 1.77920716e-01 -8.55718817e-04 2.65466760e+02] [-1.77920651e-01 9.84044826e-01 1.51505303e-04 -3.45476853e+01] [ 8.69021606e-04 3.16209569e-06 9.99999622e-01 -2.38780499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42576923100006 meters Centerline goodness [0,1] 0.9999359672152142 Centerline is valid? [True, True] Translation: X:265.50, Y:-34.57, Z:-2.39 [[ 9.85198274e-01 1.71417888e-01 -5.17925436e-04 2.65496269e+02] [-1.71417863e-01 9.85198410e-01 9.28195071e-05 -3.45729131e+01] [ 5.26170240e-04 -2.66394700e-06 9.99999862e-01 -2.38672898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.53, Y:-34.59, Z:-2.38 [[ 9.85801256e-01 1.67914340e-01 8.11537735e-04 2.65525869e+02] [-1.67914279e-01 9.85801590e-01 -1.42953339e-04 -3.45877510e+01] [-8.24019105e-04 4.65480749e-06 9.99999660e-01 -2.38276540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48576923100006 meters Centerline goodness [0,1] 0.9999366874894479 Centerline is valid? [True, True] Translation: X:265.55, Y:-34.60, Z:-2.38 [[ 9.86209299e-01 1.65494005e-01 1.71862316e-03 2.65554903e+02] [-1.65493726e-01 9.86210796e-01 -3.04159073e-04 -3.46023465e+01] [-1.74526121e-03 1.55431554e-05 9.99998477e-01 -2.38149170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.58, Y:-34.62, Z:-2.39 [[ 9.86711639e-01 1.62471135e-01 -1.80899120e-03 2.65583114e+02] [-1.62470818e-01 9.86713297e-01 3.22201368e-04 -3.46234145e+01] [ 1.83730409e-03 -2.40115599e-05 9.99998312e-01 -2.38976451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.61, Y:-34.64, Z:-2.39 [[ 9.86823403e-01 1.61741883e-01 -4.37436257e-03 2.65613313e+02] [-1.61740019e-01 9.86833096e-01 7.78835480e-04 -3.46370821e+01] [ 4.44273608e-03 -6.10635927e-05 9.99990129e-01 -2.39298490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57576923100004 meters Centerline goodness [0,1] 0.9999152506462138 Centerline is valid? [True, True] Translation: X:265.64, Y:-34.65, Z:-2.39 [[ 9.86779578e-01 1.62013553e-01 -4.20401735e-03 2.65644283e+02] [-1.62011830e-01 9.86788531e-01 7.49392091e-04 -3.46477772e+01] [ 4.26988778e-03 -5.83842659e-05 9.99990882e-01 -2.39259913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60576923100007 meters Centerline goodness [0,1] 0.9999364595247172 Centerline is valid? [True, True] Translation: X:265.68, Y:-34.66, Z:-2.39 [[ 9.86743279e-01 1.62255607e-01 -3.28926726e-03 2.65675783e+02] [-1.62254553e-01 9.86748760e-01 5.86377369e-04 -3.46571228e+01] [ 3.34082341e-03 -4.49053374e-05 9.99994418e-01 -2.39044190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.71, Y:-34.67, Z:-2.39 [[ 9.86439242e-01 1.64126845e-01 -2.82424506e-05 2.65705672e+02] [-1.64126845e-01 9.86439242e-01 5.98700025e-06 -3.46702992e+01] [ 2.88420890e-05 -1.27046769e-06 1.00000000e+00 -2.38500569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.74, Y:-34.68, Z:-2.38 [[ 9.86253947e-01 1.65226327e-01 1.84710801e-03 2.65737066e+02] [-1.65226002e-01 9.86255677e-01 -3.28658108e-04 -3.46759779e+01] [-1.87602374e-03 1.89500847e-05 9.99998240e-01 -2.38080710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.77, Y:-34.68, Z:-2.38 [[ 9.86075336e-01 1.66277323e-01 2.69891536e-03 2.65767665e+02] [-1.66276628e-01 9.86079029e-01 -4.81132570e-04 -3.46847189e+01] [-2.74134527e-03 2.56664143e-05 9.99996242e-01 -2.37960722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7257692310001 meters Centerline goodness [0,1] 0.9999578228136401 Centerline is valid? [True, True] Translation: X:265.80, Y:-34.69, Z:-2.38 [[ 9.85485567e-01 1.69734438e-01 2.90153032e-03 2.65797659e+02] [-1.69733649e-01 9.85489838e-01 -5.17864518e-04 -3.46916743e+01] [-2.94732809e-03 1.78606797e-05 9.99995656e-01 -2.37845634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75576923100004 meters Centerline goodness [0,1] 0.9999571642750054 Centerline is valid? [True, True] Translation: X:265.83, Y:-34.69, Z:-2.38 [[ 9.84985481e-01 1.72604625e-01 3.35337194e-03 2.65829912e+02] [-1.72603585e-01 9.84991190e-01 -5.99147202e-04 -3.46944066e+01] [-3.40645740e-03 1.13472748e-05 9.99994198e-01 -2.37762572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.86, Y:-34.70, Z:-2.38 [[ 9.84300705e-01 1.76463339e-01 3.57933609e-03 2.65862255e+02] [-1.76462178e-01 9.84307213e-01 -6.40180356e-04 -3.46952523e+01] [-3.63613470e-03 -1.48746687e-06 9.99993389e-01 -2.37692189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.90, Y:-34.69, Z:-2.38 [[ 9.82995321e-01 1.83554119e-01 5.29953932e-03 2.65895402e+02] [-1.83551669e-01 9.83009605e-01 -9.49173965e-04 -3.46913550e+01] [-5.38372285e-03 -3.97057221e-05 9.99985507e-01 -2.37506357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.845769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.93, Y:-34.69, Z:-2.37 [[ 9.82488385e-01 1.86234325e-01 5.77484871e-03 2.65927120e+02] [-1.86231457e-01 9.82505355e-01 -1.03533454e-03 -3.46922721e+01] [-5.86663461e-03 -5.82543278e-05 9.99982789e-01 -2.37485526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.96, Y:-34.69, Z:-2.38 [[ 9.81692551e-01 1.90426064e-01 4.20119560e-03 2.65959591e+02] [-1.90424582e-01 9.81701538e-01 -7.53501734e-04 -3.46949476e+01] [-4.26780655e-03 -6.03038780e-05 9.99990891e-01 -2.37771453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.905769231 meters Centerline goodness [0,1] 0.9999787527886965 Centerline is valid? [True, True] Translation: X:265.99, Y:-34.70, Z:-2.38 [[ 9.81417717e-01 1.91873084e-01 1.99632749e-03 2.65990830e+02] [-1.91872753e-01 9.81419746e-01 -3.57628834e-04 -3.46980986e+01] [-2.02785457e-03 -3.20575783e-05 9.99997943e-01 -2.38214773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.02, Y:-34.70, Z:-2.39 [[ 9.81324372e-01 1.92360267e-01 7.06363041e-05 2.66021683e+02] [-1.92360267e-01 9.81324374e-01 -1.18581318e-05 -3.47018207e+01] [-7.15981603e-05 -1.95094457e-06 9.99999997e-01 -2.38614969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.05, Y:-34.70, Z:-2.39 [[ 9.81264272e-01 1.92664990e-01 7.94414788e-04 2.66053606e+02] [-1.92664938e-01 9.81264593e-01 -1.41957680e-04 -3.47033286e+01] [-8.06881378e-04 -1.37578761e-05 9.99999674e-01 -2.38567399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.09, Y:-34.71, Z:-2.38 [[ 9.81135391e-01 1.93269806e-01 4.48632557e-03 2.66087061e+02] [-1.93268137e-01 9.81145645e-01 -8.06858987e-04 -3.47053603e+01] [-4.55768028e-03 -7.54258762e-05 9.99989611e-01 -2.37833582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.12, Y:-34.71, Z:-2.38 [[ 9.81106612e-01 1.93424527e-01 4.09491380e-03 2.66119885e+02] [-1.93423135e-01 9.81115155e-01 -7.37137267e-04 -3.47085524e+01] [-4.16016241e-03 -6.88408184e-05 9.99991344e-01 -2.37901030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.15, Y:-34.71, Z:-2.38 [[ 9.81067816e-01 1.93649133e-01 2.44016496e-03 2.66152512e+02] [-1.93648639e-01 9.81070849e-01 -4.39300787e-04 -3.47110517e+01] [-2.47904492e-03 -4.15507589e-05 9.99996926e-01 -2.38261281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.18, Y:-34.71, Z:-2.39 [[ 9.80980925e-01 1.94102649e-01 7.66219872e-04 2.66183524e+02] [-1.94102601e-01 9.80981224e-01 -1.37548096e-04 -3.47131937e+01] [-7.78345758e-04 -1.37932116e-05 9.99999697e-01 -2.38701126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.21, Y:-34.72, Z:-2.39 [[ 9.81328796e-01 1.92331041e-01 1.60170401e-03 2.66214753e+02] [-1.92330827e-01 9.81330102e-01 -2.88587409e-04 -3.47229284e+01] [-1.62730468e-03 -2.48579211e-05 9.99998676e-01 -2.38502281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.24, Y:-34.73, Z:-2.38 [[ 9.81899160e-01 1.89387248e-01 2.55138696e-03 2.66244865e+02] [-1.89386690e-01 9.81902474e-01 -4.60922740e-04 -3.47303168e+01] [-2.59250606e-03 -3.06190800e-05 9.99996639e-01 -2.38210136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.28, Y:-34.73, Z:-2.38 [[ 9.82023452e-01 1.88750049e-01 1.83276456e-03 2.66276500e+02] [-1.88749760e-01 9.82025162e-01 -3.30907885e-04 -3.47322633e+01] [-1.86227979e-03 -2.09745654e-05 9.99998266e-01 -2.38367086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.31, Y:-34.74, Z:-2.38 [[ 9.82015209e-01 1.88798880e-01 1.05461488e-03 2.66308840e+02] [-1.88798785e-01 9.82015775e-01 -1.90033186e-04 -3.47375750e+01] [-1.07152650e-03 -1.24945291e-05 9.99999426e-01 -2.38423537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.34, Y:-34.74, Z:-2.38 [[ 9.81753193e-01 1.90157988e-01 7.79742854e-04 2.66340193e+02] [-1.90157936e-01 9.81753502e-01 -1.40899263e-04 -3.47363992e+01] [-7.92308398e-04 -9.94599018e-06 9.99999686e-01 -2.38487514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26576923100004 meters Centerline goodness [0,1] 0.9999789189644995 Centerline is valid? [True, True] Translation: X:266.37, Y:-34.74, Z:-2.38 [[ 9.81590818e-01 1.90990457e-01 1.45287752e-03 2.66371267e+02] [-1.90990276e-01 9.81591893e-01 -2.63035155e-04 -3.47372728e+01] [-1.47637000e-03 -1.92925849e-05 9.99998910e-01 -2.38381559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29576923100007 meters Centerline goodness [0,1] 0.9999789189644995 Centerline is valid? [True, True] Translation: X:266.40, Y:-34.74, Z:-2.38 [[ 9.81586548e-01 1.91012402e-01 1.45280346e-03 2.66401598e+02] [-1.91012221e-01 9.81587623e-01 -2.63443402e-04 -3.47428218e+01] [-1.47637485e-03 -1.89107171e-05 9.99998910e-01 -2.38398960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.43, Y:-34.74, Z:-2.38 [[ 9.81468183e-01 1.91586103e-01 3.86923634e-03 2.66433975e+02] [-1.91584825e-01 9.81475808e-01 -7.01927996e-04 -3.47419433e+01] [-3.93204151e-03 -5.23669707e-05 9.99992268e-01 -2.38085261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35576923100007 meters Centerline goodness [0,1] 0.9999576423745685 Centerline is valid? [True, True] Translation: X:266.46, Y:-34.75, Z:-2.38 [[ 9.81470355e-01 1.91572512e-01 3.98928260e-03 2.66464764e+02] [-1.91571152e-01 9.81478461e-01 -7.23802682e-04 -3.47460032e+01] [-4.05405565e-03 -5.38405898e-05 9.99991781e-01 -2.38059060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.50, Y:-34.75, Z:-2.38 [[ 9.81489453e-01 1.91484275e-01 3.49666975e-03 2.66495815e+02] [-1.91483230e-01 9.81495680e-01 -6.34491926e-04 -3.47505850e+01] [-3.55346148e-03 -4.68064842e-05 9.99993685e-01 -2.38110342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.53, Y:-34.75, Z:-2.38 [[ 9.81754878e-01 1.90141781e-01 1.86091226e-03 2.66527353e+02] [-1.90141483e-01 9.81756641e-01 -3.37612780e-04 -3.47547520e+01] [-1.89115726e-03 -2.23836235e-05 9.99998212e-01 -2.38310898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.56, Y:-34.76, Z:-2.38 [[ 9.81980532e-01 1.88972895e-01 1.86558101e-03 2.66557689e+02] [-1.88972593e-01 9.81982304e-01 -3.38614381e-04 -3.47562342e+01] [-1.89595648e-03 -2.00309514e-05 9.99998202e-01 -2.38469007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.59, Y:-34.76, Z:-2.38 [[ 9.82462747e-01 1.86408367e-01 4.34419811e-03 2.66588704e+02] [-1.86406702e-01 9.82472350e-01 -7.88593056e-04 -3.47638335e+01] [-4.41505487e-03 -3.50243425e-05 9.99990253e-01 -2.38035458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.62, Y:-34.77, Z:-2.38 [[ 9.82577844e-01 1.85757674e-01 5.90486233e-03 2.66619515e+02] [-1.85754584e-01 9.82595585e-01 -1.07232408e-03 -3.47693427e+01] [-6.00128409e-03 -4.32133622e-05 9.99981991e-01 -2.37746825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5357692310001 meters Centerline goodness [0,1] 0.9999787170646576 Centerline is valid? [True, True] Translation: X:266.65, Y:-34.78, Z:-2.38 [[ 9.82666538e-01 1.85267395e-01 6.51674354e-03 2.66650793e+02] [-1.85263613e-01 9.82688145e-01 -1.18458388e-03 -3.47750521e+01] [-6.62339139e-03 -4.32645133e-05 9.99978064e-01 -2.37619641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.68, Y:-34.78, Z:-2.38 [[ 9.82705564e-01 1.85140151e-01 3.59156698e-03 2.66682672e+02] [-1.85139000e-01 9.82712127e-01 -6.53072701e-04 -3.47752891e+01] [-3.65038641e-03 -2.31609449e-05 9.99993337e-01 -2.38175931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.595769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.71, Y:-34.78, Z:-2.39 [[ 9.82647087e-01 1.85481196e-01 1.19547256e-03 2.66713159e+02] [-1.85481068e-01 9.82647814e-01 -2.17671298e-04 -3.47760461e+01] [-1.21510243e-03 -7.84346089e-06 9.99999262e-01 -2.38648572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.74, Y:-34.78, Z:-2.39 [[ 9.82781650e-01 1.84763003e-01 1.69143712e-03 2.66742473e+02] [-1.84762746e-01 9.82783106e-01 -3.08022525e-04 -3.47812113e+01] [-1.71922699e-03 -9.79568198e-06 9.99998522e-01 -2.38586498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.77, Y:-34.79, Z:-2.38 [[ 9.82985278e-01 1.83665166e-01 2.65520179e-03 2.66771287e+02] [-1.83664530e-01 9.82988864e-01 -4.83382758e-04 -3.47875283e+01] [-2.69881437e-03 -1.25082547e-05 9.99996358e-01 -2.38438021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68576923100005 meters Centerline goodness [0,1] 0.9999789367259246 Centerline is valid? [True, True] Translation: X:266.80, Y:-34.79, Z:-2.38 [[ 9.83218364e-01 1.82407131e-01 3.04759640e-03 2.66800758e+02] [-1.82406287e-01 9.83223087e-01 -5.54915200e-04 -3.47941036e+01] [-3.09768763e-03 -1.02979298e-05 9.99995202e-01 -2.38373194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.83, Y:-34.80, Z:-2.38 [[ 9.83684371e-01 1.79872376e-01 3.31457587e-03 2.66831064e+02] [-1.79871363e-01 9.83689955e-01 -6.03447811e-04 -3.47997338e+01] [-3.36905858e-03 -2.59510058e-06 9.99994325e-01 -2.38474809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.86, Y:-34.80, Z:-2.39 [[ 9.83796532e-01 1.79271899e-01 2.44347227e-03 2.66862004e+02] [-1.79271347e-01 9.83799566e-01 -4.45001747e-04 -3.48003413e+01] [-2.48366327e-03 -2.53390868e-07 9.99996916e-01 -2.38610785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.89, Y:-34.80, Z:-2.39 [[ 9.83678295e-01 1.79931017e-01 1.35702621e-03 2.66891873e+02] [-1.79930847e-01 9.83679231e-01 -2.47240322e-04 -3.48016817e+01] [-1.37936470e-03 -9.65936908e-07 9.99999049e-01 -2.38750148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.92, Y:-34.80, Z:-2.39 [[ 9.83491166e-01 1.80954321e-01 8.12201077e-04 2.66920978e+02] [-1.80954260e-01 9.83491502e-01 -1.48067052e-04 -3.48037629e+01] [-8.25586230e-04 -1.34860708e-06 9.99999659e-01 -2.38863244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.95, Y:-34.81, Z:-2.39 [[ 9.83388710e-01 1.81509977e-01 8.79518364e-04 2.66950509e+02] [-1.81509907e-01 9.83389103e-01 -1.60234140e-04 -3.48077287e+01] [-8.93992871e-04 -2.06885180e-06 9.99999600e-01 -2.38915701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.98, Y:-34.81, Z:-2.39 [[ 9.83468591e-01 1.81073708e-01 1.35734844e-03 2.66979387e+02] [-1.81073540e-01 9.83469528e-01 -2.47184538e-04 -3.48136152e+01] [-1.37966945e-03 -2.68165786e-06 9.99999048e-01 -2.38843407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.01, Y:-34.82, Z:-2.39 [[ 9.83758107e-01 1.79479016e-01 2.69611711e-03 2.67007549e+02] [-1.79478345e-01 9.83761802e-01 -4.90825319e-04 -3.48183193e+01] [-2.74042987e-03 -1.04124970e-06 9.99996245e-01 -2.38679969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.04, Y:-34.82, Z:-2.39 [[ 9.84064953e-01 1.77781263e-01 3.16067055e-03 2.67037033e+02] [-1.77780333e-01 9.84070029e-01 -5.75166760e-04 -3.48242543e+01] [-3.21257504e-03 4.09638743e-06 9.99994840e-01 -2.38516678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.07, Y:-34.83, Z:-2.38 [[ 9.84415401e-01 1.75817508e-01 3.81087485e-03 2.67065313e+02] [-1.75816141e-01 9.84422777e-01 -6.93467530e-04 -3.48319096e+01] [-3.87343573e-03 1.26468084e-05 9.99992498e-01 -2.38420802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.09, Y:-34.85, Z:-2.38 [[ 9.85232789e-01 1.71133868e-01 5.43603222e-03 2.67093335e+02] [-1.71131014e-01 9.85247785e-01 -9.89292473e-04 -3.48456011e+01] [-5.52514015e-03 4.44096758e-05 9.99984735e-01 -2.38078116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.12, Y:-34.86, Z:-2.38 [[ 9.85511068e-01 1.69516261e-01 5.67201099e-03 2.67124269e+02] [-1.69513126e-01 9.85527389e-01 -1.03232532e-03 -3.48552449e+01] [-5.76491811e-03 5.58877148e-05 9.99983381e-01 -2.38111997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.15, Y:-34.87, Z:-2.39 [[ 9.86102497e-01 1.66088124e-01 4.07440525e-03 2.67154469e+02] [-1.66086476e-01 9.86110913e-01 -7.41964889e-04 -3.48697123e+01] [-4.14104704e-03 5.49498223e-05 9.99991424e-01 -2.38542784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.18, Y:-34.88, Z:-2.39 [[ 9.86396721e-01 1.64353516e-01 3.07101502e-03 2.67183914e+02] [-1.64352570e-01 9.86401500e-01 -5.59561438e-04 -3.48830883e+01] [-3.12121971e-03 4.72203558e-05 9.99995128e-01 -2.38747674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.21, Y:-34.89, Z:-2.39 [[ 9.86626110e-01 1.62976054e-01 2.77942242e-03 2.67214713e+02] [-1.62975273e-01 9.86630024e-01 -5.06752036e-04 -3.48943346e+01] [-2.82485006e-03 4.69976615e-05 9.99996009e-01 -2.38753943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.24, Y:-34.91, Z:-2.38 [[ 9.86832117e-01 1.61689207e-01 4.35578285e-03 2.67244498e+02] [-1.61687271e-01 9.86841727e-01 -7.95400059e-04 -3.49095357e+01] [-4.42707587e-03 8.06516829e-05 9.99990197e-01 -2.38406289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.28, Y:-34.92, Z:-2.38 [[ 9.86759428e-01 1.62103788e-01 5.30962156e-03 2.67276250e+02] [-1.62100911e-01 9.86773709e-01 -9.70650769e-04 -3.49184166e+01] [-5.39674113e-03 9.71043037e-05 9.99985433e-01 -2.38232203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.31, Y:-34.93, Z:-2.39 [[ 9.86273942e-01 1.65071297e-01 3.89603821e-03 2.67307098e+02] [-1.65069769e-01 9.86281635e-01 -7.12729236e-04 -3.49281900e+01] [-3.96024207e-03 5.98281465e-05 9.99992156e-01 -2.38573155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.34, Y:-34.93, Z:-2.39 [[ 9.85840359e-01 1.67669157e-01 2.41651543e-03 2.67339224e+02] [-1.67668576e-01 9.85843321e-01 -4.42444708e-04 -3.49340020e+01] [-2.45648993e-03 3.10061482e-05 9.99996982e-01 -2.38841129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.37, Y:-34.94, Z:-2.39 [[ 9.85264529e-01 1.71027220e-01 1.87016465e-03 2.67369518e+02] [-1.71026878e-01 9.85266304e-01 -3.42097706e-04 -3.49397714e+01] [-1.90111823e-03 1.72083140e-05 9.99998193e-01 -2.39032336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.40, Y:-34.94, Z:-2.39 [[ 9.83730994e-01 1.79639641e-01 1.71211438e-03 2.67400886e+02] [-1.79639367e-01 9.83732484e-01 -3.13934219e-04 -3.49357638e+01] [-1.74065757e-03 1.26367679e-06 9.99998485e-01 -2.39072265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.43, Y:-34.94, Z:-2.39 [[ 9.82892610e-01 1.84178732e-01 5.58212840e-04 2.67432616e+02] [-1.84178703e-01 9.82892769e-01 -1.02260583e-04 -3.49356407e+01] [-5.67497589e-04 -2.29974614e-06 9.99999839e-01 -2.39289705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.345769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.46, Y:-34.93, Z:-2.40 [[ 9.81121168e-01 1.93387964e-01 -1.53244235e-03 2.67464636e+02] [-1.93387761e-01 9.81122365e-01 2.80997422e-04 -3.49281918e+01] [ 1.55785498e-03 2.06630759e-05 9.99998786e-01 -2.39686480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37576923100005 meters Centerline goodness [0,1] 0.9999575722862174 Centerline is valid? [True, True] Translation: X:267.49, Y:-34.92, Z:-2.40 [[ 9.80093998e-01 1.98530104e-01 -1.24623143e-03 2.67494582e+02] [-1.98529974e-01 9.80094790e-01 2.28338946e-04 -3.49229922e+01] [ 1.26675709e-03 2.36206637e-05 9.99999197e-01 -2.39573986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.405769231 meters Centerline goodness [0,1] 0.9998306985799843 Centerline is valid? [True, True] Translation: X:267.53, Y:-34.91, Z:-2.39 [[ 9.77933295e-01 2.08917232e-01 2.46519627e-04 2.67527161e+02] [-2.08917227e-01 9.77933326e-01 -4.52323659e-05 -3.49115697e+01] [-2.50529579e-04 -7.26796018e-06 9.99999969e-01 -2.39184556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43576923100005 meters Centerline goodness [0,1] 0.9997677511981927 Centerline is valid? [True, True] Translation: X:267.56, Y:-34.91, Z:-2.39 [[ 9.77048238e-01 2.13018160e-01 -7.14351865e-05 2.67558514e+02] [-2.13018159e-01 9.77048240e-01 1.30990575e-05 -3.49101417e+01] [ 7.25859603e-05 2.41858090e-06 9.99999997e-01 -2.39270107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.465769231 meters Centerline goodness [0,1] 0.9995124742989169 Centerline is valid? [True, True] Translation: X:267.59, Y:-34.90, Z:-2.39 [[ 9.76146555e-01 2.17111949e-01 -5.51692392e-04 2.67589748e+02] [-2.17111927e-01 9.76146711e-01 1.01017784e-04 -3.49032044e+01] [ 5.60464882e-04 2.11708364e-05 9.99999843e-01 -2.39470189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49576923100005 meters Centerline goodness [0,1] 0.9993417700016987 Centerline is valid? [True, True] Translation: X:267.62, Y:-34.90, Z:-2.39 [[ 9.76151635e-01 2.17089794e-01 -7.77440810e-05 2.67617707e+02] [-2.17089794e-01 9.76151639e-01 1.37906038e-05 -3.49017226e+01] [ 7.88838114e-05 3.41572600e-06 9.99999997e-01 -2.39439233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.525769231 meters Centerline goodness [0,1] 0.9994255074684029 Centerline is valid? [True, True] Translation: X:267.65, Y:-34.90, Z:-2.39 [[ 9.76389374e-01 2.16017894e-01 2.45562204e-04 2.67646365e+02] [-2.16017889e-01 9.76389405e-01 -4.52477100e-05 -3.49047030e+01] [-2.49538650e-04 -8.86644587e-06 9.99999969e-01 -2.39420622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55576923100006 meters Centerline goodness [0,1] 0.9997875955819882 Centerline is valid? [True, True] Translation: X:267.68, Y:-34.91, Z:-2.40 [[ 9.77284576e-01 2.11931120e-01 -2.40429546e-04 2.67676265e+02] [-2.11931115e-01 9.77284606e-01 4.39844417e-05 -3.49103448e+01] [ 2.44289766e-04 7.96918546e-06 9.99999970e-01 -2.39625526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58576923100003 meters Centerline goodness [0,1] 0.9998938969527205 Centerline is valid? [True, True] Translation: X:267.70, Y:-34.92, Z:-2.39 [[ 9.77886531e-01 2.09134767e-01 7.63359072e-04 2.67704947e+02] [-2.09134721e-01 9.77886828e-01 -1.39964309e-04 -3.49178866e+01] [-7.75750185e-04 -2.27756739e-05 9.99999699e-01 -2.39450678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61576923100006 meters Centerline goodness [0,1] 0.9999788579039726 Centerline is valid? [True, True] Translation: X:267.73, Y:-34.93, Z:-2.39 [[ 9.78981132e-01 2.03909644e-01 4.09877492e-03 2.67734357e+02] [-2.03908287e-01 9.78989707e-01 -7.50827966e-04 -3.49254453e+01] [-4.16575952e-03 -1.00727760e-04 9.99991318e-01 -2.38737706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64576923100003 meters Centerline goodness [0,1] 0.9999577327866773 Centerline is valid? [True, True] Translation: X:267.76, Y:-34.93, Z:-2.38 [[ 9.79374874e-01 2.01985881e-01 5.15356747e-03 2.67761794e+02] [-2.01983709e-01 9.79388427e-01 -9.44048189e-04 -3.49285400e+01] [-5.23802874e-03 -1.16359594e-04 9.99986275e-01 -2.38480010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.79, Y:-34.93, Z:-2.38 [[ 9.79985261e-01 1.98986474e-01 5.76809561e-03 2.67791324e+02] [-1.98983702e-01 9.80002230e-01 -1.05624998e-03 -3.49305540e+01] [-5.86292602e-03 -1.12647603e-04 9.99982807e-01 -2.38443276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.82, Y:-34.94, Z:-2.39 [[ 9.80351500e-01 1.97195428e-01 4.98995178e-03 2.67819190e+02] [-1.97193331e-01 9.80364195e-01 -9.13615694e-04 -3.49371751e+01] [-5.07213090e-03 -8.83206958e-05 9.99987133e-01 -2.38705296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.85, Y:-34.94, Z:-2.39 [[ 9.80869551e-01 1.94623984e-01 4.05318936e-03 2.67846240e+02] [-1.94622580e-01 9.80877924e-01 -7.41977224e-04 -3.49427976e+01] [-4.12009053e-03 -6.10593024e-05 9.99991511e-01 -2.38994793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.87, Y:-34.96, Z:-2.39 [[ 9.82180101e-01 1.87915624e-01 3.15717922e-03 2.67874485e+02] [-1.87914738e-01 9.82185175e-01 -5.77696874e-04 -3.49555108e+01] [-3.20949289e-03 -2.58781334e-05 9.99994849e-01 -2.39021362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.90, Y:-34.96, Z:-2.39 [[ 9.82786326e-01 1.84717634e-01 3.22997520e-03 2.67902865e+02] [-1.84716689e-01 9.82791634e-01 -5.91074458e-04 -3.49637214e+01] [-3.28357448e-03 -1.57304305e-05 9.99994609e-01 -2.38934821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.93, Y:-34.97, Z:-2.39 [[ 9.83708664e-01 1.79746613e-01 2.90157652e-03 2.67930671e+02] [-1.79745829e-01 9.83712943e-01 -5.30952937e-04 -3.49732751e+01] [-2.94975538e-03 7.56727582e-07 9.99995649e-01 -2.39144259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.96, Y:-34.98, Z:-2.39 [[ 9.84309972e-01 1.76427809e-01 2.66577070e-03 2.67958503e+02] [-1.76427136e-01 9.84313582e-01 -4.87680639e-04 -3.49838914e+01] [-2.70999474e-03 9.71462664e-06 9.99996328e-01 -2.39284606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.99, Y:-35.00, Z:-2.39 [[ 9.85389115e-01 1.70305981e-01 2.04067719e-03 2.67986612e+02] [-1.70305574e-01 9.85391228e-01 -3.73187068e-04 -3.50010264e+01] [-2.07442140e-03 2.01957746e-05 9.99997848e-01 -2.39399110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.01, Y:-35.01, Z:-2.39 [[ 9.85756035e-01 1.68165464e-01 2.32743540e-03 2.68014974e+02] [-1.68164927e-01 9.85758782e-01 -4.25701895e-04 -3.50118797e+01] [-2.36587824e-03 2.82452070e-05 9.99997201e-01 -2.39315698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.05, Y:-35.02, Z:-2.39 [[ 9.86221873e-01 1.65386421e-01 3.70782566e-03 2.68045162e+02] [-1.65385040e-01 9.86228842e-01 -6.78140899e-04 -3.50231478e+01] [-3.76891991e-03 5.55784912e-05 9.99992896e-01 -2.38986285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.08, Y:-35.03, Z:-2.39 [[ 9.86244366e-01 1.65241821e-01 4.14628217e-03 2.68076482e+02] [-1.65240093e-01 9.86253079e-01 -7.58237829e-04 -3.50291449e+01] [-4.21457615e-03 6.26757352e-05 9.99991117e-01 -2.38944721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.11, Y:-35.04, Z:-2.39 [[ 9.86182473e-01 1.65620434e-01 3.74179247e-03 2.68107253e+02] [-1.65619028e-01 9.86189570e-01 -6.84812016e-04 -3.50375459e+01] [-3.80353557e-03 5.56375765e-05 9.99992765e-01 -2.39037840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.14, Y:-35.05, Z:-2.40 [[ 9.86242471e-01 1.65302253e-01 9.76632971e-04 2.68135897e+02] [-1.65302157e-01 9.86242954e-01 -1.78269074e-04 -3.50519737e+01] [-9.92665666e-04 1.43769946e-05 9.99999507e-01 -2.39654399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.17, Y:-35.06, Z:-2.40 [[ 9.86330252e-01 1.64780412e-01 -2.23433840e-04 2.68166952e+02] [-1.64780407e-01 9.86330277e-01 4.19633849e-05 -3.50602539e+01] [ 2.27294305e-04 -4.57223697e-06 9.99999974e-01 -2.39755506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.20, Y:-35.07, Z:-2.39 [[ 9.86309720e-01 1.64892120e-01 1.93018542e-03 2.68196524e+02] [-1.64891743e-01 9.86311608e-01 -3.54022268e-04 -3.50741581e+01] [-1.96213976e-03 3.09039668e-05 9.99998075e-01 -2.39383821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.23, Y:-35.09, Z:-2.39 [[ 9.86140249e-01 1.65876056e-01 3.54177757e-03 2.68226266e+02] [-1.65874790e-01 9.86146607e-01 -6.50283737e-04 -3.50857754e+01] [-3.60057843e-03 5.37793558e-05 9.99993516e-01 -2.39075560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.26, Y:-35.09, Z:-2.39 [[ 9.85894262e-01 1.67312491e-01 4.36283099e-03 2.68257711e+02] [-1.67310580e-01 9.85903914e-01 -8.01895064e-04 -3.50911155e+01] [-4.43549921e-03 6.06359573e-05 9.99990161e-01 -2.38854447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.29, Y:-35.10, Z:-2.39 [[ 9.85863276e-01 1.67494976e-01 4.36270638e-03 2.68289633e+02] [-1.67493064e-01 9.85872928e-01 -8.02572380e-04 -3.50971977e+01] [-4.43550095e-03 6.05035793e-05 9.99990161e-01 -2.38872791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.32, Y:-35.10, Z:-2.39 [[ 9.85015470e-01 1.72432235e-01 3.41307804e-03 2.68322434e+02] [-1.72431092e-01 9.85021382e-01 -6.28574888e-04 -3.50991613e+01] [-3.47034142e-03 3.06352147e-05 9.99993978e-01 -2.38998326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.36, Y:-35.10, Z:-2.39 [[ 9.83491968e-01 1.80944065e-01 1.67169916e-03 2.68355880e+02] [-1.80943804e-01 9.83493389e-01 -3.07363949e-04 -3.50962670e+01] [-1.69972076e-03 -1.93630413e-07 9.99998555e-01 -2.39367832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.39, Y:-35.10, Z:-2.40 [[ 9.82723075e-01 1.85080929e-01 6.38890631e-04 2.68386304e+02] [-1.85080892e-01 9.82723282e-01 -1.17777647e-04 -3.50973053e+01] [-6.49651095e-04 -2.50363649e-06 9.99999789e-01 -2.39576821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.42, Y:-35.10, Z:-2.40 [[ 9.82050039e-01 1.88620043e-01 -4.46714311e-04 2.68417348e+02] [-1.88620025e-01 9.82050141e-01 8.23983276e-05 -3.50991914e+01] [ 4.54237828e-04 3.33998355e-06 9.99999897e-01 -2.39750678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.45, Y:-35.10, Z:-2.40 [[ 9.80873814e-01 1.94644609e-01 -1.90931671e-04 2.68447509e+02] [-1.94644606e-01 9.80873833e-01 3.50093767e-05 -3.50957040e+01] [ 1.94094266e-04 2.82403896e-06 9.99999981e-01 -2.39715799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.48, Y:-35.09, Z:-2.40 [[ 9.80291008e-01 1.97555149e-01 1.22566912e-03 2.68476343e+02] [-1.97555020e-01 9.80291774e-01 -2.26243428e-04 -3.50942698e+01] [-1.24620891e-03 -2.03526895e-05 9.99999223e-01 -2.39544410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.51, Y:-35.10, Z:-2.39 [[ 9.79760747e-01 2.00159346e-01 2.26162687e-03 2.68506387e+02] [-2.00158916e-01 9.79763356e-01 -4.17055384e-04 -3.50969661e+01] [-2.29933666e-03 -4.40702875e-05 9.99997356e-01 -2.39343563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42576923100006 meters Centerline goodness [0,1] 0.999936451448907 Centerline is valid? [True, True] Translation: X:268.54, Y:-35.09, Z:-2.40 [[ 9.79126042e-01 2.03247771e-01 1.59324457e-03 2.68536484e+02] [-2.03247561e-01 9.79127337e-01 -2.93850947e-04 -3.50934869e+01] [-1.61971386e-03 -3.61059577e-05 9.99998688e-01 -2.39550120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45576923100003 meters Centerline goodness [0,1] 0.9999575632837531 Centerline is valid? [True, True] Translation: X:268.56, Y:-35.09, Z:-2.40 [[ 9.78990248e-01 2.03905056e-01 9.06464846e-04 2.68564277e+02] [-2.03904989e-01 9.78990668e-01 -1.67345734e-04 -3.50949749e+01] [-9.21543266e-04 -2.10028622e-05 9.99999575e-01 -2.39738413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.59, Y:-35.10, Z:-2.40 [[ 9.79246088e-01 2.02672961e-01 8.77254122e-04 2.68592789e+02] [-2.02672898e-01 9.79246481e-01 -1.61981206e-04 -3.51017073e+01] [-8.91877223e-04 -1.91761728e-05 9.99999602e-01 -2.39707893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.62, Y:-35.11, Z:-2.40 [[ 9.79594756e-01 2.00975470e-01 1.72457445e-03 2.68620645e+02] [-2.00975222e-01 9.79596273e-01 -3.17806012e-04 -3.51085378e+01] [-1.75325792e-03 -3.52756308e-05 9.99998462e-01 -2.39565702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.65, Y:-35.12, Z:-2.39 [[ 9.80362126e-01 1.97150901e-01 4.65019391e-03 2.68647893e+02] [-1.97149056e-01 9.80373152e-01 -8.56259002e-04 -3.51181990e+01] [-4.72773749e-03 -7.73374451e-05 9.99988821e-01 -2.39083464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.68, Y:-35.13, Z:-2.39 [[ 9.80787289e-01 1.95003384e-01 5.47482709e-03 2.68675436e+02] [-1.95000795e-01 9.80802566e-01 -1.00787121e-03 -3.51271368e+01] [-5.56626275e-03 -7.90883625e-05 9.99984505e-01 -2.38938043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.70, Y:-35.14, Z:-2.39 [[ 9.81601212e-01 1.90892454e-01 4.37404403e-03 2.68703544e+02] [-1.90890762e-01 9.81610956e-01 -8.05054897e-04 -3.51414530e+01] [-4.44728845e-03 -4.47217353e-05 9.99990110e-01 -2.39151867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.73, Y:-35.15, Z:-2.39 [[ 9.81931735e-01 1.89207801e-01 3.23668164e-03 2.68731951e+02] [-1.89206865e-01 9.81937069e-01 -5.95795437e-04 -3.51498665e+01] [-3.29094683e-03 -2.73719388e-05 9.99994584e-01 -2.39378585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.76, Y:-35.16, Z:-2.40 [[ 9.82126446e-01 1.88208076e-01 2.31615870e-03 2.68761409e+02] [-1.88207594e-01 9.82129177e-01 -4.26302681e-04 -3.51573709e+01] [-2.35500064e-03 -1.72355177e-05 9.99997227e-01 -2.39611098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.79, Y:-35.16, Z:-2.40 [[ 9.81852310e-01 1.89646644e-01 4.37427770e-04 2.68790801e+02] [-1.89646627e-01 9.81852408e-01 -8.06304593e-05 -3.51618452e+01] [-4.44780805e-04 -3.78949843e-06 9.99999901e-01 -2.39947169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.82, Y:-35.16, Z:-2.40 [[ 9.81373965e-01 1.92106433e-01 -5.08822689e-04 2.68820539e+02] [-1.92106410e-01 9.81374097e-01 9.34987632e-05 -3.51643629e+01] [ 5.17307121e-04 5.99084824e-06 9.99999866e-01 -2.40064711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75576923100004 meters Centerline goodness [0,1] 0.999915196743555 Centerline is valid? [True, True] Translation: X:268.85, Y:-35.16, Z:-2.40 [[ 9.80174853e-01 1.98133286e-01 -6.76737102e-04 2.68850798e+02] [-1.98133248e-01 9.80175087e-01 1.24302068e-04 -3.51623025e+01] [ 6.87949225e-04 1.22463584e-05 9.99999763e-01 -2.39859239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7857692310001 meters Centerline goodness [0,1] 0.9999368381160916 Centerline is valid? [True, True] Translation: X:268.88, Y:-35.16, Z:-2.40 [[ 9.79576568e-01 2.01069107e-01 9.80828550e-04 2.68879704e+02] [-2.01069027e-01 9.79577059e-01 -1.80767790e-04 -3.51595576e+01] [-9.97143964e-04 -2.01383504e-05 9.99999503e-01 -2.39664684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81576923100005 meters Centerline goodness [0,1] 0.999936810177774 Centerline is valid? [True, True] Translation: X:268.91, Y:-35.16, Z:-2.39 [[ 9.78992422e-01 2.03871053e-01 3.22975534e-03 2.68910229e+02] [-2.03870202e-01 9.78997747e-01 -5.94014301e-04 -3.51584582e+01] [-3.28302552e-03 -7.69153759e-05 9.99994608e-01 -2.39283951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8457692310001 meters Centerline goodness [0,1] 0.9998301954874451 Centerline is valid? [True, True] Translation: X:268.94, Y:-35.16, Z:-2.39 [[ 9.78191033e-01 2.07620567e-01 6.00030214e-03 2.68940989e+02] [-2.07617702e-01 9.78209422e-01 -1.10332513e-03 -3.51553731e+01] [-6.09862508e-03 -1.66506195e-04 9.99981389e-01 -2.38880361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87576923100005 meters Centerline goodness [0,1] 0.9995744318665418 Centerline is valid? [True, True] Translation: X:268.97, Y:-35.14, Z:-2.39 [[ 9.77536758e-01 2.10738258e-01 3.35747674e-03 2.68971811e+02] [-2.10737379e-01 9.77542519e-01 -6.17396155e-04 -3.51442915e+01] [-3.41218525e-03 -1.04018413e-04 9.99994173e-01 -2.39294726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.905769231 meters Centerline goodness [0,1] 0.9998088035350102 Centerline is valid? [True, True] Translation: X:269.00, Y:-35.15, Z:-2.39 [[ 9.77231560e-01 2.12165915e-01 2.02561462e-03 2.69000400e+02] [-2.12165598e-01 9.77233657e-01 -3.72498914e-04 -3.51500796e+01] [-2.05853036e-03 -6.57480417e-05 9.99997879e-01 -2.39438266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93576923100005 meters Centerline goodness [0,1] 0.9988510393838167 Centerline is valid? [True, True] Translation: X:269.03, Y:-35.14, Z:-2.40 [[ 9.77033034e-01 2.13081627e-01 1.63429143e-03 2.69030562e+02] [-2.13081422e-01 9.77034399e-01 -3.00556196e-04 -3.51409302e+01] [-1.66080195e-03 -5.45838090e-05 9.99998619e-01 -2.39671012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.965769231 meters Centerline goodness [0,1] 0.9997455902306649 Centerline is valid? [True, True] Translation: X:269.06, Y:-35.15, Z:-2.40 [[ 9.77158823e-01 2.12493704e-01 2.65727442e-03 2.69059121e+02] [-2.12493162e-01 9.77162432e-01 -4.88282542e-04 -3.51453996e+01] [-2.70034570e-03 -8.75230489e-05 9.99996350e-01 -2.39570295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99576923100005 meters Centerline goodness [0,1] 0.9994729296677348 Centerline is valid? [True, True] Translation: X:269.09, Y:-35.14, Z:-2.39 [[ 9.77523652e-01 2.10783511e-01 4.22143388e-03 2.69087671e+02] [-2.10782126e-01 9.77532759e-01 -7.75355913e-04 -3.51441334e+01] [-4.29002215e-03 -1.31874064e-04 9.99990789e-01 -2.39335137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.025769231 meters Centerline goodness [0,1] 0.9998939891868971 Centerline is valid? [True, True] Translation: X:269.12, Y:-35.15, Z:-2.39 [[ 9.78476893e-01 2.06222617e-01 7.42975470e-03 2.69116904e+02] [-2.06218201e-01 9.78505081e-01 -1.36399768e-03 -3.51521857e+01] [-7.55133989e-03 -1.97510429e-04 9.99971469e-01 -2.38762305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05576923100006 meters Centerline goodness [0,1] 0.9998933310577293 Centerline is valid? [True, True] Translation: X:269.15, Y:-35.16, Z:-2.39 [[ 9.79015900e-01 2.03649119e-01 7.40976772e-03 2.69145287e+02] [-2.03644655e-01 9.79043924e-01 -1.36009512e-03 -3.51571079e+01] [-7.53147024e-03 -1.77404837e-04 9.99971622e-01 -2.38821224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08576923100003 meters Centerline goodness [0,1] 0.9999361348831268 Centerline is valid? [True, True] Translation: X:269.17, Y:-35.16, Z:-2.39 [[ 9.79573313e-01 2.00991577e-01 6.20570689e-03 2.69172691e+02] [-2.00988394e-01 9.79592961e-01 -1.13881638e-03 -3.51615618e+01] [-6.30795929e-03 -1.31720924e-04 9.99980096e-01 -2.39078431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11576923100006 meters Centerline goodness [0,1] 0.999978650270074 Centerline is valid? [True, True] Translation: X:269.20, Y:-35.17, Z:-2.40 [[ 9.80478542e-01 1.96616590e-01 1.93549703e-03 2.69201023e+02] [-1.96616271e-01 9.80480451e-01 -3.55345694e-04 -3.51696847e+01] [-1.96758386e-03 -3.21413802e-05 9.99998064e-01 -2.39879575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.23, Y:-35.18, Z:-2.40 [[ 9.80877433e-01 1.94623935e-01 9.92181934e-04 2.69228752e+02] [-1.94623851e-01 9.80877935e-01 -1.82173804e-04 -3.51755231e+01] [-1.00866475e-03 -1.44120954e-05 9.99999491e-01 -2.40060149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.26, Y:-35.18, Z:-2.39 [[ 9.81631318e-01 1.90756597e-01 3.44632373e-03 2.69256012e+02] [-1.90755553e-01 9.81637367e-01 -6.31928652e-04 -3.51841093e+01] [-3.50358471e-03 -3.70844355e-05 9.99993862e-01 -2.39475232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.28, Y:-35.19, Z:-2.39 [[ 9.81961044e-01 1.89024119e-01 4.73187514e-03 2.69282904e+02] [-1.89022134e-01 9.81972444e-01 -8.67334313e-04 -3.51909667e+01] [-4.81051810e-03 -4.27406302e-05 9.99988428e-01 -2.39259241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.31, Y:-35.20, Z:-2.39 [[ 9.82201886e-01 1.87759040e-01 5.09885842e-03 2.69310823e+02] [-1.87756720e-01 9.82215120e-01 -9.34244351e-04 -3.51990093e+01] [-5.18358866e-03 -3.97283702e-05 9.99986564e-01 -2.39205813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.34, Y:-35.21, Z:-2.39 [[ 9.82509018e-01 1.86101179e-01 6.51000723e-03 2.69338581e+02] [-1.86097363e-01 9.82530585e-01 -1.19242457e-03 -3.52103691e+01] [-6.61819283e-03 -3.99272852e-05 9.99978099e-01 -2.39104574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.37, Y:-35.22, Z:-2.39 [[ 9.83079992e-01 1.83053447e-01 6.72055769e-03 2.69366030e+02] [-1.83049310e-01 9.83102963e-01 -1.23075184e-03 -3.52245465e+01] [-6.83229354e-03 -2.02659371e-05 9.99976659e-01 -2.39093159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.39, Y:-35.24, Z:-2.39 [[ 9.83499473e-01 1.80798746e-01 6.37182848e-03 2.69393309e+02] [-1.80794982e-01 9.83520113e-01 -1.16672705e-03 -3.52358981e+01] [-6.47776425e-03 -4.51917808e-06 9.99979019e-01 -2.39128108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.42, Y:-35.25, Z:-2.39 [[ 9.83870496e-01 1.78794403e-01 5.60434161e-03 2.69420709e+02] [-1.78791459e-01 9.83886458e-01 -1.02601235e-03 -3.52477272e+01] [-5.69748108e-03 7.45486535e-06 9.99983769e-01 -2.39213911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.45, Y:-35.26, Z:-2.39 [[ 9.84129687e-01 1.77382548e-01 4.91845284e-03 2.69449089e+02] [-1.77380264e-01 9.84141977e-01 -9.00338541e-04 -3.52583728e+01] [-5.00016025e-03 1.36134221e-05 9.99987499e-01 -2.39327944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.48, Y:-35.27, Z:-2.40 [[ 9.84526994e-01 1.75198769e-01 3.46244445e-03 2.69477679e+02] [-1.75197624e-01 9.84533083e-01 -6.33718360e-04 -3.52712868e+01] [-3.51991779e-03 1.73007911e-05 9.99993805e-01 -2.39673531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.51, Y:-35.29, Z:-2.40 [[ 9.84875684e-01 1.73243898e-01 2.53749525e-03 2.69506552e+02] [-1.73243277e-01 9.84878953e-01 -4.64143042e-04 -3.52856886e+01] [-2.57953562e-03 1.75192023e-05 9.99996673e-01 -2.40016653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.54, Y:-35.30, Z:-2.40 [[ 9.84975948e-01 1.72680851e-01 1.92483435e-03 2.69535863e+02] [-1.72680492e-01 9.84977829e-01 -3.52433797e-04 -3.52963635e+01] [-1.95677772e-03 1.47574712e-05 9.99998085e-01 -2.40150144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.56, Y:-35.30, Z:-2.40 [[ 9.85054168e-01 1.72239392e-01 1.37008421e-03 2.69564913e+02] [-1.72239209e-01 9.85055121e-01 -2.50907815e-04 -3.53046083e+01] [-1.39282467e-03 1.11755686e-05 9.99999030e-01 -2.40197373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.59, Y:-35.32, Z:-2.40 [[ 9.85143105e-01 1.71718058e-01 2.44353888e-03 2.69593894e+02] [-1.71717476e-01 9.85146135e-01 -4.47455972e-04 -3.53157674e+01] [-2.48407915e-03 2.12098380e-05 9.99996914e-01 -2.39910351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.62, Y:-35.32, Z:-2.40 [[ 9.85091975e-01 1.71984055e-01 3.90973982e-03 2.69624989e+02] [-1.71982568e-01 9.85099733e-01 -7.16011174e-04 -3.53223905e+01] [-3.97462616e-03 3.29297662e-05 9.99992101e-01 -2.39671478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.66, Y:-35.33, Z:-2.39 [[ 9.84780967e-01 1.73704488e-01 5.76181790e-03 2.69656675e+02] [-1.73701287e-01 9.84797821e-01 -1.05539310e-03 -3.53262734e+01] [-5.85755224e-03 3.84958578e-05 9.99982844e-01 -2.39325600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.69, Y:-35.33, Z:-2.39 [[ 9.84644081e-01 1.74480744e-01 5.70122315e-03 2.69688398e+02] [-1.74477620e-01 9.84660586e-01 -1.04458264e-03 -3.53300116e+01] [-5.79602928e-03 3.38062673e-05 9.99983202e-01 -2.39414330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.72, Y:-35.34, Z:-2.40 [[ 9.84464062e-01 1.75527766e-01 4.52926503e-03 2.69719409e+02] [-1.75525803e-01 9.84474480e-01 -8.30446378e-04 -3.53355098e+01] [-4.60471223e-03 2.25417313e-05 9.99989398e-01 -2.39723591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.75, Y:-35.34, Z:-2.40 [[ 9.84442205e-01 1.75698955e-01 1.85000914e-03 2.69751114e+02] [-1.75698628e-01 9.84443943e-01 -3.38928256e-04 -3.53423065e+01] [-1.88077963e-03 8.61121173e-06 9.99998231e-01 -2.40253461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.78, Y:-35.36, Z:-2.40 [[ 9.84735279e-01 1.74049825e-01 1.75742584e-03 2.69779844e+02] [-1.74049527e-01 9.84736847e-01 -3.22266584e-04 -3.53562474e+01] [-1.78669242e-03 1.14681389e-05 9.99998404e-01 -2.40248043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.81, Y:-35.36, Z:-2.40 [[ 9.84928401e-01 1.72932311e-01 3.23422188e-03 2.69812011e+02] [-1.72931292e-01 9.84933711e-01 -5.94218311e-04 -3.53638305e+01] [-3.28825371e-03 2.59643221e-05 9.99994593e-01 -2.39823891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.84, Y:-35.37, Z:-2.39 [[ 9.85082211e-01 1.72002144e-01 5.31980819e-03 2.69843964e+02] [-1.71999364e-01 9.85096574e-01 -9.79159853e-04 -3.53733604e+01] [-5.40894242e-03 4.95493258e-05 9.99985370e-01 -2.39494126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.87, Y:-35.38, Z:-2.39 [[ 9.85034138e-01 1.72159842e-01 8.29072304e-03 2.69874661e+02] [-1.72153077e-01 9.85069024e-01 -1.52818860e-03 -3.53841334e+01] [-8.43002717e-03 7.80444558e-05 9.99964464e-01 -2.38994907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.91, Y:-35.39, Z:-2.39 [[ 9.84652338e-01 1.74323456e-01 8.43242108e-03 2.69907212e+02] [-1.74316526e-01 9.84688443e-01 -1.55551338e-03 -3.53876363e+01] [-8.57447004e-03 6.17295322e-05 9.99963237e-01 -2.38920268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.94, Y:-35.38, Z:-2.39 [[ 9.83267534e-01 1.82047094e-01 6.61905975e-03 2.69941501e+02] [-1.82042996e-01 9.83289813e-01 -1.22145135e-03 -3.53795259e+01] [-6.73081569e-03 -3.94001482e-06 9.99977348e-01 -2.39292736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.97, Y:-35.38, Z:-2.40 [[ 9.82488278e-01 1.86270065e-01 4.49952587e-03 2.69972575e+02] [-1.86268213e-01 9.82498581e-01 -8.30969817e-04 -3.53773769e+01] [-4.57556258e-03 -2.17005388e-05 9.99989532e-01 -2.39687166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92576923100006 meters Centerline goodness [0,1] 0.9999577970035872 Centerline is valid? [True, True] Translation: X:270.00, Y:-35.38, Z:-2.40 [[ 9.81835432e-01 1.89714388e-01 2.76331269e-03 2.70002411e+02] [-1.89713703e-01 9.81839320e-01 -5.10470084e-04 -3.53753529e+01] [-2.80997258e-03 -2.30406678e-05 9.99996052e-01 -2.40074663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.03, Y:-35.37, Z:-2.40 [[ 9.81051487e-01 1.93733039e-01 2.34287111e-03 2.70032624e+02] [-1.93732558e-01 9.81054284e-01 -4.32778897e-04 -3.53715750e+01] [-2.38232731e-03 -2.93120328e-05 9.99997162e-01 -2.40118483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.06, Y:-35.38, Z:-2.40 [[ 9.80893452e-01 1.94520065e-01 3.15904348e-03 2.70061544e+02] [-1.94519195e-01 9.80898538e-01 -5.83315033e-04 -3.53752218e+01] [-3.21216761e-03 -4.23246975e-05 9.99994840e-01 -2.39947449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.09, Y:-35.38, Z:-2.40 [[ 9.81120704e-01 1.93337738e-01 4.76265556e-03 2.70089474e+02] [-1.93335748e-01 9.81132262e-01 -8.79060140e-04 -3.53765788e+01] [-4.84275052e-03 -5.83274727e-05 9.99988272e-01 -2.39745676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.12, Y:-35.38, Z:-2.40 [[ 9.81573085e-01 1.91006783e-01 5.53971168e-03 2.70118674e+02] [-1.91004056e-01 9.81588715e-01 -1.02209317e-03 -3.53837712e+01] [-5.63294520e-03 -5.48482509e-05 9.99984133e-01 -2.39681077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.15, Y:-35.40, Z:-2.40 [[ 9.83127689e-01 1.82844479e-01 5.27662494e-03 2.70146837e+02] [-1.82841888e-01 9.83141850e-01 -9.73421518e-04 -3.53971785e+01] [-5.36565555e-03 -7.79042053e-06 9.99985605e-01 -2.39864379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.18, Y:-35.40, Z:-2.40 [[ 9.83131920e-01 1.82821732e-01 5.27661186e-03 2.70175527e+02] [-1.82819141e-01 9.83146080e-01 -9.73492432e-04 -3.54024246e+01] [-5.36565583e-03 -7.59416109e-06 9.99985605e-01 -2.39880832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.21, Y:-35.41, Z:-2.40 [[ 9.83918201e-01 1.78553681e-01 4.85357791e-03 2.70205683e+02] [-1.78551437e-01 9.83930172e-01 -8.95307436e-04 -3.54143206e+01] [-4.93544218e-03 1.42959715e-05 9.99987821e-01 -2.40036443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.24, Y:-35.43, Z:-2.40 [[ 9.84649494e-01 1.74493960e-01 4.15108286e-03 2.70235485e+02] [-1.74492282e-01 9.84658244e-01 -7.65802606e-04 -3.54276905e+01] [-4.22102588e-03 2.97152286e-05 9.99991091e-01 -2.40192261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.26, Y:-35.45, Z:-2.40 [[ 9.86162696e-01 1.65734106e-01 3.91709236e-03 2.70261539e+02] [-1.65732543e-01 9.86170473e-01 -7.22672404e-04 -3.54514095e+01] [-3.98269229e-03 6.34828888e-05 9.99992067e-01 -2.40241890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2257692310001 meters Centerline goodness [0,1] 0.9999788270167267 Centerline is valid? [True, True] Translation: X:270.29, Y:-35.47, Z:-2.40 [[ 9.86852955e-01 1.61572044e-01 3.96487756e-03 2.70290298e+02] [-1.61570408e-01 9.86860916e-01 -7.31549966e-04 -3.54679926e+01] [-4.03098072e-03 8.13253610e-05 9.99991872e-01 -2.40237005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25576923100004 meters Centerline goodness [0,1] 0.9998932513503704 Centerline is valid? [True, True] Translation: X:270.32, Y:-35.49, Z:-2.40 [[ 9.87928694e-01 1.54838966e-01 4.66805461e-03 2.70318549e+02] [-1.54836619e-01 9.87939714e-01 -8.62289440e-04 -3.54859162e+01] [-4.74527254e-03 1.29094689e-04 9.99988733e-01 -2.40171876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2857692310001 meters Centerline goodness [0,1] 0.9997435678263099 Centerline is valid? [True, True] Translation: X:270.35, Y:-35.50, Z:-2.40 [[ 9.88223954e-01 1.52941736e-01 4.71625457e-03 2.70348884e+02] [-1.52939318e-01 9.88235198e-01 -8.71168509e-04 -3.54986414e+01] [-4.79400679e-03 1.39608829e-04 9.99988499e-01 -2.40156579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31576923100005 meters Centerline goodness [0,1] 0.999658775858392 Centerline is valid? [True, True] Translation: X:270.38, Y:-35.51, Z:-2.40 [[ 9.88279217e-01 1.52552079e-01 5.66147574e-03 2.70377545e+02] [-1.52548587e-01 9.88295419e-01 -1.04609528e-03 -3.55128450e+01] [-5.75479455e-03 1.70184101e-04 9.99983427e-01 -2.40011694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3457692310001 meters Centerline goodness [0,1] 0.999872413719778 Centerline is valid? [True, True] Translation: X:270.41, Y:-35.52, Z:-2.40 [[ 9.88072553e-01 1.53888103e-01 5.57504731e-03 2.70409160e+02] [-1.53884734e-01 9.88088268e-01 -1.03095715e-03 -3.55193341e+01] [-5.66729089e-03 1.60745788e-04 9.99983928e-01 -2.40080523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37576923100005 meters Centerline goodness [0,1] 0.9999788045782111 Centerline is valid? [True, True] Translation: X:270.44, Y:-35.52, Z:-2.41 [[ 9.87247825e-01 1.59144102e-01 3.85829699e-03 2.70438983e+02] [-1.59142526e-01 9.87255360e-01 -7.14092647e-04 -3.55226080e+01] [-3.92276802e-03 9.09672844e-05 9.99992302e-01 -2.40544531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.405769231 meters Centerline goodness [0,1] 0.9999571201921016 Centerline is valid? [True, True] Translation: X:270.47, Y:-35.53, Z:-2.41 [[ 9.86742768e-01 1.62272502e-01 2.51901383e-03 2.70470208e+02] [-1.62271840e-01 9.86745982e-01 -4.66154901e-04 -3.55266438e+01] [-2.56127090e-03 5.12099681e-05 9.99996719e-01 -2.40733057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43576923100005 meters Centerline goodness [0,1] 0.9999360613810742 Centerline is valid? [True, True] Translation: X:270.50, Y:-35.53, Z:-2.41 [[ 9.86231086e-01 1.65359666e-01 2.10384128e-03 2.70500953e+02] [-1.65359212e-01 9.86233329e-01 -3.89406478e-04 -3.55302731e+01] [-2.13927052e-03 3.61552380e-05 9.99997711e-01 -2.40792370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.53, Y:-35.53, Z:-2.41 [[ 9.85186173e-01 1.71460511e-01 3.08198946e-03 2.70532124e+02] [-1.71459565e-01 9.85190993e-01 -5.70615298e-04 -3.55277606e+01] [-3.13418625e-03 3.37257297e-05 9.99995088e-01 -2.40535295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.56, Y:-35.53, Z:-2.40 [[ 9.84574813e-01 1.74902361e-01 4.64777886e-03 2.70564621e+02] [-1.74900248e-01 9.84585782e-01 -8.60467564e-04 -3.55277677e+01] [-4.72663480e-03 3.42970154e-05 9.99988829e-01 -2.40305827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.60, Y:-35.52, Z:-2.40 [[ 9.83318308e-01 1.81787592e-01 6.19493160e-03 2.70597595e+02] [-1.81783967e-01 9.83337822e-01 -1.14807557e-03 -3.55201997e+01] [-6.30041644e-03 2.78449038e-06 9.99980152e-01 -2.39996420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.63, Y:-35.52, Z:-2.40 [[ 9.82739272e-01 1.84923048e-01 5.19509301e-03 2.70629773e+02] [-1.84920542e-01 9.82753004e-01 -9.62824682e-04 -3.55193205e+01] [-5.28354173e-03 -1.44737867e-05 9.99986042e-01 -2.40226387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.66, Y:-35.51, Z:-2.41 [[ 9.81619807e-01 1.90830830e-01 2.47955687e-03 2.70662771e+02] [-1.90830278e-01 9.81622939e-01 -4.59605590e-04 -3.55097542e+01] [-2.52169682e-03 -2.20165766e-05 9.99996820e-01 -2.40812521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.69, Y:-35.51, Z:-2.41 [[ 9.81159306e-01 1.93190711e-01 1.94034235e-03 2.70693563e+02] [-1.93190377e-01 9.81161225e-01 -3.59632302e-04 -3.55084957e+01] [-1.97326630e-03 -2.19988919e-05 9.99998053e-01 -2.40872122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.72, Y:-35.51, Z:-2.41 [[ 9.80817160e-01 1.94921973e-01 1.76713681e-03 2.70723637e+02] [-1.94921699e-01 9.80818752e-01 -3.27657924e-04 -3.55088774e+01] [-1.79710865e-03 -2.30807941e-05 9.99998385e-01 -2.40886251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67576923100006 meters Centerline goodness [0,1] 0.9999787134403337 Centerline is valid? [True, True] Translation: X:270.75, Y:-35.51, Z:-2.41 [[ 9.80738825e-01 1.95314135e-01 1.93526364e-03 2.70754298e+02] [-1.95313807e-01 9.80740734e-01 -3.58771536e-04 -3.55070185e+01] [-1.96806504e-03 -2.61225356e-05 9.99998063e-01 -2.40788561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.78, Y:-35.51, Z:-2.41 [[ 9.80920029e-01 1.94396247e-01 2.44869082e-03 2.70783042e+02] [-1.94395719e-01 9.80923085e-01 -4.53970718e-04 -3.55069331e+01] [-2.49022756e-03 -3.07060441e-05 9.99996899e-01 -2.40841767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.81, Y:-35.51, Z:-2.41 [[ 9.81722992e-01 1.90276336e-01 3.85786514e-03 2.70811340e+02] [-1.90274996e-01 9.81730571e-01 -7.14747704e-04 -3.55125841e+01] [-3.92338372e-03 -3.23710219e-05 9.99992303e-01 -2.40779843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.84, Y:-35.52, Z:-2.41 [[ 9.82319912e-01 1.87178359e-01 3.44284317e-03 2.70839981e+02] [-1.87177274e-01 9.82325945e-01 -6.37733108e-04 -3.55220018e+01] [-3.50136400e-03 -1.79640682e-05 9.99993870e-01 -2.40846326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.87, Y:-35.53, Z:-2.41 [[ 9.82922083e-01 1.84006575e-01 2.39983383e-03 2.70867872e+02] [-1.84006038e-01 9.82925013e-01 -4.44551526e-04 -3.55305418e+01] [-2.44065710e-03 -4.62440346e-06 9.99997022e-01 -2.41051913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.90, Y:-35.54, Z:-2.41 [[ 9.83775834e-01 1.79402082e-01 -2.12419535e-05 2.70897730e+02] [-1.79402082e-01 9.83775835e-01 4.00043907e-06 -3.55386945e+01] [ 2.16150077e-05 -1.24684585e-07 1.00000000e+00 -2.41341477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.93, Y:-35.55, Z:-2.41 [[ 9.84068127e-01 1.77791730e-01 1.49934777e-04 2.70926423e+02] [-1.77791728e-01 9.84068138e-01 -2.78943413e-05 -3.55450544e+01] [-1.52505421e-04 7.92769123e-07 9.99999988e-01 -2.41324068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.95, Y:-35.55, Z:-2.41 [[ 9.84653615e-01 1.74494317e-01 2.99864147e-03 2.70954772e+02] [-1.74493435e-01 9.84658181e-01 -5.55226820e-04 -3.55547636e+01] [-3.04952078e-03 2.34628439e-05 9.99995350e-01 -2.40808285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.99, Y:-35.56, Z:-2.41 [[ 9.84960522e-01 1.72728870e-01 4.18419482e-03 2.70985423e+02] [-1.72727138e-01 9.84969409e-01 -7.74617349e-04 -3.55635624e+01] [-4.25510267e-03 4.02435128e-05 9.99990946e-01 -2.40665421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.02, Y:-35.58, Z:-2.41 [[ 9.85755821e-01 1.68110377e-01 4.93590510e-03 2.71015356e+02] [-1.68107908e-01 9.85768176e-01 -9.13908816e-04 -3.55799917e+01] [-5.01929572e-03 7.11262530e-05 9.99987401e-01 -2.40672179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.9757692310001 meters Centerline goodness [0,1] 0.9999577211711236 Centerline is valid? [True, True] Translation: X:271.05, Y:-35.59, Z:-2.41 [[ 9.86189399e-01 1.65565121e-01 4.31983861e-03 2.71045296e+02] [-1.65563205e-01 9.86198857e-01 -7.99869484e-04 -3.55930500e+01] [-4.39265039e-03 7.36164799e-05 9.99990350e-01 -2.40788587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.07, Y:-35.61, Z:-2.41 [[ 9.86703826e-01 1.62488669e-01 3.60449321e-03 2.71074990e+02] [-1.62487312e-01 9.86710407e-01 -6.68091754e-04 -3.56095894e+01] [-3.66514830e-03 7.35242775e-05 9.99993281e-01 -2.40825917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0357692310001 meters Centerline goodness [0,1] 0.9999575731862537 Centerline is valid? [True, True] Translation: X:271.11, Y:-35.62, Z:-2.41 [[ 9.86721654e-01 1.62383391e-01 3.46569223e-03 2.71106909e+02] [-1.62382137e-01 9.86727738e-01 -6.42220465e-04 -3.56189815e+01] [-3.52398060e-03 7.09263295e-05 9.99993788e-01 -2.40798560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.14, Y:-35.63, Z:-2.41 [[ 9.86544167e-01 1.63458984e-01 3.43038683e-03 2.71136679e+02] [-1.63457759e-01 9.86550128e-01 -6.36411117e-04 -3.56286967e+01] [-3.48827568e-03 6.71243323e-05 9.99993914e-01 -2.40830789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.17, Y:-35.63, Z:-2.41 [[ 9.85826347e-01 1.67747197e-01 2.70010489e-03 2.71168728e+02] [-1.67746453e-01 9.85830044e-01 -5.01504973e-04 -3.56293887e+01] [-2.74597058e-03 4.14637983e-05 9.99996229e-01 -2.40883559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.20, Y:-35.64, Z:-2.41 [[ 9.85304284e-01 1.70794282e-01 2.18676061e-03 2.71199309e+02] [-1.70793802e-01 9.85306710e-01 -4.05785670e-04 -3.56353354e+01] [-2.22393578e-03 2.63372009e-05 9.99997527e-01 -2.41032444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.23, Y:-35.63, Z:-2.41 [[ 9.84214208e-01 1.76976112e-01 1.35943147e-03 2.71232914e+02] [-1.76975932e-01 9.84215147e-01 -2.52560964e-04 -3.56335849e+01] [-1.38267031e-03 7.98743675e-06 9.99999044e-01 -2.41114061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.26, Y:-35.64, Z:-2.41 [[ 9.83769199e-01 1.79437212e-01 6.71337877e-04 2.71263528e+02] [-1.79437169e-01 9.83769428e-01 -1.24119368e-04 -3.56377764e+01] [-6.82713313e-04 1.64184373e-06 9.99999767e-01 -2.41251302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.30, Y:-35.64, Z:-2.41 [[ 9.83447781e-01 1.81190176e-01 7.62845886e-04 2.71295426e+02] [-1.81190121e-01 9.83448077e-01 -1.41223597e-04 -3.56430231e+01] [-7.75807648e-04 6.65894885e-07 9.99999699e-01 -2.41204340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.33, Y:-35.65, Z:-2.41 [[ 9.83424321e-01 1.81311231e-01 1.68569461e-03 2.71326972e+02] [-1.81310960e-01 9.83425766e-01 -3.13476875e-04 -3.56489668e+01] [-1.71459239e-03 2.64587510e-06 9.99998530e-01 -2.41069356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.36, Y:-35.65, Z:-2.41 [[ 9.83240478e-01 1.82301246e-01 2.10190247e-03 2.71357761e+02] [-1.82300826e-01 9.83242725e-01 -3.91530826e-04 -3.56542061e+01] [-2.13805686e-03 1.79040199e-06 9.99997714e-01 -2.41084882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.39, Y:-35.66, Z:-2.42 [[ 9.82600122e-01 1.85733586e-01 1.87891154e-04 2.71388562e+02] [-1.85733583e-01 9.82600140e-01 -3.50142619e-05 -3.56560688e+01] [-1.91125198e-04 -4.92679047e-07 9.99999982e-01 -2.41576919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.42, Y:-35.65, Z:-2.42 [[ 9.81798899e-01 1.89917599e-01 -1.49284069e-03 2.71418563e+02] [-1.89917395e-01 9.81800033e-01 2.78480414e-04 -3.56529368e+01] [ 1.51855937e-03 1.01046509e-05 9.99998847e-01 -2.41873017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.45, Y:-35.65, Z:-2.42 [[ 9.81378429e-01 1.92081207e-01 -1.09027532e-03 2.71448735e+02] [-1.92081100e-01 9.81379035e-01 2.03370140e-04 -3.56530607e+01] [ 1.10903692e-03 9.83821334e-06 9.99999385e-01 -2.41692100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.48, Y:-35.66, Z:-2.41 [[ 9.81013186e-01 1.93941045e-01 2.03305630e-05 2.71478990e+02] [-1.93941045e-01 9.81013186e-01 -3.93237196e-06 -3.56551944e+01] [-2.07071988e-05 -8.52218998e-08 1.00000000e+00 -2.41434792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42576923100006 meters Centerline goodness [0,1] 0.9999787442077966 Centerline is valid? [True, True] Translation: X:271.51, Y:-35.65, Z:-2.41 [[ 9.80646101e-01 1.95769796e-01 2.72245893e-03 2.71508928e+02] [-1.95769139e-01 9.80649879e-01 -5.08189563e-04 -3.56531850e+01] [-2.76926719e-03 -3.46193286e-05 9.99996165e-01 -2.41047605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45576923100003 meters Centerline goodness [0,1] 0.9999574667177066 Centerline is valid? [True, True] Translation: X:271.54, Y:-35.66, Z:-2.41 [[ 9.80501283e-01 1.96486628e-01 3.19987591e-03 2.71538174e+02] [-1.96485726e-01 9.80506503e-01 -5.97122129e-04 -3.56560752e+01] [-3.25482566e-03 -4.32509279e-05 9.99994702e-01 -2.41070161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48576923100006 meters Centerline goodness [0,1] 0.999871948096295 Centerline is valid? [True, True] Translation: X:271.57, Y:-35.66, Z:-2.42 [[ 9.80330960e-01 1.97360474e-01 2.30308722e-04 2.71566822e+02] [-1.97360469e-01 9.80330987e-01 -4.32904998e-05 -3.56552601e+01] [-2.34322610e-04 -3.01482021e-06 9.99999973e-01 -2.41730933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51576923100004 meters Centerline goodness [0,1] 0.9998938834415723 Centerline is valid? [True, True] Translation: X:271.59, Y:-35.66, Z:-2.42 [[ 9.80408574e-01 1.96966558e-01 -1.78968666e-03 2.71594979e+02] [-1.96966278e-01 9.80410207e-01 3.33433900e-04 -3.56597773e+01] [ 1.82030240e-03 2.56064650e-05 9.99998343e-01 -2.42149943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54576923100007 meters Centerline goodness [0,1] 0.999914889995319 Centerline is valid? [True, True] Translation: X:271.62, Y:-35.67, Z:-2.42 [[ 9.80691943e-01 1.95536408e-01 -2.97087116e-03 2.71623401e+02] [-1.95535628e-01 9.80696442e-01 5.53528248e-04 -3.56662065e+01] [ 3.02175770e-03 3.80704650e-05 9.99995434e-01 -2.42374185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.65, Y:-35.68, Z:-2.42 [[ 9.81464039e-01 1.91618142e-01 -3.29066023e-03 2.71650165e+02] [-1.91617164e-01 9.81469555e-01 6.12889075e-04 -3.56752015e+01] [ 3.34712350e-03 2.90183945e-05 9.99994398e-01 -2.42472223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60576923100007 meters Centerline goodness [0,1] 0.9999576235274176 Centerline is valid? [True, True] Translation: X:271.68, Y:-35.69, Z:-2.42 [[ 9.82165254e-01 1.88005954e-01 -2.27488067e-03 2.71678591e+02] [-1.88005477e-01 9.82167889e-01 4.23734839e-04 -3.56866451e+01] [ 2.31397942e-03 1.15123902e-05 9.99997323e-01 -2.42232670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63576923100004 meters Centerline goodness [0,1] 0.999935746412508 Centerline is valid? [True, True] Translation: X:271.71, Y:-35.69, Z:-2.42 [[ 9.82220537e-01 1.87726216e-01 -1.29822861e-03 2.71707952e+02] [-1.87726061e-01 9.82221394e-01 2.41724450e-04 -3.56924322e+01] [ 1.32052593e-03 6.28462267e-06 9.99999128e-01 -2.42072226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66576923100007 meters Centerline goodness [0,1] 0.9999787374285046 Centerline is valid? [True, True] Translation: X:271.74, Y:-35.70, Z:-2.42 [[ 9.82052070e-01 1.88606229e-01 -1.19295044e-03 2.71737992e+02] [-1.88606098e-01 9.82052794e-01 2.22081854e-04 -3.56957685e+01] [ 1.21342633e-03 6.90178298e-06 9.99999264e-01 -2.42025276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.77, Y:-35.69, Z:-2.42 [[ 9.81314328e-01 1.92401837e-01 -1.92963418e-03 2.71766983e+02] [-1.92401503e-01 9.81316225e-01 3.58897836e-04 -3.56891398e+01] [ 1.96263393e-03 1.90729277e-05 9.99998074e-01 -2.42216402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7257692310001 meters Centerline goodness [0,1] 0.9999363638292005 Centerline is valid? [True, True] Translation: X:271.80, Y:-35.69, Z:-2.42 [[ 9.80778245e-01 1.95117213e-01 -1.81878246e-03 2.71796241e+02] [-1.95116921e-01 9.80779931e-01 3.38309877e-04 -3.56885150e+01] [ 1.84983542e-03 2.30682658e-05 9.99998289e-01 -2.42182299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75576923100004 meters Centerline goodness [0,1] 0.9998302927450149 Centerline is valid? [True, True] Translation: X:271.83, Y:-35.68, Z:-2.42 [[ 9.79795592e-01 1.99998260e-01 -1.13771738e-03 2.71827149e+02] [-1.99998149e-01 9.79796252e-01 2.11629697e-04 -3.56846104e+01] [ 1.15705679e-03 2.01875252e-05 9.99999330e-01 -2.42061634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7857692310001 meters Centerline goodness [0,1] 0.9998726033505319 Centerline is valid? [True, True] Translation: X:271.85, Y:-35.69, Z:-2.42 [[ 9.79586373e-01 2.01015542e-01 -1.81395248e-03 2.71854915e+02] [-2.01015262e-01 9.79588052e-01 3.37188126e-04 -3.56860487e+01] [ 1.84470623e-03 3.43272389e-05 9.99998298e-01 -2.42184223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81576923100005 meters Centerline goodness [0,1] 0.9998102466793168 Centerline is valid? [True, True] Translation: X:271.88, Y:-35.69, Z:-2.42 [[ 9.79666859e-01 2.00618915e-01 -2.21284843e-03 2.71882596e+02] [-2.00618498e-01 9.79669357e-01 4.11095804e-04 -3.56865787e+01] [ 2.25033339e-03 4.12013933e-05 9.99997467e-01 -2.42386116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8457692310001 meters Centerline goodness [0,1] 0.9999154316158904 Centerline is valid? [True, True] Translation: X:271.91, Y:-35.70, Z:-2.42 [[ 9.80386019e-01 1.97086070e-01 -5.77955426e-04 2.71910844e+02] [-1.97086041e-01 9.80386190e-01 1.07271073e-04 -3.56956924e+01] [ 5.87761152e-04 8.73988610e-06 9.99999827e-01 -2.41973207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87576923100005 meters Centerline goodness [0,1] 0.9998729916809551 Centerline is valid? [True, True] Translation: X:271.94, Y:-35.70, Z:-2.42 [[ 9.80903613e-01 1.94493488e-01 6.21123300e-04 2.71937667e+02] [-1.94493454e-01 9.80903809e-01 -1.15793029e-04 -3.57026781e+01] [-6.31783201e-04 -7.22261547e-06 9.99999800e-01 -2.41792425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.905769231 meters Centerline goodness [0,1] 0.9999151985414149 Centerline is valid? [True, True] Translation: X:271.96, Y:-35.72, Z:-2.42 [[ 9.81976863e-01 1.88994768e-01 1.55512596e-03 2.71964260e+02] [-1.88994547e-01 9.81978094e-01 -2.89271733e-04 -3.57166289e+01] [-1.58177047e-03 -9.85217801e-06 9.99998749e-01 -2.41693034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93576923100005 meters Centerline goodness [0,1] 0.9999577791851383 Centerline is valid? [True, True] Translation: X:271.99, Y:-35.73, Z:-2.42 [[ 9.82512172e-01 1.86198369e-01 9.25485898e-06 2.71991873e+02] [-1.86198369e-01 9.82512172e-01 -1.98722842e-06 -3.57268187e+01] [-9.46303030e-06 2.29236461e-07 1.00000000e+00 -2.42013999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.02, Y:-35.74, Z:-2.43 [[ 9.83288366e-01 1.82035058e-01 -2.68839071e-03 2.72018443e+02] [-1.82034374e-01 9.83292041e-01 4.99194268e-04 -3.57401467e+01] [ 2.73434405e-03 -1.47239717e-06 9.99996262e-01 -2.42613606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.05, Y:-35.75, Z:-2.43 [[ 9.83296628e-01 1.81990422e-01 -2.68842430e-03 2.72046317e+02] [-1.81989738e-01 9.83300303e-01 4.99013413e-04 -3.57452282e+01] [ 2.73434409e-03 -1.41257413e-06 9.99996262e-01 -2.42629588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.08, Y:-35.75, Z:-2.43 [[ 9.83541301e-01 1.80660628e-01 -2.87188568e-03 2.72075054e+02] [-1.80659841e-01 9.83545493e-01 5.33140113e-04 -3.57548820e+01] [ 2.92094765e-03 -5.53090896e-06 9.99995734e-01 -2.42558757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.10, Y:-35.77, Z:-2.42 [[ 9.84065596e-01 1.77800114e-01 -1.42242175e-03 2.72101849e+02] [-1.77799918e-01 9.84066624e-01 2.64042727e-04 -3.57712577e+01] [ 1.44670460e-03 -6.92889339e-06 9.99998953e-01 -2.42365221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.13, Y:-35.78, Z:-2.42 [[ 9.84266789e-01 1.76684386e-01 -1.23164425e-03 2.72131321e+02] [-1.76684238e-01 9.84267559e-01 2.28686839e-04 -3.57813507e+01] [ 1.25267287e-03 -7.47673556e-06 9.99999215e-01 -2.42253590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.16, Y:-35.79, Z:-2.42 [[ 9.84059708e-01 1.77826856e-01 -2.02514229e-03 2.72159177e+02] [-1.77826459e-01 9.84061791e-01 3.75930026e-04 -3.57903064e+01] [ 2.05971561e-03 -9.81370842e-06 9.99997879e-01 -2.42472135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14576923100003 meters Centerline goodness [0,1] 0.9999786516374194 Centerline is valid? [True, True] Translation: X:272.19, Y:-35.80, Z:-2.42 [[ 9.83741865e-01 1.79580233e-01 -1.69772815e-03 2.72188776e+02] [-1.79579956e-01 9.83743330e-01 3.15207186e-04 -3.57969597e+01] [ 1.72673372e-03 -5.20455910e-06 9.99998509e-01 -2.42371094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17576923100006 meters Centerline goodness [0,1] 0.999957798784605 Centerline is valid? [True, True] Translation: X:272.22, Y:-35.80, Z:-2.42 [[ 9.83306664e-01 1.81955717e-01 -3.47312933e-04 2.72217240e+02] [-1.81955706e-01 9.83306726e-01 6.44138775e-05 -3.58032316e+01] [ 3.53235616e-04 -1.43025229e-07 9.99999938e-01 -2.42113085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20576923100003 meters Centerline goodness [0,1] 0.9998729728585342 Centerline is valid? [True, True] Translation: X:272.25, Y:-35.81, Z:-2.41 [[ 9.82384554e-01 1.86839948e-01 3.37976127e-03 2.72246316e+02] [-1.86838895e-01 9.82390367e-01 -6.27510975e-04 -3.58083337e+01] [-3.43748903e-03 -1.50137713e-05 9.99994092e-01 -2.41243948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23576923100006 meters Centerline goodness [0,1] 0.9997261716692997 Centerline is valid? [True, True] Translation: X:272.28, Y:-35.81, Z:-2.41 [[ 9.81872712e-01 1.89506652e-01 3.63389362e-03 2.72275718e+02] [-1.89505453e-01 9.81879437e-01 -6.74600233e-04 -3.58113049e+01] [-3.69588665e-03 -2.62710977e-05 9.99993170e-01 -2.41238888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26576923100004 meters Centerline goodness [0,1] 0.9998107056472815 Centerline is valid? [True, True] Translation: X:272.30, Y:-35.81, Z:-2.42 [[ 9.80680910e-01 1.95614293e-01 -1.50125189e-05 2.72304806e+02] [-1.95614293e-01 9.80680911e-01 2.65399939e-06 -3.58084464e+01] [ 1.52416509e-05 3.33936740e-07 1.00000000e+00 -2.42026181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29576923100007 meters Centerline goodness [0,1] 0.9997674615254524 Centerline is valid? [True, True] Translation: X:272.33, Y:-35.81, Z:-2.42 [[ 9.80038034e-01 1.98799091e-01 -2.09139001e-03 2.72334991e+02] [-1.98798716e-01 9.80040264e-01 3.87949010e-04 -3.58094054e+01] [ 2.12677032e-03 3.55608633e-05 9.99997738e-01 -2.42436462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32576923100004 meters Centerline goodness [0,1] 0.9997474215954536 Centerline is valid? [True, True] Translation: X:272.36, Y:-35.81, Z:-2.43 [[ 9.79422468e-01 2.01787811e-01 -3.64801437e-03 2.72364794e+02] [-2.01786690e-01 9.79429259e-01 6.76607544e-04 -3.58097626e+01] [ 3.70950316e-03 7.34361150e-05 9.99993117e-01 -2.42711309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35576923100007 meters Centerline goodness [0,1] 0.999428159945781 Centerline is valid? [True, True] Translation: X:272.40, Y:-35.81, Z:-2.43 [[ 9.78607531e-01 2.05711530e-01 -3.17279217e-03 2.72395291e+02] [-2.05710703e-01 9.78612671e-01 5.88335569e-04 -3.58058575e+01] [ 3.22596203e-03 7.69276867e-05 9.99994794e-01 -2.42544291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38576923100004 meters Centerline goodness [0,1] 0.9996542185338866 Centerline is valid? [True, True] Translation: X:272.42, Y:-35.81, Z:-2.42 [[ 9.78476117e-01 2.06349993e-01 -2.04160045e-03 2.72422952e+02] [-2.06349652e-01 9.78478246e-01 3.78326433e-04 -3.58145473e+01] [ 2.07572929e-03 5.11001647e-05 9.99997844e-01 -2.42171382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41576923100007 meters Centerline goodness [0,1] 0.9995996038185152 Centerline is valid? [True, True] Translation: X:272.45, Y:-35.81, Z:-2.42 [[ 9.78296772e-01 2.07208573e-01 -1.79869547e-04 2.72450910e+02] [-2.07208571e-01 9.78296789e-01 3.30066467e-05 -3.58145681e+01] [ 1.82805061e-04 4.98021593e-06 9.99999983e-01 -2.41807454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44576923100004 meters Centerline goodness [0,1] 0.9995358160143475 Centerline is valid? [True, True] Translation: X:272.48, Y:-35.82, Z:-2.42 [[ 9.78367526e-01 2.06873303e-01 6.48327629e-04 2.72478963e+02] [-2.06873268e-01 9.78367741e-01 -1.20476659e-04 -3.58168406e+01] [-6.59226242e-04 -1.62512047e-05 9.99999783e-01 -2.41721672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.4757692310001 meters Centerline goodness [0,1] 0.9996828350319279 Centerline is valid? [True, True] Translation: X:272.51, Y:-35.82, Z:-2.42 [[ 9.78770693e-01 2.04953066e-01 1.47388257e-03 2.72507907e+02] [-2.04952886e-01 9.78771802e-01 -2.73334007e-04 -3.58163273e+01] [-1.49861534e-03 -3.45451711e-05 9.99998876e-01 -2.41787881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50576923100004 meters Centerline goodness [0,1] 0.9997662806756613 Centerline is valid? [True, True] Translation: X:272.54, Y:-35.83, Z:-2.42 [[ 9.79229678e-01 2.02751741e-01 9.84933981e-04 2.72535548e+02] [-2.02751660e-01 9.79230173e-01 -1.82650222e-04 -3.58281249e+01] [-1.00150972e-03 -2.08404815e-05 9.99999498e-01 -2.41839509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5357692310001 meters Centerline goodness [0,1] 0.9997891629770188 Centerline is valid? [True, True] Translation: X:272.56, Y:-35.83, Z:-2.42 [[ 9.79841229e-01 1.99777776e-01 -8.06677500e-05 2.72563595e+02] [-1.99777776e-01 9.79841232e-01 1.46695591e-05 -3.58315285e+01] [ 8.19722394e-05 1.74178482e-06 9.99999997e-01 -2.42178377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56576923100005 meters Centerline goodness [0,1] 0.9998520053278082 Centerline is valid? [True, True] Translation: X:272.59, Y:-35.85, Z:-2.42 [[ 9.80974842e-01 1.94128097e-01 -1.62510767e-03 2.72590815e+02] [-1.94127865e-01 9.80976188e-01 3.00782382e-04 -3.58463656e+01] [ 1.65258224e-03 2.04187319e-05 9.99998634e-01 -2.42216524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5957692310001 meters Centerline goodness [0,1] 0.9999141059503103 Centerline is valid? [True, True] Translation: X:272.62, Y:-35.85, Z:-2.42 [[ 9.81404259e-01 1.91947034e-01 -1.41981321e-03 2.72619553e+02] [-1.91946854e-01 9.81405286e-01 2.62729960e-04 -3.58547586e+01] [ 1.44384243e-03 1.46843784e-05 9.99998958e-01 -2.42162278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62576923100005 meters Centerline goodness [0,1] 0.9998946547837263 Centerline is valid? [True, True] Translation: X:272.65, Y:-35.86, Z:-2.42 [[ 9.82207773e-01 1.87796721e-01 -5.31423707e-04 2.72646934e+02] [-1.87796696e-01 9.82207917e-01 9.81651913e-05 -3.58639637e+01] [ 5.40403673e-04 3.38100227e-06 9.99999854e-01 -2.42085593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.655769231 meters Centerline goodness [0,1] 0.99997891496405 Centerline is valid? [True, True] Translation: X:272.68, Y:-35.87, Z:-2.42 [[ 9.82474579e-01 1.86396623e-01 -2.81321679e-05 2.72675642e+02] [-1.86396623e-01 9.82474579e-01 5.07562578e-06 -3.58706497e+01] [ 2.85852193e-05 2.57067773e-07 1.00000000e+00 -2.42020016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68576923100005 meters Centerline goodness [0,1] 0.9999577167019027 Centerline is valid? [True, True] Translation: X:272.71, Y:-35.88, Z:-2.42 [[ 9.82583479e-01 1.85821653e-01 -1.41820683e-04 2.72705236e+02] [-1.85821651e-01 9.82583489e-01 2.61105365e-05 -3.58763618e+01] [ 1.44202564e-04 6.97571639e-07 9.99999990e-01 -2.42045725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.715769231 meters Centerline goodness [0,1] 0.9999151661682679 Centerline is valid? [True, True] Translation: X:272.73, Y:-35.88, Z:-2.42 [[ 9.82499611e-01 1.86264621e-01 -7.42258752e-05 2.72733862e+02] [-1.86264620e-01 9.82499614e-01 1.35320785e-05 -3.58819915e+01] [ 7.54474412e-05 5.30392573e-07 9.99999997e-01 -2.42000550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74576923100005 meters Centerline goodness [0,1] 0.9998944011489155 Centerline is valid? [True, True] Translation: X:272.76, Y:-35.88, Z:-2.42 [[ 9.81897775e-01 1.89409958e-01 -7.92635118e-04 2.72763177e+02] [-1.89409901e-01 9.81898094e-01 1.46348966e-04 -3.58832839e+01] [ 8.06006864e-04 6.43321573e-06 9.99999675e-01 -2.42030644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.775769231 meters Centerline goodness [0,1] 0.9998934538015684 Centerline is valid? [True, True] Translation: X:272.79, Y:-35.88, Z:-2.42 [[ 9.81445662e-01 1.91736602e-01 -1.21948768e-03 2.72792264e+02] [-1.91736470e-01 9.81446420e-01 2.25242418e-04 -3.58834828e+01] [ 1.24004903e-03 1.27570686e-05 9.99999231e-01 -2.42102387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80576923100006 meters Centerline goodness [0,1] 0.999872040946897 Centerline is valid? [True, True] Translation: X:272.82, Y:-35.88, Z:-2.42 [[ 9.80993250e-01 1.94040703e-01 -6.69924760e-04 2.72821546e+02] [-1.94040664e-01 9.80993479e-01 1.23584803e-04 -3.58833494e+01] [ 6.81172303e-04 8.75678794e-06 9.99999768e-01 -2.42037436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.83576923100003 meters Centerline goodness [0,1] 0.9998517137651993 Centerline is valid? [True, True] Translation: X:272.85, Y:-35.88, Z:-2.42 [[ 9.80272560e-01 1.97641215e-01 1.91238404e-03 2.72849475e+02] [-1.97640901e-01 9.80274425e-01 -3.53814334e-04 -3.58826689e+01] [-1.94458946e-03 -3.11308227e-05 9.99998109e-01 -2.41618385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86576923100006 meters Centerline goodness [0,1] 0.9996835175964216 Centerline is valid? [True, True] Translation: X:272.88, Y:-35.89, Z:-2.42 [[ 9.80155887e-01 1.98222824e-01 1.46592526e-03 2.72878142e+02] [-1.98222641e-01 9.80156983e-01 -2.71101906e-04 -3.58879477e+01] [-1.49057546e-03 -2.48574463e-05 9.99998889e-01 -2.41695074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89576923100003 meters Centerline goodness [0,1] 0.9998069622289428 Centerline is valid? [True, True] Translation: X:272.91, Y:-35.89, Z:-2.42 [[ 9.80122972e-01 1.98379816e-01 -2.09967278e-03 2.72906841e+02] [-1.98379441e-01 9.80125220e-01 3.87557289e-04 -3.58914866e+01] [ 2.13482579e-03 3.66781094e-05 9.99997721e-01 -2.42293374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92576923100006 meters Centerline goodness [0,1] 0.9997669442149199 Centerline is valid? [True, True] Translation: X:272.93, Y:-35.89, Z:-2.43 [[ 9.80084731e-01 1.98560175e-01 -2.78868825e-03 2.72934383e+02] [-1.98559515e-01 9.80088697e-01 5.14587842e-04 -3.58930208e+01] [ 2.83533849e-03 4.93808998e-05 9.99995979e-01 -2.42571979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95576923100003 meters Centerline goodness [0,1] 0.999764605178686 Centerline is valid? [True, True] Translation: X:272.96, Y:-35.90, Z:-2.42 [[ 9.80176139e-01 1.98115453e-01 -2.23699209e-03 2.72962575e+02] [-1.98115027e-01 9.80178691e-01 4.12681946e-04 -3.58990409e+01] [ 2.27441065e-03 3.86807509e-05 9.99997413e-01 -2.42437602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98576923100006 meters Centerline goodness [0,1] 0.9997889582981597 Centerline is valid? [True, True] Translation: X:272.99, Y:-35.91, Z:-2.42 [[ 9.80429358e-01 1.96869656e-01 -7.82093952e-04 2.72990179e+02] [-1.96869604e-01 9.80429670e-01 1.44072356e-04 -3.59055876e+01] [ 7.95151591e-04 1.27177582e-05 9.99999684e-01 -2.42122462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01576923100004 meters Centerline goodness [0,1] 0.9998071235694999 Centerline is valid? [True, True] Translation: X:273.02, Y:-35.91, Z:-2.42 [[ 9.80564486e-01 1.96196942e-01 -2.21109856e-04 2.73018094e+02] [-1.96196938e-01 9.80564511e-01 4.05310681e-05 -3.59126253e+01] [ 2.24764549e-04 3.63775068e-06 9.99999975e-01 -2.41905631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04576923100007 meters Centerline goodness [0,1] 0.9997884493336154 Centerline is valid? [True, True] Translation: X:273.05, Y:-35.92, Z:-2.42 [[ 9.80566109e-01 1.96185533e-01 1.15896835e-03 2.73046231e+02] [-1.96185417e-01 9.80566793e-01 -2.14110965e-04 -3.59152943e+01] [-1.17845136e-03 -1.74227336e-05 9.99999305e-01 -2.41792766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07576923100004 meters Centerline goodness [0,1] 0.9997464824439093 Centerline is valid? [True, True] Translation: X:273.07, Y:-35.92, Z:-2.42 [[ 9.80528875e-01 1.96362887e-01 2.17740299e-03 2.73074280e+02] [-1.96362479e-01 9.80531292e-01 -4.01758808e-04 -3.59214492e+01] [-2.21390229e-03 -3.36241366e-05 9.99997549e-01 -2.41637170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10576923100007 meters Centerline goodness [0,1] 0.99985130427394 Centerline is valid? [True, True] Translation: X:273.10, Y:-35.93, Z:-2.41 [[ 9.80873290e-01 1.94614311e-01 3.58601951e-03 2.73102123e+02] [-1.94613194e-01 9.80879844e-01 -6.61314644e-04 -3.59323146e+01] [-3.64615555e-03 -4.92208396e-05 9.99993352e-01 -2.41402680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13576923100004 meters Centerline goodness [0,1] 0.9998081064369629 Centerline is valid? [True, True] Translation: X:273.13, Y:-35.94, Z:-2.42 [[ 9.81093789e-01 1.93510675e-01 2.93171767e-03 2.73130536e+02] [-1.93509924e-01 9.81098169e-01 -5.40580603e-04 -3.59373208e+01] [-2.98091096e-03 -3.69561898e-05 9.99995556e-01 -2.41559797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16576923100007 meters Centerline goodness [0,1] 0.9998934515311015 Centerline is valid? [True, True] Translation: X:273.16, Y:-35.94, Z:-2.42 [[ 9.81264932e-01 1.92653172e-01 1.97188089e-03 2.73159009e+02] [-1.92652830e-01 9.81266913e-01 -3.63630617e-04 -3.59434114e+01] [-2.00499606e-03 -2.30704610e-05 9.99997990e-01 -2.41850308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19576923100004 meters Centerline goodness [0,1] 0.9998504880497234 Centerline is valid? [True, True] Translation: X:273.19, Y:-35.96, Z:-2.42 [[ 9.81915143e-01 1.89318192e-01 1.12866984e-03 2.73186392e+02] [-1.89318078e-01 9.81915792e-01 -2.08091198e-04 -3.59564664e+01] [-1.14765419e-03 -9.34970543e-06 9.99999341e-01 -2.41996492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2257692310001 meters Centerline goodness [0,1] 0.9999360940695297 Centerline is valid? [True, True] Translation: X:273.21, Y:-35.97, Z:-2.42 [[ 9.82380906e-01 1.86877271e-01 2.15444050e-03 2.73213936e+02] [-1.86876850e-01 9.82383268e-01 -3.97021753e-04 -3.59661675e+01] [-2.19068064e-03 -1.25884642e-05 9.99997600e-01 -2.41838283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25576923100004 meters Centerline goodness [0,1] 0.9998731393775372 Centerline is valid? [True, True] Translation: X:273.24, Y:-35.98, Z:-2.42 [[ 9.83132942e-01 1.82853367e-01 3.77683103e-03 2.73242080e+02] [-1.82852043e-01 9.83140197e-01 -6.95843111e-04 -3.59777129e+01] [-3.84039166e-03 -6.49498429e-06 9.99992626e-01 -2.41550771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2857692310001 meters Centerline goodness [0,1] 0.999936834126416 Centerline is valid? [True, True] Translation: X:273.27, Y:-35.98, Z:-2.42 [[ 9.83444715e-01 1.81173402e-01 3.56239169e-03 2.73271384e+02] [-1.81172213e-01 9.83451167e-01 -6.56189201e-04 -3.59849998e+01] [-3.62232230e-03 -8.05866199e-08 9.99993439e-01 -2.41709100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31576923100005 meters Centerline goodness [0,1] 0.9999788350829665 Centerline is valid? [True, True] Translation: X:273.30, Y:-35.99, Z:-2.42 [[ 9.83727007e-01 1.79645229e-01 2.96111317e-03 2.73301836e+02] [-1.79644401e-01 9.83731463e-01 -5.45424287e-04 -3.59934265e+01] [-3.01092307e-03 4.60119950e-06 9.99995467e-01 -2.41815975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.33, Y:-36.01, Z:-2.42 [[ 9.84354929e-01 1.76195156e-01 8.00536374e-04 2.73330517e+02] [-1.76195095e-01 9.84355254e-01 -1.47026788e-04 -3.60101931e+01] [-8.13917594e-04 3.67596148e-06 9.99999669e-01 -2.42266155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37576923100005 meters Centerline goodness [0,1] 0.9999786721266023 Centerline is valid? [True, True] Translation: X:273.36, Y:-36.02, Z:-2.42 [[ 9.84655276e-01 1.74510076e-01 -4.70422179e-04 2.73361069e+02] [-1.74510054e-01 9.84655388e-01 8.77458985e-05 -3.60210196e+01] [ 4.78516277e-04 -4.30606185e-06 9.99999886e-01 -2.42360383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.405769231 meters Centerline goodness [0,1] 0.9999787636178301 Centerline is valid? [True, True] Translation: X:273.39, Y:-36.03, Z:-2.42 [[ 9.84799537e-01 1.73693174e-01 -7.43992138e-04 2.73390818e+02] [-1.73693119e-01 9.84799818e-01 1.38269584e-04 -3.60308756e+01] [ 7.56699804e-04 -6.94150728e-06 9.99999714e-01 -2.42402375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43576923100005 meters Centerline goodness [0,1] 0.9999789145194619 Centerline is valid? [True, True] Translation: X:273.42, Y:-36.04, Z:-2.42 [[ 9.84409169e-01 1.75893670e-01 -6.40173528e-05 2.73422429e+02] [-1.75893670e-01 9.84409171e-01 1.27655641e-05 -3.60381566e+01] [ 6.52646511e-05 -1.30629125e-06 9.99999998e-01 -2.42248356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.465769231 meters Centerline goodness [0,1] 0.9999579266240323 Centerline is valid? [True, True] Translation: X:273.45, Y:-36.04, Z:-2.42 [[ 9.83746789e-01 1.79561279e-01 4.96552427e-05 2.73452252e+02] [-1.79561278e-01 9.83746790e-01 -8.82741959e-06 -3.60424193e+01] [-5.04332484e-05 -2.32213184e-07 9.99999999e-01 -2.42179393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49576923100005 meters Centerline goodness [0,1] 0.9999154530658833 Centerline is valid? [True, True] Translation: X:273.48, Y:-36.05, Z:-2.42 [[ 9.83432226e-01 1.81275226e-01 5.90509804e-04 2.73483294e+02] [-1.81275194e-01 9.83432404e-01 -1.09064990e-04 -3.60455759e+01] [-6.00497257e-04 2.13247112e-07 9.99999820e-01 -2.41998601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.525769231 meters Centerline goodness [0,1] 0.9998942358540455 Centerline is valid? [True, True] Translation: X:273.51, Y:-36.05, Z:-2.42 [[ 9.83084656e-01 1.83146076e-01 1.43992912e-03 2.73514045e+02] [-1.83145882e-01 9.83085711e-01 -2.66022630e-04 -3.60486791e+01] [-1.46429474e-03 -2.19432331e-06 9.99998928e-01 -2.41920959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55576923100006 meters Centerline goodness [0,1] 0.9998729136660172 Centerline is valid? [True, True] Translation: X:273.54, Y:-36.05, Z:-2.42 [[ 9.82481448e-01 1.86331832e-01 3.26391375e-03 2.73544484e+02] [-1.86330854e-01 9.82486869e-01 -6.03783322e-04 -3.60502860e+01] [-3.31925645e-03 -1.49619253e-05 9.99994491e-01 -2.41599139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58576923100003 meters Centerline goodness [0,1] 0.999830519246658 Centerline is valid? [True, True] Translation: X:273.57, Y:-36.05, Z:-2.42 [[ 9.82220869e-01 1.87700288e-01 3.28126225e-03 2.73574511e+02] [-1.87699308e-01 9.82226350e-01 -6.06868618e-04 -3.60532881e+01] [-3.33685165e-03 -1.98116305e-05 9.99994432e-01 -2.41556199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61576923100006 meters Centerline goodness [0,1] 0.9998941933299476 Centerline is valid? [True, True] Translation: X:273.61, Y:-36.06, Z:-2.42 [[ 9.82212149e-01 1.87755860e-01 2.65156195e-03 2.73605650e+02] [-1.87755220e-01 9.82215728e-01 -4.90583400e-04 -3.60574619e+01] [-2.69651576e-03 -1.59876221e-05 9.99996364e-01 -2.41715398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64576923100003 meters Centerline goodness [0,1] 0.9999149623708491 Centerline is valid? [True, True] Translation: X:273.64, Y:-36.07, Z:-2.42 [[ 9.82458108e-01 1.86469918e-01 2.24388983e-03 2.73636241e+02] [-1.86469456e-01 9.82460671e-01 -4.15187520e-04 -3.60650456e+01] [-2.28195349e-03 -1.05125711e-05 9.99997396e-01 -2.41861715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67576923100006 meters Centerline goodness [0,1] 0.9999578156967792 Centerline is valid? [True, True] Translation: X:273.67, Y:-36.07, Z:-2.42 [[ 9.82856989e-01 1.84365484e-01 1.22818341e-03 2.73665193e+02] [-1.84365344e-01 9.82857756e-01 -2.27272532e-04 -3.60733377e+01] [-1.24903080e-03 -3.05806047e-06 9.99999220e-01 -2.42159666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70576923100003 meters Centerline goodness [0,1] 0.9999570843078772 Centerline is valid? [True, True] Translation: X:273.70, Y:-36.09, Z:-2.42 [[ 9.83642980e-01 1.80129034e-01 1.41637979e-04 2.73695968e+02] [-1.80129032e-01 9.83642990e-01 -2.51885799e-05 -3.60872259e+01] [-1.43858400e-04 -7.36542283e-07 9.99999990e-01 -2.42382049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73576923100006 meters Centerline goodness [0,1] 0.9999577604595662 Centerline is valid? [True, True] Translation: X:273.73, Y:-36.10, Z:-2.42 [[ 9.84048080e-01 1.77899378e-01 1.09015839e-03 2.73726545e+02] [-1.77899264e-01 9.84048683e-01 -2.01150802e-04 -3.60963307e+01] [-1.10855353e-03 4.00368561e-06 9.99999386e-01 -2.42047351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76576923100004 meters Centerline goodness [0,1] 0.9999360286591606 Centerline is valid? [True, True] Translation: X:273.76, Y:-36.10, Z:-2.42 [[ 9.83916944e-01 1.78610089e-01 2.42563995e-03 2.73758894e+02] [-1.78609524e-01 9.83919934e-01 -4.49377127e-04 -3.61008476e+01] [-2.46689879e-03 8.90737213e-06 9.99996957e-01 -2.41726379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79576923100007 meters Centerline goodness [0,1] 0.999978868179705 Centerline is valid? [True, True] Translation: X:273.79, Y:-36.10, Z:-2.42 [[ 9.83639700e-01 1.80108947e-01 3.70248605e-03 2.73789547e+02] [-1.80107637e-01 9.83646668e-01 -6.87086910e-04 -3.61046421e+01] [-3.76568856e-03 8.99994976e-06 9.99992910e-01 -2.41506735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82576923100004 meters Centerline goodness [0,1] 0.9999359904412393 Centerline is valid? [True, True] Translation: X:273.82, Y:-36.10, Z:-2.41 [[ 9.82903200e-01 1.84077083e-01 4.11427693e-03 2.73822211e+02] [-1.84075496e-01 9.82911811e-01 -7.64229335e-04 -3.61024315e+01] [-4.18464850e-03 -6.17410931e-06 9.99991244e-01 -2.41423862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85576923100007 meters Centerline goodness [0,1] 0.9998734016964173 Centerline is valid? [True, True] Translation: X:273.85, Y:-36.10, Z:-2.42 [[ 9.82453104e-01 1.86473507e-01 3.67831495e-03 2.73853496e+02] [-1.86472252e-01 9.82459990e-01 -6.84090406e-04 -3.61008611e+01] [-3.74136200e-03 -1.38169305e-05 9.99993001e-01 -2.41608391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88576923100004 meters Centerline goodness [0,1] 0.9997256226255804 Centerline is valid? [True, True] Translation: X:273.89, Y:-36.09, Z:-2.42 [[ 9.81570904e-01 1.91082645e-01 2.44591038e-03 2.73885061e+02] [-1.91082104e-01 9.81573952e-01 -4.55006897e-04 -3.60942172e+01] [-2.48778584e-03 -2.07481715e-05 9.99996905e-01 -2.41895349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91576923100007 meters Centerline goodness [0,1] 0.9997256226255804 Centerline is valid? [True, True] Translation: X:273.91, Y:-36.10, Z:-2.42 [[ 9.81575218e-01 1.91060483e-01 2.44592075e-03 2.73913745e+02] [-1.91059942e-01 9.81578266e-01 -4.54951122e-04 -3.60995045e+01] [-2.48778583e-03 -2.07487311e-05 9.99996905e-01 -2.41911801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94576923100004 meters Centerline goodness [0,1] 0.9997436171349214 Centerline is valid? [True, True] Translation: X:273.94, Y:-36.10, Z:-2.42 [[ 9.81375509e-01 1.92089864e-01 1.89613768e-03 2.73944128e+02] [-1.92089542e-01 9.81377340e-01 -3.52588828e-04 -3.61047478e+01] [-1.92855530e-03 -1.82061777e-05 9.99998140e-01 -2.41945616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.9757692310001 meters Centerline goodness [0,1] 0.9998310347012482 Centerline is valid? [True, True] Translation: X:273.97, Y:-36.11, Z:-2.42 [[ 9.81571499e-01 1.91088001e-01 1.66359571e-03 2.73973069e+02] [-1.91087751e-01 9.81572909e-01 -3.09290743e-04 -3.61103688e+01] [-1.69204223e-03 -1.43017830e-05 9.99998568e-01 -2.42039601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00576923100004 meters Centerline goodness [0,1] 0.999915094139373 Centerline is valid? [True, True] Translation: X:274.00, Y:-36.13, Z:-2.42 [[ 9.82714977e-01 1.85107509e-01 2.54626322e-03 2.74002795e+02] [-1.85106904e-01 9.82718276e-01 -4.73358812e-04 -3.61250991e+01] [-2.58988167e-03 -6.15410715e-06 9.99996646e-01 -2.41886671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0357692310001 meters Centerline goodness [0,1] 0.9999572320588487 Centerline is valid? [True, True] Translation: X:274.03, Y:-36.14, Z:-2.42 [[ 9.83298600e-01 1.81970996e-01 3.22806054e-03 2.74033445e+02] [-1.81970006e-01 9.83303898e-01 -6.00078241e-04 -3.61364181e+01] [-3.28336134e-03 2.64589796e-06 9.99994610e-01 -2.41880514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06576923100005 meters Centerline goodness [0,1] 0.9999786352177071 Centerline is valid? [True, True] Translation: X:274.06, Y:-36.15, Z:-2.42 [[ 9.84286409e-01 1.76561250e-01 2.52781958e-03 2.74062106e+02] [-1.76560625e-01 9.84289655e-01 -4.70138012e-04 -3.61543331e+01] [-2.57111482e-03 1.64370509e-05 9.99996695e-01 -2.42184674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.09, Y:-36.16, Z:-2.42 [[ 9.84545626e-01 1.75122483e-01 1.42347750e-03 2.74092738e+02] [-1.75122283e-01 9.84546655e-01 -2.64659118e-04 -3.61630229e+01] [-1.44782777e-03 1.12863483e-05 9.99998952e-01 -2.42358690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.12, Y:-36.17, Z:-2.43 [[ 9.84565479e-01 1.75016450e-01 2.46558067e-04 2.74124150e+02] [-1.75016444e-01 9.84565509e-01 -4.51243662e-05 -3.61700901e+01] [-2.50650076e-04 1.27617702e-06 9.99999969e-01 -2.42630377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.155769231 meters Centerline goodness [0,1] 0.9999362299124224 Centerline is valid? [True, True] Translation: X:274.16, Y:-36.18, Z:-2.43 [[ 9.84253240e-01 1.76756298e-01 -1.66478328e-03 2.74155689e+02] [-1.76756023e-01 9.84254647e-01 3.12011565e-04 -3.61753901e+01] [ 1.69372069e-03 -1.28379225e-05 9.99998566e-01 -2.42906900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.19, Y:-36.18, Z:-2.43 [[ 9.84061595e-01 1.77819292e-01 -1.75424502e-03 2.74187495e+02] [-1.77818988e-01 9.84063158e-01 3.29023684e-04 -3.61825421e+01] [ 1.78479465e-03 -1.18414977e-05 9.99998407e-01 -2.42931307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.215769231 meters Centerline goodness [0,1] 0.9999363516781941 Centerline is valid? [True, True] Translation: X:274.22, Y:-36.19, Z:-2.43 [[ 9.83799779e-01 1.79270571e-01 -2.40988467e-04 2.74217023e+02] [-1.79270565e-01 9.83799808e-01 4.59815809e-05 -3.61918992e+01] [ 2.45327552e-04 -2.03453047e-06 9.99999970e-01 -2.42531001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.25, Y:-36.20, Z:-2.42 [[ 9.83715155e-01 1.79732092e-01 9.31586006e-04 2.74248861e+02] [-1.79732009e-01 9.83715597e-01 -1.73596676e-04 -3.61992449e+01] [-9.47616577e-04 3.33385666e-06 9.99999551e-01 -2.42315447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.28, Y:-36.21, Z:-2.42 [[ 9.83585541e-01 1.80431203e-01 2.01630166e-03 2.74279276e+02] [-1.80430809e-01 9.83587607e-01 -3.77196212e-04 -3.62065671e+01] [-2.05126729e-03 7.20180101e-06 9.99997896e-01 -2.42194732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30576923100006 meters Centerline goodness [0,1] 0.9999366741250475 Centerline is valid? [True, True] Translation: X:274.31, Y:-36.21, Z:-2.42 [[ 9.83235580e-01 1.82318751e-01 2.76880295e-03 2.74310617e+02] [-1.82318014e-01 9.83239479e-01 -5.18700520e-04 -3.62114291e+01] [-2.81696520e-03 5.20215299e-06 9.99996032e-01 -2.42044008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.33576923100003 meters Centerline goodness [0,1] 0.9999359972692168 Centerline is valid? [True, True] Translation: X:274.34, Y:-36.22, Z:-2.42 [[ 9.83013978e-01 1.83521139e-01 1.87379758e-03 2.74343572e+02] [-1.83520804e-01 9.83015764e-01 -3.50939385e-04 -3.62169649e+01] [-1.90637735e-03 1.09748323e-06 9.99998183e-01 -2.42241746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36576923100006 meters Centerline goodness [0,1] 0.999957373345553 Centerline is valid? [True, True] Translation: X:274.38, Y:-36.22, Z:-2.43 [[ 9.82514528e-01 1.86179900e-01 -1.49886363e-03 2.74375052e+02] [-1.86179686e-01 9.82515671e-01 2.82671334e-04 -3.62192198e+01] [ 1.52528472e-03 1.32926717e-06 9.99998837e-01 -2.42899858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39576923100003 meters Centerline goodness [0,1] 0.9997860871053307 Centerline is valid? [True, True] Translation: X:274.41, Y:-36.22, Z:-2.43 [[ 9.82241905e-01 1.87611518e-01 -1.66081111e-03 2.74406676e+02] [-1.87611258e-01 9.82243309e-01 3.12431634e-04 -3.62226424e+01] [ 1.68993637e-03 4.70341761e-06 9.99998572e-01 -2.42813174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42576923100006 meters Centerline goodness [0,1] 0.9998946237012372 Centerline is valid? [True, True] Translation: X:274.44, Y:-36.23, Z:-2.43 [[ 9.82003369e-01 1.88860941e-01 -9.63550159e-04 2.74436681e+02] [-1.88860854e-01 9.82003842e-01 1.81263638e-04 -3.62250808e+01] [ 9.80443579e-04 3.97540245e-06 9.99999519e-01 -2.42719294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45576923100003 meters Centerline goodness [0,1] 0.9998504369378032 Centerline is valid? [True, True] Translation: X:274.47, Y:-36.23, Z:-2.42 [[ 9.81909466e-01 1.89340940e-01 1.95183169e-03 2.74468582e+02] [-1.89340586e-01 9.81911406e-01 -3.66412326e-04 -3.62306625e+01] [-1.98590266e-03 -9.77722509e-06 9.99998028e-01 -2.42119889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48576923100006 meters Centerline goodness [0,1] 0.9999150219880606 Centerline is valid? [True, True] Translation: X:274.50, Y:-36.24, Z:-2.42 [[ 9.81922439e-01 1.89260415e-01 2.96958621e-03 2.74499345e+02] [-1.89259592e-01 9.81926930e-01 -5.58534992e-04 -3.62374103e+01] [-3.02162524e-03 -1.35846327e-05 9.99995435e-01 -2.42054942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51576923100004 meters Centerline goodness [0,1] 0.9997460424955558 Centerline is valid? [True, True] Translation: X:274.53, Y:-36.25, Z:-2.42 [[ 9.82091928e-01 1.88365293e-01 3.73663777e-03 2.74529094e+02] [-1.88363978e-01 9.82099036e-01 -7.03763982e-04 -3.62456738e+01] [-3.80231306e-03 -1.26870312e-05 9.99992771e-01 -2.41997451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54576923100007 meters Centerline goodness [0,1] 0.999957862801281 Centerline is valid? [True, True] Translation: X:274.56, Y:-36.26, Z:-2.42 [[ 9.82693526e-01 1.85184374e-01 4.49241308e-03 2.74558273e+02] [-1.85182439e-01 9.82703794e-01 -8.46581824e-04 -3.62588723e+01] [-4.57148510e-03 1.44650376e-08 9.99989551e-01 -2.41999507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57576923100004 meters Centerline goodness [0,1] 0.999936175644626 Centerline is valid? [True, True] Translation: X:274.59, Y:-36.27, Z:-2.42 [[ 9.82913387e-01 1.84003390e-01 4.90173891e-03 2.74590634e+02] [-1.84001068e-01 9.82925609e-01 -9.24539940e-04 -3.62676151e+01] [-4.98816318e-03 6.81749130e-06 9.99987559e-01 -2.41991929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60576923100007 meters Centerline goodness [0,1] 0.9999361797179144 Centerline is valid? [True, True] Translation: X:274.62, Y:-36.28, Z:-2.42 [[ 9.83042180e-01 1.83314513e-01 4.88477448e-03 2.74622005e+02] [-1.83312194e-01 9.83054316e-01 -9.22277513e-04 -3.62754095e+01] [-4.97106549e-03 1.11989724e-05 9.99987644e-01 -2.42040056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63576923100004 meters Centerline goodness [0,1] 0.9999787861431086 Centerline is valid? [True, True] Translation: X:274.65, Y:-36.28, Z:-2.42 [[ 9.82899794e-01 1.84099869e-01 3.90306283e-03 2.74654458e+02] [-1.84098392e-01 9.82907543e-01 -7.37392609e-04 -3.62809128e+01] [-3.97210378e-03 6.23545287e-06 9.99992111e-01 -2.42130470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66576923100007 meters Centerline goodness [0,1] 0.9999363246593369 Centerline is valid? [True, True] Translation: X:274.69, Y:-36.29, Z:-2.42 [[ 9.82662205e-01 1.85383576e-01 2.81422324e-03 2.74686099e+02] [-1.85382813e-01 9.82666235e-01 -5.31968341e-04 -3.62855733e+01] [-2.86406035e-03 1.03656164e-06 9.99995899e-01 -2.42351739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69576923100004 meters Centerline goodness [0,1] 0.9998089739780108 Centerline is valid? [True, True] Translation: X:274.72, Y:-36.29, Z:-2.42 [[ 9.82396620e-01 1.86796520e-01 1.98524805e-03 2.74718519e+02] [-1.86796143e-01 9.82398626e-01 -3.75291684e-04 -3.62901550e+01] [-2.02040814e-03 -2.15139779e-06 9.99997959e-01 -2.42480276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7257692310001 meters Centerline goodness [0,1] 0.9998085635887946 Centerline is valid? [True, True] Translation: X:274.75, Y:-36.29, Z:-2.42 [[ 9.81964024e-01 1.89044428e-01 2.97654290e-03 2.74750247e+02] [-1.89043588e-01 9.81968535e-01 -5.63871388e-04 -3.62936846e+01] [-3.02946821e-03 -8.99493196e-06 9.99995411e-01 -2.42312099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75576923100004 meters Centerline goodness [0,1] 0.9998301486199576 Centerline is valid? [True, True] Translation: X:274.78, Y:-36.30, Z:-2.42 [[ 9.81762649e-01 1.90063526e-01 4.23762151e-03 2.74782151e+02] [-1.90061826e-01 9.81771794e-01 -8.03877918e-04 -3.62986962e+01] [-4.31316514e-03 -1.61927688e-05 9.99990698e-01 -2.42212014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7857692310001 meters Centerline goodness [0,1] 0.999788802297831 Centerline is valid? [True, True] Translation: X:274.81, Y:-36.30, Z:-2.42 [[ 9.81591033e-01 1.90942050e-01 4.49200138e-03 2.74813497e+02] [-1.90940146e-01 9.81601311e-01 -8.53027106e-04 -3.63046996e+01] [-4.57223318e-03 -2.03796387e-05 9.99989547e-01 -2.42272260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81576923100005 meters Centerline goodness [0,1] 0.9998501551964037 Centerline is valid? [True, True] Translation: X:274.85, Y:-36.31, Z:-2.43 [[ 9.81509871e-01 1.91393313e-01 2.64053109e-03 2.74845815e+02] [-1.91392656e-01 9.81513423e-01 -5.01397383e-04 -3.63118131e+01] [-2.68768081e-03 -1.32517781e-05 9.99996388e-01 -2.42556293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8457692310001 meters Centerline goodness [0,1] 0.9998939464641751 Centerline is valid? [True, True] Translation: X:274.88, Y:-36.32, Z:-2.43 [[ 9.81173641e-01 1.93122051e-01 -1.46937618e-03 2.74877471e+02] [-1.93121847e-01 9.81174742e-01 2.80868484e-04 -3.63153866e+01] [ 1.49595669e-03 8.18788784e-06 9.99998881e-01 -2.43067280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87576923100005 meters Centerline goodness [0,1] 0.9998725519350865 Centerline is valid? [True, True] Translation: X:274.91, Y:-36.32, Z:-2.43 [[ 9.80883698e-01 1.94588899e-01 -1.52673874e-03 2.74907358e+02] [-1.94588682e-01 9.80884886e-01 2.90907169e-04 -3.63181554e+01] [ 1.55416226e-03 1.17399796e-05 9.99998792e-01 -2.43106142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.905769231 meters Centerline goodness [0,1] 0.9998721745243827 Centerline is valid? [True, True] Translation: X:274.94, Y:-36.32, Z:-2.43 [[ 9.80525598e-01 1.96390721e-01 -4.85298484e-04 2.74936622e+02] [-1.96390699e-01 9.80525719e-01 9.23733580e-05 -3.63199525e+01] [ 4.93988915e-04 4.73366644e-06 9.99999878e-01 -2.43051686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93576923100005 meters Centerline goodness [0,1] 0.9997449738598206 Centerline is valid? [True, True] Translation: X:274.97, Y:-36.32, Z:-2.43 [[ 9.79888918e-01 1.99537239e-01 1.61185814e-03 2.74966119e+02] [-1.99537004e-01 9.79890244e-01 -3.07126548e-04 -3.63241097e+01] [-1.64072725e-03 -2.06754422e-05 9.99998654e-01 -2.42660606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.965769231 meters Centerline goodness [0,1] 0.9997473843757236 Centerline is valid? [True, True] Translation: X:275.00, Y:-36.33, Z:-2.43 [[ 9.79676886e-01 2.00566913e-01 2.47213762e-03 2.74995059e+02] [-2.00566363e-01 9.79680005e-01 -4.70879243e-04 -3.63282632e+01] [-2.51634659e-03 -3.45181427e-05 9.99996833e-01 -2.42554752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99576923100005 meters Centerline goodness [0,1] 0.999532362631523 Centerline is valid? [True, True] Translation: X:275.03, Y:-36.34, Z:-2.42 [[ 9.79476154e-01 2.01503504e-01 4.77507279e-03 2.75025418e+02] [-2.01501465e-01 9.79487791e-01 -9.09384537e-04 -3.63352144e+01] [-4.86036967e-03 -7.14636925e-05 9.99988186e-01 -2.42100812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.025769231 meters Centerline goodness [0,1] 0.9994273473456489 Centerline is valid? [True, True] Translation: X:275.06, Y:-36.34, Z:-2.42 [[ 9.79438458e-01 2.01654892e-01 5.96749540e-03 2.75055224e+02] [-2.01651708e-01 9.79456633e-01 -1.13664716e-03 -3.63402762e+01] [-6.07411341e-03 -9.00797000e-05 9.99981548e-01 -2.41880906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05576923100006 meters Centerline goodness [0,1] 0.999558145896017 Centerline is valid? [True, True] Translation: X:275.09, Y:-36.35, Z:-2.42 [[ 9.79351134e-01 2.02057051e-01 6.65617522e-03 2.75085782e+02] [-2.02053099e-01 9.79373748e-01 -1.26792283e-03 -3.63457278e+01] [-6.77507602e-03 -1.03159176e-04 9.99977044e-01 -2.41747706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08576923100003 meters Centerline goodness [0,1] 0.9994909106336042 Centerline is valid? [True, True] Translation: X:275.12, Y:-36.35, Z:-2.42 [[ 9.79339101e-01 2.02158102e-01 5.19871847e-03 2.75116458e+02] [-2.02155693e-01 9.79352896e-01 -9.90389536e-04 -3.63534396e+01] [-5.29159526e-03 -8.10233352e-05 9.99985996e-01 -2.42153446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11576923100006 meters Centerline goodness [0,1] 0.9996385516552208 Centerline is valid? [True, True] Translation: X:275.15, Y:-36.36, Z:-2.42 [[ 9.79351344e-01 2.02128107e-01 3.89524084e-03 2.75145871e+02] [-2.02126753e-01 9.79359089e-01 -7.42149430e-04 -3.63596680e+01] [-3.96484878e-03 -6.05073432e-05 9.99992138e-01 -2.42452351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14576923100003 meters Centerline goodness [0,1] 0.9995751911639762 Centerline is valid? [True, True] Translation: X:275.18, Y:-36.37, Z:-2.43 [[ 9.79359670e-01 2.02110616e-01 2.43637653e-03 2.75176089e+02] [-2.02110086e-01 9.79362700e-01 -4.64161679e-04 -3.63682673e+01] [-2.47990830e-03 -3.78350437e-05 9.99996924e-01 -2.42691827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17576923100006 meters Centerline goodness [0,1] 0.9997043419496536 Centerline is valid? [True, True] Translation: X:275.21, Y:-36.37, Z:-2.43 [[ 9.79300360e-01 2.02400603e-01 2.19115362e-03 2.75205703e+02] [-2.02400175e-01 9.79302811e-01 -4.17524682e-04 -3.63723659e+01] [-2.23031015e-03 -3.46078056e-05 9.99997512e-01 -2.42708037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20576923100003 meters Centerline goodness [0,1] 0.9996213236840998 Centerline is valid? [True, True] Translation: X:275.24, Y:-36.38, Z:-2.43 [[ 9.79258819e-01 2.02601025e-01 2.23379938e-03 2.75236494e+02] [-2.02600581e-01 9.79261366e-01 -4.25641002e-04 -3.63790569e+01] [-2.27370874e-03 -3.57563471e-05 9.99997414e-01 -2.42693417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23576923100006 meters Centerline goodness [0,1] 0.9995735425817732 Centerline is valid? [True, True] Translation: X:275.27, Y:-36.39, Z:-2.42 [[ 9.79157175e-01 2.03060246e-01 4.21463727e-03 2.75267698e+02] [-2.03058669e-01 9.79166243e-01 -8.03098736e-04 -3.63875124e+01] [-4.28990797e-03 -6.94587473e-05 9.99990796e-01 -2.42452552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26576923100004 meters Centerline goodness [0,1] 0.999236479321315 Centerline is valid? [True, True] Translation: X:275.30, Y:-36.39, Z:-2.42 [[ 9.78938704e-01 2.04090896e-01 5.09122079e-03 2.75298658e+02] [-2.04088605e-01 9.78951939e-01 -9.71228026e-04 -3.63906856e+01] [-5.18227926e-03 -8.82874425e-05 9.99986568e-01 -2.42328217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29576923100007 meters Centerline goodness [0,1] 0.9992507759820186 Centerline is valid? [True, True] Translation: X:275.33, Y:-36.39, Z:-2.42 [[ 9.78536171e-01 2.06000411e-01 5.54908641e-03 2.75328761e+02] [-2.05997713e-01 9.78551899e-01 -1.05954789e-03 -3.63945001e+01] [-5.64833635e-03 -1.06293180e-04 9.99984042e-01 -2.42180377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32576923100004 meters Centerline goodness [0,1] 0.9993035329872103 Centerline is valid? [True, True] Translation: X:275.36, Y:-36.40, Z:-2.42 [[ 9.78279199e-01 2.07225861e-01 5.22021522e-03 2.75358555e+02] [-2.07223491e-01 9.78293121e-01 -9.96752905e-04 -3.63991396e+01] [-5.31345362e-03 -1.06648588e-04 9.99985878e-01 -2.42228370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35576923100007 meters Centerline goodness [0,1] 0.9989080906284779 Centerline is valid? [True, True] Translation: X:275.39, Y:-36.40, Z:-2.42 [[ 9.77898161e-01 2.09026576e-01 4.80379708e-03 2.75388239e+02] [-2.09024591e-01 9.77909954e-01 -9.17237787e-04 -3.63998883e+01] [-4.88940805e-03 -1.07146573e-04 9.99988041e-01 -2.42338419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38576923100004 meters Centerline goodness [0,1] 0.9992320491488544 Centerline is valid? [True, True] Translation: X:275.42, Y:-36.40, Z:-2.43 [[ 9.76985398e-01 2.13284210e-01 3.06242357e-03 2.75418587e+02] [-2.13283424e-01 9.76990194e-01 -5.84758041e-04 -3.64030294e+01] [-3.11667746e-03 -8.18641173e-05 9.99995140e-01 -2.42708398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41576923100007 meters Centerline goodness [0,1] 0.9991370569326689 Centerline is valid? [True, True] Translation: X:275.45, Y:-36.40, Z:-2.43 [[ 9.76482755e-01 2.15584836e-01 2.14637616e-03 2.75449605e+02] [-2.15584456e-01 9.76485112e-01 -4.09842300e-04 -3.64048259e+01] [-2.18426015e-03 -6.25213984e-05 9.99997613e-01 -2.42916418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44576923100004 meters Centerline goodness [0,1] 0.9988312543827961 Centerline is valid? [True, True] Translation: X:275.48, Y:-36.40, Z:-2.43 [[ 9.76009974e-01 2.17721120e-01 1.42962942e-03 2.75479265e+02] [-2.17720953e-01 9.76011020e-01 -2.73133582e-04 -3.64040425e+01] [-1.45480102e-03 -4.46791792e-05 9.99998941e-01 -2.43087190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.4757692310001 meters Centerline goodness [0,1] 0.9981560764698402 Centerline is valid? [True, True] Translation: X:275.51, Y:-36.40, Z:-2.43 [[ 9.75250018e-01 2.21093035e-01 2.29610354e-03 2.75509189e+02] [-2.21092615e-01 9.75252718e-01 -4.38363356e-04 -3.64035290e+01] [-2.33620031e-03 -8.01376664e-05 9.99997268e-01 -2.42822150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50576923100004 meters Centerline goodness [0,1] 0.9979703761281686 Centerline is valid? [True, True] Translation: X:275.54, Y:-36.41, Z:-2.43 [[ 9.75082179e-01 2.21818808e-01 3.34080833e-03 2.75537152e+02] [-2.21817923e-01 9.75087895e-01 -6.37882757e-04 -3.64092480e+01] [-3.39907615e-03 -1.19063055e-04 9.99994216e-01 -2.42573065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5357692310001 meters Centerline goodness [0,1] 0.997004661758812 Centerline is valid? [True, True] Translation: X:275.57, Y:-36.40, Z:-2.43 [[ 9.75059419e-01 2.21893861e-01 4.71624195e-03 2.75566572e+02] [-2.21892099e-01 9.75070811e-01 -9.00171857e-04 -3.64021028e+01] [-4.79841247e-03 -1.68775779e-04 9.99988473e-01 -2.42685243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56576923100005 meters Centerline goodness [0,1] 0.9979220558924558 Centerline is valid? [True, True] Translation: X:275.59, Y:-36.41, Z:-2.43 [[ 9.75177652e-01 2.21372374e-01 4.77692310e-03 2.75593850e+02] [-2.21370562e-01 9.75189337e-01 -9.11449413e-04 -3.64121064e+01] [-4.86017420e-03 -1.68645052e-04 9.99988175e-01 -2.42711895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5957692310001 meters Centerline goodness [0,1] 0.9978049810046433 Centerline is valid? [True, True] Translation: X:275.62, Y:-36.42, Z:-2.43 [[ 9.75360754e-01 2.20564225e-01 4.77718697e-03 2.75621633e+02] [-2.20562404e-01 9.75372439e-01 -9.11272339e-04 -3.64173121e+01] [-4.86053058e-03 -1.64848565e-04 9.99988174e-01 -2.42759267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62576923100005 meters Centerline goodness [0,1] 0.9979218796386615 Centerline is valid? [True, True] Translation: X:275.65, Y:-36.42, Z:-2.43 [[ 9.75548981e-01 2.19737508e-01 4.42858535e-03 2.75649512e+02] [-2.19735935e-01 9.75559022e-01 -8.44584195e-04 -3.64226303e+01] [-4.50593322e-03 -1.49186094e-04 9.99989837e-01 -2.42792300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.655769231 meters Centerline goodness [0,1] 0.9986787708306696 Centerline is valid? [True, True] Translation: X:275.68, Y:-36.43, Z:-2.43 [[ 9.76031220e-01 2.17617205e-01 2.41052580e-03 2.75678298e+02] [-2.17616732e-01 9.76034193e-01 -4.59684464e-04 -3.64285013e+01] [-2.45279086e-03 -7.59043605e-05 9.99996989e-01 -2.43054620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68576923100005 meters Centerline goodness [0,1] 0.9989383837954903 Centerline is valid? [True, True] Translation: X:275.71, Y:-36.43, Z:-2.43 [[ 9.76310695e-01 2.16365951e-01 1.78924584e-03 2.75706631e+02] [-2.16365689e-01 9.76312333e-01 -3.41239231e-04 -3.64340911e+01] [-1.82069533e-03 -5.39758971e-05 9.99998341e-01 -2.43229486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.715769231 meters Centerline goodness [0,1] 0.998921639108555 Centerline is valid? [True, True] Translation: X:275.73, Y:-36.44, Z:-2.43 [[ 9.76759800e-01 2.14335206e-01 8.44068362e-04 2.75734299e+02] [-2.14335147e-01 9.76760164e-01 -1.61131146e-04 -3.64379620e+01] [-8.58988430e-04 -2.35270904e-05 9.99999631e-01 -2.43479287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74576923100005 meters Centerline goodness [0,1] 0.9992336349121873 Centerline is valid? [True, True] Translation: X:275.76, Y:-36.44, Z:-2.44 [[ 9.77048452e-01 2.13016822e-01 3.96398723e-04 2.75762250e+02] [-2.13016808e-01 9.77048532e-01 -7.57586248e-05 -3.64449349e+01] [-4.03438652e-04 -1.04197438e-05 9.99999919e-01 -2.43623325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.775769231 meters Centerline goodness [0,1] 0.9992925286740272 Centerline is valid? [True, True] Translation: X:275.79, Y:-36.45, Z:-2.44 [[ 9.77433829e-01 2.11241678e-01 2.52569012e-04 2.75790299e+02] [-2.11241673e-01 9.77433861e-01 -4.83539711e-05 -3.64527721e+01] [-2.57083879e-04 -6.09029355e-06 9.99999967e-01 -2.43644865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80576923100006 meters Centerline goodness [0,1] 0.9992925286740272 Centerline is valid? [True, True] Translation: X:275.82, Y:-36.46, Z:-2.44 [[ 9.77443378e-01 2.11197487e-01 2.52571345e-04 2.75818158e+02] [-2.11197482e-01 9.77443411e-01 -4.83417500e-05 -3.64579845e+01] [-2.57083853e-04 -6.09110863e-06 9.99999967e-01 -2.43660851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.83576923100003 meters Centerline goodness [0,1] 0.9994490941837059 Centerline is valid? [True, True] Translation: X:275.85, Y:-36.47, Z:-2.44 [[ 9.78481102e-01 2.06335696e-01 5.60907334e-04 2.75845124e+02] [-2.06335668e-01 9.78481262e-01 -1.06954369e-04 -3.64686846e+01] [-5.70905821e-04 -1.10823608e-05 9.99999837e-01 -2.43680428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86576923100006 meters Centerline goodness [0,1] 0.9997018485390579 Centerline is valid? [True, True] Translation: X:275.87, Y:-36.48, Z:-2.44 [[ 9.79097677e-01 2.03390061e-01 4.71566529e-04 2.75872601e+02] [-2.03390041e-01 9.79097790e-01 -8.99888889e-05 -3.64787205e+01] [-4.80012592e-04 -7.80402362e-06 9.99999885e-01 -2.43703777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89576923100003 meters Centerline goodness [0,1] 0.9997677217729164 Centerline is valid? [True, True] Translation: X:275.90, Y:-36.49, Z:-2.44 [[ 9.79672482e-01 2.00602431e-01 7.01462287e-04 2.75900147e+02] [-2.00602387e-01 9.79672733e-01 -1.33560974e-04 -3.64877071e+01] [-7.13996132e-04 -9.86899765e-06 9.99999745e-01 -2.43740801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92576923100006 meters Centerline goodness [0,1] 0.9998518894672253 Centerline is valid? [True, True] Translation: X:275.93, Y:-36.50, Z:-2.43 [[ 9.80442502e-01 1.96791430e-01 2.37328739e-03 2.75928664e+02] [-1.96790914e-01 9.80445374e-01 -4.51608754e-04 -3.64985874e+01] [-2.41575137e-03 -2.42649761e-05 9.99997082e-01 -2.43425806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95576923100003 meters Centerline goodness [0,1] 0.9998941955689105 Centerline is valid? [True, True] Translation: X:275.96, Y:-36.51, Z:-2.43 [[ 9.80789296e-01 1.95032029e-01 3.85550793e-03 2.75957981e+02] [-1.95030652e-01 9.80796873e-01 -7.33555391e-04 -3.65084399e+01] [-3.92453692e-03 -3.24789498e-05 9.99992298e-01 -2.43089315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98576923100006 meters Centerline goodness [0,1] 0.9998523922990954 Centerline is valid? [True, True] Translation: X:275.99, Y:-36.52, Z:-2.43 [[ 9.81466486e-01 1.91568868e-01 4.99048226e-03 2.75985959e+02] [-1.91566516e-01 9.81479174e-01 -9.49491194e-04 -3.65229975e+01] [-5.07994736e-03 -2.41155145e-05 9.99987097e-01 -2.42880622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01576923100004 meters Centerline goodness [0,1] 0.9999358329946741 Centerline is valid? [True, True] Translation: X:276.02, Y:-36.53, Z:-2.43 [[ 9.81691280e-01 1.90451514e-01 3.23294990e-03 2.76015670e+02] [-1.90450521e-01 9.81696603e-01 -6.15090702e-04 -3.65317857e+01] [-3.29092090e-03 -1.18878173e-05 9.99994585e-01 -2.43226953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04576923100007 meters Centerline goodness [0,1] 0.9999363097891854 Centerline is valid? [True, True] Translation: X:276.05, Y:-36.54, Z:-2.44 [[ 9.81731101e-01 1.90270915e-01 1.01189933e-03 2.76046072e+02] [-1.90270818e-01 9.81731623e-01 -1.92457024e-04 -3.65376618e+01] [-1.03003255e-03 -3.59386787e-06 9.99999470e-01 -2.43718005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07576923100004 meters Centerline goodness [0,1] 0.9998932080307561 Centerline is valid? [True, True] Translation: X:276.08, Y:-36.54, Z:-2.44 [[ 9.81574550e-01 1.91079457e-01 2.11011185e-04 2.76075951e+02] [-1.91079452e-01 9.81574572e-01 -4.02199132e-05 -3.65402027e+01] [-2.14808412e-04 -8.41058393e-07 9.99999977e-01 -2.43878896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10576923100007 meters Centerline goodness [0,1] 0.9998932695796956 Centerline is valid? [True, True] Translation: X:276.11, Y:-36.54, Z:-2.43 [[ 9.81479080e-01 1.91559587e-01 1.93381843e-03 2.76105536e+02] [-1.91559234e-01 9.81480985e-01 -3.68101818e-04 -3.65447763e+01] [-1.96851945e-03 -9.15654167e-06 9.99998062e-01 -2.43495858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13576923100004 meters Centerline goodness [0,1] 0.9998948320467788 Centerline is valid? [True, True] Translation: X:276.13, Y:-36.55, Z:-2.43 [[ 9.81165523e-01 1.93126039e-01 4.06821122e-03 2.76134227e+02] [-1.93124489e-01 9.81173956e-01 -7.74168469e-04 -3.65488162e+01] [-4.14113499e-03 -2.60838018e-05 9.99991425e-01 -2.43042272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16576923100007 meters Centerline goodness [0,1] 0.9999150689003546 Centerline is valid? [True, True] Translation: X:276.16, Y:-36.55, Z:-2.43 [[ 9.80988878e-01 1.94032847e-01 3.47483710e-03 2.76163372e+02] [-1.94031723e-01 9.80995032e-01 -6.61137501e-04 -3.65535164e+01] [-3.53708033e-03 -2.56600935e-05 9.99993744e-01 -2.43213587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19576923100004 meters Centerline goodness [0,1] 0.9999152937190293 Centerline is valid? [True, True] Translation: X:276.19, Y:-36.56, Z:-2.43 [[ 9.80811792e-01 1.94937080e-01 2.78617234e-03 2.76193076e+02] [-1.94936361e-01 9.80815749e-01 -5.30071207e-04 -3.65582176e+01] [-2.83605225e-03 -2.32262060e-05 9.99995978e-01 -2.43473160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2257692310001 meters Centerline goodness [0,1] 0.9998938856936692 Centerline is valid? [True, True] Translation: X:276.22, Y:-36.56, Z:-2.44 [[ 9.80668669e-01 1.95666063e-01 1.93748403e-03 2.76222492e+02] [-1.95665716e-01 9.80670583e-01 -3.68601884e-04 -3.65640458e+01] [-1.97215647e-03 -1.76228814e-05 9.99998055e-01 -2.43642748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25576923100004 meters Centerline goodness [0,1] 0.9998723757258631 Centerline is valid? [True, True] Translation: X:276.25, Y:-36.57, Z:-2.44 [[ 9.80669380e-01 1.95659966e-01 2.17838651e-03 2.76251914e+02] [-1.95659528e-01 9.80671799e-01 -4.14369291e-04 -3.65699349e+01] [-2.21735770e-03 -1.98627992e-05 9.99997541e-01 -2.43573957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2857692310001 meters Centerline goodness [0,1] 0.9998936487003871 Centerline is valid? [True, True] Translation: X:276.28, Y:-36.58, Z:-2.43 [[ 9.80699510e-01 1.95500734e-01 2.81686088e-03 2.76280498e+02] [-1.95500002e-01 9.80703555e-01 -5.35725532e-04 -3.65757121e+01] [-2.86724022e-03 -2.53105420e-05 9.99995889e-01 -2.43450628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31576923100005 meters Centerline goodness [0,1] 0.9997884403824998 Centerline is valid? [True, True] Translation: X:276.31, Y:-36.58, Z:-2.43 [[ 9.80642237e-01 1.95783402e-01 3.10844336e-03 2.76309834e+02] [-1.95782512e-01 9.80647163e-01 -5.91089578e-04 -3.65809729e+01] [-3.16401169e-03 -2.89314414e-05 9.99994994e-01 -2.43419053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3457692310001 meters Centerline goodness [0,1] 0.9997456603293698 Centerline is valid? [True, True] Translation: X:276.34, Y:-36.59, Z:-2.44 [[ 9.80594108e-01 1.96025847e-01 3.01040209e-03 2.76338391e+02] [-1.96025013e-01 9.80598729e-01 -5.72391593e-04 -3.65861678e+01] [-3.06420001e-03 -2.88302857e-05 9.99995305e-01 -2.43509312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37576923100005 meters Centerline goodness [0,1] 0.9997674615254524 Centerline is valid? [True, True] Translation: X:276.37, Y:-36.59, Z:-2.44 [[ 9.80796084e-01 1.95008269e-01 3.28874646e-03 2.76366975e+02] [-1.95007269e-01 9.80801598e-01 -6.25215996e-04 -3.65941680e+01] [-3.34753007e-03 -2.81200643e-05 9.99994397e-01 -2.43541871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.405769231 meters Centerline goodness [0,1] 0.9998313197124001 Centerline is valid? [True, True] Translation: X:276.40, Y:-36.60, Z:-2.44 [[ 9.80977497e-01 1.94093860e-01 3.27460949e-03 2.76395988e+02] [-1.94092864e-01 9.80982963e-01 -6.22458289e-04 -3.66011970e+01] [-3.33315145e-03 -2.49607594e-05 9.99994445e-01 -2.43598088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43576923100005 meters Centerline goodness [0,1] 0.9999154691462384 Centerline is valid? [True, True] Translation: X:276.42, Y:-36.61, Z:-2.44 [[ 9.81508674e-01 1.91397602e-01 2.77152942e-03 2.76424907e+02] [-1.91396878e-01 9.81512587e-01 -5.26728904e-04 -3.66106538e+01] [-2.82110566e-03 -1.34730897e-05 9.99996021e-01 -2.43703809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.465769231 meters Centerline goodness [0,1] 0.9999362705527467 Centerline is valid? [True, True] Translation: X:276.46, Y:-36.62, Z:-2.44 [[ 9.81698731e-01 1.90426757e-01 2.29173389e-03 2.76455811e+02] [-1.90426260e-01 9.81701406e-01 -4.34997919e-04 -3.66183020e+01] [-2.33263362e-03 -9.36940748e-06 9.99997279e-01 -2.43642157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49576923100005 meters Centerline goodness [0,1] 0.9999575398594569 Centerline is valid? [True, True] Translation: X:276.49, Y:-36.62, Z:-2.44 [[ 9.81789048e-01 1.89965324e-01 1.85472773e-03 2.76488015e+02] [-1.89964997e-01 9.81790800e-01 -3.52184789e-04 -3.66235157e+01] [-1.88785752e-03 -6.56217960e-06 9.99998218e-01 -2.43728162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.52, Y:-36.63, Z:-2.44 [[ 9.81918390e-01 1.89301991e-01 1.01586786e-03 2.76520861e+02] [-1.89301893e-01 9.81918915e-01 -1.92518567e-04 -3.66289084e+01] [-1.03394401e-03 -3.26818738e-06 9.99999465e-01 -2.43907893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.55, Y:-36.63, Z:-2.44 [[ 9.81920339e-01 1.89293151e-01 7.42143340e-04 2.76551782e+02] [-1.89293099e-01 9.81920619e-01 -1.40678627e-04 -3.66338242e+01] [-7.55355348e-04 -2.34740761e-06 9.99999715e-01 -2.44059440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.58, Y:-36.64, Z:-2.44 [[ 9.81952160e-01 1.89128430e-01 6.27105234e-04 2.76582249e+02] [-1.89128392e-01 9.81952360e-01 -1.19555599e-04 -3.66376680e+01] [-6.38398827e-04 -1.20552586e-06 9.99999796e-01 -2.44064132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.61, Y:-36.64, Z:-2.44 [[ 9.81837913e-01 1.89702907e-01 2.66828056e-03 2.76614412e+02] [-1.89702225e-01 9.81841539e-01 -5.08910308e-04 -3.66383242e+01] [-2.71637046e-03 -6.51132423e-06 9.99996311e-01 -2.43607761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64576923100003 meters Centerline goodness [0,1] 0.9999786984769411 Centerline is valid? [True, True] Translation: X:276.64, Y:-36.64, Z:-2.44 [[ 9.81745735e-01 1.90175961e-01 2.90083492e-03 2.76644708e+02] [-1.90175156e-01 9.81750021e-01 -5.53377836e-04 -3.66409590e+01] [-2.95313391e-03 -8.39040420e-06 9.99995639e-01 -2.43535108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67576923100006 meters Centerline goodness [0,1] 0.9999787636178301 Centerline is valid? [True, True] Translation: X:276.68, Y:-36.64, Z:-2.43 [[ 9.81666741e-01 1.90581343e-01 3.02677271e-03 2.76675749e+02] [-1.90580468e-01 9.81671407e-01 -5.77409811e-04 -3.66443905e+01] [-3.08133976e-03 -1.00197538e-05 9.99995253e-01 -2.43494365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70576923100003 meters Centerline goodness [0,1] 0.9999786943923641 Centerline is valid? [True, True] Translation: X:276.71, Y:-36.65, Z:-2.44 [[ 9.81787547e-01 1.89956625e-01 3.11339726e-03 2.76707531e+02] [-1.89955697e-01 9.81792483e-01 -5.94014522e-04 -3.66472986e+01] [-3.16954703e-03 -8.21148657e-06 9.99994977e-01 -2.43549385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73576923100006 meters Centerline goodness [0,1] 0.9999572146753664 Centerline is valid? [True, True] Translation: X:276.74, Y:-36.65, Z:-2.44 [[ 9.81810825e-01 1.89838182e-01 2.99493505e-03 2.76737804e+02] [-1.89837322e-01 9.81815392e-01 -5.71397561e-04 -3.66519946e+01] [-3.04894641e-03 -7.54613896e-06 9.99995352e-01 -2.43567404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.77, Y:-36.66, Z:-2.44 [[ 9.81977368e-01 1.88976041e-01 2.91613555e-03 2.76766816e+02] [-1.88975221e-01 9.81981698e-01 -5.56642805e-04 -3.66556424e+01] [-2.96878390e-03 -4.46672381e-06 9.99995593e-01 -2.43536432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79576923100007 meters Centerline goodness [0,1] 0.9999786338482576 Centerline is valid? [True, True] Translation: X:276.80, Y:-36.66, Z:-2.43 [[ 9.82112853e-01 1.88257945e-01 3.64559265e-03 2.76796471e+02] [-1.88256659e-01 9.82119619e-01 -6.95976324e-04 -3.66612572e+01] [-3.71143114e-03 -2.77979899e-06 9.99993113e-01 -2.43399810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82576923100004 meters Centerline goodness [0,1] 0.9999784119856655 Centerline is valid? [True, True] Translation: X:276.83, Y:-36.67, Z:-2.43 [[ 9.82086647e-01 1.88388926e-01 3.92801711e-03 2.76827326e+02] [-1.88387434e-01 9.82094503e-01 -7.49852257e-04 -3.66656335e+01] [-3.99894787e-03 -3.56917548e-06 9.99992004e-01 -2.43359542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.86, Y:-36.67, Z:-2.43 [[ 9.81820786e-01 1.89783186e-01 3.20718743e-03 2.76857695e+02] [-1.89782198e-01 9.81826024e-01 -6.12393014e-04 -3.66655740e+01] [-3.26512198e-03 -7.40689050e-06 9.99994669e-01 -2.43475887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88576923100004 meters Centerline goodness [0,1] 0.9999575722862174 Centerline is valid? [True, True] Translation: X:276.89, Y:-36.67, Z:-2.43 [[ 9.81680862e-01 1.90500704e-01 3.48818017e-03 2.76887460e+02] [-1.90499540e-01 9.81687059e-01 -6.65995291e-04 -3.66680386e+01] [-3.55117390e-03 -1.07018882e-05 9.99993695e-01 -2.43462429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91576923100007 meters Centerline goodness [0,1] 0.9999577301067315 Centerline is valid? [True, True] Translation: X:276.92, Y:-36.67, Z:-2.43 [[ 9.81562331e-01 1.91097510e-01 4.13903165e-03 2.76917320e+02] [-1.91095877e-01 9.81571058e-01 -7.90214915e-04 -3.66716231e+01] [-4.21376177e-03 -1.53066893e-05 9.99991122e-01 -2.43375033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94576923100004 meters Centerline goodness [0,1] 0.9998923202825516 Centerline is valid? [True, True] Translation: X:276.95, Y:-36.67, Z:-2.43 [[ 9.81411228e-01 1.91844148e-01 5.27494346e-03 2.76947134e+02] [-1.91841507e-01 9.81425403e-01 -1.00691421e-03 -3.66722267e+01] [-5.37013412e-03 -2.37561907e-05 9.99985580e-01 -2.43323030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.9757692310001 meters Centerline goodness [0,1] 0.9999365106238889 Centerline is valid? [True, True] Translation: X:276.98, Y:-36.68, Z:-2.44 [[ 9.81449142e-01 1.91654179e-01 5.12423467e-03 2.76975988e+02] [-1.91651685e-01 9.81462518e-01 -9.78028740e-04 -3.66759317e+01] [-5.21668756e-03 -2.21827417e-05 9.99986393e-01 -2.43516761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.00, Y:-36.68, Z:-2.44 [[ 9.82000799e-01 1.88863316e-01 2.25372356e-03 2.77004302e+02] [-1.88862826e-01 9.82003385e-01 -4.30104019e-04 -3.66847462e+01] [-2.29439503e-03 -3.28210940e-06 9.99997368e-01 -2.44169658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.03, Y:-36.70, Z:-2.45 [[ 9.82435123e-01 1.86604443e-01 1.07296098e-04 2.77032403e+02] [-1.86604442e-01 9.82435128e-01 -2.06041170e-05 -3.66951786e+01] [-1.09256276e-04 2.20279706e-07 9.99999994e-01 -2.44554681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.06, Y:-36.71, Z:-2.45 [[ 9.82957081e-01 1.83829296e-01 -1.47190348e-03 2.77061574e+02] [-1.83829081e-01 9.82958183e-01 2.80821013e-04 -3.67062123e+01] [ 1.49844270e-03 -5.45633902e-06 9.99998877e-01 -2.44858757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.09, Y:-36.72, Z:-2.45 [[ 9.84100417e-01 1.77608687e-01 -1.23458437e-03 2.77090585e+02] [-1.77608531e-01 9.84101191e-01 2.35709859e-04 -3.67221849e+01] [ 1.25682007e-03 -1.26894543e-05 9.99999210e-01 -2.44857357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.12, Y:-36.73, Z:-2.45 [[ 9.84501294e-01 1.75377249e-01 -1.48402537e-04 2.77121120e+02] [-1.75377247e-01 9.84501305e-01 2.92983567e-05 -3.67331522e+01] [ 1.51240757e-04 -2.81784168e-06 9.99999989e-01 -2.44765854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.15, Y:-36.75, Z:-2.45 [[ 9.84878570e-01 1.73246034e-01 1.19485056e-04 2.77150711e+02] [-1.73246032e-01 9.84878577e-01 -2.23073229e-05 -3.67464639e+01] [-1.21542927e-04 1.26969241e-06 9.99999993e-01 -2.44796348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.18, Y:-36.77, Z:-2.45 [[ 9.85390874e-01 1.70306067e-01 -8.17353709e-04 2.77179414e+02] [-1.70305995e-01 9.85391213e-01 1.57167875e-04 -3.67658054e+01] [ 8.32179806e-04 -1.56715523e-05 9.99999654e-01 -2.44969856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.215769231 meters Centerline goodness [0,1] 0.999978926516764 Centerline is valid? [True, True] Translation: X:277.21, Y:-36.78, Z:-2.45 [[ 9.85400635e-01 1.70235991e-01 -2.30122295e-03 2.77209071e+02] [-1.70235424e-01 9.85403321e-01 4.41287345e-04 -3.67762791e+01] [ 2.34275573e-03 -4.30951655e-05 9.99997255e-01 -2.45214291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.24, Y:-36.78, Z:-2.46 [[ 9.84882114e-01 1.73144336e-01 -5.31601337e-03 2.77241035e+02] [-1.73141356e-01 9.84896457e-01 1.01923979e-03 -3.67808201e+01] [ 5.41219834e-03 -8.34092723e-05 9.99985350e-01 -2.45653905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.27, Y:-36.78, Z:-2.46 [[ 9.84413718e-01 1.75787217e-01 -5.33720236e-03 2.77271658e+02] [-1.75784256e-01 9.84428184e-01 1.02263296e-03 -3.67846055e+01] [ 5.43385823e-03 -6.84977723e-05 9.99985234e-01 -2.45683324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.30, Y:-36.79, Z:-2.45 [[ 9.83807177e-01 1.79177894e-01 -4.32668497e-03 2.77303018e+02] [-1.79175981e-01 9.83816690e-01 8.29142704e-04 -3.67864205e+01] [ 4.40522894e-03 -4.04785203e-05 9.99990296e-01 -2.45414395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.33, Y:-36.79, Z:-2.45 [[ 9.83127099e-01 1.82906508e-01 -2.51318228e-03 2.77332931e+02] [-1.82905875e-01 9.83130311e-01 4.81439808e-04 -3.67871965e+01] [ 2.55884415e-03 -1.36407171e-05 9.99996726e-01 -2.45059674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.36, Y:-36.78, Z:-2.45 [[ 9.81897030e-01 1.89415294e-01 -2.62045119e-04 2.77363135e+02] [-1.89415287e-01 9.81897065e-01 5.01012204e-05 -3.67805908e+01] [ 2.66791271e-04 4.41111975e-07 9.99999964e-01 -2.44778401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.39, Y:-36.78, Z:-2.45 [[ 9.81519330e-01 1.91361992e-01 -6.26961005e-04 2.77392313e+02] [-1.91361954e-01 9.81519530e-01 1.19894462e-04 -3.67817457e+01] [ 6.38317714e-04 2.29775131e-06 9.99999796e-01 -2.44896898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.42, Y:-36.79, Z:-2.45 [[ 9.81414777e-01 1.91891359e-01 -1.65561365e-03 2.77420281e+02] [-1.91891097e-01 9.81416174e-01 3.16867990e-04 -3.67873100e+01] [ 1.68565024e-03 6.71859162e-06 9.99998579e-01 -2.45051449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.45, Y:-36.80, Z:-2.45 [[ 9.81598545e-01 1.90953144e-01 -1.09277133e-03 2.77448932e+02] [-1.90953029e-01 9.81599153e-01 2.09117638e-04 -3.67956855e+01] [ 1.11259508e-03 3.39842658e-06 9.99999381e-01 -2.44836365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.48, Y:-36.80, Z:-2.45 [[ 9.81799383e-01 1.89920902e-01 1.51858796e-04 2.77477075e+02] [-1.89920900e-01 9.81799394e-01 -2.91400766e-05 -3.68036442e+01] [-1.54629184e-04 -2.31450046e-07 9.99999988e-01 -2.44577991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.51, Y:-36.81, Z:-2.44 [[ 9.82086406e-01 1.88396918e-01 3.59059112e-03 2.77505095e+02] [-1.88395663e-01 9.82092970e-01 -6.87513642e-04 -3.68143500e+01] [-3.65581975e-03 -1.25399557e-06 9.99993317e-01 -2.44000891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.54, Y:-36.82, Z:-2.44 [[ 9.82232034e-01 1.87621031e-01 4.31050265e-03 2.77535389e+02] [-1.87619216e-01 9.82241492e-01 -8.25256014e-04 -3.68244255e+01] [-4.38878994e-03 1.85976566e-06 9.99990369e-01 -2.43902685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.56, Y:-36.84, Z:-2.44 [[ 9.82259486e-01 1.87500136e-01 3.16256945e-03 2.77564771e+02] [-1.87499160e-01 9.82264577e-01 -6.05223299e-04 -3.68386320e+01] [-3.21995939e-03 1.50721249e-06 9.99994816e-01 -2.44054632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.59, Y:-36.85, Z:-2.44 [[ 9.82104139e-01 1.88321392e-01 2.55221536e-03 2.77594987e+02] [-1.88320758e-01 9.82107455e-01 -4.88642241e-04 -3.68467665e+01] [-2.59857152e-03 -7.37564934e-07 9.99996624e-01 -2.44167684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.63, Y:-36.85, Z:-2.44 [[ 9.81441633e-01 1.91755645e-01 1.44656092e-03 2.77626534e+02] [-1.91755446e-01 9.81442700e-01 -2.76747628e-04 -3.68535020e+01] [-1.47278457e-03 -5.77429038e-06 9.99998915e-01 -2.44298270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66576923100007 meters Centerline goodness [0,1] 0.999978795139846 Centerline is valid? [True, True] Translation: X:277.66, Y:-36.86, Z:-2.44 [[ 9.81118834e-01 1.93399447e-01 1.57722186e-03 2.77656324e+02] [-1.93399210e-01 9.81120102e-01 -3.02682811e-04 -3.68590497e+01] [-1.60598276e-03 -8.06565479e-06 9.99998710e-01 -2.44345366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69576923100004 meters Centerline goodness [0,1] 0.99997866757685 Centerline is valid? [True, True] Translation: X:277.69, Y:-36.87, Z:-2.44 [[ 9.80867462e-01 1.94671116e-01 1.47635791e-03 2.77686424e+02] [-1.94670910e-01 9.80868573e-01 -2.83385945e-04 -3.68653465e+01] [-1.50328014e-03 -9.43988574e-06 9.99998870e-01 -2.44422287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7257692310001 meters Centerline goodness [0,1] 0.99997866757685 Centerline is valid? [True, True] Translation: X:277.72, Y:-36.87, Z:-2.44 [[ 9.80863316e-01 1.94692002e-01 1.47637452e-03 2.77716695e+02] [-1.94691796e-01 9.80864427e-01 -2.83299415e-04 -3.68712058e+01] [-1.50327938e-03 -9.56000398e-06 9.99998870e-01 -2.44439680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75576923100004 meters Centerline goodness [0,1] 0.9999789091829417 Centerline is valid? [True, True] Translation: X:277.75, Y:-36.88, Z:-2.45 [[ 9.80425102e-01 1.96886198e-01 1.56381603e-03 2.77745974e+02] [-1.96885969e-01 9.80426349e-01 -3.00208001e-04 -3.68768021e+01] [-1.59231325e-03 -1.35619746e-05 9.99998732e-01 -2.44516331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.78, Y:-36.88, Z:-2.44 [[ 9.80151389e-01 1.98241731e-01 1.86299401e-03 2.77775468e+02] [-1.98241409e-01 9.80153159e-01 -3.57641626e-04 -3.68828989e+01] [-1.89691896e-03 -1.87796214e-05 9.99998201e-01 -2.44415887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81576923100005 meters Centerline goodness [0,1] 0.9999575695858791 Centerline is valid? [True, True] Translation: X:277.80, Y:-36.89, Z:-2.44 [[ 9.79597837e-01 2.00955507e-01 2.22736587e-03 2.77804202e+02] [-2.00955054e-01 9.79600369e-01 -4.27662307e-04 -3.68891576e+01] [-2.26786952e-03 -2.86633577e-05 9.99997428e-01 -2.44289504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8457692310001 meters Centerline goodness [0,1] 0.9999786096256684 Centerline is valid? [True, True] Translation: X:277.83, Y:-36.90, Z:-2.44 [[ 9.79219595e-01 2.02797203e-01 1.50957588e-03 2.77834456e+02] [-2.02796998e-01 9.79220759e-01 -2.89116662e-04 -3.68994865e+01] [-1.53684009e-03 -2.30287565e-05 9.99998819e-01 -2.44312924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87576923100005 meters Centerline goodness [0,1] 0.9999152057320925 Centerline is valid? [True, True] Translation: X:277.87, Y:-36.90, Z:-2.45 [[ 9.78759980e-01 2.05008820e-01 5.34301334e-04 2.77866228e+02] [-2.05008794e-01 9.78760126e-01 -1.02521167e-04 -3.68964018e+01] [-5.43970585e-04 -9.19285641e-06 9.99999852e-01 -2.44764418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.905769231 meters Centerline goodness [0,1] 0.9998944390491069 Centerline is valid? [True, True] Translation: X:277.90, Y:-36.90, Z:-2.45 [[ 9.78274659e-01 2.07311775e-01 -7.20564843e-04 2.77896799e+02] [-2.07311730e-01 9.78274924e-01 1.38445567e-04 -3.69005715e+01] [ 7.33611914e-04 1.39437537e-05 9.99999731e-01 -2.45018890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93576923100005 meters Centerline goodness [0,1] 0.9998101225764257 Centerline is valid? [True, True] Translation: X:277.93, Y:-36.90, Z:-2.45 [[ 9.77273933e-01 2.11963478e-01 -2.67270799e-03 2.77927952e+02] [-2.11962866e-01 9.77277586e-01 5.13520160e-04 -3.69001016e+01] [ 2.72082513e-03 6.46649786e-05 9.99996296e-01 -2.45159069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.965769231 meters Centerline goodness [0,1] 0.9997678198281866 Centerline is valid? [True, True] Translation: X:277.96, Y:-36.90, Z:-2.45 [[ 9.76893798e-01 2.13713877e-01 -2.21032333e-03 2.77957497e+02] [-2.13713463e-01 9.76896297e-01 4.24416307e-04 -3.69013594e+01] [ 2.24996033e-03 5.77661954e-05 9.99997467e-01 -2.45058706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99576923100005 meters Centerline goodness [0,1] 0.9992394312636005 Centerline is valid? [True, True] Translation: X:277.99, Y:-36.89, Z:-2.45 [[ 9.76434335e-01 2.15811855e-01 1.10990978e-03 2.77987323e+02] [-2.15811752e-01 9.76434966e-01 -2.13464580e-04 -3.68927235e+01] [-1.12982291e-03 -3.10974298e-05 9.99999361e-01 -2.44606958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.025769231 meters Centerline goodness [0,1] 0.9997011293042717 Centerline is valid? [True, True] Translation: X:278.02, Y:-36.91, Z:-2.44 [[ 9.76412896e-01 2.15901247e-01 2.12337393e-03 2.78015375e+02] [-2.15900870e-01 9.76415203e-01 -4.07862561e-04 -3.69062884e+01] [-2.16135262e-03 -6.01960143e-05 9.99997662e-01 -2.44339173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05576923100006 meters Centerline goodness [0,1] 0.9998926139902493 Centerline is valid? [True, True] Translation: X:278.05, Y:-36.91, Z:-2.45 [[ 9.76797106e-01 2.14165606e-01 7.11731826e-04 2.78045511e+02] [-2.14165563e-01 9.76797365e-01 -1.36546708e-04 -3.69145624e+01] [-7.24461381e-04 -1.90500178e-05 9.99999737e-01 -2.44619686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08576923100003 meters Centerline goodness [0,1] 0.9994933181328773 Centerline is valid? [True, True] Translation: X:278.08, Y:-36.91, Z:-2.45 [[ 9.77219089e-01 2.12231127e-01 -8.95444073e-04 2.78076763e+02] [-2.12231058e-01 9.77219499e-01 1.71806202e-04 -3.69063878e+01] [ 9.11508032e-04 2.21487435e-05 9.99999584e-01 -2.45280475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11576923100006 meters Centerline goodness [0,1] 0.9998500878057138 Centerline is valid? [True, True] Translation: X:278.10, Y:-36.92, Z:-2.45 [[ 9.77746369e-01 2.09782332e-01 -1.84690669e-03 2.78103850e+02] [-2.09782037e-01 9.77748112e-01 3.54471369e-04 -3.69212440e+01] [ 1.88017136e-03 4.08647537e-05 9.99998232e-01 -2.45240061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14576923100003 meters Centerline goodness [0,1] 0.9999575010624734 Centerline is valid? [True, True] Translation: X:278.13, Y:-36.93, Z:-2.45 [[ 9.78186127e-01 2.07719158e-01 -2.15689712e-03 2.78131830e+02] [-2.07718751e-01 9.78188504e-01 4.13848263e-04 -3.69267253e+01] [ 2.19581618e-03 4.32073458e-05 9.99997588e-01 -2.45341282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.16, Y:-36.94, Z:-2.45 [[ 9.78972108e-01 2.03983175e-01 -2.11576318e-03 2.78161367e+02] [-2.03982774e-01 9.78974393e-01 4.06146635e-04 -3.69350343e+01] [ 2.15412505e-03 3.39730144e-05 9.99997679e-01 -2.45153377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.19, Y:-36.94, Z:-2.45 [[ 9.79261998e-01 2.02594122e-01 -1.24972456e-03 2.78191313e+02] [-2.02593981e-01 9.79262795e-01 2.39816317e-04 -3.69369616e+01] [ 1.27239414e-03 1.83436689e-05 9.99999190e-01 -2.45043464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23576923100006 meters Centerline goodness [0,1] 0.9999786712168071 Centerline is valid? [True, True] Translation: X:278.22, Y:-36.94, Z:-2.45 [[ 9.79350062e-01 2.02171767e-01 1.82904263e-04 2.78220062e+02] [-2.02171764e-01 9.79350079e-01 -3.52949158e-05 -3.69369385e+01] [-1.86262940e-04 -2.41199955e-06 9.99999983e-01 -2.44859611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26576923100004 meters Centerline goodness [0,1] 0.9999786384124069 Centerline is valid? [True, True] Translation: X:278.25, Y:-36.94, Z:-2.44 [[ 9.79118274e-01 2.03283079e-01 1.84248301e-03 2.78249629e+02] [-2.03282773e-01 9.79120008e-01 -3.53689430e-04 -3.69390063e+01] [-1.87591105e-03 -2.82412699e-05 9.99998240e-01 -2.44359412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29576923100007 meters Centerline goodness [0,1] 0.9999364729798408 Centerline is valid? [True, True] Translation: X:278.28, Y:-36.94, Z:-2.44 [[ 9.79072163e-01 2.03503105e-01 2.04611431e-03 2.78279730e+02] [-2.03502729e-01 9.79074300e-01 -3.92715908e-04 -3.69419360e+01] [-2.08321685e-03 -3.18926328e-05 9.99997830e-01 -2.44419807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32576923100004 meters Centerline goodness [0,1] 0.9999788332909999 Centerline is valid? [True, True] Translation: X:278.31, Y:-36.94, Z:-2.44 [[ 9.79107334e-01 2.03320955e-01 3.06886568e-03 2.78308384e+02] [-2.03320107e-01 9.79112142e-01 -5.88962600e-04 -3.69412387e+01] [-3.12451209e-03 -4.73044976e-05 9.99995118e-01 -2.44322511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35576923100007 meters Centerline goodness [0,1] 0.999978838218178 Centerline is valid? [True, True] Translation: X:278.34, Y:-36.94, Z:-2.44 [[ 9.79064724e-01 2.03520978e-01 3.38799898e-03 2.78336137e+02] [-2.03519947e-01 9.79070584e-01 -6.49968304e-04 -3.69429819e+01] [-3.44937233e-03 -5.31643337e-05 9.99994049e-01 -2.44280759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.36, Y:-36.95, Z:-2.44 [[ 9.79108062e-01 2.03310141e-01 3.51990189e-03 2.78364538e+02] [-2.03309028e-01 9.79114387e-01 -6.75024554e-04 -3.69460824e+01] [-3.58362592e-03 -5.47058486e-05 9.99993577e-01 -2.44264265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.39, Y:-36.95, Z:-2.44 [[ 9.79356656e-01 2.02109103e-01 3.52859119e-03 2.78393718e+02] [-2.02107977e-01 9.79363011e-01 -6.76521556e-04 -3.69488792e+01] [-3.59250285e-03 -5.06005357e-05 9.99993546e-01 -2.44284407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.42, Y:-36.95, Z:-2.44 [[ 9.79416841e-01 2.01826548e-01 2.94899118e-03 2.78422330e+02] [-2.01825761e-01 9.79421279e-01 -5.65300379e-04 -3.69515510e+01] [-3.00239734e-03 -4.15176764e-05 9.99995492e-01 -2.44486004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.45, Y:-36.95, Z:-2.45 [[ 9.79180167e-01 2.02992822e-01 3.38525048e-04 2.78451154e+02] [-2.02992812e-01 9.79180226e-01 -6.51707764e-05 -3.69474524e+01] [-3.44706232e-04 -4.90421957e-06 9.99999941e-01 -2.45062991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.48, Y:-36.95, Z:-2.45 [[ 9.78986724e-01 2.03923566e-01 4.16737334e-04 2.78480746e+02] [-2.03923551e-01 9.78986813e-01 -8.00633414e-05 -3.69484063e+01] [-4.24307157e-04 -6.60160858e-06 9.99999910e-01 -2.45072588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5357692310001 meters Centerline goodness [0,1] 0.9999786871270248 Centerline is valid? [True, True] Translation: X:278.51, Y:-36.95, Z:-2.45 [[ 9.78814334e-01 2.04747406e-01 9.99939349e-04 2.78509514e+02] [-2.04747317e-01 9.78814844e-01 -1.91697982e-04 -3.69493282e+01] [-1.01800514e-03 -1.70981671e-05 9.99999482e-01 -2.44977730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.54, Y:-36.95, Z:-2.45 [[ 9.78743044e-01 2.05087734e-01 1.03725920e-03 2.78538461e+02] [-2.05087638e-01 9.78743593e-01 -1.98793047e-04 -3.69507359e+01] [-1.05598081e-03 -1.81617280e-05 9.99999442e-01 -2.44903861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5957692310001 meters Centerline goodness [0,1] 0.9999785972647305 Centerline is valid? [True, True] Translation: X:278.57, Y:-36.96, Z:-2.45 [[ 9.79201894e-01 2.02886380e-01 -8.75696158e-04 2.78567248e+02] [-2.02886312e-01 9.79202286e-01 1.67302010e-04 -3.69554042e+01] [ 8.91426978e-04 1.38443187e-05 9.99999603e-01 -2.45164042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.59, Y:-36.96, Z:-2.45 [[ 9.80002840e-01 1.98983075e-01 -4.11551546e-04 2.78594842e+02] [-1.98983060e-01 9.80002926e-01 7.84668062e-05 -3.69626170e+01] [ 4.18935285e-04 4.99409292e-06 9.99999912e-01 -2.45204154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.62, Y:-36.97, Z:-2.45 [[ 9.80423257e-01 1.96898758e-01 1.05683996e-03 2.78622181e+02] [-1.96898654e-01 9.80423826e-01 -2.02388787e-04 -3.69705464e+01] [-1.07600118e-03 -9.66369167e-06 9.99999421e-01 -2.44881321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.65, Y:-36.98, Z:-2.45 [[ 9.80830428e-01 1.94849845e-01 2.28219819e-03 2.78650066e+02] [-1.94849357e-01 9.80833083e-01 -4.36646736e-04 -3.69776888e+01] [-2.32353604e-03 -1.64084450e-05 9.99997300e-01 -2.44616131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.68, Y:-36.99, Z:-2.45 [[ 9.81531551e-01 1.91297262e-01 1.08286379e-03 2.78678268e+02] [-1.91297149e-01 9.81532148e-01 -2.07214052e-04 -3.69861547e+01] [-1.10250510e-03 -3.76162596e-06 9.99999392e-01 -2.44861097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.71, Y:-36.99, Z:-2.45 [[ 9.81892549e-01 1.89438092e-01 4.81937491e-04 2.78706337e+02] [-1.89438070e-01 9.81892667e-01 -9.23690989e-05 -3.69935776e+01] [-4.90709114e-04 -6.00778116e-07 9.99999880e-01 -2.45028816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.73, Y:-37.00, Z:-2.45 [[ 9.82284567e-01 1.87394171e-01 6.73331892e-04 2.78733876e+02] [-1.87394126e-01 9.82284798e-01 -1.28920795e-04 -3.70017281e+01] [-6.85562687e-04 4.58465166e-07 9.99999765e-01 -2.45018690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.76, Y:-37.01, Z:-2.45 [[ 9.83147445e-01 1.82798973e-01 2.37437144e-03 2.78759790e+02] [-1.82798410e-01 9.83150312e-01 -4.53898432e-04 -3.70139343e+01] [-2.41733619e-03 1.22177598e-05 9.99997078e-01 -2.44719839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.79, Y:-37.02, Z:-2.45 [[ 9.83525782e-01 1.80742025e-01 3.05868766e-03 2.78786575e+02] [-1.80741082e-01 9.83530538e-01 -5.84458833e-04 -3.70225487e+01] [-3.11394899e-03 2.19998161e-05 9.99995151e-01 -2.44570345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.81, Y:-37.04, Z:-2.45 [[ 9.84199383e-01 1.77023006e-01 3.79854078e-03 2.78814375e+02] [-1.77021525e-01 9.84206713e-01 -7.25457273e-04 -3.70356195e+01] [-3.86697197e-03 4.15711201e-05 9.99992522e-01 -2.44560742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.85, Y:-37.04, Z:-2.45 [[ 9.84561145e-01 1.75007552e-01 3.42162948e-03 2.78845243e+02] [-1.75006340e-01 9.84567090e-01 -6.53016402e-04 -3.70427451e+01] [-3.48310658e-03 4.41277260e-05 9.99993933e-01 -2.44595805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92576923100006 meters Centerline goodness [0,1] 0.9999788721979253 Centerline is valid? [True, True] Translation: X:278.87, Y:-37.06, Z:-2.45 [[ 9.84968216e-01 1.72711668e-01 2.87975770e-03 2.78873656e+02] [-1.72710798e-01 9.84972425e-01 -5.49929613e-04 -3.70591681e+01] [-2.93146119e-03 4.42979387e-05 9.99995702e-01 -2.44832822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.90, Y:-37.08, Z:-2.45 [[ 9.85618724e-01 1.68973173e-01 1.94871695e-03 2.78902060e+02] [-1.68972767e-01 9.85620650e-01 -3.72230229e-04 -3.70766616e+01] [-1.98359259e-03 3.75969884e-05 9.99998032e-01 -2.45107626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98576923100006 meters Centerline goodness [0,1] 0.9999788802297831 Centerline is valid? [True, True] Translation: X:278.93, Y:-37.09, Z:-2.45 [[ 9.85841881e-01 1.67673887e-01 1.11950387e-03 2.78932586e+02] [-1.67673753e-01 9.85842516e-01 -2.13615759e-04 -3.70877541e+01] [-1.13947229e-03 2.28799475e-05 9.99999351e-01 -2.45335283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01576923100004 meters Centerline goodness [0,1] 0.9999366513926136 Centerline is valid? [True, True] Translation: X:278.96, Y:-37.10, Z:-2.46 [[ 9.86049862e-01 1.66449742e-01 -3.90660577e-04 2.78963401e+02] [-1.66449725e-01 9.86049940e-01 7.57674542e-05 -3.70955790e+01] [ 3.97822311e-04 -9.68514225e-06 9.99999921e-01 -2.45553890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.00, Y:-37.10, Z:-2.46 [[ 9.86052395e-01 1.66433645e-01 -7.18747129e-04 2.78995616e+02] [-1.66433588e-01 9.86052657e-01 1.39030164e-04 -3.71047629e+01] [ 7.31861813e-04 -1.74673622e-05 9.99999732e-01 -2.45567150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07576923100004 meters Centerline goodness [0,1] 0.9999789029535865 Centerline is valid? [True, True] Translation: X:279.03, Y:-37.12, Z:-2.46 [[ 9.86006336e-01 1.66706373e-01 -7.00260947e-04 2.79025475e+02] [-1.66706318e-01 9.86006585e-01 1.35533930e-04 -3.71195448e+01] [ 7.13056274e-04 -1.68993892e-05 9.99999746e-01 -2.45616046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.06, Y:-37.13, Z:-2.45 [[ 9.85958638e-01 1.66984370e-01 1.33609227e-03 2.79056289e+02] [-1.66984176e-01 9.85959542e-01 -2.55963566e-04 -3.71306485e+01] [-1.36007484e-03 2.92632221e-05 9.99999075e-01 -2.45044588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13576923100004 meters Centerline goodness [0,1] 0.9999574114690913 Centerline is valid? [True, True] Translation: X:279.08, Y:-37.15, Z:-2.45 [[ 9.85917931e-01 1.67207991e-01 2.70589774e-03 2.79084126e+02] [-1.67207194e-01 9.85921642e-01 -5.19836411e-04 -3.71484142e+01] [-2.75472395e-03 6.00704706e-05 9.99996204e-01 -2.44956711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.12, Y:-37.16, Z:-2.45 [[ 9.85678659e-01 1.68605414e-01 3.12969078e-03 2.79115382e+02] [-1.68604352e-01 9.85683626e-01 -6.01848492e-04 -3.71550738e+01] [-3.18635987e-03 6.55497286e-05 9.99994921e-01 -2.44867367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.15, Y:-37.16, Z:-2.45 [[ 9.85448215e-01 1.69971093e-01 1.28181448e-03 2.79146157e+02] [-1.69970916e-01 9.85449048e-01 -2.46167947e-04 -3.71636001e+01] [-1.30500430e-03 2.47145816e-05 9.99999148e-01 -2.45216726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.18, Y:-37.17, Z:-2.46 [[ 9.85157068e-01 1.71655181e-01 -2.24256610e-04 2.79177755e+02] [-1.71655175e-01 9.85157094e-01 4.41857446e-05 -3.71697856e+01] [ 2.28512702e-04 -5.03509096e-06 9.99999974e-01 -2.45504781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.21, Y:-37.17, Z:-2.45 [[ 9.84237267e-01 1.76848888e-01 -1.21384174e-03 2.79209538e+02] [-1.76848733e-01 9.84238015e-01 2.34352907e-04 -3.71692975e+01] [ 1.23615424e-03 -1.59924900e-05 9.99999236e-01 -2.45443538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.24, Y:-37.18, Z:-2.46 [[ 9.83723476e-01 1.79687622e-01 -6.94055320e-04 2.79239265e+02] [-1.79687572e-01 9.83723721e-01 1.34936241e-04 -3.71791355e+01] [ 7.07005054e-04 -8.02683262e-06 9.99999750e-01 -2.45704696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.27, Y:-37.18, Z:-2.46 [[ 9.82914995e-01 1.84057872e-01 -9.01379428e-04 2.79272527e+02] [-1.84057789e-01 9.82915408e-01 1.74451056e-04 -3.71796080e+01] [ 9.18088818e-04 -5.56465439e-06 9.99999579e-01 -2.45529726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.30, Y:-37.18, Z:-2.46 [[ 9.82545916e-01 1.86015961e-01 -1.25877719e-03 2.79304381e+02] [-1.86015801e-01 9.82546723e-01 2.44314425e-04 -3.71835676e+01] [ 1.28225378e-03 -5.89769397e-06 9.99999178e-01 -2.45577611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.34, Y:-37.19, Z:-2.46 [[ 9.82203837e-01 1.87812174e-01 -1.48672056e-03 2.79336424e+02] [-1.87811953e-01 9.82204962e-01 2.88293723e-04 -3.71883481e+01] [ 1.51440938e-03 -3.93930996e-06 9.99998853e-01 -2.45683691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.405769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.37, Y:-37.19, Z:-2.46 [[ 9.81640598e-01 1.90739597e-01 -3.78347417e-04 2.79367939e+02] [-1.90739583e-01 9.81640671e-01 7.37551013e-05 -3.71904157e+01] [ 3.85469230e-04 -2.35173451e-07 9.99999926e-01 -2.45552381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.40, Y:-37.19, Z:-2.45 [[ 9.81329098e-01 1.92332192e-01 1.23642912e-03 2.79399402e+02] [-1.92332044e-01 9.81329877e-01 -2.39220704e-04 -3.71938472e+01] [-1.25935468e-03 -3.05070168e-06 9.99999207e-01 -2.45170054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.43, Y:-37.20, Z:-2.45 [[ 9.81063436e-01 1.93662358e-01 3.07007196e-03 2.79430778e+02] [-1.93661447e-01 9.81068240e-01 -5.94251146e-04 -3.71964279e+01] [-3.12703417e-03 -1.15565074e-05 9.99995111e-01 -2.44792586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.46, Y:-37.19, Z:-2.45 [[ 9.80633076e-01 1.95821644e-01 3.55728650e-03 2.79463034e+02] [-1.95820434e-01 9.80639528e-01 -6.88662318e-04 -3.71939552e+01] [-3.62327074e-03 -2.12643411e-05 9.99993436e-01 -2.44651451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.49, Y:-37.19, Z:-2.45 [[ 9.80337057e-01 1.97312093e-01 2.68187892e-03 2.79493623e+02] [-1.97311410e-01 9.80340725e-01 -5.19256985e-04 -3.71948977e+01] [-2.73161081e-03 -2.01184484e-05 9.99996269e-01 -2.44897915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.52, Y:-37.19, Z:-2.45 [[ 9.79980924e-01 1.99088091e-01 1.14926711e-03 2.79523902e+02] [-1.99087967e-01 9.79981598e-01 -2.22597583e-04 -3.71944128e+01] [-1.17057714e-03 -1.06638672e-05 9.99999315e-01 -2.45292134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.55, Y:-37.20, Z:-2.45 [[ 9.80133272e-01 1.98336927e-01 1.10978817e-03 2.79552450e+02] [-1.98336811e-01 9.80133901e-01 -2.14993625e-04 -3.72005186e+01] [-1.13038218e-03 -9.38944101e-06 9.99999361e-01 -2.45238654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.58, Y:-37.21, Z:-2.45 [[ 9.80137818e-01 1.98314461e-01 1.10979313e-03 2.79581095e+02] [-1.98314345e-01 9.80138447e-01 -2.14968006e-04 -3.72060178e+01] [-1.13038218e-03 -9.38962443e-06 9.99999361e-01 -2.45255106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64576923100003 meters Centerline goodness [0,1] 0.9999787672250886 Centerline is valid? [True, True] Translation: X:279.61, Y:-37.21, Z:-2.45 [[ 9.80490734e-01 1.96560938e-01 1.31103900e-03 2.79609501e+02] [-1.96560775e-01 9.80491610e-01 -2.53843961e-04 -3.72123833e+01] [-1.33535855e-03 -8.80719085e-06 9.99999108e-01 -2.45250999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.64, Y:-37.22, Z:-2.45 [[ 9.81339634e-01 1.92271073e-01 2.08734330e-03 2.79639560e+02] [-1.92270649e-01 9.81341854e-01 -4.03966738e-04 -3.72227502e+01] [-2.12606847e-03 -4.90627975e-06 9.99997740e-01 -2.45096306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.67, Y:-37.23, Z:-2.45 [[ 9.81708453e-01 1.90374448e-01 2.46650639e-03 2.79669464e+02] [-1.90373849e-01 9.81711551e-01 -4.77428606e-04 -3.72315614e+01] [-2.51228802e-03 -8.62618427e-07 9.99996844e-01 -2.45035093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.70, Y:-37.24, Z:-2.45 [[ 9.82206294e-01 1.87791015e-01 2.30874442e-03 2.79699062e+02] [-1.87790484e-01 9.82209008e-01 -4.46521713e-04 -3.72407868e+01] [-2.35152233e-03 5.01620497e-06 9.99997235e-01 -2.45122638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.73, Y:-37.25, Z:-2.45 [[ 9.82430843e-01 1.86614488e-01 2.16145346e-03 2.79729279e+02] [-1.86614019e-01 9.82433220e-01 -4.18509688e-04 -3.72481258e+01] [-2.20158365e-03 7.79930822e-06 9.99997576e-01 -2.45180802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.76, Y:-37.26, Z:-2.45 [[ 9.82660450e-01 1.85404188e-01 1.93042146e-03 2.79759514e+02] [-1.85403811e-01 9.82662346e-01 -3.74153396e-04 -3.72563591e+01] [-1.96632209e-03 9.75824843e-06 9.99998067e-01 -2.45255622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.79, Y:-37.27, Z:-2.46 [[ 9.83367152e-01 1.81628318e-01 4.44319790e-04 2.79788505e+02] [-1.81628298e-01 9.83367253e-01 -8.53804692e-05 -3.72718029e+01] [-4.52437042e-04 3.25930162e-06 9.99999898e-01 -2.45611808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.82, Y:-37.28, Z:-2.46 [[ 9.83788313e-01 1.79333214e-01 -3.93054121e-04 2.79818893e+02] [-1.79333197e-01 9.83788391e-01 7.72433310e-05 -3.72837590e+01] [ 4.00534376e-04 -5.50343401e-06 9.99999920e-01 -2.45825808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.85, Y:-37.30, Z:-2.46 [[ 9.84745859e-01 1.73997858e-01 -5.82240628e-04 2.79845382e+02] [-1.73997821e-01 9.84746031e-01 1.13430229e-04 -3.73039578e+01] [ 5.93095764e-04 -1.03913482e-05 9.99999824e-01 -2.45895643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.88, Y:-37.31, Z:-2.45 [[ 9.85107500e-01 1.71936521e-01 1.02297269e-03 2.79876481e+02] [-1.71936408e-01 9.85108031e-01 -1.97927686e-04 -3.73107684e+01] [-1.04176961e-03 1.90937984e-05 9.99999457e-01 -2.45419845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.90, Y:-37.33, Z:-2.45 [[ 9.85322983e-01 1.70676237e-01 2.87070667e-03 2.79904925e+02] [-1.70675336e-01 9.85327163e-01 -5.57735826e-04 -3.73262952e+01] [-2.92377751e-03 5.95911022e-05 9.99995724e-01 -2.45094137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.9757692310001 meters Centerline goodness [0,1] 0.9999787825422758 Centerline is valid? [True, True] Translation: X:279.93, Y:-37.34, Z:-2.45 [[ 9.85201026e-01 1.71324925e-01 5.16804142e-03 2.79934589e+02] [-1.71322006e-01 9.85214575e-01 -1.00563642e-03 -3.73359167e+01] [-5.26392032e-03 1.05354804e-04 9.99986140e-01 -2.44632466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00576923100004 meters Centerline goodness [0,1] 0.9999789424919455 Centerline is valid? [True, True] Translation: X:279.97, Y:-37.34, Z:-2.45 [[ 9.84721117e-01 1.74077162e-01 4.63278694e-03 2.79966718e+02] [-1.74074844e-01 9.84732012e-01 -9.02122520e-04 -3.73396476e+01] [-4.71909253e-03 8.18874338e-05 9.99988862e-01 -2.44749529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0357692310001 meters Centerline goodness [0,1] 0.9999787007454739 Centerline is valid? [True, True] Translation: X:280.00, Y:-37.34, Z:-2.45 [[ 9.83504704e-01 1.80870140e-01 2.11903054e-03 2.79999265e+02] [-1.80869670e-01 9.83506986e-01 -4.12951709e-04 -3.73352142e+01] [-2.15877198e-03 2.28715924e-05 9.99997670e-01 -2.45346729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.03, Y:-37.34, Z:-2.46 [[ 9.83044148e-01 1.83366707e-01 9.24155995e-04 2.80030428e+02] [-1.83366619e-01 9.83044582e-01 -1.79468103e-04 -3.73370162e+01] [-9.41395019e-04 6.96570784e-06 9.99999557e-01 -2.45562666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.06, Y:-37.34, Z:-2.46 [[ 9.82872537e-01 1.84286200e-01 4.16000566e-04 2.80063131e+02] [-1.84286182e-01 9.82872625e-01 -8.02191764e-05 -3.73414430e+01] [-4.23658856e-04 2.18206907e-06 9.99999910e-01 -2.45643765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.10, Y:-37.35, Z:-2.46 [[ 9.82983430e-01 1.83691917e-01 9.24879917e-04 2.80095097e+02] [-1.83691830e-01 9.82983865e-01 -1.79762662e-04 -3.73497769e+01] [-9.42162984e-04 6.81083408e-06 9.99999556e-01 -2.45515874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.12, Y:-37.36, Z:-2.45 [[ 9.83274200e-01 1.82122343e-01 1.81683515e-03 2.80124539e+02] [-1.82121998e-01 9.83275878e-01 -3.54779979e-04 -3.73606433e+01] [-1.85106354e-03 1.79603526e-05 9.99998287e-01 -2.45416354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.15, Y:-37.38, Z:-2.45 [[ 9.84134995e-01 1.77404846e-01 2.41487673e-03 2.80154233e+02] [-1.77404222e-01 9.84137957e-01 -4.72051938e-04 -3.73765325e+01] [-2.46031615e-03 3.61535048e-05 9.99996973e-01 -2.45342215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.18, Y:-37.39, Z:-2.45 [[ 9.84508530e-01 1.75321758e-01 2.28827480e-03 2.80184970e+02] [-1.75321193e-01 9.84511188e-01 -4.46981355e-04 -3.73859604e+01] [-2.33119770e-03 3.88738902e-05 9.99997282e-01 -2.45316145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.21, Y:-37.40, Z:-2.45 [[ 9.84743015e-01 1.74004714e-01 1.88544633e-03 2.80213960e+02] [-1.74004326e-01 9.84744819e-01 -3.68755165e-04 -3.74001724e+01] [-1.92084865e-03 3.50532539e-05 9.99998155e-01 -2.45460760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.24, Y:-37.41, Z:-2.46 [[ 9.84780007e-01 1.73804117e-01 6.82524473e-04 2.80244606e+02] [-1.73804067e-01 9.84780244e-01 -1.32830428e-04 -3.74096078e+01] [-6.95223092e-04 1.21832206e-05 9.99999758e-01 -2.45573919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.27, Y:-37.42, Z:-2.46 [[ 9.84332721e-01 1.76319449e-01 7.39506084e-04 2.80274104e+02] [-1.76319391e-01 9.84332998e-01 -1.44191325e-04 -3.74191649e+01] [-7.53343976e-04 1.15429775e-05 9.99999716e-01 -2.45736619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.31, Y:-37.41, Z:-2.46 [[ 9.82980003e-01 1.83712295e-01 -3.27032472e-04 2.80307965e+02] [-1.83712283e-01 9.82980057e-01 6.43752634e-05 -3.74115767e+01] [ 3.33292925e-04 -3.19971441e-06 9.99999944e-01 -2.45677358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.34, Y:-37.41, Z:-2.46 [[ 9.82258044e-01 1.87531551e-01 -1.02605329e-03 2.80340072e+02] [-1.87531442e-01 9.82258580e-01 2.02456171e-04 -3.74139744e+01] [ 1.04581657e-03 -6.44694911e-06 9.99999453e-01 -2.45827374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.37, Y:-37.42, Z:-2.46 [[ 9.81589909e-01 1.90990204e-01 -1.99795406e-03 2.80372118e+02] [-1.90989798e-01 9.81591943e-01 3.93756457e-04 -3.74174491e+01] [ 2.03637923e-03 -4.91852339e-06 9.99997927e-01 -2.46136242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.41, Y:-37.42, Z:-2.46 [[ 9.80489372e-01 1.96560164e-01 -2.16627463e-03 2.80406212e+02] [-1.96559700e-01 9.80491765e-01 4.27311413e-04 -3.74160152e+01] [ 2.20800684e-03 6.82799340e-06 9.99997562e-01 -2.46099190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.44, Y:-37.42, Z:-2.46 [[ 9.79939752e-01 1.99284079e-01 -1.98445457e-03 2.80437741e+02] [-1.99283695e-01 9.79941761e-01 3.91634427e-04 -3.74167590e+01] [ 2.02269642e-03 1.16912967e-05 9.99997954e-01 -2.46143144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.47, Y:-37.41, Z:-2.46 [[ 9.79066295e-01 2.03535282e-01 -1.60588290e-03 2.80469482e+02] [-2.03535037e-01 9.79067612e-01 3.16318417e-04 -3.74148426e+01] [ 1.63664989e-03 1.71567339e-05 9.99998661e-01 -2.45873080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.50, Y:-37.42, Z:-2.46 [[ 9.78647298e-01 2.05543281e-01 -1.19386032e-03 2.80500795e+02] [-2.05543147e-01 9.78648026e-01 2.35270111e-04 -3.74170848e+01] [ 1.21672724e-03 1.51433492e-05 9.99999260e-01 -2.45820873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.53, Y:-37.42, Z:-2.46 [[ 9.78289612e-01 2.07241750e-01 -5.40835013e-04 2.80532421e+02] [-2.07241723e-01 9.78289761e-01 1.06664136e-04 -3.74202531e+01] [ 5.51198618e-04 7.73516325e-06 9.99999848e-01 -2.45765379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57576923100004 meters Centerline goodness [0,1] 0.9999787464666001 Centerline is valid? [True, True] Translation: X:280.56, Y:-37.43, Z:-2.45 [[ 9.77998681e-01 2.08603266e-01 1.80472957e-03 2.80564307e+02] [-2.08602966e-01 9.78000346e-01 -3.54848965e-04 -3.74250031e+01] [-1.83904880e-03 -2.94301221e-05 9.99998309e-01 -2.45368611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60576923100007 meters Centerline goodness [0,1] 0.9999786160294244 Centerline is valid? [True, True] Translation: X:280.60, Y:-37.43, Z:-2.45 [[ 9.78056036e-01 2.08318332e-01 3.14055145e-03 2.80595652e+02] [-2.08317419e-01 9.78061077e-01 -6.18759899e-04 -3.74301125e+01] [-3.20055016e-03 -4.90497185e-05 9.99994877e-01 -2.45134411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63576923100004 meters Centerline goodness [0,1] 0.9999786753102743 Centerline is valid? [True, True] Translation: X:280.63, Y:-37.44, Z:-2.45 [[ 9.78202415e-01 2.07609345e-01 4.28898450e-03 2.80627332e+02] [-2.07607630e-01 9.78211815e-01 -8.46122837e-04 -3.74360906e+01] [-4.37119832e-03 -6.27465068e-05 9.99990444e-01 -2.44955907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.66, Y:-37.44, Z:-2.45 [[ 9.78870240e-01 2.04426023e-01 4.80149848e-03 2.80658460e+02] [-2.04423831e-01 9.78882014e-01 -9.48181397e-04 -3.74418544e+01] [-4.89393346e-03 -5.33941633e-05 9.99988023e-01 -2.44903899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.69, Y:-37.45, Z:-2.45 [[ 9.79396110e-01 2.01899721e-01 4.44557144e-03 2.80688825e+02] [-2.01897812e-01 9.79406198e-01 -8.78744503e-04 -3.74511668e+01] [-4.53143849e-03 -3.69121999e-05 9.99989732e-01 -2.45030839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7257692310001 meters Centerline goodness [0,1] 0.9999576898667231 Centerline is valid? [True, True] Translation: X:280.72, Y:-37.47, Z:-2.45 [[ 9.80648492e-01 1.95762202e-01 2.38665292e-03 2.80719018e+02] [-1.95761634e-01 9.80651396e-01 -4.71685263e-04 -3.74667096e+01] [-2.43281266e-03 -4.65763437e-06 9.99997041e-01 -2.45486041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.75, Y:-37.48, Z:-2.46 [[ 9.81154226e-01 1.93221238e-01 1.39252473e-03 2.80750470e+02] [-1.93221042e-01 9.81155214e-01 -2.74579966e-04 -3.74778057e+01] [-1.41933758e-03 3.40213665e-07 9.99998993e-01 -2.45549097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.78, Y:-37.49, Z:-2.45 [[ 9.81895478e-01 1.89406231e-01 2.55913495e-03 2.80780450e+02] [-1.89405555e-01 9.81898813e-01 -5.06069969e-04 -3.74913813e+01] [-2.60866438e-03 1.21934370e-05 9.99996597e-01 -2.45295311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.81, Y:-37.50, Z:-2.45 [[ 9.82055758e-01 1.88556109e-01 3.61702992e-03 2.80811055e+02] [-1.88554749e-01 9.82062418e-01 -7.16475713e-04 -3.75007896e+01] [-3.68724502e-03 2.16109312e-05 9.99993202e-01 -2.45111938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8457692310001 meters Centerline goodness [0,1] 0.9999787847929396 Centerline is valid? [True, True] Translation: X:280.84, Y:-37.51, Z:-2.45 [[ 9.82124131e-01 1.88201070e-01 3.54247083e-03 2.80842707e+02] [-1.88199762e-01 9.82130519e-01 -7.01996435e-04 -3.75084856e+01] [-3.61128520e-03 2.27554692e-05 9.99993479e-01 -2.45096106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.87, Y:-37.51, Z:-2.45 [[ 9.82136398e-01 1.88156657e-01 2.27324635e-03 2.80874855e+02] [-1.88156118e-01 9.82139029e-01 -4.50489428e-04 -3.75141804e+01] [-2.31740655e-03 1.47168557e-05 9.99997315e-01 -2.45362633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.905769231 meters Centerline goodness [0,1] 0.999978728382719 Centerline is valid? [True, True] Translation: X:280.91, Y:-37.52, Z:-2.46 [[ 9.82107858e-01 1.88315538e-01 -1.18859339e-03 2.80905271e+02] [-1.88315390e-01 9.82108578e-01 2.36719379e-04 -3.75225008e+01] [ 1.21190570e-03 -8.65353537e-06 9.99999266e-01 -2.46290548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93576923100005 meters Centerline goodness [0,1] 0.9999786698519688 Centerline is valid? [True, True] Translation: X:280.94, Y:-37.53, Z:-2.46 [[ 9.82086585e-01 1.88428637e-01 -7.67690197e-04 2.80937858e+02] [-1.88428574e-01 9.82086885e-01 1.53766476e-04 -3.75289732e+01] [ 7.82912482e-04 -6.35722457e-06 9.99999694e-01 -2.46145193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.965769231 meters Centerline goodness [0,1] 0.9999357615468619 Centerline is valid? [True, True] Translation: X:280.97, Y:-37.53, Z:-2.46 [[ 9.82031860e-01 1.88715169e-01 -1.01061303e-04 2.80969937e+02] [-1.88715168e-01 9.82031866e-01 2.12137305e-05 -3.75349066e+01] [ 1.03248772e-04 -1.76075853e-06 9.99999995e-01 -2.45887660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.00, Y:-37.54, Z:-2.46 [[ 9.81894456e-01 1.89427640e-01 6.67667552e-04 2.81000181e+02] [-1.89427594e-01 9.81894683e-01 -1.32171168e-04 -3.75404765e+01] [-6.80616092e-04 3.30347947e-06 9.99999768e-01 -2.45711541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.03, Y:-37.54, Z:-2.46 [[ 9.81594016e-01 1.90978081e-01 7.47947984e-04 2.81031017e+02] [-1.90978023e-01 9.81594301e-01 -1.48314452e-04 -3.75446896e+01] [-7.62506289e-04 2.74295137e-06 9.99999709e-01 -2.45755424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.06, Y:-37.54, Z:-2.46 [[ 9.80530632e-01 1.96359071e-01 1.67158344e-03 2.81062851e+02] [-1.96358788e-01 9.80532057e-01 -3.33414134e-04 -3.75368419e+01] [-1.70451004e-03 -1.30732655e-06 9.99998547e-01 -2.45530596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.09, Y:-37.53, Z:-2.45 [[ 9.79406893e-01 2.01888469e-01 1.78437383e-03 2.81093489e+02] [-2.01888156e-01 9.79408518e-01 -3.56008927e-04 -3.75274574e+01] [-1.81950502e-03 -1.15663444e-05 9.99998345e-01 -2.45496182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.12, Y:-37.53, Z:-2.46 [[ 9.78963054e-01 2.04033566e-01 1.28195155e-03 2.81124466e+02] [-2.04033406e-01 9.78963893e-01 -2.55493435e-04 -3.75305281e+01] [-1.30711352e-03 -1.14423080e-05 9.99999146e-01 -2.45517983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.16, Y:-37.53, Z:-2.46 [[ 9.78524719e-01 2.06127274e-01 9.59506308e-04 2.81156414e+02] [-2.06127185e-01 9.78525190e-01 -1.91217697e-04 -3.75325956e+01] [-9.78316274e-04 -1.06690907e-05 9.99999521e-01 -2.45627170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.19, Y:-37.53, Z:-2.46 [[ 9.78116787e-01 2.08055261e-01 7.47417886e-04 2.81185905e+02] [-2.08055208e-01 9.78117073e-01 -1.49115720e-04 -3.75335993e+01] [-7.62086505e-04 -9.65159500e-06 9.99999710e-01 -2.45737061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.22, Y:-37.53, Z:-2.46 [[ 9.77695629e-01 2.10024177e-01 1.04964332e-03 2.81215484e+02] [-2.10024074e-01 9.77696192e-01 -2.09477758e-04 -3.75330543e+01] [-1.07022767e-03 -1.56448769e-05 9.99999427e-01 -2.45711712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.24, Y:-37.54, Z:-2.46 [[ 9.77727223e-01 2.09877724e-01 9.04516614e-04 2.81244643e+02] [-2.09877646e-01 9.77727642e-01 -1.80453581e-04 -3.75363413e+01] [-9.22244083e-04 -1.34034396e-05 9.99999575e-01 -2.45755985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.27, Y:-37.54, Z:-2.46 [[ 9.77846326e-01 2.09323598e-01 4.40315542e-04 2.81272961e+02] [-2.09323580e-01 9.77846425e-01 -8.80818735e-05 -3.75359841e+01] [-4.48998593e-04 -6.03788901e-06 9.99999899e-01 -2.46029667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29576923100007 meters Centerline goodness [0,1] 0.999978531097705 Centerline is valid? [True, True] Translation: X:281.30, Y:-37.55, Z:-2.46 [[ 9.77991102e-01 2.08646550e-01 -1.49991542e-04 2.81301015e+02] [-2.08646548e-01 9.77991113e-01 2.97587624e-05 -3.75466331e+01] [ 1.52899459e-04 2.19141272e-06 9.99999988e-01 -2.45925512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.33, Y:-37.55, Z:-2.46 [[ 9.78160608e-01 2.07849997e-01 4.50579763e-04 2.81329749e+02] [-2.07849977e-01 9.78160712e-01 -8.99687353e-05 -3.75507748e+01] [-4.59439423e-04 -5.64912069e-06 9.99999894e-01 -2.45920224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.36, Y:-37.56, Z:-2.46 [[ 9.78210934e-01 2.07609084e-01 1.35564891e-03 2.81357854e+02] [-2.07608909e-01 9.78211873e-01 -2.70294228e-04 -3.75553911e+01] [-1.38222740e-03 -1.70400215e-05 9.99999045e-01 -2.45750657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.39, Y:-37.56, Z:-2.46 [[ 9.78239998e-01 2.07465593e-01 2.12940151e-03 2.81385077e+02] [-2.07465161e-01 9.78242315e-01 -4.24358614e-04 -3.75594117e+01] [-2.17111047e-03 -2.66520560e-05 9.99997643e-01 -2.45620741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.41, Y:-37.57, Z:-2.46 [[ 9.78460556e-01 2.06423640e-01 2.05437834e-03 2.81413849e+02] [-2.06423236e-01 9.78462713e-01 -4.09181721e-04 -3.75670757e+01] [-2.09459738e-03 -2.37032498e-05 9.99997806e-01 -2.45593256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.44, Y:-37.57, Z:-2.46 [[ 9.78609970e-01 2.05721213e-01 1.14424422e-03 2.81442219e+02] [-2.05721088e-01 9.78610639e-01 -2.27937690e-04 -3.75743177e+01] [-1.16666118e-03 -1.23330687e-05 9.99999319e-01 -2.45823495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.47, Y:-37.58, Z:-2.46 [[ 9.79037656e-01 2.03679020e-01 3.52158903e-04 2.81471048e+02] [-2.03679008e-01 9.79037720e-01 -7.01727232e-05 -3.75822308e+01] [-3.59069561e-04 -3.02563773e-06 9.99999936e-01 -2.45999792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.50, Y:-37.59, Z:-2.46 [[ 9.79160754e-01 2.03086364e-01 3.84148295e-04 2.81499741e+02] [-2.03086349e-01 9.79160829e-01 -7.65364089e-05 -3.75879259e+01] [-3.91686464e-04 -3.07382709e-06 9.99999923e-01 -2.45905094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.53, Y:-37.59, Z:-2.46 [[ 9.79165557e-01 2.03063204e-01 3.84137009e-04 2.81528357e+02] [-2.03063190e-01 9.79165632e-01 -7.65931151e-05 -3.75935754e+01] [-3.91687001e-04 -3.00674611e-06 9.99999923e-01 -2.45921548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.56, Y:-37.59, Z:-2.46 [[ 9.78981828e-01 2.03947052e-01 4.25016680e-04 2.81558711e+02] [-2.03947035e-01 9.78981920e-01 -8.47190741e-05 -3.75948836e+01] [-4.33361851e-04 -3.74245762e-06 9.99999906e-01 -2.45899337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.59, Y:-37.60, Z:-2.46 [[ 9.78683696e-01 2.05373100e-01 3.36995666e-04 2.81587358e+02] [-2.05373089e-01 9.78683754e-01 -6.72556620e-05 -3.75966059e+01] [-3.43624688e-04 -3.38782127e-06 9.99999941e-01 -2.45890416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.62, Y:-37.60, Z:-2.46 [[ 9.78336434e-01 2.07021215e-01 1.96053945e-04 2.81616345e+02] [-2.07021211e-01 9.78336454e-01 -3.92669938e-05 -3.75991724e+01] [-1.99935822e-04 -2.17099431e-06 9.99999980e-01 -2.45890301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.65, Y:-37.59, Z:-2.46 [[ 9.77593516e-01 2.10500577e-01 6.52261396e-04 2.81645921e+02] [-2.10500537e-01 9.77593733e-01 -1.30044728e-04 -3.75930006e+01] [-6.65021143e-04 -1.01704911e-05 9.99999779e-01 -2.46039620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68576923100005 meters Centerline goodness [0,1] 0.9999789584429247 Centerline is valid? [True, True] Translation: X:281.67, Y:-37.59, Z:-2.46 [[ 9.77267511e-01 2.12004306e-01 1.54465728e-03 2.81674667e+02] [-2.12004085e-01 9.77268732e-01 -3.07360071e-04 -3.75949367e+01] [-1.57470692e-03 -2.71006419e-05 9.99998760e-01 -2.45892231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.715769231 meters Centerline goodness [0,1] 0.9999573597134572 Centerline is valid? [True, True] Translation: X:281.70, Y:-37.60, Z:-2.45 [[ 9.76961182e-01 2.13398302e-01 2.83094514e-03 2.81702731e+02] [-2.13397566e-01 9.76965282e-01 -5.62983503e-04 -3.75997913e+01] [-2.88587484e-03 -5.41037732e-05 9.99995834e-01 -2.45462837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.73, Y:-37.60, Z:-2.46 [[ 9.76953462e-01 2.13440367e-01 2.26775140e-03 2.81731233e+02] [-2.13439895e-01 9.76956093e-01 -4.50925287e-04 -3.76032674e+01] [-2.31173921e-03 -4.34956004e-05 9.99997327e-01 -2.45553875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.775769231 meters Centerline goodness [0,1] 0.9999787188763567 Centerline is valid? [True, True] Translation: X:281.76, Y:-37.61, Z:-2.46 [[ 9.76857247e-01 2.13886356e-01 1.59581021e-03 2.81759890e+02] [-2.13886123e-01 9.76858550e-01 -3.17316312e-04 -3.76052939e+01] [-1.62675047e-03 -3.13489193e-05 9.99998676e-01 -2.45709728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.79, Y:-37.60, Z:-2.46 [[ 9.76493086e-01 2.15531641e-01 2.71364259e-03 2.81789141e+02] [-2.15530975e-01 9.76496855e-01 -5.39277500e-04 -3.76043462e+01] [-2.76609482e-03 -5.82732824e-05 9.99996173e-01 -2.45695284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.82, Y:-37.61, Z:-2.46 [[ 9.76591381e-01 2.15070948e-01 3.70967254e-03 2.81818035e+02] [-2.15069699e-01 9.76598424e-01 -7.36941956e-04 -3.76091891e+01] [-3.78135516e-03 -7.81469952e-05 9.99992848e-01 -2.45607311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86576923100006 meters Centerline goodness [0,1] 0.9998938901975765 Centerline is valid? [True, True] Translation: X:281.85, Y:-37.62, Z:-2.46 [[ 9.77300105e-01 2.11845057e-01 2.48527488e-03 2.81845389e+02] [-2.11844487e-01 9.77303264e-01 -4.93677507e-04 -3.76159951e+01] [-2.53345039e-03 -4.40207016e-05 9.99996790e-01 -2.45997969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89576923100003 meters Centerline goodness [0,1] 0.9999789650820362 Centerline is valid? [True, True] Translation: X:281.87, Y:-37.63, Z:-2.46 [[ 9.77821541e-01 2.09437708e-01 9.38804944e-04 2.81873176e+02] [-2.09437625e-01 9.77821991e-01 -1.86597706e-04 -3.76254450e+01] [-9.57064715e-04 -1.41618216e-05 9.99999542e-01 -2.46325894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92576923100006 meters Centerline goodness [0,1] 0.9999786612039349 Centerline is valid? [True, True] Translation: X:281.90, Y:-37.64, Z:-2.46 [[ 9.78384907e-01 2.06792101e-01 1.62384512e-06 2.81900694e+02] [-2.06792101e-01 9.78384907e-01 -5.77679077e-07 -3.76353272e+01] [-1.70820504e-06 2.29394146e-07 1.00000000e+00 -2.46445933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.93, Y:-37.64, Z:-2.46 [[ 9.79284945e-01 2.02486759e-01 -3.30258749e-04 2.81927174e+02] [-2.02486748e-01 9.79285001e-01 6.52006898e-05 -3.76448877e+01] [ 3.36619715e-04 3.02296614e-06 9.99999943e-01 -2.46495660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.96, Y:-37.65, Z:-2.46 [[ 9.79585725e-01 2.01026648e-01 -3.07358311e-04 2.81955067e+02] [-2.01026639e-01 9.79585773e-01 6.06819264e-05 -3.76542891e+01] [ 3.13282513e-04 2.34405938e-06 9.99999951e-01 -2.46231823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.98, Y:-37.66, Z:-2.46 [[ 9.79711933e-01 2.00410857e-01 1.29420671e-04 2.81982561e+02] [-2.00410855e-01 9.79711942e-01 -2.60063889e-05 -3.76565655e+01] [-1.32006940e-04 -4.58537868e-07 9.99999991e-01 -2.46410001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.01, Y:-37.66, Z:-2.46 [[ 9.79362838e-01 2.02108678e-01 7.16140095e-04 2.82012457e+02] [-2.02108628e-01 9.79363100e-01 -1.42214397e-04 -3.76551106e+01] [-7.30103947e-04 -5.45859668e-06 9.99999733e-01 -2.46330792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.04, Y:-37.65, Z:-2.46 [[ 9.79040487e-01 2.03665298e-01 4.13560487e-04 2.82041767e+02] [-2.03665281e-01 9.79040574e-01 -8.22151077e-05 -3.76549508e+01] [-4.21636861e-04 -3.73599380e-06 9.99999911e-01 -2.46375775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.07, Y:-37.66, Z:-2.47 [[ 9.78953022e-01 2.04084539e-01 -6.93979728e-04 2.82070655e+02] [-2.04084493e-01 9.78953268e-01 1.37229112e-04 -3.76560805e+01] [ 7.07380063e-04 7.28964719e-06 9.99999750e-01 -2.46535948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.10, Y:-37.66, Z:-2.47 [[ 9.79414616e-01 2.01858809e-01 -1.75384430e-04 2.82098163e+02] [-2.01858806e-01 9.79414632e-01 3.44669763e-05 -3.76638882e+01] [ 1.78731540e-04 1.64543128e-06 9.99999984e-01 -2.46522433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.12, Y:-37.67, Z:-2.46 [[ 9.80116081e-01 1.98423148e-01 8.49390586e-04 2.82124991e+02] [-1.98423076e-01 9.80116449e-01 -1.68478518e-04 -3.76739368e+01] [-8.65931723e-04 -3.41018769e-06 9.99999625e-01 -2.46388886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.15, Y:-37.70, Z:-2.46 [[ 9.81899278e-01 1.89382206e-01 2.86141932e-03 2.82149321e+02] [-1.89381359e-01 9.81903447e-01 -5.66748202e-04 -3.76971969e+01] [-2.91696952e-03 1.45901716e-05 9.99995746e-01 -2.46053300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2257692310001 meters Centerline goodness [0,1] 0.9999578201450987 Centerline is valid? [True, True] Translation: X:282.18, Y:-37.71, Z:-2.46 [[ 9.82853867e-01 1.84359477e-01 3.14010637e-03 2.82178057e+02] [-1.84358432e-01 9.82858882e-01 -6.21670569e-04 -3.77119413e+01] [-3.20089229e-03 3.21062378e-05 9.99994877e-01 -2.45999559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25576923100004 meters Centerline goodness [0,1] 0.9998932786920236 Centerline is valid? [True, True] Translation: X:282.20, Y:-37.74, Z:-2.46 [[ 9.84575392e-01 1.74933610e-01 3.08701327e-03 2.82204418e+02] [-1.74932553e-01 9.84580230e-01 -6.11262118e-04 -3.77377232e+01] [-3.14634252e-03 6.18145283e-05 9.99995048e-01 -2.46056157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2857692310001 meters Centerline goodness [0,1] 0.9997050955279844 Centerline is valid? [True, True] Translation: X:282.23, Y:-37.76, Z:-2.46 [[ 9.85238486e-01 1.71162033e-01 2.94675766e-03 2.82231545e+02] [-1.71161053e-01 9.85242891e-01 -5.83523161e-04 -3.77583839e+01] [-3.00314904e-03 7.05393332e-05 9.99995488e-01 -2.46213077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31576923100005 meters Centerline goodness [0,1] 0.9995150032684562 Centerline is valid? [True, True] Translation: X:282.26, Y:-37.78, Z:-2.46 [[ 9.86051118e-01 1.66420738e-01 2.70749071e-03 2.82259076e+02] [-1.66419893e-01 9.86054832e-01 -5.36171002e-04 -3.77782678e+01] [-2.75896428e-03 7.81117014e-05 9.99996191e-01 -2.46244182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3457692310001 meters Centerline goodness [0,1] 0.9994677340373438 Centerline is valid? [True, True] Translation: X:282.29, Y:-37.79, Z:-2.46 [[ 9.86224383e-01 1.65390697e-01 2.71735716e-03 2.82289473e+02] [-1.65389842e-01 9.86228123e-01 -5.37721900e-04 -3.77916302e+01] [-2.76886826e-03 8.08911753e-05 9.99996163e-01 -2.46158893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37576923100005 meters Centerline goodness [0,1] 0.9994445275279339 Centerline is valid? [True, True] Translation: X:282.32, Y:-37.80, Z:-2.46 [[ 9.86347908e-01 1.64650394e-01 2.83746051e-03 2.82319800e+02] [-1.64649458e-01 9.86351986e-01 -5.61994479e-04 -3.78047390e+01] [-2.89126742e-03 8.71357426e-05 9.99995816e-01 -2.46074067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.405769231 meters Centerline goodness [0,1] 0.9992759024598019 Centerline is valid? [True, True] Translation: X:282.35, Y:-37.83, Z:-2.46 [[ 9.86488288e-01 1.63815271e-01 2.32670484e-03 2.82346147e+02] [-1.63814638e-01 9.86491030e-01 -4.61521889e-04 -3.78291720e+01] [-2.37087779e-03 7.41376269e-05 9.99997187e-01 -2.46174916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43576923100005 meters Centerline goodness [0,1] 0.9994017477512125 Centerline is valid? [True, True] Translation: X:282.37, Y:-37.84, Z:-2.46 [[ 9.86515705e-01 1.63654036e-01 2.03002346e-03 2.82374717e+02] [-1.63653554e-01 9.86517791e-01 -4.02470391e-04 -3.78440171e+01] [-2.06852017e-03 6.48228074e-05 9.99997859e-01 -2.46338593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.465769231 meters Centerline goodness [0,1] 0.9995729780510718 Centerline is valid? [True, True] Translation: X:282.40, Y:-37.86, Z:-2.47 [[ 9.86309311e-01 1.64899857e-01 1.40697548e-03 2.82403561e+02] [-1.64899627e-01 9.86310314e-01 -2.79044369e-04 -3.78629870e+01] [-1.43372880e-03 4.32143288e-05 9.99998971e-01 -2.46516395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49576923100005 meters Centerline goodness [0,1] 0.9995331069609508 Centerline is valid? [True, True] Translation: X:282.43, Y:-37.87, Z:-2.47 [[ 9.85950918e-01 1.67030997e-01 1.19682071e-03 2.82433667e+02] [-1.67030832e-01 9.85951644e-01 -2.37543096e-04 -3.78727647e+01] [-1.21968441e-03 3.42998747e-05 9.99999256e-01 -2.46525686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.525769231 meters Centerline goodness [0,1] 0.9997669540899558 Centerline is valid? [True, True] Translation: X:282.46, Y:-37.88, Z:-2.46 [[ 9.84685877e-01 1.74332417e-01 1.38999139e-03 2.82462381e+02] [-1.74332201e-01 9.84686858e-01 -2.76083168e-04 -3.78812534e+01] [-1.41683650e-03 2.95349384e-05 9.99998996e-01 -2.46297878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55576923100006 meters Centerline goodness [0,1] 0.9999158160580869 Centerline is valid? [True, True] Translation: X:282.49, Y:-37.88, Z:-2.46 [[ 9.83858184e-01 1.78942675e-01 1.61008773e-03 2.82494160e+02] [-1.78942391e-01 9.83859501e-01 -3.19638922e-04 -3.78823610e+01] [-1.64129715e-03 2.63664219e-05 9.99998653e-01 -2.46328999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.52, Y:-37.88, Z:-2.46 [[ 9.82203671e-01 1.87810515e-01 1.77723502e-03 2.82524203e+02] [-1.87810184e-01 9.82205279e-01 -3.52969057e-04 -3.78840765e+01] [-1.81190092e-03 1.29046664e-05 9.99998358e-01 -2.46484624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.56, Y:-37.89, Z:-2.47 [[ 9.81440918e-01 1.91758330e-01 1.57100243e-03 2.82556538e+02] [-1.91758077e-01 9.81442175e-01 -3.11375784e-04 -3.78875504e+01] [-1.60155694e-03 4.34453144e-06 9.99998717e-01 -2.46542086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64576923100003 meters Centerline goodness [0,1] 0.9999788815678324 Centerline is valid? [True, True] Translation: X:282.59, Y:-37.89, Z:-2.47 [[ 9.80677495e-01 1.95628100e-01 1.13908784e-03 2.82589829e+02] [-1.95627970e-01 9.80678156e-01 -2.25570054e-04 -3.78902957e+01] [-1.16120641e-03 -1.62596661e-06 9.99999326e-01 -2.46612463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67576923100006 meters Centerline goodness [0,1] 0.9998946747556454 Centerline is valid? [True, True] Translation: X:282.62, Y:-37.89, Z:-2.47 [[ 9.79054180e-01 2.03599016e-01 5.95218171e-04 2.82622857e+02] [-2.03598982e-01 9.79054361e-01 -1.17661852e-04 -3.78856167e+01] [-6.06706784e-04 -5.98848540e-06 9.99999816e-01 -2.46782190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70576923100003 meters Centerline goodness [0,1] 0.9998094794555347 Centerline is valid? [True, True] Translation: X:282.65, Y:-37.89, Z:-2.47 [[ 9.78265091e-01 2.07355574e-01 1.03809304e-03 2.82654742e+02] [-2.07355472e-01 9.78265642e-01 -2.06041544e-04 -3.78874567e+01] [-1.05825461e-03 -1.36910216e-05 9.99999440e-01 -2.46656086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73576923100006 meters Centerline goodness [0,1] 0.9996613254873737 Centerline is valid? [True, True] Translation: X:282.69, Y:-37.89, Z:-2.47 [[ 9.77062300e-01 2.12949486e-01 1.33348585e-03 2.82685344e+02] [-2.12949322e-01 9.77063210e-01 -2.65706753e-04 -3.78858864e+01] [-1.35948208e-03 -2.43528553e-05 9.99999076e-01 -2.46617591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76576923100004 meters Centerline goodness [0,1] 0.99972590609121 Centerline is valid? [True, True] Translation: X:282.72, Y:-37.89, Z:-2.47 [[ 9.76532223e-01 2.15368771e-01 1.05387956e-03 2.82716917e+02] [-2.15368671e-01 9.76532791e-01 -2.09255979e-04 -3.78918849e+01] [-1.07421515e-03 -2.26274340e-05 9.99999423e-01 -2.46631054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79576923100007 meters Centerline goodness [0,1] 0.9995727865000534 Centerline is valid? [True, True] Translation: X:282.75, Y:-37.89, Z:-2.47 [[ 9.76090624e-01 2.17361887e-01 9.50347530e-04 2.82749061e+02] [-2.17361807e-01 9.76091087e-01 -1.88763232e-04 -3.78945116e+01] [-9.68655686e-04 -2.23192347e-05 9.99999531e-01 -2.46684639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82576923100004 meters Centerline goodness [0,1] 0.9995360998650472 Centerline is valid? [True, True] Translation: X:282.78, Y:-37.89, Z:-2.47 [[ 9.75107945e-01 2.21728454e-01 9.93747656e-04 2.82780672e+02] [-2.21728367e-01 9.75108451e-01 -1.98208129e-04 -3.78906216e+01] [-1.01296012e-03 -2.70677233e-05 9.99999487e-01 -2.46642485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85576923100007 meters Centerline goodness [0,1] 0.9993895122413321 Centerline is valid? [True, True] Translation: X:282.81, Y:-37.89, Z:-2.47 [[ 9.74590356e-01 2.23993200e-01 8.27366726e-04 2.82812363e+02] [-2.23993141e-01 9.74590707e-01 -1.65046678e-04 -3.78914424e+01] [-8.43313256e-04 -2.44715708e-05 9.99999644e-01 -2.46642692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88576923100004 meters Centerline goodness [0,1] 0.9988598695184004 Centerline is valid? [True, True] Translation: X:282.84, Y:-37.89, Z:-2.47 [[ 9.73654880e-01 2.28024084e-01 1.09188077e-03 2.82844896e+02] [-2.28023983e-01 9.73655491e-01 -2.17877055e-04 -3.78885383e+01] [-1.11279692e-03 -3.68379447e-05 9.99999380e-01 -2.46557264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91576923100007 meters Centerline goodness [0,1] 0.9988319989806537 Centerline is valid? [True, True] Translation: X:282.88, Y:-37.89, Z:-2.46 [[ 9.73196678e-01 2.29967708e-01 1.75498601e-03 2.82876577e+02] [-2.29967450e-01 9.73198258e-01 -3.50314777e-04 -3.78896676e+01] [-1.78851042e-03 -6.26644804e-05 9.99998399e-01 -2.46429604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94576923100004 meters Centerline goodness [0,1] 0.9984005459469835 Centerline is valid? [True, True] Translation: X:282.91, Y:-37.89, Z:-2.46 [[ 9.72422924e-01 2.33207099e-01 2.84712959e-03 2.82908650e+02] [-2.33206432e-01 9.72427086e-01 -5.68534118e-04 -3.78852059e+01] [-2.90121212e-03 -1.11113323e-04 9.99995785e-01 -2.46262360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.9757692310001 meters Centerline goodness [0,1] 0.9981334181779616 Centerline is valid? [True, True] Translation: X:282.94, Y:-37.89, Z:-2.46 [[ 9.72131939e-01 2.34419178e-01 2.67252380e-03 2.82939287e+02] [-2.34418595e-01 9.72135606e-01 -5.33702646e-04 -3.78858004e+01] [-2.72316568e-03 -1.07659886e-04 9.99996286e-01 -2.46204546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00576923100004 meters Centerline goodness [0,1] 0.9913822308799864 Centerline is valid? [True, True] Translation: X:282.97, Y:-37.88, Z:-2.46 [[ 9.71959703e-01 2.35137132e-01 2.20567177e-03 2.82970403e+02] [-2.35136737e-01 9.71962201e-01 -4.40537483e-04 -3.78775967e+01] [-2.24741631e-03 -9.04497804e-05 9.99997470e-01 -2.46366809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0357692310001 meters Centerline goodness [0,1] 0.9973327643230556 Centerline is valid? [True, True] Translation: X:283.00, Y:-37.89, Z:-2.47 [[ 9.71893975e-01 2.35415624e-01 1.25916331e-03 2.82998530e+02] [-2.35415496e-01 9.71894789e-01 -2.51583049e-04 -3.78862204e+01] [-1.28300084e-03 -5.19145043e-05 9.99999176e-01 -2.46524886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06576923100005 meters Centerline goodness [0,1] 0.9980002127433252 Centerline is valid? [True, True] Translation: X:283.03, Y:-37.89, Z:-2.47 [[ 9.72296818e-01 2.33749461e-01 2.95106213e-04 2.83028856e+02] [-2.33749454e-01 9.72296863e-01 -5.90273478e-05 -3.78863873e+01] [-3.00728456e-04 -1.15888138e-05 9.99999955e-01 -2.46731525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0957692310001 meters Centerline goodness [0,1] 0.9955566894147161 Centerline is valid? [True, True] Translation: X:283.06, Y:-37.88, Z:-2.47 [[ 9.72608606e-01 2.32448607e-01 3.80763930e-04 2.83057797e+02] [-2.32448595e-01 9.72608680e-01 -7.62988905e-05 -3.78837856e+01] [-3.88069874e-04 -1.42990831e-05 9.99999925e-01 -2.46777804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12576923100005 meters Centerline goodness [0,1] 0.998419821755894 Centerline is valid? [True, True] Translation: X:283.09, Y:-37.89, Z:-2.47 [[ 9.73039904e-01 2.30630043e-01 1.76871848e-03 2.83086984e+02] [-2.30629782e-01 9.73041509e-01 -3.53000965e-04 -3.78865903e+01] [-1.80244913e-03 -6.44351321e-05 9.99998374e-01 -2.46550559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.155769231 meters Centerline goodness [0,1] 0.9984804997467499 Centerline is valid? [True, True] Translation: X:283.12, Y:-37.89, Z:-2.46 [[ 9.73113315e-01 2.30314455e-01 2.39332843e-03 2.83116345e+02] [-2.30313976e-01 9.73116254e-01 -4.77545916e-04 -3.78880166e+01] [-2.43897252e-03 -8.65106974e-05 9.99997022e-01 -2.46461717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18576923100005 meters Centerline goodness [0,1] 0.9983459156841124 Centerline is valid? [True, True] Translation: X:283.14, Y:-37.89, Z:-2.46 [[ 9.73081139e-01 2.30444552e-01 2.89903099e-03 2.83144414e+02] [-2.30443851e-01 9.73085452e-01 -5.78287520e-04 -3.78875919e+01] [-2.95426809e-03 -1.05343186e-04 9.99995631e-01 -2.46401238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.215769231 meters Centerline goodness [0,1] 0.9981254260395365 Centerline is valid? [True, True] Translation: X:283.17, Y:-37.88, Z:-2.46 [[ 9.72787661e-01 2.31679201e-01 2.98559349e-03 2.83174455e+02] [-2.31678464e-01 9.72792236e-01 -5.95338807e-04 -3.78830642e+01] [-3.04228979e-03 -1.12559468e-04 9.99995366e-01 -2.46403601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24576923100005 meters Centerline goodness [0,1] 0.997372624852867 Centerline is valid? [True, True] Translation: X:283.20, Y:-37.88, Z:-2.46 [[ 9.72624420e-01 2.32369163e-01 2.51175097e-03 2.83203031e+02] [-2.32368643e-01 9.72627659e-01 -5.00811267e-04 -3.78826788e+01] [-2.55937156e-03 -9.65508971e-05 9.99996720e-01 -2.46498552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.275769231 meters Centerline goodness [0,1] 0.9970734190100522 Centerline is valid? [True, True] Translation: X:283.23, Y:-37.88, Z:-2.46 [[ 9.72550198e-01 2.32679888e-01 2.48636635e-03 2.83232330e+02] [-2.32679380e-01 9.72553372e-01 -4.95679800e-04 -3.78770397e+01] [-2.53345869e-03 -9.64526918e-05 9.99996786e-01 -2.46491919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30576923100006 meters Centerline goodness [0,1] 0.997010558453123 Centerline is valid? [True, True] Translation: X:283.26, Y:-37.88, Z:-2.46 [[ 9.72536755e-01 2.32734065e-01 2.66742625e-03 2.83261252e+02] [-2.32733481e-01 9.72540407e-01 -5.31417516e-04 -3.78778643e+01] [-2.71785877e-03 -1.03976331e-04 9.99996301e-01 -2.46489544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.33576923100003 meters Centerline goodness [0,1] 0.996843688436037 Centerline is valid? [True, True] Translation: X:283.29, Y:-37.88, Z:-2.46 [[ 9.72511536e-01 2.32833946e-01 3.10886452e-03 2.83290470e+02] [-2.32833155e-01 9.72516498e-01 -6.19176710e-04 -3.78779716e+01] [-3.16758739e-03 -1.21690241e-04 9.99994976e-01 -2.46455457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36576923100006 meters Centerline goodness [0,1] 0.9959154303612622 Centerline is valid? [True, True] Translation: X:283.32, Y:-37.87, Z:-2.47 [[ 9.72330775e-01 2.33591228e-01 2.82873413e-03 2.83319760e+02] [-2.33590576e-01 9.72334883e-01 -5.63307450e-04 -3.78722731e+01] [-2.88206055e-03 -1.13044466e-04 9.99995840e-01 -2.46518380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39576923100003 meters Centerline goodness [0,1] 0.9943618548863924 Centerline is valid? [True, True] Translation: X:283.35, Y:-37.87, Z:-2.47 [[ 9.72187366e-01 2.34191402e-01 2.47247190e-03 2.83349729e+02] [-2.34190906e-01 9.72190505e-01 -4.92224231e-04 -3.78714433e+01] [-2.51898839e-03 -1.00496256e-04 9.99996822e-01 -2.46594402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42576923100006 meters Centerline goodness [0,1] 0.9943618548863924 Centerline is valid? [True, True] Translation: X:283.38, Y:-37.88, Z:-2.47 [[ 9.72202857e-01 2.34127084e-01 2.47248022e-03 2.83376745e+02] [-2.34126588e-01 9.72205996e-01 -4.92182447e-04 -3.78766791e+01] [-2.51899334e-03 -1.00372178e-04 9.99996822e-01 -2.46609925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45576923100003 meters Centerline goodness [0,1] 0.9883324510322922 Centerline is valid? [True, True] Translation: X:283.41, Y:-37.87, Z:-2.47 [[ 9.71761998e-01 2.35961959e-01 7.56553248e-04 2.83407782e+02] [-2.35961913e-01 9.71762292e-01 -1.50743865e-04 -3.78652403e+01] [-7.70759736e-04 -3.20305928e-05 9.99999702e-01 -2.46959955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48576923100006 meters Centerline goodness [0,1] 0.9923802226337186 Centerline is valid? [True, True] Translation: X:283.44, Y:-37.87, Z:-2.47 [[ 9.71673892e-01 2.36325663e-01 1.70994734e-04 2.83436986e+02] [-2.36325660e-01 9.71673907e-01 -3.48796719e-05 -3.78669933e+01] [-1.74394083e-04 -6.51877687e-06 9.99999985e-01 -2.47065173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51576923100004 meters Centerline goodness [0,1] 0.9933441075149917 Centerline is valid? [True, True] Translation: X:283.47, Y:-37.87, Z:-2.47 [[ 9.72200578e-01 2.34149000e-01 -5.30776567e-04 2.83466249e+02] [-2.34148977e-01 9.72200723e-01 1.05250305e-04 -3.78665056e+01] [ 5.40665616e-04 2.19563833e-05 9.99999854e-01 -2.47300244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54576923100007 meters Centerline goodness [0,1] 0.9935743479543252 Centerline is valid? [True, True] Translation: X:283.50, Y:-37.87, Z:-2.47 [[ 9.72853294e-01 2.31421684e-01 -6.87117877e-04 2.83495279e+02] [-2.31421645e-01 9.72853537e-01 1.36358023e-04 -3.78701600e+01] [ 7.00021260e-04 2.63575976e-05 9.99999755e-01 -2.47448266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57576923100004 meters Centerline goodness [0,1] 0.9992809102829829 Centerline is valid? [True, True] Translation: X:283.52, Y:-37.89, Z:-2.47 [[ 9.74792801e-01 2.23112059e-01 5.83068327e-05 2.83522096e+02] [-2.23112059e-01 9.74792803e-01 -1.16693563e-05 -3.78877908e+01] [-5.94406550e-05 -1.63375295e-06 9.99999998e-01 -2.47314142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60576923100007 meters Centerline goodness [0,1] 0.9997426549431696 Centerline is valid? [True, True] Translation: X:283.55, Y:-37.90, Z:-2.47 [[ 9.75803217e-01 2.18650130e-01 4.49129223e-04 2.83550375e+02] [-2.18650112e-01 9.75803321e-01 -8.92056319e-05 -3.78994547e+01] [-4.57766610e-04 -1.11550124e-05 9.99999895e-01 -2.47222716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63576923100004 meters Centerline goodness [0,1] 0.9997246637721063 Centerline is valid? [True, True] Translation: X:283.58, Y:-37.91, Z:-2.47 [[ 9.76686782e-01 2.14669259e-01 2.00183775e-04 2.83578408e+02] [-2.14669255e-01 9.76686802e-01 -3.98875166e-05 -3.79070301e+01] [-2.04079475e-04 -4.01569164e-06 9.99999979e-01 -2.47310763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66576923100007 meters Centerline goodness [0,1] 0.9998504017780817 Centerline is valid? [True, True] Translation: X:283.61, Y:-37.92, Z:-2.47 [[ 9.77902195e-01 2.09062169e-01 -5.54661584e-04 2.83606813e+02] [-2.09062140e-01 9.77902352e-01 1.10077614e-04 -3.79193329e+01] [ 5.65417932e-04 8.31359715e-06 9.99999840e-01 -2.47489002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69576923100004 meters Centerline goodness [0,1] 0.9998719016204445 Centerline is valid? [True, True] Translation: X:283.63, Y:-37.92, Z:-2.48 [[ 9.78306150e-01 2.07161786e-01 -1.03470052e-03 2.83633979e+02] [-2.07161685e-01 9.78306697e-01 2.04903742e-04 -3.79234586e+01] [ 1.05470267e-03 1.38917127e-05 9.99999444e-01 -2.47770081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7257692310001 meters Centerline goodness [0,1] 0.9998290050229774 Centerline is valid? [True, True] Translation: X:283.66, Y:-37.93, Z:-2.48 [[ 9.78574463e-01 2.05891012e-01 -9.55244374e-04 2.83661639e+02] [-2.05890925e-01 9.78574929e-01 1.89232618e-04 -3.79279545e+01] [ 9.73739491e-04 1.14979408e-05 9.99999526e-01 -2.47749655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75576923100004 meters Centerline goodness [0,1] 0.9998940879916965 Centerline is valid? [True, True] Translation: X:283.69, Y:-37.93, Z:-2.48 [[ 9.78640398e-01 2.05577380e-01 -9.55296695e-04 2.83689802e+02] [-2.05577293e-01 9.78640864e-01 1.89191411e-04 -3.79314236e+01] [ 9.73785858e-04 1.12369510e-05 9.99999526e-01 -2.47755267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7857692310001 meters Centerline goodness [0,1] 0.9998098095982756 Centerline is valid? [True, True] Translation: X:283.72, Y:-37.94, Z:-2.48 [[ 9.78771377e-01 2.04954053e-01 -6.54010481e-04 2.83717411e+02] [-2.04954012e-01 9.78771596e-01 1.29452083e-04 -3.79385853e+01] [ 6.66658611e-04 7.33807804e-06 9.99999778e-01 -2.47690626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81576923100005 meters Centerline goodness [0,1] 0.9998085880176099 Centerline is valid? [True, True] Translation: X:283.75, Y:-37.95, Z:-2.48 [[ 9.79104666e-01 2.03353659e-01 -1.15850812e-03 2.83745468e+02] [-2.03353529e-01 9.79105352e-01 2.29454504e-04 -3.79460507e+01] [ 1.18096192e-03 1.09267403e-05 9.99999303e-01 -2.47792845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8457692310001 meters Centerline goodness [0,1] 0.9998942022852306 Centerline is valid? [True, True] Translation: X:283.77, Y:-37.95, Z:-2.48 [[ 9.79094142e-01 2.03405761e-01 -8.70247229e-04 2.83772877e+02] [-2.03405688e-01 9.79094529e-01 1.72107437e-04 -3.79506128e+01] [ 8.87061945e-04 8.50385294e-06 9.99999607e-01 -2.47814120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87576923100005 meters Centerline goodness [0,1] 0.9998945548104096 Centerline is valid? [True, True] Translation: X:283.80, Y:-37.95, Z:-2.48 [[ 9.79064703e-01 2.03548033e-01 7.11210216e-04 2.83801050e+02] [-2.03547984e-01 9.79064961e-01 -1.41253558e-04 -3.79541364e+01] [-7.25072886e-04 -6.46903290e-06 9.99999737e-01 -2.47535735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.905769231 meters Centerline goodness [0,1] 0.9998298379206194 Centerline is valid? [True, True] Translation: X:283.83, Y:-37.96, Z:-2.47 [[ 9.79073969e-01 2.03497478e-01 1.71464080e-03 2.83828854e+02] [-2.03497195e-01 9.79075470e-01 -3.39954602e-04 -3.79606307e+01] [-1.74794265e-03 -1.60838914e-05 9.99998472e-01 -2.47310056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93576923100005 meters Centerline goodness [0,1] 0.9999145682492898 Centerline is valid? [True, True] Translation: X:283.86, Y:-37.97, Z:-2.47 [[ 9.79176107e-01 2.03002803e-01 2.00313427e-03 2.83856800e+02] [-2.03002416e-01 9.79178156e-01 -3.97010077e-04 -3.79672557e+01] [-2.04201948e-03 -1.78983154e-05 9.99997915e-01 -2.47280729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.965769231 meters Centerline goodness [0,1] 0.999936088623775 Centerline is valid? [True, True] Translation: X:283.88, Y:-37.98, Z:-2.47 [[ 9.79623149e-01 2.00836569e-01 1.77724824e-03 2.83883121e+02] [-2.00836260e-01 9.79624761e-01 -3.52229165e-04 -3.79769738e+01] [-1.81177688e-03 -1.18840465e-05 9.99998359e-01 -2.47422429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99576923100005 meters Centerline goodness [0,1] 0.9999576782275642 Centerline is valid? [True, True] Translation: X:283.91, Y:-37.99, Z:-2.48 [[ 9.79871055e-01 1.99630699e-01 5.46883956e-04 2.83910054e+02] [-1.99630670e-01 9.79871208e-01 -1.08644486e-04 -3.79853114e+01] [-5.57564617e-04 -2.71722283e-06 9.99999845e-01 -2.47609679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.025769231 meters Centerline goodness [0,1] 0.99997877128179 Centerline is valid? [True, True] Translation: X:283.94, Y:-37.99, Z:-2.48 [[ 9.80208329e-01 1.97963834e-01 -1.39692623e-03 2.83936477e+02] [-1.97963642e-01 9.80209325e-01 2.75931624e-04 -3.79942326e+01] [ 1.42390460e-03 6.07012830e-06 9.99998986e-01 -2.47957886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.96, Y:-38.00, Z:-2.48 [[ 9.80331244e-01 1.97355545e-01 -1.20007834e-03 2.83964161e+02] [-1.97355403e-01 9.80331979e-01 2.37098447e-04 -3.80004236e+01] [ 1.22326787e-03 4.40692899e-06 9.99999252e-01 -2.47868511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.99, Y:-38.01, Z:-2.48 [[ 9.80270486e-01 1.97660587e-01 2.58679361e-04 2.83992805e+02] [-1.97660580e-01 9.80270520e-01 -5.14261526e-05 -3.80051616e+01] [-2.63740676e-04 -7.19173057e-07 9.99999965e-01 -2.47528948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11576923100006 meters Centerline goodness [0,1] 0.9999786507258753 Centerline is valid? [True, True] Translation: X:284.02, Y:-38.01, Z:-2.47 [[ 9.80212623e-01 1.97945557e-01 8.77496776e-04 2.84020131e+02] [-1.97945480e-01 9.80213016e-01 -1.73866816e-04 -3.80096670e+01] [-8.94549925e-04 -3.27007247e-06 9.99999600e-01 -2.47434845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14576923100003 meters Centerline goodness [0,1] 0.9999578094675555 Centerline is valid? [True, True] Translation: X:284.05, Y:-38.01, Z:-2.48 [[ 9.80073282e-01 1.98635703e-01 4.67844346e-04 2.84048585e+02] [-1.98635681e-01 9.80073394e-01 -9.27290685e-05 -3.80118753e+01] [-4.76941099e-04 -2.04929761e-06 9.99999886e-01 -2.47558172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17576923100006 meters Centerline goodness [0,1] 0.9999360463876868 Centerline is valid? [True, True] Translation: X:284.08, Y:-38.01, Z:-2.48 [[ 9.79928747e-01 1.99347961e-01 2.02905234e-04 2.84077418e+02] [-1.99347957e-01 9.79928768e-01 -4.03616744e-05 -3.80138366e+01] [-2.06878694e-04 -8.97178719e-07 9.99999979e-01 -2.47587835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.11, Y:-38.01, Z:-2.48 [[ 9.79785996e-01 2.00048453e-01 1.34369935e-04 2.84105443e+02] [-2.00048451e-01 9.79786005e-01 -2.68785518e-05 -3.80149002e+01] [-1.37030795e-04 -5.45268749e-07 9.99999991e-01 -2.47602998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23576923100006 meters Centerline goodness [0,1] 0.9999145828439642 Centerline is valid? [True, True] Translation: X:284.14, Y:-38.01, Z:-2.47 [[ 9.79624522e-01 2.00823200e-01 2.41629260e-03 2.84135135e+02] [-2.00822634e-01 9.79627502e-01 -4.77406389e-04 -3.80141425e+01] [-2.46294096e-03 -1.75672376e-05 9.99996967e-01 -2.47138761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26576923100004 meters Centerline goodness [0,1] 0.9998511176808389 Centerline is valid? [True, True] Translation: X:284.16, Y:-38.02, Z:-2.47 [[ 9.79634530e-01 2.00756188e-01 3.62493012e-03 2.84162793e+02] [-2.00754913e-01 9.79641236e-01 -7.15909441e-04 -3.80166280e+01] [-3.69485428e-03 -2.63929242e-05 9.99993174e-01 -2.46899221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29576923100007 meters Centerline goodness [0,1] 0.9998507271719197 Centerline is valid? [True, True] Translation: X:284.19, Y:-38.02, Z:-2.47 [[ 9.79829682e-01 1.99792865e-01 4.07493445e-03 2.84190221e+02] [-1.99791247e-01 9.79838155e-01 -8.04486127e-04 -3.80192666e+01] [-4.15350685e-03 -2.58768512e-05 9.99991374e-01 -2.46881553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32576923100004 meters Centerline goodness [0,1] 0.9999363233077919 Centerline is valid? [True, True] Translation: X:284.22, Y:-38.03, Z:-2.47 [[ 9.80250491e-01 1.97729672e-01 3.45725045e-03 2.84218314e+02] [-1.97728495e-01 9.80256587e-01 -6.82355346e-04 -3.80267664e+01] [-3.52391442e-03 -1.47177652e-05 9.99993791e-01 -2.47034368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.25, Y:-38.04, Z:-2.47 [[ 9.80909273e-01 1.94440759e-01 3.12891321e-03 2.84246257e+02] [-1.94439779e-01 9.80914263e-01 -6.17425339e-04 -3.80359272e+01] [-3.18924825e-03 -2.74695116e-06 9.99994914e-01 -2.47034302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.27, Y:-38.05, Z:-2.47 [[ 9.82197142e-01 1.87811330e-01 3.95971986e-03 2.84273036e+02] [-1.87809707e-01 9.82205123e-01 -7.81094580e-04 -3.80508618e+01] [-4.03595555e-03 2.35150374e-05 9.99991855e-01 -2.46908560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.30, Y:-38.06, Z:-2.47 [[ 9.82760585e-01 1.84824475e-01 4.64183320e-03 2.84299025e+02] [-1.84822213e-01 9.82771546e-01 -9.15375951e-04 -3.80607887e+01] [-4.73104547e-03 4.16815204e-05 9.99988808e-01 -2.46883517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44576923100004 meters Centerline goodness [0,1] 0.999978816700913 Centerline is valid? [True, True] Translation: X:284.32, Y:-38.07, Z:-2.47 [[ 9.83565050e-01 1.80479600e-01 5.18717033e-03 2.84324757e+02] [-1.80476717e-01 9.83578725e-01 -1.02255048e-03 -3.80730329e+01] [-5.28653989e-03 6.95814380e-05 9.99986024e-01 -2.46817705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.35, Y:-38.08, Z:-2.47 [[ 9.83669390e-01 1.79915236e-01 5.00394236e-03 2.84351780e+02] [-1.79912547e-01 9.83682115e-01 -9.86138391e-04 -3.80796024e+01] [-5.09970992e-03 6.97621370e-05 9.99986994e-01 -2.46886647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50576923100004 meters Centerline goodness [0,1] 0.9999787360721273 Centerline is valid? [True, True] Translation: X:284.38, Y:-38.08, Z:-2.47 [[ 9.83618732e-01 1.80213187e-01 4.17094913e-03 2.84380514e+02] [-1.80211323e-01 9.83627574e-01 -8.21739192e-04 -3.80822246e+01] [-4.25074881e-03 5.66258034e-05 9.99990964e-01 -2.46912209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.41, Y:-38.09, Z:-2.47 [[ 9.83215827e-01 1.82430490e-01 2.39867090e-03 2.84408162e+02] [-1.82429880e-01 9.83218753e-01 -4.72609222e-04 -3.80854618e+01] [-2.44463654e-03 2.70876228e-05 9.99997012e-01 -2.47254715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.44, Y:-38.09, Z:-2.47 [[ 9.82853872e-01 1.84367811e-01 2.60318335e-03 2.84437063e+02] [-1.84367099e-01 9.82857319e-01 -5.12682598e-04 -3.80892403e+01] [-2.65307998e-03 2.39507126e-05 9.99996480e-01 -2.47316131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.46, Y:-38.09, Z:-2.47 [[ 9.82698958e-01 1.85180480e-01 3.30872344e-03 2.84464466e+02] [-1.85179336e-01 9.82704528e-01 -6.51421219e-04 -3.80945536e+01] [-3.37212800e-03 2.74437441e-05 9.99994314e-01 -2.47227994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.49, Y:-38.10, Z:-2.47 [[ 9.82662280e-01 1.85372718e-01 3.43498819e-03 2.84491211e+02] [-1.85371487e-01 9.82668283e-01 -6.76051944e-04 -3.81005592e+01] [-3.50077553e-03 2.75818766e-05 9.99993872e-01 -2.47244468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.52, Y:-38.11, Z:-2.48 [[ 9.82683616e-01 1.85284321e-01 1.62209851e-03 2.84517968e+02] [-1.85284046e-01 9.82684955e-01 -3.19324852e-04 -3.81063849e+01] [-1.65317769e-03 1.32463238e-05 9.99998633e-01 -2.47586168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.55, Y:-38.11, Z:-2.48 [[ 9.82669702e-01 1.85364793e-01 3.87607935e-04 2.84546073e+02] [-1.85364777e-01 9.82669778e-01 -7.64789679e-05 -3.81106660e+01] [-3.95067111e-04 3.30470615e-06 9.99999922e-01 -2.47840824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.57, Y:-38.12, Z:-2.48 [[ 9.82633094e-01 1.85556853e-01 -9.25415394e-04 2.84573862e+02] [-1.85556764e-01 9.82633530e-01 1.81621946e-04 -3.81155008e+01] [ 9.43045392e-04 -6.75064858e-06 9.99999555e-01 -2.48217566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.60, Y:-38.12, Z:-2.48 [[ 9.82634289e-01 1.85546553e-01 -1.52648481e-03 2.84602256e+02] [-1.85546312e-01 9.82635475e-01 2.99688524e-04 -3.81214425e+01] [ 1.55558430e-03 -1.12505934e-05 9.99998790e-01 -2.48363291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.63, Y:-38.13, Z:-2.49 [[ 9.82672123e-01 1.85340476e-01 -2.09911109e-03 2.84628802e+02] [-1.85340018e-01 9.82674365e-01 4.12018533e-04 -3.81289690e+01] [ 2.13910637e-03 -1.58298387e-05 9.99997712e-01 -2.48532195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.66, Y:-38.14, Z:-2.48 [[ 9.82598824e-01 1.85736581e-01 -1.21412299e-03 2.84656488e+02] [-1.85736428e-01 9.82599574e-01 2.38167951e-04 -3.81364399e+01] [ 1.23723323e-03 -8.51668139e-06 9.99999235e-01 -2.48125005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.68, Y:-38.14, Z:-2.48 [[ 9.82562350e-01 1.85933279e-01 2.11768055e-04 2.84684182e+02] [-1.85933274e-01 9.82562372e-01 -4.18568203e-05 -3.81436912e+01] [-2.15857898e-04 1.75220795e-06 9.99999977e-01 -2.47919964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.71, Y:-38.15, Z:-2.48 [[ 9.82543734e-01 1.86019712e-01 2.11580161e-03 2.84710152e+02] [-1.86019248e-01 9.82546012e-01 -4.15637191e-04 -3.81539156e+01] [-2.15618914e-03 1.48018932e-05 9.99997675e-01 -2.47698588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.74, Y:-38.16, Z:-2.48 [[ 9.82498268e-01 1.86256174e-01 2.40652080e-03 2.84737112e+02] [-1.86255575e-01 9.82501215e-01 -4.72541701e-04 -3.81601664e+01] [-2.45242342e-03 1.60434855e-05 9.99996993e-01 -2.47680234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.77, Y:-38.16, Z:-2.48 [[ 9.82112671e-01 1.88288445e-01 1.47090277e-03 2.84766333e+02] [-1.88288223e-01 9.82113772e-01 -2.88822741e-04 -3.81629564e+01] [-1.49897585e-03 6.70280534e-06 9.99998877e-01 -2.47705299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.79, Y:-38.17, Z:-2.48 [[ 9.81783377e-01 1.90000608e-01 1.08139302e-03 2.84793768e+02] [-1.90000489e-01 9.81783973e-01 -2.12412033e-04 -3.81669549e+01] [-1.10205275e-03 3.07740040e-06 9.99999393e-01 -2.47748646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.82, Y:-38.17, Z:-2.48 [[ 9.81518607e-01 1.91361071e-01 1.47105068e-03 2.84820955e+02] [-1.91360854e-01 9.81519710e-01 -2.88736897e-04 -3.81716606e+01] [-1.49911824e-03 1.89912294e-06 9.99998876e-01 -2.47690564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.85, Y:-38.18, Z:-2.47 [[ 9.81366876e-01 1.92114784e-01 3.31115019e-03 2.84848955e+02] [-1.92113686e-01 9.81372462e-01 -6.49261393e-04 -3.81789107e+01] [-3.37420433e-03 1.04635559e-06 9.99994307e-01 -2.47396932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.88, Y:-38.19, Z:-2.47 [[ 9.81544213e-01 1.91189860e-01 4.17069045e-03 2.84875577e+02] [-1.91188112e-01 9.81553074e-01 -8.17537848e-04 -3.81860387e+01] [-4.25005898e-03 5.06311184e-06 9.99990968e-01 -2.47347866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.90, Y:-38.20, Z:-2.47 [[ 9.82317326e-01 1.87178296e-01 4.11777138e-03 2.84902461e+02] [-1.87176558e-01 9.82325957e-01 -8.06893293e-04 -3.81998265e+01] [-4.19602662e-03 2.18749883e-05 9.99991196e-01 -2.47379813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.93, Y:-38.21, Z:-2.47 [[ 9.82862981e-01 1.84300544e-01 3.69735139e-03 2.84929076e+02] [-1.84299123e-01 9.82869935e-01 -7.24358649e-04 -3.82122404e+01] [-3.76751521e-03 3.05266817e-05 9.99992902e-01 -2.47453883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.96, Y:-38.23, Z:-2.48 [[ 9.83463946e-01 1.81074545e-01 3.26756790e-03 2.84955803e+02] [-1.81073418e-01 9.83469373e-01 -6.39985269e-04 -3.82262311e+01] [-3.32943800e-03 3.77327496e-05 9.99994457e-01 -2.47534673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.98, Y:-38.25, Z:-2.47 [[ 9.84651324e-01 1.74490595e-01 3.84734069e-03 2.84981293e+02] [-1.74488983e-01 9.84658838e-01 -7.53343278e-04 -3.82509367e+01] [-3.91976933e-03 7.04618913e-05 9.99992315e-01 -2.47439803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19576923100004 meters Centerline goodness [0,1] 0.9999572549103422 Centerline is valid? [True, True] Translation: X:285.01, Y:-38.27, Z:-2.48 [[ 9.85688564e-01 1.68541614e-01 3.43211314e-03 2.85008222e+02] [-1.68540295e-01 9.85694535e-01 -6.72012707e-04 -3.82724780e+01] [-3.49627727e-03 8.39458778e-05 9.99993884e-01 -2.47558943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2257692310001 meters Centerline goodness [0,1] 0.9998729916809551 Centerline is valid? [True, True] Translation: X:285.04, Y:-38.29, Z:-2.48 [[ 9.86128957e-01 1.65959656e-01 2.65927312e-03 2.85035947e+02] [-1.65958856e-01 9.86132540e-01 -5.20295517e-04 -3.82924942e+01] [-2.70874382e-03 7.17485521e-05 9.99996329e-01 -2.47797352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25576923100004 meters Centerline goodness [0,1] 0.9999143120327328 Centerline is valid? [True, True] Translation: X:285.07, Y:-38.31, Z:-2.48 [[ 9.86470514e-01 1.63926946e-01 1.97023721e-03 2.85066495e+02] [-1.63926502e-01 9.86472480e-01 -3.85948207e-04 -3.83055787e+01] [-2.00685210e-03 5.77524311e-05 9.99997985e-01 -2.47845514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2857692310001 meters Centerline goodness [0,1] 0.9994466319037991 Centerline is valid? [True, True] Translation: X:285.09, Y:-38.33, Z:-2.48 [[ 9.86897513e-01 1.61342557e-01 1.37079055e-03 2.85092051e+02] [-1.61342339e-01 9.86898464e-01 -2.68707407e-04 -3.83312086e+01] [-1.39618503e-03 4.40201177e-05 9.99999024e-01 -2.47979281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31576923100005 meters Centerline goodness [0,1] 0.9998294497622956 Centerline is valid? [True, True] Translation: X:285.12, Y:-38.34, Z:-2.48 [[ 9.86764838e-01 1.62152171e-01 1.35177139e-03 2.85124171e+02] [-1.62151961e-01 9.86765763e-01 -2.64257673e-04 -3.83352144e+01] [-1.37673169e-03 4.15677970e-05 9.99999051e-01 -2.47894164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3457692310001 meters Centerline goodness [0,1] 0.9998294497622956 Centerline is valid? [True, True] Translation: X:285.16, Y:-38.34, Z:-2.48 [[ 9.86733928e-01 1.62340163e-01 1.35174750e-03 2.85156031e+02] [-1.62339953e-01 9.86734853e-01 -2.64379871e-04 -3.83416618e+01] [-1.37673584e-03 4.14299635e-05 9.99999051e-01 -2.47912514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.19, Y:-38.35, Z:-2.48 [[ 9.85775077e-01 1.68067615e-01 8.79500465e-04 2.85186505e+02] [-1.68067528e-01 9.85775470e-01 -1.72672832e-04 -3.83484067e+01] [-8.96010695e-04 2.24011052e-05 9.99999598e-01 -2.47826952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.405769231 meters Centerline goodness [0,1] 0.9999574078412165 Centerline is valid? [True, True] Translation: X:285.22, Y:-38.35, Z:-2.48 [[ 9.84909083e-01 1.73070820e-01 7.67754050e-04 2.85215891e+02] [-1.73070755e-01 9.84909382e-01 -1.50727495e-04 -3.83535695e+01] [-7.82254699e-04 1.55771054e-05 9.99999694e-01 -2.47856287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.25, Y:-38.35, Z:-2.48 [[ 9.83911262e-01 1.78657587e-01 3.08189135e-04 2.85248420e+02] [-1.78657577e-01 9.83911310e-01 -6.04025248e-05 -3.83500290e+01] [-3.14022145e-04 4.37040041e-06 9.99999951e-01 -2.47793119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.465769231 meters Centerline goodness [0,1] 0.9999571826161422 Centerline is valid? [True, True] Translation: X:285.28, Y:-38.34, Z:-2.48 [[ 9.81774054e-01 1.90050039e-01 -8.30622409e-04 2.85280711e+02] [-1.90049969e-01 9.81774405e-01 1.63171297e-04 -3.83402802e+01] [ 8.46494533e-04 -2.33758269e-06 9.99999642e-01 -2.48121167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49576923100005 meters Centerline goodness [0,1] 0.9999575037715402 Centerline is valid? [True, True] Translation: X:285.31, Y:-38.34, Z:-2.48 [[ 9.80832948e-01 1.94848744e-01 -8.33655514e-04 2.85309987e+02] [-1.94848676e-01 9.80833302e-01 1.63534754e-04 -3.83380741e+01] [ 8.49541632e-04 2.03639757e-06 9.99999639e-01 -2.48257578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.525769231 meters Centerline goodness [0,1] 0.9999365348000846 Centerline is valid? [True, True] Translation: X:285.34, Y:-38.33, Z:-2.48 [[ 9.79468245e-01 2.01592977e-01 1.49291275e-03 2.85340843e+02] [-2.01592764e-01 9.79469382e-01 -2.93414646e-04 -3.83310003e+01] [-1.52141266e-03 -1.35700790e-05 9.99998843e-01 -2.47864816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55576923100006 meters Centerline goodness [0,1] 0.9999575524757518 Centerline is valid? [True, True] Translation: X:285.37, Y:-38.33, Z:-2.48 [[ 9.78998253e-01 2.03842737e-01 3.24949139e-03 2.85370498e+02] [-2.03841741e-01 9.79003645e-01 -6.38180895e-04 -3.83316830e+01] [-3.31135246e-03 -3.76040016e-05 9.99994517e-01 -2.47559831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58576923100003 meters Centerline goodness [0,1] 0.9999367662247328 Centerline is valid? [True, True] Translation: X:285.40, Y:-38.33, Z:-2.47 [[ 9.78352632e-01 2.06896342e-01 4.47573014e-03 2.85399499e+02] [-2.06894487e-01 9.78362867e-01 -8.78701482e-04 -3.83276237e+01] [-4.56068829e-03 -6.63239822e-05 9.99989598e-01 -2.47323143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61576923100006 meters Centerline goodness [0,1] 0.9999360981532366 Centerline is valid? [True, True] Translation: X:285.43, Y:-38.33, Z:-2.48 [[ 9.78174427e-01 2.07762916e-01 3.05945532e-03 2.85427733e+02] [-2.07762054e-01 9.78179211e-01 -6.00543598e-04 -3.83340459e+01] [-3.11746628e-03 -4.82023315e-05 9.99995140e-01 -2.47529468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64576923100003 meters Centerline goodness [0,1] 0.9999576064607754 Centerline is valid? [True, True] Translation: X:285.46, Y:-38.33, Z:-2.48 [[ 9.77938560e-01 2.08887610e-01 1.46243242e-03 2.85455560e+02] [-2.08887414e-01 9.77939653e-01 -2.87180902e-04 -3.83345470e+01] [-1.49015918e-03 -2.46384481e-05 9.99998889e-01 -2.47899706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67576923100006 meters Centerline goodness [0,1] 0.9999570833869791 Centerline is valid? [True, True] Translation: X:285.48, Y:-38.33, Z:-2.48 [[ 9.77394487e-01 2.11421698e-01 9.39002005e-04 2.85484902e+02] [-2.11421618e-01 9.77394938e-01 -1.84519645e-04 -3.83303081e+01] [-9.56787263e-04 -1.81768397e-05 9.99999542e-01 -2.48062888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70576923100003 meters Centerline goodness [0,1] 0.999914628420199 Centerline is valid? [True, True] Translation: X:285.51, Y:-38.33, Z:-2.48 [[ 9.77130670e-01 2.12632557e-01 1.74620083e-03 2.85513455e+02] [-2.12632284e-01 9.77132230e-01 -3.42551646e-04 -3.83327010e+01] [-1.77910674e-03 -3.65809519e-05 9.99998417e-01 -2.47873882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73576923100006 meters Centerline goodness [0,1] 0.9999362786745964 Centerline is valid? [True, True] Translation: X:285.54, Y:-38.33, Z:-2.48 [[ 9.76945531e-01 2.13482060e-01 1.68514086e-03 2.85541555e+02] [-2.13481808e-01 9.76946984e-01 -3.30546991e-04 -3.83333197e+01] [-1.71685914e-03 -3.68205115e-05 9.99998526e-01 -2.47955827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76576923100004 meters Centerline goodness [0,1] 0.9998943833041127 Centerline is valid? [True, True] Translation: X:285.57, Y:-38.33, Z:-2.48 [[ 9.77139498e-01 2.12596114e-01 1.13717938e-03 2.85569341e+02] [-2.12595999e-01 9.77140160e-01 -2.23172463e-04 -3.83338969e+01] [-1.15862924e-03 -2.36891581e-05 9.99999329e-01 -2.48222909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79576923100007 meters Centerline goodness [0,1] 0.9999363800233273 Centerline is valid? [True, True] Translation: X:285.60, Y:-38.35, Z:-2.48 [[ 9.77506401e-01 2.10903614e-01 9.49592753e-04 2.85596800e+02] [-2.10903533e-01 9.77506862e-01 -1.86177361e-04 -3.83464387e+01] [-9.67498911e-04 -1.82829045e-05 9.99999532e-01 -2.48180498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82576923100004 meters Centerline goodness [0,1] 0.9999363948607047 Centerline is valid? [True, True] Translation: X:285.62, Y:-38.35, Z:-2.48 [[ 9.78098547e-01 2.08142268e-01 1.71492890e-04 2.85623754e+02] [-2.08142265e-01 9.78098562e-01 -3.39040167e-05 -3.83537549e+01] [-1.74793808e-04 -2.53344926e-06 9.99999985e-01 -2.48396353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85576923100007 meters Centerline goodness [0,1] 0.9999357615468619 Centerline is valid? [True, True] Translation: X:285.65, Y:-38.36, Z:-2.48 [[ 9.78448391e-01 2.06491509e-01 -5.49308427e-05 2.85651598e+02] [-2.06491508e-01 9.78448393e-01 1.04834352e-05 -3.83627212e+01] [ 5.59117351e-05 1.08525226e-06 9.99999998e-01 -2.48469013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88576923100004 meters Centerline goodness [0,1] 0.9999360763674331 Centerline is valid? [True, True] Translation: X:285.68, Y:-38.37, Z:-2.49 [[ 9.78575247e-01 2.05889480e-01 9.46200815e-05 2.85679308e+02] [-2.05889479e-01 9.78575251e-01 -1.88505811e-05 -3.83663084e+01] [-9.64740064e-05 -1.03456727e-06 9.99999995e-01 -2.48549696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91576923100007 meters Centerline goodness [0,1] 0.999914842885123 Centerline is valid? [True, True] Translation: X:285.71, Y:-38.38, Z:-2.48 [[ 9.78785793e-01 2.04884766e-01 7.77219391e-04 2.85706501e+02] [-2.04884710e-01 9.78786102e-01 -1.52321311e-04 -3.83751267e+01] [-7.91939854e-04 -1.01504338e-05 9.99999686e-01 -2.48427437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94576923100004 meters Centerline goodness [0,1] 0.9999787034670755 Centerline is valid? [True, True] Translation: X:285.73, Y:-38.38, Z:-2.48 [[ 9.79344718e-01 2.02188645e-01 1.91697468e-03 2.85733670e+02] [-2.02188298e-01 9.79346594e-01 -3.75243211e-04 -3.83828801e+01] [-1.95325254e-03 -2.00973897e-05 9.99998092e-01 -2.48224153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.9757692310001 meters Centerline goodness [0,1] 0.9999787179705457 Centerline is valid? [True, True] Translation: X:285.76, Y:-38.39, Z:-2.48 [[ 9.79633902e-01 2.00775371e-01 2.58250755e-03 2.85760756e+02] [-2.00774737e-01 9.79637305e-01 -5.05233401e-04 -3.83909860e+01] [-2.63135916e-03 -2.35585063e-05 9.99996538e-01 -2.48058608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.79, Y:-38.40, Z:-2.48 [[ 9.79983017e-01 1.99032607e-01 4.39405186e-03 2.85788492e+02] [-1.99030755e-01 9.79992868e-01 -8.59154046e-04 -3.84010623e+01] [-4.47713915e-03 -3.25950851e-05 9.99989977e-01 -2.47762383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.82, Y:-38.41, Z:-2.48 [[ 9.79960686e-01 1.99139114e-01 4.54608407e-03 2.85815497e+02] [-1.99137134e-01 9.79971230e-01 -8.88677378e-04 -3.84077312e+01] [-4.63200203e-03 -3.44252590e-05 9.99989272e-01 -2.47776456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.84, Y:-38.41, Z:-2.48 [[ 9.79792465e-01 2.00000282e-01 2.57172137e-03 2.85843317e+02] [-1.99999651e-01 9.79795839e-01 -5.02686779e-04 -3.84149670e+01] [-2.62029939e-03 -2.18146572e-05 9.99996567e-01 -2.48064892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.87, Y:-38.42, Z:-2.48 [[ 9.79732048e-01 2.00310701e-01 8.59041821e-04 2.85870775e+02] [-2.00310631e-01 9.79732424e-01 -1.68099464e-04 -3.84190568e+01] [-8.75303248e-04 -7.38277670e-06 9.99999617e-01 -2.48422864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.90, Y:-38.43, Z:-2.48 [[ 9.79647003e-01 2.00727972e-01 1.75996424e-04 2.85898922e+02] [-2.00727969e-01 9.79647019e-01 -3.46280994e-05 -3.84259551e+01] [-1.79365200e-04 -1.40409090e-06 9.99999984e-01 -2.48464106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.93, Y:-38.43, Z:-2.48 [[ 9.79485906e-01 2.01504592e-01 1.80549199e-03 2.85926508e+02] [-2.01504284e-01 9.79487570e-01 -3.52763229e-04 -3.84322032e+01] [-1.83954037e-03 -1.82877598e-05 9.99998308e-01 -2.48193363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.95, Y:-38.44, Z:-2.48 [[ 9.79497290e-01 2.01440299e-01 2.62002700e-03 2.85953695e+02] [-2.01439651e-01 9.79500794e-01 -5.11615352e-04 -3.84386759e+01] [-2.66937848e-03 -2.66514748e-05 9.99996437e-01 -2.48069480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.98, Y:-38.45, Z:-2.48 [[ 9.79936539e-01 1.99295039e-01 2.42234466e-03 2.85981375e+02] [-1.99294479e-01 9.79939532e-01 -4.72806545e-04 -3.84500331e+01] [-2.46797929e-03 -1.94395070e-05 9.99996954e-01 -2.48209164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.01, Y:-38.46, Z:-2.48 [[ 9.80286274e-01 1.97570262e-01 2.19362798e-03 2.86009924e+02] [-1.97569798e-01 9.80288729e-01 -4.28068461e-04 -3.84603079e+01] [-2.23496238e-03 -1.37650015e-05 9.99997502e-01 -2.48230932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.275769231 meters Centerline goodness [0,1] 0.9999787933411091 Centerline is valid? [True, True] Translation: X:286.04, Y:-38.47, Z:-2.48 [[ 9.80957761e-01 1.94212784e-01 1.80704495e-03 2.86037552e+02] [-1.94212464e-01 9.80959425e-01 -3.52566601e-04 -3.84749135e+01] [-1.84111072e-03 -5.09770930e-06 9.99998305e-01 -2.48379760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.07, Y:-38.48, Z:-2.48 [[ 9.80997304e-01 1.94017630e-01 1.20320752e-03 2.86066609e+02] [-1.94017488e-01 9.80998042e-01 -2.34810140e-04 -3.84825991e+01] [-1.22590152e-03 -3.09518547e-06 9.99999249e-01 -2.48457408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.10, Y:-38.49, Z:-2.49 [[ 9.80389423e-01 1.97069987e-01 1.20695018e-05 2.86096313e+02] [-1.97069987e-01 9.80389423e-01 -2.48603322e-06 -3.84856921e+01] [-1.23227345e-05 5.87441108e-08 1.00000000e+00 -2.48556685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.13, Y:-38.49, Z:-2.49 [[ 9.79866733e-01 1.99652520e-01 -2.36178098e-04 2.86125817e+02] [-1.99652515e-01 9.79866762e-01 4.59178374e-05 -3.84884914e+01] [ 2.40590680e-04 2.16018987e-06 9.99999971e-01 -2.48531448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.16, Y:-38.49, Z:-2.48 [[ 9.79388384e-01 2.01986097e-01 9.51552591e-05 2.86155242e+02] [-2.01986096e-01 9.79388389e-01 -1.87555780e-05 -3.84893193e+01] [-9.69823219e-05 -8.51044117e-07 9.99999995e-01 -2.48462027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42576923100006 meters Centerline goodness [0,1] 0.9999788775531757 Centerline is valid? [True, True] Translation: X:286.19, Y:-38.48, Z:-2.48 [[ 9.78384902e-01 2.06783018e-01 1.94073071e-03 2.86185560e+02] [-2.06782674e-01 9.78386827e-01 -3.78498951e-04 -3.84823540e+01] [-1.97705252e-03 -3.09918262e-05 9.99998045e-01 -2.48166675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45576923100003 meters Centerline goodness [0,1] 0.9998495141456704 Centerline is valid? [True, True] Translation: X:286.21, Y:-38.49, Z:-2.48 [[ 9.77959052e-01 2.08785143e-01 2.20362401e-03 2.86213965e+02] [-2.08784705e-01 9.77961534e-01 -4.29707599e-04 -3.84870759e+01] [-2.24477608e-03 -3.98465524e-05 9.99997480e-01 -2.47793502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48576923100006 meters Centerline goodness [0,1] 0.9999365549328539 Centerline is valid? [True, True] Translation: X:286.24, Y:-38.48, Z:-2.48 [[ 9.77471775e-01 2.11062078e-01 1.31475115e-03 2.86243516e+02] [-2.11061924e-01 9.77472659e-01 -2.56472007e-04 -3.84818299e+01] [-1.33926482e-03 -2.67997599e-05 9.99999103e-01 -2.48497826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51576923100004 meters Centerline goodness [0,1] 0.9999577131258457 Centerline is valid? [True, True] Translation: X:286.27, Y:-38.49, Z:-2.49 [[ 9.77273784e-01 2.11979678e-01 7.53309888e-04 2.86271267e+02] [-2.11979628e-01 9.77274074e-01 -1.47043801e-04 -3.84877482e+01] [-7.67360521e-04 -1.59842979e-05 9.99999705e-01 -2.48623765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54576923100007 meters Centerline goodness [0,1] 0.99995766747804 Centerline is valid? [True, True] Translation: X:286.30, Y:-38.49, Z:-2.49 [[ 9.76903670e-01 2.13673298e-01 -1.71511729e-03 2.86299955e+02] [-2.13673041e-01 9.76905175e-01 3.33687967e-04 -3.84882700e+01] [ 1.74680717e-03 4.04933278e-05 9.99998474e-01 -2.49077620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57576923100004 meters Centerline goodness [0,1] 0.9999356250804686 Centerline is valid? [True, True] Translation: X:286.33, Y:-38.49, Z:-2.49 [[ 9.76917186e-01 2.13603582e-01 -2.51429108e-03 2.86327865e+02] [-2.13603030e-01 9.76920420e-01 4.89173771e-04 -3.84935378e+01] [ 2.56075157e-03 5.91779295e-05 9.99996720e-01 -2.49231629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60576923100007 meters Centerline goodness [0,1] 0.9998929909042269 Centerline is valid? [True, True] Translation: X:286.36, Y:-38.50, Z:-2.49 [[ 9.76998264e-01 2.13229128e-01 -2.78060468e-03 2.86355851e+02] [-2.13228452e-01 9.77002218e-01 5.40879460e-04 -3.84997131e+01] [ 2.83198820e-03 6.44657380e-05 9.99995988e-01 -2.49268137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63576923100004 meters Centerline goodness [0,1] 0.9999575767860173 Centerline is valid? [True, True] Translation: X:286.38, Y:-38.51, Z:-2.49 [[ 9.77390462e-01 2.11426464e-01 -2.59522929e-03 2.86382920e+02] [-2.11425869e-01 9.77393906e-01 5.04547456e-04 -3.85058943e+01] [ 2.64323597e-03 5.55587359e-05 9.99996505e-01 -2.49333224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.41, Y:-38.51, Z:-2.49 [[ 9.77626535e-01 2.10339489e-01 -1.91242048e-03 2.86410119e+02] [-2.10339164e-01 9.77628405e-01 3.71626615e-04 -3.85121064e+01] [ 1.94780434e-03 3.89448864e-05 9.99998102e-01 -2.49208338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69576923100004 meters Centerline goodness [0,1] 0.9999570603516758 Centerline is valid? [True, True] Translation: X:286.44, Y:-38.53, Z:-2.49 [[ 9.77973306e-01 2.08729954e-01 -1.40534360e-04 2.86436593e+02] [-2.08729952e-01 9.77973316e-01 2.70510767e-05 -3.85255312e+01] [ 1.43085224e-04 2.87849929e-06 9.99999990e-01 -2.48673486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7257692310001 meters Centerline goodness [0,1] 0.9999576163431381 Centerline is valid? [True, True] Translation: X:286.46, Y:-38.53, Z:-2.49 [[ 9.78183350e-01 2.07743322e-01 -2.14264625e-04 2.86463999e+02] [-2.07743318e-01 9.78183373e-01 4.13785179e-05 -3.85330726e+01] [ 2.18186204e-04 4.03626674e-06 9.99999976e-01 -2.48707423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.49, Y:-38.54, Z:-2.49 [[ 9.78521357e-01 2.06145023e-01 -4.28797579e-04 2.86490862e+02] [-2.06145006e-01 9.78521451e-01 8.29906154e-05 -3.85391839e+01] [ 4.36695732e-04 7.18639001e-06 9.99999905e-01 -2.48917531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7857692310001 meters Centerline goodness [0,1] 0.9999788829057121 Centerline is valid? [True, True] Translation: X:286.52, Y:-38.55, Z:-2.49 [[ 9.78881439e-01 2.04428778e-01 6.25469722e-05 2.86517427e+02] [-2.04428778e-01 9.78881441e-01 -1.24769680e-05 -3.85474875e+01] [-6.37767216e-05 -5.72928670e-07 9.99999998e-01 -2.48937031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.55, Y:-38.56, Z:-2.49 [[ 9.78752555e-01 2.05040914e-01 1.28803903e-03 2.86545596e+02] [-2.05040762e-01 9.78753403e-01 -2.50437109e-04 -3.85551100e+01] [-1.31202243e-03 -1.89845437e-05 9.99999139e-01 -2.48547211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.57, Y:-38.56, Z:-2.48 [[ 9.78604982e-01 2.05736992e-01 2.13986312e-03 2.86573641e+02] [-2.05736575e-01 9.78607321e-01 -4.15838058e-04 -3.85565724e+01] [-2.17963898e-03 -3.33069125e-05 9.99997624e-01 -2.48430000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.60, Y:-38.56, Z:-2.48 [[ 9.78529317e-01 2.06091477e-01 2.58426635e-03 2.86601688e+02] [-2.06090870e-01 9.78532729e-01 -5.01900670e-04 -3.85631988e+01] [-2.63222665e-03 -4.14691808e-05 9.99996535e-01 -2.48313266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.905769231 meters Centerline goodness [0,1] 0.9999788426954406 Centerline is valid? [True, True] Translation: X:286.63, Y:-38.57, Z:-2.49 [[ 9.78841024e-01 2.04611996e-01 2.04473526e-03 2.86629129e+02] [-2.04611613e-01 9.78843159e-01 -3.97072453e-04 -3.85706607e+01] [-2.08272091e-03 -2.97057745e-05 9.99997831e-01 -2.48529142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.66, Y:-38.59, Z:-2.49 [[ 9.79933094e-01 1.99325820e-01 5.89777273e-04 2.86656318e+02] [-1.99325787e-01 9.79933272e-01 -1.14453112e-04 -3.85887847e+01] [-6.00755834e-04 -5.40142700e-06 9.99999820e-01 -2.48766111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.68, Y:-38.60, Z:-2.49 [[ 9.80522705e-01 1.96403119e-01 1.02003077e-03 2.86684964e+02] [-1.96403020e-01 9.80523235e-01 -1.98003170e-04 -3.85995578e+01] [-1.03905231e-03 -6.19051999e-06 9.99999460e-01 -2.48745468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99576923100005 meters Centerline goodness [0,1] 0.9999787120808941 Centerline is valid? [True, True] Translation: X:286.71, Y:-38.61, Z:-2.49 [[ 9.81028520e-01 1.93853039e-01 2.01078383e-03 2.86714854e+02] [-1.93852646e-01 9.81030580e-01 -3.90106586e-04 -3.86103376e+01] [-2.04826377e-03 -7.09007965e-06 9.99997902e-01 -2.48561768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.74, Y:-38.62, Z:-2.48 [[ 9.81565246e-01 1.91088668e-01 3.84562152e-03 2.86743784e+02] [-1.91087212e-01 9.81572779e-01 -7.46069209e-04 -3.86242029e+01] [-3.91732278e-03 -2.53348619e-06 9.99992327e-01 -2.48269686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.77, Y:-38.63, Z:-2.48 [[ 9.81533865e-01 1.91254768e-01 3.58955171e-03 2.86773570e+02] [-1.91253498e-01 9.81540429e-01 -6.96897990e-04 -3.86324034e+01] [-3.65657519e-03 -2.48534287e-06 9.99993315e-01 -2.48404917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.80, Y:-38.64, Z:-2.49 [[ 9.81335131e-01 1.92296482e-01 1.85052910e-03 2.86804738e+02] [-1.92296147e-01 9.81336875e-01 -3.59097791e-04 -3.86411911e+01] [-1.88504568e-03 -3.45433756e-06 9.99998223e-01 -2.48669364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.83, Y:-38.65, Z:-2.49 [[ 9.81223598e-01 1.92872182e-01 7.56758060e-04 2.86834403e+02] [-1.92872126e-01 9.81223890e-01 -1.46969581e-04 -3.86472757e+01] [-7.70895431e-04 -1.74751482e-06 9.99999703e-01 -2.48839906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.86, Y:-38.65, Z:-2.49 [[ 9.80589777e-01 1.96070520e-01 -2.03147720e-04 2.86864656e+02] [-1.96070516e-01 9.80589798e-01 3.95337975e-05 -3.86497599e+01] [ 2.06955994e-04 1.06484064e-06 9.99999979e-01 -2.48979453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.89, Y:-38.65, Z:-2.49 [[ 9.80196725e-01 1.98025992e-01 -2.94160248e-04 2.86893726e+02] [-1.98025984e-01 9.80196769e-01 5.71084820e-05 -3.86535607e+01] [ 2.99643888e-04 2.27382542e-06 9.99999955e-01 -2.49011334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.92, Y:-38.66, Z:-2.49 [[ 9.79829378e-01 1.99835861e-01 1.38948390e-04 2.86924840e+02] [-1.99835859e-01 9.79829388e-01 -2.69057332e-05 -3.86597434e+01] [-1.41522446e-04 -1.40384306e-06 9.99999990e-01 -2.48944826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.96, Y:-38.67, Z:-2.49 [[ 9.79824703e-01 1.99858783e-01 1.38947730e-04 2.86955097e+02] [-1.99858781e-01 9.79824712e-01 -2.69091351e-05 -3.86656781e+01] [-1.41522446e-04 -1.40368857e-06 9.99999990e-01 -2.48962221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.99, Y:-38.67, Z:-2.49 [[ 9.79419484e-01 2.01832818e-01 9.93842244e-04 2.86986043e+02] [-2.01832726e-01 9.79419988e-01 -1.93322792e-04 -3.86727031e+01] [-1.01240784e-03 -1.12457799e-05 9.99999487e-01 -2.48882954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.02, Y:-38.68, Z:-2.49 [[ 9.79374078e-01 2.02051771e-01 1.22377752e-03 2.87016835e+02] [-2.02051631e-01 9.79374842e-01 -2.38110921e-04 -3.86788272e+01] [-1.24664765e-03 -1.40665811e-05 9.99999223e-01 -2.48817197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.05, Y:-38.68, Z:-2.49 [[ 9.79168605e-01 2.03047267e-01 8.06552484e-04 2.87046599e+02] [-2.03047207e-01 9.79168937e-01 -1.56962691e-04 -3.86825204e+01] [-8.21621984e-04 -1.00752903e-05 9.99999662e-01 -2.48851961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.08, Y:-38.69, Z:-2.49 [[ 9.78992517e-01 2.03895265e-01 6.10191200e-04 2.87077212e+02] [-2.03895230e-01 9.78992707e-01 -1.18799087e-04 -3.86866568e+01] [-6.21595306e-04 -8.11165848e-06 9.99999807e-01 -2.48916372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38576923100004 meters Centerline goodness [0,1] 0.9999570935146848 Centerline is valid? [True, True] Translation: X:287.11, Y:-38.69, Z:-2.49 [[ 9.78541848e-01 2.06046510e-01 8.29533624e-04 2.87107489e+02] [-2.06046447e-01 9.78542199e-01 -1.61614779e-04 -3.86883012e+01] [-8.45033818e-04 -1.27756310e-05 9.99999643e-01 -2.48848046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.14, Y:-38.69, Z:-2.49 [[ 9.78188319e-01 2.07718303e-01 8.47581929e-04 2.87136186e+02] [-2.07718238e-01 9.78188687e-01 -1.65162916e-04 -3.86894757e+01] [-8.63402414e-04 -1.44977894e-05 9.99999627e-01 -2.48929976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44576923100004 meters Centerline goodness [0,1] 0.9999788784454536 Centerline is valid? [True, True] Translation: X:287.17, Y:-38.69, Z:-2.49 [[ 9.77262483e-01 2.12032980e-01 2.33650061e-04 2.87166587e+02] [-2.12032975e-01 9.77262511e-01 -4.56617224e-05 -3.86854425e+01] [-2.38019237e-04 -4.91802953e-06 9.99999972e-01 -2.49039355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.4757692310001 meters Centerline goodness [0,1] 0.9998309275735994 Centerline is valid? [True, True] Translation: X:287.19, Y:-38.69, Z:-2.49 [[ 9.76937490e-01 2.13525499e-01 5.07605618e-05 2.87194705e+02] [-2.13525499e-01 9.76937491e-01 -1.01970928e-05 -3.86864124e+01] [-5.17672352e-05 -8.76752076e-07 9.99999999e-01 -2.49074229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50576923100004 meters Centerline goodness [0,1] 0.9999362651370299 Centerline is valid? [True, True] Translation: X:287.22, Y:-38.69, Z:-2.49 [[ 9.76866813e-01 2.13848604e-01 5.73818641e-05 2.87223475e+02] [-2.13848604e-01 9.76866815e-01 -1.14167055e-05 -3.86896505e+01] [-5.84958854e-05 -1.11843079e-06 9.99999998e-01 -2.49070558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5357692310001 meters Centerline goodness [0,1] 0.9999153904729673 Centerline is valid? [True, True] Translation: X:287.25, Y:-38.69, Z:-2.49 [[ 9.77205377e-01 2.12294601e-01 8.08896491e-04 2.87250621e+02] [-2.12294543e-01 9.77205711e-01 -1.57596610e-04 -3.86940696e+01] [-8.23915180e-04 -1.77200562e-05 9.99999660e-01 -2.48959113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56576923100005 meters Centerline goodness [0,1] 0.9999788686262494 Centerline is valid? [True, True] Translation: X:287.28, Y:-38.70, Z:-2.49 [[ 9.77560189e-01 2.10651776e-01 1.38032168e-03 2.87277494e+02] [-2.10651607e-01 9.77561163e-01 -2.68620536e-04 -3.86996942e+01] [-1.40593426e-03 -2.81742384e-05 9.99999011e-01 -2.48963027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5957692310001 meters Centerline goodness [0,1] 0.9999788614792737 Centerline is valid? [True, True] Translation: X:287.31, Y:-38.71, Z:-2.49 [[ 9.78320607e-01 2.07087133e-01 1.92609194e-03 2.87306048e+02] [-2.07086797e-01 9.78322502e-01 -3.74431802e-04 -3.87098358e+01] [-1.96187910e-03 -3.25538631e-05 9.99998075e-01 -2.49016282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.33, Y:-38.72, Z:-2.49 [[ 9.78664492e-01 2.05458968e-01 1.55724956e-03 2.87333566e+02] [-2.05458747e-01 9.78665730e-01 -3.02858517e-04 -3.87180393e+01] [-1.58625178e-03 -2.35536661e-05 9.99998742e-01 -2.49117070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.36, Y:-38.73, Z:-2.49 [[ 9.79303952e-01 2.02386040e-01 1.91326813e-03 2.87362506e+02] [-2.02385700e-01 9.79305821e-01 -3.71744405e-04 -3.87318346e+01] [-1.94891049e-03 -2.31673436e-05 9.99998101e-01 -2.48759147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.39, Y:-38.73, Z:-2.49 [[ 9.79530670e-01 2.01268999e-01 3.23363389e-03 2.87391691e+02] [-2.01268021e-01 9.79536007e-01 -6.28434184e-04 -3.87347726e+01] [-3.29394515e-03 -3.52565343e-05 9.99994574e-01 -2.48540672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.42, Y:-38.74, Z:-2.48 [[ 9.79675826e-01 2.00546958e-01 4.02426036e-03 2.87420930e+02] [-2.00545437e-01 9.79684090e-01 -7.82035372e-04 -3.87403928e+01] [-4.09933866e-03 -4.09059032e-05 9.99991597e-01 -2.48377801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74576923100005 meters Centerline goodness [0,1] 0.9999788637132229 Centerline is valid? [True, True] Translation: X:287.45, Y:-38.75, Z:-2.49 [[ 9.79917932e-01 1.99370481e-01 3.50099540e-03 2.87448761e+02] [-1.99369323e-01 9.79924186e-01 -6.80286442e-04 -3.87474481e+01] [-3.56633910e-03 -3.13661986e-05 9.99993640e-01 -2.48681396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.48, Y:-38.76, Z:-2.49 [[ 9.80150724e-01 1.98226154e-01 3.30897674e-03 2.87477373e+02] [-1.98225113e-01 9.80156310e-01 -6.42905615e-04 -3.87562679e+01] [-3.37075513e-03 -2.57778840e-05 9.99994319e-01 -2.48784181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.51, Y:-38.77, Z:-2.49 [[ 9.80943318e-01 1.94262874e-01 3.48464900e-03 2.87507508e+02] [-1.94261696e-01 9.80949507e-01 -6.76562791e-04 -3.87716571e+01] [-3.54969575e-03 -1.32640756e-05 9.99993700e-01 -2.48688943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.54, Y:-38.78, Z:-2.49 [[ 9.81298097e-01 1.92459493e-01 3.65894967e-03 2.87537424e+02] [-1.92458179e-01 9.81304919e-01 -7.11087435e-04 -3.87802476e+01] [-3.72740084e-03 -6.40604387e-06 9.99993053e-01 -2.48647437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.57, Y:-38.79, Z:-2.49 [[ 9.81522748e-01 1.91313197e-01 3.51508567e-03 2.87569289e+02] [-1.91311976e-01 9.81529042e-01 -6.83561283e-04 -3.87879816e+01] [-3.58093297e-03 -1.54703751e-06 9.99993588e-01 -2.48569685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.60, Y:-38.79, Z:-2.49 [[ 9.81303664e-01 1.92449744e-01 2.49280245e-03 2.87601217e+02] [-1.92449133e-01 9.81306831e-01 -4.85008711e-04 -3.87914793e+01] [-2.53954387e-03 -3.79684465e-06 9.99996775e-01 -2.48751313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.63, Y:-38.79, Z:-2.49 [[ 9.80875969e-01 1.94627363e-01 1.58861141e-03 2.87633094e+02] [-1.94627117e-01 9.80877255e-01 -3.09591127e-04 -3.87936477e+01] [-1.61848770e-03 -5.51636213e-06 9.99998690e-01 -2.48970969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.66, Y:-38.79, Z:-2.49 [[ 9.79792397e-01 2.00015111e-01 9.02168736e-04 2.87664520e+02] [-2.00015034e-01 9.79792812e-01 -1.75872728e-04 -3.87873749e+01] [-9.19115647e-04 -8.12854916e-06 9.99999578e-01 -2.49171751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.69, Y:-38.79, Z:-2.49 [[ 9.79303317e-01 2.02395528e-01 1.03138204e-03 2.87694765e+02] [-2.02395429e-01 9.79303860e-01 -2.01201842e-04 -3.87880686e+01] [-1.05075876e-03 -1.17093784e-05 9.99999448e-01 -2.49101559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.72, Y:-38.78, Z:-2.49 [[ 9.78667337e-01 2.05437832e-01 2.35403494e-03 2.87724648e+02] [-2.05437322e-01 9.78670167e-01 -4.59013990e-04 -3.87847795e+01] [-2.39812261e-03 -3.43846362e-05 9.99997124e-01 -2.48879001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.75, Y:-38.79, Z:-2.49 [[ 9.78633179e-01 2.05592714e-01 2.95581267e-03 2.87753299e+02] [-2.05591911e-01 9.78637642e-01 -5.76266977e-04 -3.87899257e+01] [-3.01114584e-03 -4.37371913e-05 9.99995466e-01 -2.48746226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.78, Y:-38.79, Z:-2.49 [[ 9.78828412e-01 2.04656172e-01 3.28509710e-03 2.87781578e+02] [-2.04655175e-01 9.78833923e-01 -6.40275691e-04 -3.87936826e+01] [-3.34660085e-03 -4.55920849e-05 9.99994399e-01 -2.48708452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.81, Y:-38.80, Z:-2.49 [[ 9.78902684e-01 2.04306778e-01 2.87686613e-03 2.87809943e+02] [-2.04306012e-01 9.78906910e-01 -5.60636022e-04 -3.87950973e+01] [-2.93072588e-03 -3.89529409e-05 9.99995705e-01 -2.48949645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.84, Y:-38.80, Z:-2.49 [[ 9.79019779e-01 2.03750099e-01 2.48369250e-03 2.87838668e+02] [-2.03749527e-01 9.79022929e-01 -4.83874879e-04 -3.88003924e+01] [-2.53018146e-03 -3.23280949e-05 9.99996799e-01 -2.49036578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.87, Y:-38.81, Z:-2.49 [[ 9.79482058e-01 2.01520466e-01 2.09735843e-03 2.87865232e+02] [-2.01520053e-01 9.79484304e-01 -4.08589684e-04 -3.88073484e+01] [-2.13666884e-03 -2.24535174e-05 9.99997717e-01 -2.49252716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.89, Y:-38.82, Z:-2.49 [[ 9.79981035e-01 1.99085169e-01 1.50531515e-03 2.87893689e+02] [-1.99084954e-01 9.79982191e-01 -2.93064599e-04 -3.88187019e+01] [-1.53352686e-03 -1.24878484e-05 9.99998824e-01 -2.49313832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.92, Y:-38.84, Z:-2.50 [[ 9.81606757e-01 1.90912146e-01 8.52411585e-04 2.87921301e+02] [-1.90912075e-01 9.81607127e-01 -1.65092178e-04 -3.88401943e+01] [-8.68251389e-04 -6.80066728e-07 9.99999623e-01 -2.49573406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25576923100004 meters Centerline goodness [0,1] 0.9999573815206273 Centerline is valid? [True, True] Translation: X:287.95, Y:-38.86, Z:-2.50 [[ 9.82566193e-01 1.85908675e-01 1.28057720e-03 2.87949557e+02] [-1.85908509e-01 9.82567028e-01 -2.48792522e-04 -3.88578275e+01] [-1.30450562e-03 6.38492279e-06 9.99999149e-01 -2.49689745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2857692310001 meters Centerline goodness [0,1] 0.9999578468153268 Centerline is valid? [True, True] Translation: X:287.98, Y:-38.89, Z:-2.50 [[ 9.84220328e-01 1.76935767e-01 2.02014899e-03 2.87975114e+02] [-1.76935331e-01 9.84222400e-01 -3.93769995e-04 -3.88867745e+01] [-2.05794789e-03 3.01207030e-05 9.99997882e-01 -2.49561826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31576923100005 meters Centerline goodness [0,1] 0.9998925909217847 Centerline is valid? [True, True] Translation: X:288.01, Y:-38.90, Z:-2.49 [[ 9.84845585e-01 1.73411567e-01 2.75724367e-03 2.88005588e+02] [-1.73410741e-01 9.84849443e-01 -5.37542526e-04 -3.88981459e+01] [-2.80868599e-03 5.12607139e-05 9.99996054e-01 -2.49350405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3457692310001 meters Centerline goodness [0,1] 0.9998945637046097 Centerline is valid? [True, True] Translation: X:288.03, Y:-38.92, Z:-2.49 [[ 9.85316502e-01 1.70706099e-01 3.28924042e-03 2.88033522e+02] [-1.70704909e-01 9.85321989e-01 -6.41226389e-04 -3.89184933e+01] [-3.35042217e-03 7.03214538e-05 9.99994385e-01 -2.49321740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37576923100005 meters Centerline goodness [0,1] 0.9998081637003091 Centerline is valid? [True, True] Translation: X:288.06, Y:-38.94, Z:-2.49 [[ 9.85875468e-01 1.67449504e-01 3.19761349e-03 2.88062936e+02] [-1.67448360e-01 9.85880651e-01 -6.24133482e-04 -3.89354635e+01] [-3.25697611e-03 7.98827532e-05 9.99994693e-01 -2.49319557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.405769231 meters Centerline goodness [0,1] 0.9998304402195799 Centerline is valid? [True, True] Translation: X:288.09, Y:-38.96, Z:-2.49 [[ 9.85946249e-01 1.67042956e-01 2.57763244e-03 2.88091150e+02] [-1.67042212e-01 9.85949617e-01 -5.02869326e-04 -3.89552492e+01] [-2.62541649e-03 6.52287013e-05 9.99996551e-01 -2.49442955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43576923100005 meters Centerline goodness [0,1] 0.9998944189876893 Centerline is valid? [True, True] Translation: X:288.12, Y:-38.97, Z:-2.50 [[ 9.85968166e-01 1.66923791e-01 1.79550402e-03 2.88121373e+02] [-1.66923429e-01 9.85969800e-01 -3.50259852e-04 -3.89693971e+01] [-1.82877944e-03 4.56333749e-05 9.99998327e-01 -2.49581743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.465769231 meters Centerline goodness [0,1] 0.9998280235607722 Centerline is valid? [True, True] Translation: X:288.15, Y:-38.98, Z:-2.50 [[ 9.86045400e-01 1.66471635e-01 1.29009249e-03 2.88151172e+02] [-1.66471448e-01 9.86046243e-01 -2.51621092e-04 -3.89840104e+01] [-1.31397862e-03 3.33462562e-05 9.99999136e-01 -2.49699918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49576923100005 meters Centerline goodness [0,1] 0.9998509115692622 Centerline is valid? [True, True] Translation: X:288.18, Y:-39.00, Z:-2.50 [[ 9.85949186e-01 1.67040042e-01 1.35147215e-03 2.88180223e+02] [-1.67039837e-01 9.85950112e-01 -2.63863576e-04 -3.90020806e+01] [-1.37655990e-03 3.44063897e-05 9.99999052e-01 -2.49641022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.525769231 meters Centerline goodness [0,1] 0.9998720327596136 Centerline is valid? [True, True] Translation: X:288.21, Y:-39.01, Z:-2.50 [[ 9.85682359e-01 1.68606648e-01 1.44404531e-03 2.88211181e+02] [-1.68606415e-01 9.85683416e-01 -2.82222501e-04 -3.90096508e+01] [-1.47095611e-03 3.47064368e-05 9.99998918e-01 -2.49533277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.24, Y:-39.02, Z:-2.50 [[ 9.84628273e-01 1.74660474e-01 9.39301623e-04 2.88240282e+02] [-1.74660378e-01 9.84628721e-01 -1.84205318e-04 -3.90167359e+01] [-9.57036744e-04 1.73149877e-05 9.99999542e-01 -2.49589655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.27, Y:-39.02, Z:-2.50 [[ 9.83766015e-01 1.79452417e-01 1.12151828e-03 2.88272494e+02] [-1.79452283e-01 9.83766654e-01 -2.19701748e-04 -3.90184923e+01] [-1.14273830e-03 1.48760976e-05 9.99999347e-01 -2.49572161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.31, Y:-39.01, Z:-2.49 [[ 9.81604146e-01 1.90919302e-01 1.76663904e-03 2.88305169e+02] [-1.90918987e-01 9.81605736e-01 -3.46501465e-04 -3.90101959e+01] [-1.80029683e-03 2.84233801e-06 9.99998379e-01 -2.49479057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.34, Y:-39.01, Z:-2.49 [[ 9.80454859e-01 1.96734137e-01 1.98713494e-03 2.88339409e+02] [-1.96733753e-01 9.80456873e-01 -3.89119787e-04 -3.90088109e+01] [-2.02485326e-03 -9.42212905e-06 9.99997950e-01 -2.49424275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.37, Y:-39.00, Z:-2.49 [[ 9.78375587e-01 2.06830091e-01 1.58855743e-03 2.88371897e+02] [-2.06829857e-01 9.78376877e-01 -3.11952050e-04 -3.89991205e+01] [-1.61872893e-03 -2.33548377e-05 9.99998690e-01 -2.49396447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70576923100003 meters Centerline goodness [0,1] 0.9999786739459597 Centerline is valid? [True, True] Translation: X:288.40, Y:-39.00, Z:-2.49 [[ 9.77527116e-01 2.10805965e-01 1.25814730e-03 2.88404032e+02] [-2.10805822e-01 9.77527925e-01 -2.46703908e-04 -3.89974452e+01] [-1.28188078e-03 -2.40650165e-05 9.99999178e-01 -2.49482802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73576923100006 meters Centerline goodness [0,1] 0.9999362082163817 Centerline is valid? [True, True] Translation: X:288.44, Y:-39.00, Z:-2.50 [[ 9.76784388e-01 2.14218659e-01 1.62066948e-03 2.88435908e+02] [-2.14218426e-01 9.76785731e-01 -3.17793198e-04 -3.89961305e+01] [-1.65112406e-03 -3.67618314e-05 9.99998636e-01 -2.49529615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76576923100004 meters Centerline goodness [0,1] 0.9998724787996004 Centerline is valid? [True, True] Translation: X:288.47, Y:-38.99, Z:-2.49 [[ 9.75807669e-01 2.18610783e-01 2.95275175e-03 2.88468072e+02] [-2.18610027e-01 9.75812133e-01 -5.80468904e-04 -3.89938195e+01] [-3.00822775e-03 -7.90751331e-05 9.99995472e-01 -2.49403345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79576923100007 meters Centerline goodness [0,1] 0.9999146721276505 Centerline is valid? [True, True] Translation: X:288.50, Y:-38.99, Z:-2.50 [[ 9.75280007e-01 2.20965310e-01 1.79974196e-03 2.88500935e+02] [-2.20965033e-01 9.75281667e-01 -3.53726776e-04 -3.89939901e+01] [-1.83341669e-03 -5.26973892e-05 9.99998318e-01 -2.49582767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82576923100004 meters Centerline goodness [0,1] 0.9999786530045897 Centerline is valid? [True, True] Translation: X:288.53, Y:-39.00, Z:-2.50 [[ 9.75153754e-01 2.21528065e-01 6.87301717e-04 2.88533257e+02] [-2.21528026e-01 9.75153996e-01 -1.34345676e-04 -3.89984748e+01] [-6.99986354e-04 -2.12489021e-05 9.99999755e-01 -2.49780857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85576923100007 meters Centerline goodness [0,1] 0.999893592117304 Centerline is valid? [True, True] Translation: X:288.56, Y:-39.00, Z:-2.50 [[ 9.75086775e-01 2.21822354e-01 -7.89771529e-04 2.88564191e+02] [-2.21822300e-01 9.75087095e-01 1.56497627e-04 -3.90014745e+01] [ 8.04810698e-04 2.25901710e-05 9.99999676e-01 -2.50046943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88576923100004 meters Centerline goodness [0,1] 0.9998070532747347 Centerline is valid? [True, True] Translation: X:288.59, Y:-39.00, Z:-2.50 [[ 9.75029525e-01 2.22061846e-01 -2.44174475e-03 2.88594875e+02] [-2.22061337e-01 9.75032580e-01 4.81192086e-04 -3.90025335e+01] [ 2.48763509e-03 7.30406129e-05 9.99996903e-01 -2.50409960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91576923100007 meters Centerline goodness [0,1] 0.9998100223751425 Centerline is valid? [True, True] Translation: X:288.63, Y:-39.01, Z:-2.50 [[ 9.75032874e-01 2.22056439e-01 -1.35371625e-03 2.88625127e+02] [-2.22056282e-01 9.75033813e-01 2.66738067e-04 -3.90071191e+01] [ 1.37915002e-03 4.05228133e-05 9.99999048e-01 -2.50296409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94576923100004 meters Centerline goodness [0,1] 0.9999361035973675 Centerline is valid? [True, True] Translation: X:288.66, Y:-39.02, Z:-2.50 [[ 9.75220617e-01 2.21218419e-01 2.67559220e-03 2.88656002e+02] [-2.21217806e-01 9.75224285e-01 -5.26703161e-04 -3.90154634e+01] [-2.72581893e-03 -7.82368525e-05 9.99996282e-01 -2.49596780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.9757692310001 meters Centerline goodness [0,1] 0.9998927912860758 Centerline is valid? [True, True] Translation: X:288.69, Y:-39.02, Z:-2.49 [[ 9.75372853e-01 2.20536288e-01 3.39749139e-03 2.88687703e+02] [-2.20535292e-01 9.75378766e-01 -6.69669430e-04 -3.90208117e+01] [-3.46152737e-03 -9.60893723e-05 9.99994004e-01 -2.49475727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00576923100004 meters Centerline goodness [0,1] 0.9998722724853646 Centerline is valid? [True, True] Translation: X:288.72, Y:-39.02, Z:-2.50 [[ 9.75563289e-01 2.19717874e-01 5.70028412e-04 2.88718555e+02] [-2.19717847e-01 9.75563455e-01 -1.11723644e-04 -3.90229937e+01] [-5.80646569e-04 -1.62519294e-05 9.99999831e-01 -2.49922573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0357692310001 meters Centerline goodness [0,1] 0.9998932946348542 Centerline is valid? [True, True] Translation: X:288.75, Y:-39.03, Z:-2.50 [[ 9.75659518e-01 2.19289628e-01 -7.51167177e-04 2.88748662e+02] [-2.19289579e-01 9.75659807e-01 1.48468668e-04 -3.90250455e+01] [ 7.65441262e-04 1.98682652e-05 9.99999707e-01 -2.50196531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06576923100005 meters Centerline goodness [0,1] 0.9999356747716455 Centerline is valid? [True, True] Translation: X:288.78, Y:-39.03, Z:-2.50 [[ 9.75850606e-01 2.18436296e-01 -1.08624689e-03 2.88778964e+02] [-2.18436192e-01 9.75851210e-01 2.14760953e-04 -3.90323119e+01] [ 1.10692693e-03 2.77010280e-05 9.99999387e-01 -2.50222091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0957692310001 meters Centerline goodness [0,1] 0.9999788503024407 Centerline is valid? [True, True] Translation: X:288.81, Y:-39.04, Z:-2.50 [[ 9.76419635e-01 2.15876117e-01 1.48242853e-03 2.88808841e+02] [-2.15875921e-01 9.76420760e-01 -2.92856810e-04 -3.90378530e+01] [-1.51069478e-03 -3.40694844e-05 9.99998858e-01 -2.49811865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12576923100005 meters Centerline goodness [0,1] 0.999957312387945 Centerline is valid? [True, True] Translation: X:288.84, Y:-39.05, Z:-2.50 [[ 9.76723269e-01 2.14486026e-01 2.72050052e-03 2.88839467e+02] [-2.14485361e-01 9.76727056e-01 -5.37497061e-04 -3.90456231e+01] [-2.77247208e-03 -5.85216497e-05 9.99996155e-01 -2.49574699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.155769231 meters Centerline goodness [0,1] 0.999957312387945 Centerline is valid? [True, True] Translation: X:288.87, Y:-39.05, Z:-2.50 [[ 9.76718336e-01 2.14508488e-01 2.72048813e-03 2.88869712e+02] [-2.14507822e-01 9.76722123e-01 -5.37559770e-04 -3.90516455e+01] [-2.77247208e-03 -5.85215005e-05 9.99996155e-01 -2.49592097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.90, Y:-39.06, Z:-2.50 [[ 9.77362310e-01 2.11559235e-01 2.36766685e-03 2.88900018e+02] [-2.11558722e-01 9.77365176e-01 -4.67882846e-04 -3.90611614e+01] [-2.41306007e-03 -4.36095144e-05 9.99997088e-01 -2.49681119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.215769231 meters Centerline goodness [0,1] 0.9999578725645076 Centerline is valid? [True, True] Translation: X:288.93, Y:-39.07, Z:-2.50 [[ 9.77657951e-01 2.10201339e-01 5.73049560e-04 2.88930297e+02] [-2.10201309e-01 9.77658119e-01 -1.12508054e-04 -3.90689770e+01] [-5.83895899e-04 -1.04613737e-05 9.99999829e-01 -2.50061587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24576923100005 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:288.96, Y:-39.08, Z:-2.50 [[ 9.78312750e-01 2.07125249e-01 -1.81535755e-03 2.88959993e+02] [-2.07124936e-01 9.78314434e-01 3.60384540e-04 -3.90843583e+01] [ 1.85063524e-03 2.34370278e-05 9.99998287e-01 -2.50407251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.99, Y:-39.09, Z:-2.50 [[ 9.78696284e-01 2.05309861e-01 -1.20167837e-03 2.88991208e+02] [-2.05309723e-01 9.78697022e-01 2.38561802e-04 -3.90944616e+01] [ 1.22505813e-03 1.32367034e-05 9.99999250e-01 -2.50325673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.02, Y:-39.11, Z:-2.50 [[ 9.79233372e-01 2.02730069e-01 1.58788804e-03 2.89021015e+02] [-2.02729826e-01 9.79234660e-01 -3.13914502e-04 -3.91061059e+01] [-1.61855491e-03 -1.45167110e-05 9.99998690e-01 -2.49889463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.05, Y:-39.11, Z:-2.50 [[ 9.79298484e-01 2.02410409e-01 2.12246755e-03 2.89051078e+02] [-2.02409974e-01 9.79300784e-01 -4.20251307e-04 -3.91139892e+01] [-2.16359737e-03 -1.80571323e-05 9.99997659e-01 -2.49829695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.08, Y:-39.13, Z:-2.50 [[ 9.79433689e-01 2.01763926e-01 9.83644570e-04 2.89082716e+02] [-2.01763833e-01 9.79434183e-01 -1.94246035e-04 -3.91258223e+01] [-1.00260696e-03 -8.21278785e-06 9.99999497e-01 -2.50001324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.11, Y:-39.13, Z:-2.50 [[ 9.79544058e-01 2.01228147e-01 8.19215010e-04 2.89113752e+02] [-2.01228082e-01 9.79544401e-01 -1.61816367e-04 -3.91326870e+01] [-8.35019483e-04 -6.34280447e-06 9.99999651e-01 -2.50142881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.14, Y:-39.14, Z:-2.50 [[ 9.79888946e-01 1.99538035e-01 1.49177799e-03 2.89144049e+02] [-1.99537816e-01 9.79890082e-01 -2.95885667e-04 -3.91434786e+01] [-1.52081890e-03 -7.73102911e-06 9.99998844e-01 -2.50009837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.18, Y:-39.15, Z:-2.50 [[ 9.80065035e-01 1.98672028e-01 1.39724437e-03 2.89175383e+02] [-1.98671834e-01 9.80066031e-01 -2.77203575e-04 -3.91546238e+01] [-1.42446434e-03 -5.91556941e-06 9.99998985e-01 -2.50017336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.21, Y:-39.17, Z:-2.50 [[ 9.80293288e-01 1.97546284e-01 7.31051504e-04 2.89206559e+02] [-1.97546231e-01 9.80293561e-01 -1.44646003e-04 -3.91669614e+01] [-7.45219362e-04 -2.62096294e-06 9.99999722e-01 -2.50124110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.24, Y:-39.18, Z:-2.51 [[ 9.80795651e-01 1.95034663e-01 -1.17095058e-03 2.89235450e+02] [-1.95034522e-01 9.80796350e-01 2.34485363e-04 -3.91829801e+01] [ 1.19419683e-03 -1.60643724e-06 9.99999287e-01 -2.50628392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.27, Y:-39.19, Z:-2.51 [[ 9.80612632e-01 1.95943637e-01 -2.22636832e-03 2.89266036e+02] [-1.95943132e-01 9.80615160e-01 4.44897930e-04 -3.91914031e+01] [ 2.27038544e-03 -3.09498334e-08 9.99997423e-01 -2.50779742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.30, Y:-39.20, Z:-2.51 [[ 9.80192120e-01 1.98044372e-01 -1.35459529e-03 2.89298312e+02] [-1.98044186e-01 9.80193056e-01 2.71709486e-04 -3.91972168e+01] [ 1.38157543e-03 1.94222456e-06 9.99999046e-01 -2.50611793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.33, Y:-39.20, Z:-2.50 [[ 9.79662534e-01 2.00652094e-01 -2.36299426e-04 2.89330748e+02] [-2.00652088e-01 9.79662563e-01 4.83305951e-05 -3.92021800e+01] [ 2.41191336e-04 6.62998085e-08 9.99999971e-01 -2.50285453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.36, Y:-39.20, Z:-2.50 [[ 9.78595811e-01 2.05790408e-01 7.39304209e-04 2.89362293e+02] [-2.05790356e-01 9.78596090e-01 -1.47098862e-04 -3.92016449e+01] [-7.53751743e-04 -8.19134568e-06 9.99999716e-01 -2.50195381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.39, Y:-39.21, Z:-2.50 [[ 9.78257888e-01 2.07391706e-01 -4.31084682e-04 2.89394120e+02] [-2.07391687e-01 9.78257983e-01 8.72708588e-05 -3.92077868e+01] [ 4.39811284e-04 4.02997372e-06 9.99999903e-01 -2.50449495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.43, Y:-39.22, Z:-2.51 [[ 9.78335513e-01 2.07003267e-01 -3.04501376e-03 2.89425055e+02] [-2.07002366e-01 9.78340251e-01 6.11361532e-04 -3.92171287e+01] [ 3.10561336e-03 3.22083549e-05 9.99995177e-01 -2.51088195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.46, Y:-39.23, Z:-2.51 [[ 9.78688959e-01 2.05331997e-01 -2.58690735e-03 2.89455944e+02] [-2.05331339e-01 9.78692378e-01 5.19949879e-04 -3.92287526e+01] [ 2.63854886e-03 2.23039464e-05 9.99996519e-01 -2.50952262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.49, Y:-39.24, Z:-2.50 [[ 9.79310594e-01 2.02352797e-01 2.02608156e-03 2.89486269e+02] [-2.02352391e-01 9.79312690e-01 -4.05934819e-04 -3.92418836e+01] [-2.06630943e-03 -1.24461778e-05 9.99997865e-01 -2.49872667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.52, Y:-39.25, Z:-2.49 [[ 9.79195455e-01 2.02863016e-01 4.78102400e-03 2.89517700e+02] [-2.02860747e-01 9.79207126e-01 -9.59917846e-04 -3.92476614e+01] [-4.87634460e-03 -2.99349085e-05 9.99988110e-01 -2.49394723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.55, Y:-39.25, Z:-2.49 [[ 9.78873642e-01 2.04396533e-01 5.33386094e-03 2.89548413e+02] [-2.04393726e-01 9.78888173e-01 -1.07198341e-03 -3.92516554e+01] [-5.44036309e-03 -4.08714030e-05 9.99985200e-01 -2.49261551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.58, Y:-39.25, Z:-2.50 [[ 9.77925698e-01 2.08952774e-01 -2.61673933e-04 2.89580189e+02] [-2.08952767e-01 9.77925733e-01 5.34891332e-05 -3.92534449e+01] [ 2.67074375e-04 2.36909435e-06 9.99999964e-01 -2.50348463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87576923100005 meters Centerline goodness [0,1] 0.9999787973878382 Centerline is valid? [True, True] Translation: X:289.61, Y:-39.25, Z:-2.51 [[ 9.76993027e-01 2.13197395e-01 -5.61219951e-03 2.89611409e+02] [-2.13194421e-01 9.77009141e-01 1.12984749e-03 -3.92500753e+01] [ 5.72405076e-03 9.26365074e-05 9.99983613e-01 -2.51452845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.905769231 meters Centerline goodness [0,1] 0.9999568900480676 Centerline is valid? [True, True] Translation: X:289.64, Y:-39.25, Z:-2.51 [[ 9.76647482e-01 2.14808885e-01 -4.10363697e-03 2.89643534e+02] [-2.14807303e-01 9.76656100e-01 8.27483887e-04 -3.92529008e+01] [ 4.18559297e-03 7.33311372e-05 9.99991238e-01 -2.51207804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.68, Y:-39.26, Z:-2.51 [[ 9.76362965e-01 2.16136296e-01 -6.79013952e-04 2.89675256e+02] [-2.16136253e-01 9.76363202e-01 1.37764619e-04 -3.92570345e+01] [ 6.92740170e-04 1.22512586e-05 9.99999760e-01 -2.50510991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.965769231 meters Centerline goodness [0,1] 0.9999789185200801 Centerline is valid? [True, True] Translation: X:289.71, Y:-39.26, Z:-2.49 [[ 9.76345074e-01 2.16168048e-01 4.65523656e-03 2.89706281e+02] [-2.16166030e-01 9.76356168e-01 -9.38311304e-04 -3.92637638e+01] [-4.74800185e-03 -9.01883877e-05 9.99988724e-01 -2.49392366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.74, Y:-39.27, Z:-2.49 [[ 9.76397612e-01 2.15919717e-01 5.13603896e-03 2.89736944e+02] [-2.15917252e-01 9.76411116e-01 -1.03612374e-03 -3.92722802e+01] [-5.23860508e-03 -9.72906768e-05 9.99986274e-01 -2.49311810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.025769231 meters Centerline goodness [0,1] 0.9999786228863379 Centerline is valid? [True, True] Translation: X:289.77, Y:-39.27, Z:-2.50 [[ 9.76244044e-01 2.16660858e-01 2.37465008e-03 2.89769532e+02] [-2.16660334e-01 9.76246931e-01 -4.78935079e-04 -3.92733352e+01] [-2.42201134e-03 -4.69349601e-05 9.99997066e-01 -2.49954988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.80, Y:-39.27, Z:-2.50 [[ 9.75877037e-01 2.18320386e-01 4.67599143e-04 2.89801751e+02] [-2.18320366e-01 9.75877149e-01 -9.36229772e-05 -3.92749958e+01] [-4.76759123e-04 -1.07219025e-05 9.99999886e-01 -2.50261561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08576923100003 meters Centerline goodness [0,1] 0.9998517985306883 Centerline is valid? [True, True] Translation: X:289.83, Y:-39.27, Z:-2.51 [[ 9.75473391e-01 2.20116380e-01 -6.65333568e-04 2.89834425e+02] [-2.20116338e-01 9.75473618e-01 1.35557596e-04 -3.92700918e+01] [ 6.78853790e-04 1.42179604e-05 9.99999769e-01 -2.50624983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.87, Y:-39.27, Z:-2.51 [[ 9.74786747e-01 2.23132488e-01 -1.64063610e-03 2.89866066e+02] [-2.23132243e-01 9.74788126e-01 3.33232207e-04 -3.92733082e+01] [ 1.67362752e-03 4.12484724e-05 9.99998599e-01 -2.50528255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14576923100003 meters Centerline goodness [0,1] 0.9994290668414709 Centerline is valid? [True, True] Translation: X:289.90, Y:-39.26, Z:-2.51 [[ 9.74348982e-01 2.25026920e-01 -2.63571366e-03 2.89898580e+02] [-2.25026299e-01 9.74352544e-01 5.33950650e-04 -3.92617219e+01] [ 2.68826758e-03 7.28506158e-05 9.99996384e-01 -2.51013482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17576923100006 meters Centerline goodness [0,1] 0.999485387138967 Centerline is valid? [True, True] Translation: X:289.93, Y:-39.26, Z:-2.51 [[ 9.74354530e-01 2.25000868e-01 -2.80329717e-03 2.89927124e+02] [-2.25000165e-01 9.74358560e-01 5.67524859e-04 -3.92647704e+01] [ 2.85911018e-03 7.77719099e-05 9.99995910e-01 -2.51081245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20576923100003 meters Centerline goodness [0,1] 0.9995504463425599 Centerline is valid? [True, True] Translation: X:289.95, Y:-39.27, Z:-2.51 [[ 9.74445757e-01 2.24613871e-01 -2.01868522e-03 2.89954640e+02] [-2.24613507e-01 9.74447847e-01 4.08444304e-04 -3.92689460e+01] [ 2.05884572e-03 5.54171479e-05 9.99997879e-01 -2.50949552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23576923100006 meters Centerline goodness [0,1] 0.9999145864918537 Centerline is valid? [True, True] Translation: X:289.98, Y:-39.28, Z:-2.50 [[ 9.74408986e-01 2.24781785e-01 5.26983843e-04 2.89983705e+02] [-2.24781760e-01 9.74409128e-01 -1.06704107e-04 -3.92789855e+01] [-5.37483007e-04 -1.44829154e-05 9.99999855e-01 -2.50266238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26576923100004 meters Centerline goodness [0,1] 0.9999361090405707 Centerline is valid? [True, True] Translation: X:290.01, Y:-39.28, Z:-2.50 [[ 9.74312793e-01 2.25198199e-01 5.93604715e-04 2.90013355e+02] [-2.25198168e-01 9.74312974e-01 -1.20153699e-04 -3.92798157e+01] [-6.05415172e-04 -1.66114087e-05 9.99999817e-01 -2.50327170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29576923100007 meters Centerline goodness [0,1] 0.9998933333333333 Centerline is valid? [True, True] Translation: X:290.04, Y:-39.28, Z:-2.51 [[ 9.74204676e-01 2.25665647e-01 -5.13856976e-04 2.90043149e+02] [-2.25665624e-01 9.74204812e-01 1.03977138e-04 -3.92835943e+01] [ 5.24066006e-04 1.46648411e-05 9.99999863e-01 -2.50552000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32576923100004 meters Centerline goodness [0,1] 0.9997442455242966 Centerline is valid? [True, True] Translation: X:290.07, Y:-39.28, Z:-2.51 [[ 9.74101532e-01 2.26068074e-01 -4.40818481e-03 2.90072076e+02] [-2.26066350e-01 9.74111497e-01 8.92203116e-04 -3.92841884e+01] [ 4.49576215e-03 1.27445827e-04 9.99989886e-01 -2.51169770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35576923100007 meters Centerline goodness [0,1] 0.9995149214383634 Centerline is valid? [True, True] Translation: X:290.10, Y:-39.28, Z:-2.51 [[ 9.73948035e-01 2.26732529e-01 -4.19343494e-03 2.90101262e+02] [-2.26730976e-01 9.73957055e-01 8.48346011e-04 -3.92823296e+01] [ 4.27657318e-03 1.24536668e-04 9.99990848e-01 -2.51201169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38576923100004 meters Centerline goodness [0,1] 0.9997443926129466 Centerline is valid? [True, True] Translation: X:290.13, Y:-39.29, Z:-2.51 [[ 9.73928954e-01 2.26846062e-01 -1.80465619e-03 2.90129387e+02] [-2.26845775e-01 9.73930624e-01 3.64877839e-04 -3.92865386e+01] [ 1.84038103e-03 5.40135394e-05 9.99998305e-01 -2.50771087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41576923100007 meters Centerline goodness [0,1] 0.9995751640928692 Centerline is valid? [True, True] Translation: X:290.16, Y:-39.29, Z:-2.50 [[ 9.73974566e-01 2.26655451e-01 9.22158646e-04 2.90157134e+02] [-2.26655376e-01 9.73975003e-01 -1.86858156e-04 -3.92889911e+01] [-9.40511889e-04 -2.70171226e-05 9.99999557e-01 -2.50326306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44576923100004 meters Centerline goodness [0,1] 0.9997209222446438 Centerline is valid? [True, True] Translation: X:290.19, Y:-39.30, Z:-2.50 [[ 9.74511348e-01 2.24322306e-01 2.67116349e-03 2.90185744e+02] [-2.24321667e-01 9.74515006e-01 -5.40377629e-04 -3.92959048e+01] [-2.72430767e-03 -7.25957155e-05 9.99996286e-01 -2.50010404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.4757692310001 meters Centerline goodness [0,1] 0.9999573497110443 Centerline is valid? [True, True] Translation: X:290.21, Y:-39.30, Z:-2.50 [[ 9.74976900e-01 2.22299892e-01 1.67398589e-03 2.90214299e+02] [-2.22299638e-01 9.74978336e-01 -3.38657343e-04 -3.93014039e+01] [-1.70738347e-03 -4.19433710e-05 9.99998542e-01 -2.50251659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50576923100004 meters Centerline goodness [0,1] 0.9999789007279248 Centerline is valid? [True, True] Translation: X:290.24, Y:-39.31, Z:-2.51 [[ 9.75967178e-01 2.17917221e-01 -3.89242032e-04 2.90242697e+02] [-2.17917207e-01 9.75967256e-01 7.86428220e-05 -3.93099194e+01] [ 3.97025103e-04 8.06972331e-06 9.99999921e-01 -2.50681747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.27, Y:-39.32, Z:-2.51 [[ 9.76521026e-01 2.15420729e-01 -7.71013605e-04 2.90271740e+02] [-2.15420673e-01 9.76521331e-01 1.55709871e-04 -3.93189094e+01] [ 7.86454365e-04 1.40383068e-05 9.99999691e-01 -2.50788013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.30, Y:-39.33, Z:-2.51 [[ 9.77596184e-01 2.10479316e-01 -2.03901489e-03 2.90300067e+02] [-2.10478914e-01 9.77598311e-01 4.12251614e-04 -3.93296693e+01] [ 2.08010795e-03 2.61540366e-05 9.99997836e-01 -2.51038808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.33, Y:-39.34, Z:-2.51 [[ 9.78067700e-01 2.08270403e-01 -2.64838004e-03 2.90329142e+02] [-2.08269717e-01 9.78071285e-01 5.35454129e-04 -3.93391004e+01] [ 2.70182372e-03 2.78669725e-05 9.99996350e-01 -2.51093509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.36, Y:-39.35, Z:-2.51 [[ 9.78767211e-01 2.04969114e-01 -1.55220626e-03 2.90357913e+02] [-2.04968874e-01 9.78768441e-01 3.13912929e-04 -3.93501781e+01] [ 1.58359296e-03 1.09062888e-05 9.99998746e-01 -2.50924653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.655769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.39, Y:-39.36, Z:-2.51 [[ 9.78992743e-01 2.03894130e-01 -6.26588064e-04 2.90387869e+02] [-2.03894091e-01 9.78992944e-01 1.26839298e-04 -3.93590994e+01] [ 6.39287082e-04 3.58285161e-06 9.99999796e-01 -2.50731725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.42, Y:-39.37, Z:-2.51 [[ 9.79122027e-01 2.03273340e-01 -7.49240914e-05 2.90418723e+02] [-2.03273339e-01 9.79122030e-01 1.61339607e-05 -3.93691403e+01] [ 7.66394325e-05 -5.67046042e-07 9.99999997e-01 -2.50554720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.45, Y:-39.38, Z:-2.51 [[ 9.79336921e-01 2.02230447e-01 -1.42871797e-03 2.90449891e+02] [-2.02230239e-01 9.79337963e-01 2.90567355e-04 -3.93815245e+01] [ 1.45795932e-03 4.36663776e-06 9.99998937e-01 -2.50781823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.48, Y:-39.39, Z:-2.51 [[ 9.79391693e-01 2.01963149e-01 -1.67287231e-03 2.90481239e+02] [-2.01962863e-01 9.79393121e-01 3.40272034e-04 -3.93900348e+01] [ 1.70712204e-03 4.59847641e-06 9.99998543e-01 -2.51022802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.51, Y:-39.40, Z:-2.51 [[ 9.79203251e-01 2.02880298e-01 -7.60247613e-04 2.90512680e+02] [-2.02880239e-01 9.79203546e-01 1.55227704e-04 -3.93979784e+01] [ 7.75929802e-04 2.23974516e-06 9.99999699e-01 -2.50782483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.55, Y:-39.40, Z:-2.51 [[ 9.78870042e-01 2.04481759e-01 -8.07174748e-04 2.90545273e+02] [-2.04481692e-01 9.78870375e-01 1.65075407e-04 -3.94030451e+01] [ 8.23874357e-04 3.46508821e-06 9.99999661e-01 -2.50680474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.58, Y:-39.40, Z:-2.50 [[ 9.78198237e-01 2.07668806e-01 1.36970267e-03 2.90575750e+02] [-2.07668620e-01 9.78199196e-01 -2.78204766e-04 -3.94038771e+01] [-1.39761651e-03 -1.23048514e-05 9.99999023e-01 -2.50144006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86576923100006 meters Centerline goodness [0,1] 0.9999785107983239 Centerline is valid? [True, True] Translation: X:290.61, Y:-39.41, Z:-2.50 [[ 9.77972581e-01 2.08710889e-01 3.06532642e-03 2.90607690e+02] [-2.08709963e-01 9.77977384e-01 -6.22336707e-04 -3.94089129e+01] [-3.12770836e-03 -3.11359280e-05 9.99995108e-01 -2.49804290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.64, Y:-39.41, Z:-2.50 [[ 9.78159885e-01 2.07826224e-01 3.39121956e-03 2.90638804e+02] [-2.07825084e-01 9.78165763e-01 -6.89214121e-04 -3.94129949e+01] [-3.46041164e-03 -3.06188849e-05 9.99994012e-01 -2.49954056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.67, Y:-39.42, Z:-2.50 [[ 9.78398374e-01 2.06702650e-01 3.26114926e-03 2.90670239e+02] [-2.06701588e-01 9.78403809e-01 -6.63241337e-04 -3.94219866e+01] [-3.32781460e-03 -2.51704854e-05 9.99994462e-01 -2.50043438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.70, Y:-39.43, Z:-2.50 [[ 9.78913768e-01 2.04234878e-01 3.99363292e-03 2.90699769e+02] [-2.04233260e-01 9.78921914e-01 -8.13123183e-04 -3.94316702e+01] [-4.07552290e-03 -1.96551907e-05 9.99991695e-01 -2.49815787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.73, Y:-39.44, Z:-2.50 [[ 9.79180294e-01 2.02953257e-01 3.99084932e-03 2.90729717e+02] [-2.02951629e-01 9.79188427e-01 -8.13187549e-04 -3.94393126e+01] [-4.07283253e-03 -1.36921455e-05 9.99991706e-01 -2.49740815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.76, Y:-39.45, Z:-2.50 [[ 9.79380642e-01 2.02004012e-01 2.81721949e-03 2.90761680e+02] [-2.02003196e-01 9.79384694e-01 -5.74135840e-04 -3.94461783e+01] [-2.87511939e-03 -6.78981121e-06 9.99995867e-01 -2.49951964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.79, Y:-39.45, Z:-2.50 [[ 9.79343301e-01 2.02184970e-01 2.81711329e-03 2.90793474e+02] [-2.02184153e-01 9.79347353e-01 -5.74656186e-04 -3.94528738e+01] [-2.87511929e-03 -6.78997971e-06 9.99995867e-01 -2.49970308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.82, Y:-39.46, Z:-2.51 [[ 9.79355892e-01 2.02136538e-01 -1.69031282e-03 2.90824204e+02] [-2.02136242e-01 9.79357351e-01 3.46045959e-04 -3.94552669e+01] [ 1.72536882e-03 2.77133203e-06 9.99998512e-01 -2.50937088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.86, Y:-39.46, Z:-2.51 [[ 9.79201899e-01 2.02866540e-01 -2.96785667e-03 2.90855098e+02] [-2.02865633e-01 9.79206396e-01 6.06775428e-04 -3.94582270e+01] [ 3.02923867e-03 7.92047038e-06 9.99995412e-01 -2.51267440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.89, Y:-39.46, Z:-2.51 [[ 9.78716747e-01 2.05187866e-01 -3.38666044e-03 2.90885220e+02] [-2.05186700e-01 9.78722606e-01 6.92081845e-04 -3.94557348e+01] [ 3.45660793e-03 1.75455882e-05 9.99994026e-01 -2.51315277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.92, Y:-39.46, Z:-2.51 [[ 9.78382272e-01 2.06777831e-01 -3.32548074e-03 2.90915752e+02] [-2.06776716e-01 9.78387923e-01 6.79563223e-04 -3.94560572e+01] [ 3.39412880e-03 2.27593752e-05 9.99994240e-01 -2.51372716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19576923100004 meters Centerline goodness [0,1] 0.99997866757685 Centerline is valid? [True, True] Translation: X:290.95, Y:-39.45, Z:-2.51 [[ 9.77469545e-01 2.11056423e-01 -2.91102930e-03 2.90946439e+02] [-2.11055588e-01 9.77473879e-01 5.94586614e-04 -3.94484106e+01] [ 2.97094643e-03 3.31986942e-05 9.99995586e-01 -2.51334752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2257692310001 meters Centerline goodness [0,1] 0.9999788596917744 Centerline is valid? [True, True] Translation: X:290.98, Y:-39.45, Z:-2.51 [[ 9.76952730e-01 2.13439360e-01 -2.64625199e-03 2.90975460e+02] [-2.13438679e-01 9.76956313e-01 5.40264487e-04 -3.94474476e+01] [ 2.70058630e-03 3.69996644e-05 9.99996353e-01 -2.51357972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25576923100004 meters Centerline goodness [0,1] 0.99997891229624 Centerline is valid? [True, True] Translation: X:291.01, Y:-39.45, Z:-2.51 [[ 9.76570324e-01 2.15185013e-01 -2.41101037e-03 2.91005026e+02] [-2.15184453e-01 9.76573299e-01 4.92161729e-04 -3.94475004e+01] [ 2.46043418e-03 3.81814082e-05 9.99996972e-01 -2.51346626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2857692310001 meters Centerline goodness [0,1] 0.9999572046047845 Centerline is valid? [True, True] Translation: X:291.03, Y:-39.45, Z:-2.51 [[ 9.76133559e-01 2.17157976e-01 -2.38517279e-03 2.91034833e+02] [-2.17157435e-01 9.76136472e-01 4.86755355e-04 -3.94460081e+01] [ 2.43395696e-03 4.28197685e-05 9.99997037e-01 -2.51306284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31576923100005 meters Centerline goodness [0,1] 0.9999786516374194 Centerline is valid? [True, True] Translation: X:291.06, Y:-39.44, Z:-2.51 [[ 9.76084373e-01 2.17389364e-01 -1.07736311e-03 2.91064413e+02] [-2.17389254e-01 9.76084968e-01 2.19584987e-04 -3.94424520e+01] [ 1.09933338e-03 1.98736890e-05 9.99999396e-01 -2.51284140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3457692310001 meters Centerline goodness [0,1] 0.9999367368887202 Centerline is valid? [True, True] Translation: X:291.09, Y:-39.45, Z:-2.51 [[ 9.76252344e-01 2.16636456e-01 8.72971646e-05 2.91092834e+02] [-2.16636455e-01 9.76252347e-01 -1.80676348e-05 -3.94473391e+01] [-8.91381703e-05 -1.27317743e-06 9.99999996e-01 -2.51089483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.12, Y:-39.45, Z:-2.51 [[ 9.76666528e-01 2.14760102e-01 7.69487107e-04 2.91120867e+02] [-2.14760045e-01 9.76666831e-01 -1.57256167e-04 -3.94548452e+01] [-7.85304884e-04 -1.16682510e-05 9.99999692e-01 -2.50984161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.405769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.15, Y:-39.47, Z:-2.51 [[ 9.78221966e-01 2.07561406e-01 -2.17027528e-04 2.91147187e+02] [-2.07561401e-01 9.78221990e-01 4.40859486e-05 -3.94676788e+01] [ 2.21451641e-04 1.92069446e-06 9.99999975e-01 -2.51330795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.17, Y:-39.48, Z:-2.51 [[ 9.79044120e-01 2.03648252e-01 -1.08076959e-05 2.91174497e+02] [-2.03648252e-01 9.79044120e-01 1.96519366e-06 -3.94790965e+01] [ 1.09814193e-05 2.76957073e-07 1.00000000e+00 -2.51318628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.20, Y:-39.49, Z:-2.51 [[ 9.80257418e-01 1.97713644e-01 2.17012657e-03 2.91200962e+02] [-1.97713149e-01 9.80259820e-01 -4.42768682e-04 -3.94941532e+01] [-2.21482929e-03 4.96472843e-06 9.99997547e-01 -2.50751785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.23, Y:-39.50, Z:-2.51 [[ 9.80703995e-01 1.95483280e-01 2.44171007e-03 2.91227910e+02] [-1.95482646e-01 9.80707034e-01 -4.98073025e-04 -3.95029573e+01] [-2.49196719e-03 1.11502605e-05 9.99996895e-01 -2.50692471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.26, Y:-39.51, Z:-2.51 [[ 9.81209915e-01 1.92937684e-01 1.46752993e-03 2.91256178e+02] [-1.92937452e-01 9.81211012e-01 -2.99350009e-04 -3.95104686e+01] [-1.49771242e-03 1.05837120e-05 9.99998878e-01 -2.51036390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.29, Y:-39.51, Z:-2.51 [[ 9.81294714e-01 1.92505367e-01 1.53890227e-03 2.91286059e+02] [-1.92505112e-01 9.81295920e-01 -3.13744220e-04 -3.95148905e+01] [-1.57051596e-03 1.16289905e-05 9.99998767e-01 -2.50967475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.31, Y:-39.52, Z:-2.51 [[ 9.81249294e-01 1.92734568e-01 1.79143940e-03 2.91314347e+02] [-1.92734222e-01 9.81250929e-01 -3.65210241e-04 -3.95213029e+01] [-1.82824022e-03 1.30906102e-05 9.99998329e-01 -2.50871386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.34, Y:-39.53, Z:-2.51 [[ 9.81039155e-01 1.93796688e-01 2.24069244e-03 2.91341795e+02] [-1.93796150e-01 9.81041713e-01 -4.56735078e-04 -3.95250637e+01] [-2.28672649e-03 1.38374272e-05 9.99997385e-01 -2.50643742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.37, Y:-39.53, Z:-2.50 [[ 9.80843925e-01 1.94772330e-01 2.98886276e-03 2.91372367e+02] [-1.94771379e-01 9.80848479e-01 -6.08891976e-04 -3.95259113e+01] [-3.05021681e-03 1.50830738e-05 9.99995348e-01 -2.50481773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67576923100006 meters Centerline goodness [0,1] 0.9999787460148778 Centerline is valid? [True, True] Translation: X:291.40, Y:-39.53, Z:-2.50 [[ 9.80691768e-01 1.95518477e-01 4.02263217e-03 2.91400768e+02] [-1.95516761e-01 9.80700018e-01 -8.19352762e-04 -3.95306106e+01] [-4.10519405e-03 1.70404954e-05 9.99991574e-01 -2.50398972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.43, Y:-39.54, Z:-2.50 [[ 9.80550043e-01 1.96192903e-01 5.47334056e-03 2.91427606e+02] [-1.96189738e-01 9.80565319e-01 -1.11463640e-03 -3.95360363e+01] [-5.58565168e-03 1.91435174e-05 9.99984400e-01 -2.50118681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.46, Y:-39.54, Z:-2.50 [[ 9.80271635e-01 1.97554934e-01 6.29037083e-03 2.91457309e+02] [-1.97550784e-01 9.80291818e-01 -1.28063844e-03 -3.95413573e+01] [-6.41939550e-03 1.27058546e-05 9.99979395e-01 -2.49803878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.49, Y:-39.54, Z:-2.50 [[ 9.80032762e-01 1.98789090e-01 4.32233296e-03 2.91486022e+02] [-1.98787143e-01 9.80042294e-01 -8.79923144e-04 -3.95445393e+01] [-4.41098823e-03 3.12928946e-06 9.99990272e-01 -2.50172679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.52, Y:-39.55, Z:-2.50 [[ 9.79941852e-01 1.99251060e-01 3.60307487e-03 2.91515598e+02] [-1.99249711e-01 9.79948476e-01 -7.33381568e-04 -3.95500606e+01] [-3.67695478e-03 7.59666305e-07 9.99993240e-01 -2.50348948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.54, Y:-39.56, Z:-2.50 [[ 9.79900115e-01 1.99454610e-01 3.69101989e-03 2.91543328e+02] [-1.99453195e-01 9.79907066e-01 -7.51196751e-04 -3.95563691e+01] [-3.76668612e-03 -8.79267145e-08 9.99992906e-01 -2.50393634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.57, Y:-39.57, Z:-2.50 [[ 9.79971922e-01 1.99056383e-01 5.62041998e-03 2.91570197e+02] [-1.99053098e-01 9.79988039e-01 -1.14361835e-03 -3.95651474e+01] [-5.73558888e-03 1.95186636e-06 9.99983551e-01 -2.50043868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.60, Y:-39.57, Z:-2.50 [[ 9.80185363e-01 1.97987466e-01 6.13334418e-03 2.91598222e+02] [-1.97983536e-01 9.80204552e-01 -1.24760465e-03 -3.95738215e+01] [-6.25894196e-03 8.58265435e-06 9.99980413e-01 -2.50001420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.63, Y:-39.59, Z:-2.50 [[ 9.80649778e-01 1.95717493e-01 4.54699746e-03 2.91627190e+02] [-1.95715310e-01 9.80660320e-01 -9.24713443e-04 -3.95870433e+01] [-4.64004258e-03 1.69030174e-05 9.99989235e-01 -2.50394543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.66, Y:-39.60, Z:-2.51 [[ 9.80816493e-01 1.94910224e-01 3.00180953e-03 2.91655570e+02] [-1.94909268e-01 9.80821087e-01 -6.10421085e-04 -3.95975396e+01] [-3.06321540e-03 1.36305689e-05 9.99995308e-01 -2.50718966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.68, Y:-39.61, Z:-2.51 [[ 9.81231636e-01 1.92828527e-01 1.27928173e-03 2.91684349e+02] [-1.92828352e-01 9.81232469e-01 -2.60170380e-04 -3.96130728e+01] [-1.30544104e-03 8.60562057e-06 9.99999148e-01 -2.50972040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.71, Y:-39.62, Z:-2.51 [[ 9.81372426e-01 1.92108386e-01 1.59068512e-03 2.91713908e+02] [-1.92108113e-01 9.81373715e-01 -3.23572763e-04 -3.96242007e+01] [-1.62321760e-03 1.19618703e-05 9.99998683e-01 -2.50940108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.74, Y:-39.63, Z:-2.51 [[ 9.81425313e-01 1.91831383e-01 2.25271693e-03 2.91744457e+02] [-1.91830837e-01 9.81427899e-01 -4.57875865e-04 -3.96349579e+01] [-2.29871420e-03 1.72303902e-05 9.99997358e-01 -2.50852528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.77, Y:-39.65, Z:-2.51 [[ 9.81170710e-01 1.93128902e-01 2.29459573e-03 2.91774076e+02] [-1.93128339e-01 9.81173393e-01 -4.66834584e-04 -3.96453233e+01] [-2.34155553e-03 1.48929579e-05 9.99997258e-01 -2.50898410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.80, Y:-39.65, Z:-2.52 [[ 9.80486235e-01 1.96585761e-01 -8.84174531e-04 2.91804838e+02] [-1.96585678e-01 9.80486634e-01 1.80295430e-04 -3.96483798e+01] [ 9.02364823e-04 -2.96113718e-06 9.99999593e-01 -2.51614480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.84, Y:-39.65, Z:-2.52 [[ 9.80180188e-01 1.98096320e-01 -2.15567419e-03 2.91835652e+02] [-1.98095832e-01 9.80182559e-01 4.39603278e-04 -3.96529184e+01] [ 2.20003804e-03 -3.86035173e-06 9.99997580e-01 -2.51737048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.155769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.86, Y:-39.66, Z:-2.52 [[ 9.80007458e-01 1.98947164e-01 -2.32551489e-03 2.91864986e+02] [-1.98946598e-01 9.80010217e-01 4.74544906e-04 -3.96589083e+01] [ 2.37343772e-03 -2.40427222e-06 9.99997183e-01 -2.51891515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.89, Y:-39.67, Z:-2.52 [[ 9.80394640e-01 1.97040486e-01 -1.18149867e-03 2.91894473e+02] [-1.97040338e-01 9.80395352e-01 2.41098866e-04 -3.96707486e+01] [ 1.20584204e-03 -3.56913842e-06 9.99999273e-01 -2.51565265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.93, Y:-39.68, Z:-2.51 [[ 9.80825810e-01 1.94885394e-01 -6.43374891e-04 2.91925347e+02] [-1.94885349e-01 9.80826021e-01 1.32428257e-04 -3.96835843e+01] [ 6.56847167e-04 -4.50471267e-06 9.99999784e-01 -2.51492552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.95, Y:-39.71, Z:-2.51 [[ 9.81889990e-01 1.89442743e-01 1.86948839e-03 2.91952118e+02] [-1.89442361e-01 9.81891769e-01 -3.81061192e-04 -3.97064136e+01] [-1.90782454e-03 1.99998744e-05 9.99998180e-01 -2.51116635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.98, Y:-39.72, Z:-2.51 [[ 9.82411503e-01 1.86704075e-01 3.03754627e-03 2.91981500e+02] [-1.86703049e-01 9.82416198e-01 -6.20364672e-04 -3.97206772e+01] [-3.09995927e-03 4.23342406e-05 9.99995194e-01 -2.50929970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.01, Y:-39.74, Z:-2.51 [[ 9.83195410e-01 1.82520668e-01 3.60430747e-03 2.92010421e+02] [-1.82519194e-01 9.83202015e-01 -7.36587943e-04 -3.97387738e+01] [-3.67820489e-03 6.63545901e-05 9.99993233e-01 -2.50902491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.33576923100003 meters Centerline goodness [0,1] 0.9999575884810314 Centerline is valid? [True, True] Translation: X:292.04, Y:-39.75, Z:-2.51 [[ 9.83416605e-01 1.81327507e-01 3.48088222e-03 2.92039078e+02] [-1.81326124e-01 9.83422763e-01 -7.11301997e-04 -3.97545680e+01] [-3.55215742e-03 6.83313130e-05 9.99993689e-01 -2.50963285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.07, Y:-39.77, Z:-2.51 [[ 9.83330652e-01 1.81813974e-01 2.12292413e-03 2.92069855e+02] [-1.81813461e-01 9.83332943e-01 -4.33712955e-04 -3.97682904e+01] [-2.16639631e-03 4.05070601e-05 9.99997653e-01 -2.50994579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.10, Y:-39.77, Z:-2.51 [[ 9.83051996e-01 1.83323672e-01 1.09740917e-03 2.92102088e+02] [-1.83323536e-01 9.83052608e-01 -2.23927963e-04 -3.97714844e+01] [-1.11986224e-03 1.89519024e-05 9.99999373e-01 -2.51001833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.13, Y:-39.78, Z:-2.51 [[ 9.82784843e-01 1.84753248e-01 4.35334818e-04 2.92133776e+02] [-1.84753227e-01 9.82784939e-01 -8.82794915e-05 -3.97791286e+01] [-4.44150426e-04 6.33023359e-06 9.99999901e-01 -2.51157223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.16, Y:-39.80, Z:-2.51 [[ 9.82383275e-01 1.86874636e-01 9.85648887e-04 2.92161668e+02] [-1.86874527e-01 9.82383769e-01 -2.01723006e-04 -3.97977393e+01] [-1.00598238e-03 1.39766375e-05 9.99999494e-01 -2.51476389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.19, Y:-39.81, Z:-2.51 [[ 9.82155086e-01 1.88060540e-01 2.14936259e-03 2.92191434e+02] [-1.88060026e-01 9.82157438e-01 -4.40678197e-04 -3.98076366e+01] [-2.19388663e-03 2.86051484e-05 9.99997593e-01 -2.51281521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.22, Y:-39.82, Z:-2.51 [[ 9.81743052e-01 1.90184178e-01 3.24939435e-03 2.92222046e+02] [-1.90183012e-01 9.81748429e-01 -6.67026940e-04 -3.98177831e+01] [-3.31694576e-03 3.68694593e-05 9.99994498e-01 -2.50817338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.25, Y:-39.83, Z:-2.51 [[ 9.81498404e-01 1.91441388e-01 3.32842240e-03 2.92252741e+02] [-1.91440169e-01 9.81504047e-01 -6.83850828e-04 -3.98276178e+01] [-3.39777740e-03 3.40047495e-05 9.99994227e-01 -2.50704163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.28, Y:-39.84, Z:-2.51 [[ 9.80968544e-01 1.94120835e-01 4.22099058e-03 2.92282189e+02] [-1.94118896e-01 9.80977625e-01 -8.68239653e-04 -3.98414583e+01] [-4.30924072e-03 3.23417602e-05 9.99990715e-01 -2.50676798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.31, Y:-39.85, Z:-2.51 [[ 9.80619854e-01 1.95887542e-01 3.57390054e-03 2.92312928e+02] [-1.95886161e-01 9.80626366e-01 -7.35780535e-04 -3.98483124e+01] [-3.64879134e-03 2.14433432e-05 9.99993343e-01 -2.50872657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.35, Y:-39.85, Z:-2.52 [[ 9.79740553e-01 2.00270939e-01 -2.70393922e-05 2.92345954e+02] [-2.00270939e-01 9.79740553e-01 6.66456207e-06 -3.98521302e+01] [ 2.78263072e-05 -1.11433726e-06 1.00000000e+00 -2.51516035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.38, Y:-39.86, Z:-2.52 [[ 9.79407151e-01 2.01892053e-01 -1.10959805e-03 2.92378289e+02] [-2.01891921e-01 9.79407780e-01 2.30108507e-04 -3.98592958e+01] [ 1.13320604e-03 -1.35103476e-06 9.99999358e-01 -2.51769864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.41, Y:-39.87, Z:-2.51 [[ 9.79169022e-01 2.03046224e-01 5.07627667e-04 2.92407617e+02] [-2.03046198e-01 9.79169153e-01 -1.03982801e-04 -3.98691554e+01] [-5.18166668e-04 -1.25513035e-06 9.99999866e-01 -2.51412959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.44, Y:-39.88, Z:-2.51 [[ 9.79165094e-01 2.03052870e-01 2.29162899e-03 2.92438420e+02] [-2.03052319e-01 9.79167775e-01 -4.72815708e-04 -3.98782379e+01] [-2.33989585e-03 -2.35594568e-06 9.99997262e-01 -2.51062587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.47, Y:-39.89, Z:-2.51 [[ 9.79170055e-01 2.02984537e-01 4.82500575e-03 2.92470030e+02] [-2.02982087e-01 9.79181943e-01 -9.97346354e-04 -3.98889237e+01] [-4.92700439e-03 -2.81805427e-06 9.99987862e-01 -2.50613301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.50, Y:-39.90, Z:-2.51 [[ 9.79058336e-01 2.03518090e-01 5.01623586e-03 2.92500806e+02] [-2.03515444e-01 9.79071186e-01 -1.03789849e-03 -3.98959385e+01] [-5.12248311e-03 -4.71830343e-06 9.99986880e-01 -2.50666802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81576923100005 meters Centerline goodness [0,1] 0.9999788913750158 Centerline is valid? [True, True] Translation: X:292.53, Y:-39.90, Z:-2.51 [[ 9.78869768e-01 2.04423761e-01 4.99032610e-03 2.92533264e+02] [-2.04421149e-01 9.78882488e-01 -1.03343149e-03 -3.99021423e+01] [-5.09620078e-03 -8.53335362e-06 9.99987014e-01 -2.50700139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8457692310001 meters Centerline goodness [0,1] 0.9999787766883145 Centerline is valid? [True, True] Translation: X:292.57, Y:-39.90, Z:-2.51 [[ 9.78064448e-01 2.08245076e-01 4.89119223e-03 2.92566403e+02] [-2.08242610e-01 9.78076678e-01 -1.01383521e-03 -3.99016471e+01] [-4.99508724e-03 -2.69584616e-05 9.99987524e-01 -2.50585460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.60, Y:-39.89, Z:-2.51 [[ 9.76818204e-01 2.14031468e-01 4.08976968e-03 2.92599799e+02] [-2.14029792e-01 9.76826765e-01 -8.48272616e-04 -3.98945620e+01] [-4.17655352e-03 -4.67244216e-05 9.99991277e-01 -2.50821313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.905769231 meters Centerline goodness [0,1] 0.9999366901616511 Centerline is valid? [True, True] Translation: X:292.63, Y:-39.89, Z:-2.51 [[ 9.76108690e-01 2.17249688e-01 3.79446632e-03 2.92631629e+02] [-2.17248267e-01 9.76116064e-01 -7.87553941e-04 -3.98930369e+01] [-3.87493537e-03 -5.56029866e-05 9.99992491e-01 -2.50980740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.66, Y:-39.89, Z:-2.51 [[ 9.75487351e-01 2.20020715e-01 3.91313284e-03 2.92664546e+02] [-2.20019224e-01 9.75495198e-01 -8.12790674e-04 -3.98929734e+01] [-3.99607308e-03 -6.80974282e-05 9.99992013e-01 -2.50988304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.70, Y:-39.90, Z:-2.51 [[ 9.75447491e-01 2.20197369e-01 3.91301130e-03 2.92696312e+02] [-2.20195877e-01 9.75455337e-01 -8.13375296e-04 -3.98997776e+01] [-3.99607085e-03 -6.82240633e-05 9.99992013e-01 -2.51006647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99576923100005 meters Centerline goodness [0,1] 0.9999157113958193 Centerline is valid? [True, True] Translation: X:292.73, Y:-39.90, Z:-2.51 [[ 9.74840920e-01 2.22868133e-01 3.86981770e-03 2.92729915e+02] [-2.22866692e-01 9.74848598e-01 -8.05350532e-04 -3.98963747e+01] [-3.95197333e-03 -7.73648134e-05 9.99992188e-01 -2.51005533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.025769231 meters Centerline goodness [0,1] 0.9999575497728913 Centerline is valid? [True, True] Translation: X:292.76, Y:-39.90, Z:-2.51 [[ 9.74858946e-01 2.22804390e-01 2.87031990e-03 2.92762324e+02] [-2.22803597e-01 9.74863170e-01 -5.97023656e-04 -3.99017882e+01] [-2.93118865e-03 -5.75037477e-05 9.99995702e-01 -2.51198751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05576923100006 meters Centerline goodness [0,1] 0.9998526253736999 Centerline is valid? [True, True] Translation: X:292.79, Y:-39.91, Z:-2.52 [[ 9.75739667e-01 2.18933623e-01 4.12652176e-04 2.92792992e+02] [-2.18933606e-01 9.75739755e-01 -8.58616328e-05 -3.99051626e+01] [-4.21439131e-04 -6.56482808e-06 9.99999911e-01 -2.51717691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.82, Y:-39.91, Z:-2.52 [[ 9.76332530e-01 2.16274796e-01 -6.43924685e-05 2.92824674e+02] [-2.16274796e-01 9.76332532e-01 1.37523912e-05 -3.99130194e+01] [ 6.58427574e-05 4.99561066e-07 9.99999998e-01 -2.51909351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11576923100006 meters Centerline goodness [0,1] 0.9998933060196744 Centerline is valid? [True, True] Translation: X:292.86, Y:-39.92, Z:-2.52 [[ 9.77350979e-01 2.11624210e-01 5.07610120e-04 2.92855462e+02] [-2.11624184e-01 9.77351111e-01 -1.04975528e-04 -3.99230866e+01] [-5.18328678e-04 -4.82464238e-06 9.99999866e-01 -2.51533317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.89, Y:-39.93, Z:-2.52 [[ 9.77818957e-01 2.09447861e-01 1.29612767e-03 2.92885550e+02] [-2.09447688e-01 9.77819816e-01 -2.69748901e-04 -3.99313902e+01] [-1.32387765e-03 -7.70535395e-06 9.99999124e-01 -2.51794415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17576923100006 meters Centerline goodness [0,1] 0.99995720002568 Centerline is valid? [True, True] Translation: X:292.92, Y:-39.94, Z:-2.52 [[ 9.78768664e-01 2.04956829e-01 2.14492673e-03 2.92916188e+02] [-2.04956341e-01 9.78771014e-01 -4.47254138e-04 -3.99419257e+01] [-2.19105990e-03 -1.85799940e-06 9.99997600e-01 -2.51596832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20576923100003 meters Centerline goodness [0,1] 0.9999576782275642 Centerline is valid? [True, True] Translation: X:292.95, Y:-39.95, Z:-2.52 [[ 9.79138492e-01 2.03186743e-01 1.72064328e-03 2.92948241e+02] [-2.03186426e-01 9.79140004e-01 -3.58799122e-04 -3.99502310e+01] [-1.75765389e-03 1.70267282e-06 9.99998455e-01 -2.51703276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.98, Y:-39.96, Z:-2.52 [[ 9.79351250e-01 2.02159182e-01 1.67144866e-03 2.92980045e+02] [-2.02158881e-01 9.79352677e-01 -3.48826670e-04 -3.99585298e+01] [-1.70745623e-03 3.72564507e-06 9.99998542e-01 -2.51774251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.01, Y:-39.97, Z:-2.52 [[ 9.79486134e-01 2.01492137e-01 2.79852625e-03 2.93012199e+02] [-2.01491287e-01 9.79490132e-01 -5.85254053e-04 -3.99673995e+01] [-2.85905293e-03 9.36957466e-06 9.99995913e-01 -2.51575286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.04, Y:-39.98, Z:-2.51 [[ 9.79570183e-01 2.01067589e-01 3.75257034e-03 2.93043187e+02] [-2.01066053e-01 9.79577370e-01 -7.85914687e-04 -3.99755764e+01] [-3.83395495e-03 1.53440860e-05 9.99992650e-01 -2.51440817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.07, Y:-39.99, Z:-2.51 [[ 9.80102283e-01 1.98401625e-01 6.02573832e-03 2.93072324e+02] [-1.98397605e-01 9.80120806e-01 -1.26371584e-03 -3.99877829e+01] [-6.15667477e-03 4.30787257e-05 9.99981047e-01 -2.51068739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.10, Y:-40.00, Z:-2.51 [[ 9.80481800e-01 1.96526229e-01 5.73425919e-03 2.93102689e+02] [-1.96522552e-01 9.80498566e-01 -1.20346003e-03 -4.00004191e+01] [-5.85894438e-03 5.30594089e-05 9.99982835e-01 -2.51139610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.13, Y:-40.01, Z:-2.51 [[ 9.80422902e-01 1.96861661e-01 4.05199838e-03 2.93133376e+02] [-1.96859826e-01 9.80431275e-01 -8.50796226e-04 -4.00084969e+01] [-4.14019510e-03 3.64644090e-05 9.99991429e-01 -2.51473521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.17, Y:-40.01, Z:-2.52 [[ 9.80147051e-01 1.98260755e-01 2.10526799e-03 2.93165646e+02] [-1.98260263e-01 9.80149311e-01 -4.41904936e-04 -4.00136954e+01] [-2.15108938e-03 1.57408343e-05 9.99997686e-01 -2.51849878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.20, Y:-40.01, Z:-2.52 [[ 9.79036877e-01 2.03682941e-01 2.31835655e-04 2.93199008e+02] [-2.03682935e-01 9.79036904e-01 -4.78945068e-05 -4.00123633e+01] [-2.36730956e-04 -3.30478276e-07 9.99999972e-01 -2.52070820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.23, Y:-40.01, Z:-2.52 [[ 9.78243466e-01 2.07458588e-01 8.09136001e-04 2.93232908e+02] [-2.07458519e-01 9.78243801e-01 -1.69484607e-04 -4.00131895e+01] [-8.26693315e-04 -2.06494699e-06 9.99999658e-01 -2.51934143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50576923100004 meters Centerline goodness [0,1] 0.9998721227621483 Centerline is valid? [True, True] Translation: X:293.27, Y:-40.01, Z:-2.51 [[ 9.76596065e-01 2.15058558e-01 3.15319256e-03 2.93265905e+02] [-2.15057534e-01 9.76601155e-01 -6.64392474e-04 -4.00051960e+01] [-3.22229479e-03 -2.92747409e-05 9.99994808e-01 -2.51464921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5357692310001 meters Centerline goodness [0,1] 0.999894247038917 Centerline is valid? [True, True] Translation: X:293.30, Y:-40.01, Z:-2.51 [[ 9.75850179e-01 2.18407550e-01 3.81701731e-03 2.93297494e+02] [-2.18406073e-01 9.75857643e-01 -8.04558440e-04 -4.00053187e+01] [-3.90058716e-03 -4.85312656e-05 9.99992392e-01 -2.51418510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56576923100005 meters Centerline goodness [0,1] 0.9998509052183173 Centerline is valid? [True, True] Translation: X:293.33, Y:-40.01, Z:-2.52 [[ 9.75208649e-01 2.21254688e-01 3.80168140e-03 2.93330416e+02] [-2.21253243e-01 9.75216058e-01 -8.01886008e-04 -4.00052621e+01] [-3.88488179e-03 -5.91281687e-05 9.99992452e-01 -2.51610525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5957692310001 meters Centerline goodness [0,1] 0.9998489621542312 Centerline is valid? [True, True] Translation: X:293.36, Y:-40.01, Z:-2.52 [[ 9.75228807e-01 2.21180212e-01 2.84393826e-03 2.93362731e+02] [-2.21179403e-01 9.75232953e-01 -6.00044728e-04 -4.00119840e+01] [-2.90622033e-03 -4.38396615e-05 9.99995776e-01 -2.51860719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62576923100005 meters Centerline goodness [0,1] 0.9999578343734188 Centerline is valid? [True, True] Translation: X:293.39, Y:-40.02, Z:-2.53 [[ 9.75622144e-01 2.19456809e-01 -3.76087905e-04 2.93393076e+02] [-2.19456795e-01 9.75622216e-01 8.03733035e-05 -4.00210921e+01] [ 3.84558184e-04 4.12107136e-06 9.99999926e-01 -2.52548375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.655769231 meters Centerline goodness [0,1] 0.9999360081909515 Centerline is valid? [True, True] Translation: X:293.42, Y:-40.03, Z:-2.53 [[ 9.75843272e-01 2.18470864e-01 -6.25288370e-04 2.93423754e+02] [-2.18470823e-01 9.75843472e-01 1.33240954e-04 -4.00291972e+01] [ 6.39292840e-04 6.58497698e-06 9.99999796e-01 -2.52687169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68576923100005 meters Centerline goodness [0,1] 0.9998516729175937 Centerline is valid? [True, True] Translation: X:293.45, Y:-40.04, Z:-2.53 [[ 9.76115468e-01 2.17251998e-01 4.03323036e-04 2.93454084e+02] [-2.17251982e-01 9.76115551e-01 -8.48976385e-05 -4.00352626e+01] [-4.12134069e-04 -4.75283061e-06 9.99999915e-01 -2.52539261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.715769231 meters Centerline goodness [0,1] 0.9999153331639996 Centerline is valid? [True, True] Translation: X:293.49, Y:-40.04, Z:-2.52 [[ 9.75831239e-01 2.18523287e-01 9.82826206e-04 2.93486039e+02] [-2.18523189e-01 9.75831734e-01 -2.08015833e-04 -4.00378178e+01] [-1.00452930e-03 -1.17819685e-05 9.99999495e-01 -2.52345871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74576923100005 meters Centerline goodness [0,1] 0.9997458703939008 Centerline is valid? [True, True] Translation: X:293.52, Y:-40.04, Z:-2.52 [[ 9.75325961e-01 2.20764957e-01 1.45067111e-03 2.93518040e+02] [-2.20764744e-01 9.75327039e-01 -3.07128569e-04 -4.00383357e+01] [-1.48268198e-03 -2.07065698e-05 9.99998901e-01 -2.52196022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.775769231 meters Centerline goodness [0,1] 0.999747994455878 Centerline is valid? [True, True] Translation: X:293.55, Y:-40.03, Z:-2.52 [[ 9.74248999e-01 2.25458034e-01 2.74998054e-03 2.93549287e+02] [-2.25457288e-01 9.74252879e-01 -5.82542777e-04 -4.00306198e+01] [-2.81051541e-03 -5.24614373e-05 9.99996049e-01 -2.51965518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80576923100006 meters Centerline goodness [0,1] 0.9998291802788632 Centerline is valid? [True, True] Translation: X:293.58, Y:-40.04, Z:-2.52 [[ 9.73735640e-01 2.27640015e-01 4.35055241e-03 2.93580428e+02] [-2.27638170e-01 9.73745354e-01 -9.21115733e-04 -4.00364936e+01] [-4.44601299e-03 -9.34285723e-05 9.99990112e-01 -2.51735183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.83576923100003 meters Centerline goodness [0,1] 0.9994280266920877 Centerline is valid? [True, True] Translation: X:293.61, Y:-40.02, Z:-2.51 [[ 9.73187327e-01 2.29896322e-01 7.35576625e-03 2.93613327e+02] [-2.29891102e-01 9.73215110e-01 -1.55890601e-03 -4.00247225e+01] [-7.51712962e-03 -1.73917634e-04 9.99971731e-01 -2.51411772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86576923100006 meters Centerline goodness [0,1] 0.9993018089495398 Centerline is valid? [True, True] Translation: X:293.64, Y:-40.03, Z:-2.52 [[ 9.73261174e-01 2.29589969e-01 7.15079302e-03 2.93640742e+02] [-2.29585028e-01 9.73287428e-01 -1.51539337e-03 -4.00283559e+01] [-7.30769607e-03 -1.66841485e-04 9.99973285e-01 -2.51514389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89576923100003 meters Centerline goodness [0,1] 0.9997890161824589 Centerline is valid? [True, True] Translation: X:293.67, Y:-40.04, Z:-2.52 [[ 9.74049834e-01 2.26306021e-01 3.53642791e-03 2.93668363e+02] [-2.26304792e-01 9.74056251e-01 -7.49352789e-04 -4.00370071e+01] [-3.61426276e-03 -7.04036211e-05 9.99993466e-01 -2.52192792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92576923100006 meters Centerline goodness [0,1] 0.9998300295323688 Centerline is valid? [True, True] Translation: X:293.70, Y:-40.05, Z:-2.52 [[ 9.74742537e-01 2.23317523e-01 2.50401007e-03 2.93696318e+02] [-2.23316897e-01 9.74745753e-01 -5.30527988e-04 -4.00483835e+01] [-2.55924938e-03 -4.20595629e-05 9.99996724e-01 -2.52407014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95576923100003 meters Centerline goodness [0,1] 0.9998729217409722 Centerline is valid? [True, True] Translation: X:293.72, Y:-40.06, Z:-2.53 [[ 9.76107168e-01 2.17275277e-01 2.50016939e-03 2.93724463e+02] [-2.17274633e-01 9.76110369e-01 -5.29554251e-04 -4.00609500e+01] [-2.55550031e-03 -2.63216862e-05 9.99996734e-01 -2.52514206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98576923100006 meters Centerline goodness [0,1] 0.9999576289140291 Centerline is valid? [True, True] Translation: X:293.75, Y:-40.07, Z:-2.52 [[ 9.76538579e-01 2.15311169e-01 3.67481397e-03 2.93754138e+02] [-2.15309765e-01 9.76545493e-01 -7.78129005e-04 -4.00746656e+01] [-3.75616288e-03 -3.13503383e-05 9.99992945e-01 -2.52191175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01576923100004 meters Centerline goodness [0,1] 0.9999363840705713 Centerline is valid? [True, True] Translation: X:293.79, Y:-40.08, Z:-2.52 [[ 9.76578433e-01 2.15078797e-01 5.97281411e-03 2.93785180e+02] [-2.15075075e-01 9.76596697e-01 -1.26634187e-03 -4.00814249e+01] [-6.10539382e-03 -4.79212790e-05 9.99981361e-01 -2.51641705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04576923100007 meters Centerline goodness [0,1] 0.9998732787023739 Centerline is valid? [True, True] Translation: X:293.82, Y:-40.09, Z:-2.52 [[ 9.76223016e-01 2.16681488e-01 6.14454663e-03 2.93816765e+02] [-2.16677573e-01 9.76242352e-01 -1.30389317e-03 -4.00872104e+01] [-6.28109616e-03 -5.84949276e-05 9.99980272e-01 -2.51617968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07576923100004 meters Centerline goodness [0,1] 0.9999160140256577 Centerline is valid? [True, True] Translation: X:293.85, Y:-40.09, Z:-2.52 [[ 9.75820608e-01 2.18499751e-01 5.65680760e-03 2.93848054e+02] [-2.18496458e-01 9.75837002e-01 -1.20125283e-03 -4.00876248e+01] [-5.78259561e-03 -6.37851576e-05 9.99983279e-01 -2.51758635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10576923100007 meters Centerline goodness [0,1] 0.9999144293507327 Centerline is valid? [True, True] Translation: X:293.88, Y:-40.09, Z:-2.52 [[ 9.74986785e-01 2.22229822e-01 3.83084122e-03 2.93879614e+02] [-2.22228341e-01 9.74994309e-01 -8.13269214e-04 -4.00917312e+01] [-3.91578107e-03 -5.83947548e-05 9.99992332e-01 -2.52159649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13576923100004 meters Centerline goodness [0,1] 0.9998096768736254 Centerline is valid? [True, True] Translation: X:293.91, Y:-40.09, Z:-2.52 [[ 9.74449983e-01 2.24577019e-01 3.52032069e-03 2.93910542e+02] [-2.24575781e-01 9.74456340e-01 -7.48148585e-04 -4.00905781e+01] [-3.59841580e-03 -6.15453942e-05 9.99993524e-01 -2.52290882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16576923100007 meters Centerline goodness [0,1] 0.9997670971839933 Centerline is valid? [True, True] Translation: X:293.94, Y:-40.10, Z:-2.52 [[ 9.74209688e-01 2.25612822e-01 3.78650333e-03 2.93940258e+02] [-2.25611397e-01 9.74217045e-01 -8.04749452e-04 -4.00988936e+01] [-3.87043788e-03 -7.02835944e-05 9.99992507e-01 -2.52233830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19576923100004 meters Centerline goodness [0,1] 0.9997889761120959 Centerline is valid? [True, True] Translation: X:293.97, Y:-40.10, Z:-2.52 [[ 9.73878467e-01 2.27043767e-01 3.44359725e-03 2.93970145e+02] [-2.27042598e-01 9.73884553e-01 -7.31985363e-04 -4.01002772e+01] [-3.51985889e-03 -6.89784826e-05 9.99993803e-01 -2.52347715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2257692310001 meters Centerline goodness [0,1] 0.9998080450454293 Centerline is valid? [True, True] Translation: X:294.00, Y:-40.10, Z:-2.53 [[ 9.73248168e-01 2.29747793e-01 1.98872310e-03 2.93999630e+02] [-2.29747408e-01 9.73250199e-01 -4.22875058e-04 -4.01027087e+01] [-2.03267977e-03 -4.53416036e-05 9.99997933e-01 -2.52557170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25576923100004 meters Centerline goodness [0,1] 0.999621307750568 Centerline is valid? [True, True] Translation: X:294.03, Y:-40.10, Z:-2.52 [[ 9.72924109e-01 2.31113918e-01 2.24409160e-03 2.94028309e+02] [-2.31113432e-01 9.72926695e-01 -4.77146647e-04 -4.01022108e+01] [-2.29361185e-03 -5.44122342e-05 9.99997368e-01 -2.52494965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2857692310001 meters Centerline goodness [0,1] 0.9994303797468355 Centerline is valid? [True, True] Translation: X:294.06, Y:-40.10, Z:-2.52 [[ 9.72078167e-01 2.34626924e-01 3.77398330e-03 2.94058393e+02] [-2.34625577e-01 9.72085488e-01 -8.01958484e-04 -4.01022633e+01] [-3.85679545e-03 -1.05906677e-04 9.99992557e-01 -2.52224008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31576923100005 meters Centerline goodness [0,1] 0.9993147017882 Centerline is valid? [True, True] Translation: X:294.09, Y:-40.11, Z:-2.52 [[ 9.71538167e-01 2.36849707e-01 3.97570211e-03 2.94087493e+02] [-2.36848232e-01 9.71546294e-01 -8.44597547e-04 -4.01070909e+01] [-4.06262133e-03 -1.21079264e-04 9.99991740e-01 -2.52280643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3457692310001 meters Centerline goodness [0,1] 0.998498339713627 Centerline is valid? [True, True] Translation: X:294.12, Y:-40.10, Z:-2.53 [[ 9.70298096e-01 2.41893386e-01 3.03218504e-03 2.94119610e+02] [-2.41892553e-01 9.70302828e-01 -6.44053329e-04 -4.00978567e+01] [-3.09792996e-03 -1.08539261e-04 9.99995196e-01 -2.52504685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37576923100005 meters Centerline goodness [0,1] 0.9983288557950627 Centerline is valid? [True, True] Translation: X:294.15, Y:-40.10, Z:-2.53 [[ 9.69849082e-01 2.43688397e-01 2.95346985e-03 2.94149437e+02] [-2.43687615e-01 9.69853573e-01 -6.27392704e-04 -4.00996082e+01] [-3.01732161e-03 -1.11247786e-04 9.99995442e-01 -2.52552340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.405769231 meters Centerline goodness [0,1] 0.998900401776274 Centerline is valid? [True, True] Translation: X:294.18, Y:-40.11, Z:-2.53 [[ 9.70038756e-01 2.42923337e-01 3.61443936e-03 2.94177184e+02] [-2.42922160e-01 9.70045481e-01 -7.67710627e-04 -4.01097340e+01] [-3.69266540e-03 -1.33318355e-04 9.99993173e-01 -2.52534421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43576923100005 meters Centerline goodness [0,1] 0.9988985384452447 Centerline is valid? [True, True] Translation: X:294.21, Y:-40.12, Z:-2.52 [[ 9.70635415e-01 2.40521199e-01 4.05512763e-03 2.94205672e+02] [-2.40519698e-01 9.70643876e-01 -8.61123868e-04 -4.01150702e+01] [-4.14320334e-03 -1.39500748e-04 9.99991407e-01 -2.52485238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.465769231 meters Centerline goodness [0,1] 0.9991719041956854 Centerline is valid? [True, True] Translation: X:294.23, Y:-40.13, Z:-2.53 [[ 9.71868662e-01 2.35491964e-01 3.85200998e-03 2.94233554e+02] [-2.35490570e-01 9.71876290e-01 -8.17869418e-04 -4.01319433e+01] [-3.93627885e-03 -1.12250371e-04 9.99992247e-01 -2.52506029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49576923100005 meters Centerline goodness [0,1] 0.9994254585691791 Centerline is valid? [True, True] Translation: X:294.26, Y:-40.14, Z:-2.53 [[ 9.72325620e-01 2.33606029e-01 3.33337954e-03 2.94260928e+02] [-2.33604974e-01 9.72331330e-01 -7.07845483e-04 -4.01422567e+01] [-3.40650634e-03 -9.04377421e-05 9.99994194e-01 -2.52631833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.525769231 meters Centerline goodness [0,1] 0.9994699346959546 Centerline is valid? [True, True] Translation: X:294.29, Y:-40.15, Z:-2.53 [[ 9.72673970e-01 2.32154791e-01 3.08228370e-03 2.94288370e+02] [-2.32153882e-01 9.72678851e-01 -6.54425231e-04 -4.01479009e+01] [-3.15000012e-03 -7.90217396e-05 9.99995036e-01 -2.52766653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55576923100006 meters Centerline goodness [0,1] 0.9996202852079993 Centerline is valid? [True, True] Translation: X:294.32, Y:-40.15, Z:-2.53 [[ 9.72700657e-01 2.32038770e-01 3.38257568e-03 2.94315583e+02] [-2.32037676e-01 9.72706534e-01 -7.17945510e-04 -4.01522934e+01] [-3.45684466e-03 -8.65389313e-05 9.99994021e-01 -2.52775750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58576923100003 meters Centerline goodness [0,1] 0.9996387513546824 Centerline is valid? [True, True] Translation: X:294.34, Y:-40.16, Z:-2.53 [[ 9.72614776e-01 2.32393301e-01 3.72156599e-03 2.94343263e+02] [-2.32391980e-01 9.72621892e-01 -7.89623372e-04 -4.01598260e+01] [-3.80317973e-03 -9.68627292e-05 9.99992763e-01 -2.52681550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61576923100006 meters Centerline goodness [0,1] 0.9992373204525232 Centerline is valid? [True, True] Translation: X:294.37, Y:-40.16, Z:-2.52 [[ 9.72389972e-01 2.33302402e-01 5.26604532e-03 2.94371650e+02] [-2.33299772e-01 9.72404221e-01 -1.11695227e-03 -4.01587589e+01] [-5.38131234e-03 -1.42453989e-04 9.99985510e-01 -2.52326550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64576923100003 meters Centerline goodness [0,1] 0.9993344068706388 Centerline is valid? [True, True] Translation: X:294.40, Y:-40.17, Z:-2.52 [[ 9.72397198e-01 2.33230258e-01 6.88011450e-03 2.94400095e+02] [-2.33225770e-01 9.72421520e-01 -1.45879254e-03 -4.01651368e+01] [-7.03060596e-03 -1.86094220e-04 9.99975268e-01 -2.52109635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67576923100006 meters Centerline goodness [0,1] 0.9992970048144518 Centerline is valid? [True, True] Translation: X:294.43, Y:-40.17, Z:-2.52 [[ 9.72702579e-01 2.31958651e-01 6.69896741e-03 2.94427961e+02] [-2.31954368e-01 9.72725632e-01 -1.42004467e-03 -4.01694170e+01] [-6.84564895e-03 -1.72573639e-04 9.99976553e-01 -2.52200995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70576923100003 meters Centerline goodness [0,1] 0.9994686842496759 Centerline is valid? [True, True] Translation: X:294.46, Y:-40.18, Z:-2.52 [[ 9.73214521e-01 2.29823242e-01 5.89697654e-03 2.94456552e+02] [-2.29819886e-01 9.73232376e-01 -1.24973003e-03 -4.01789965e+01] [-6.02634550e-03 -1.38987063e-04 9.99981832e-01 -2.52367245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73576923100006 meters Centerline goodness [0,1] 0.999618950844659 Centerline is valid? [True, True] Translation: X:294.49, Y:-40.18, Z:-2.53 [[ 9.74062826e-01 2.26259039e-01 2.90813604e-03 2.94485053e+02] [-2.26258207e-01 9.74067166e-01 -6.16310163e-04 -4.01837129e+01] [-2.97216558e-03 -5.76648267e-05 9.99995581e-01 -2.52936812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76576923100004 meters Centerline goodness [0,1] 0.9996796993444513 Centerline is valid? [True, True] Translation: X:294.51, Y:-40.19, Z:-2.53 [[ 9.74181544e-01 2.25760857e-01 1.53437644e-03 2.94513104e+02] [-2.25760624e-01 9.74182752e-01 -3.25342647e-04 -4.01857098e+01] [-1.56821270e-03 -2.94589807e-05 9.99998770e-01 -2.53230696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79576923100007 meters Centerline goodness [0,1] 0.9997009888725145 Centerline is valid? [True, True] Translation: X:294.54, Y:-40.19, Z:-2.53 [[ 9.74155264e-01 2.25866713e-01 2.39774838e-03 2.94541529e+02] [-2.25866146e-01 9.74158214e-01 -5.08041485e-04 -4.01922453e+01] [-2.45053594e-03 -4.66588980e-05 9.99996996e-01 -2.52849651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82576923100004 meters Centerline goodness [0,1] 0.9996799317187667 Centerline is valid? [True, True] Translation: X:294.57, Y:-40.20, Z:-2.53 [[ 9.74083289e-01 2.26166290e-01 3.24879109e-03 2.94569491e+02] [-2.26165253e-01 9.74088705e-01 -6.88136095e-04 -4.01953904e+01] [-3.32024389e-03 -6.44617876e-05 9.99994486e-01 -2.52695980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85576923100007 meters Centerline goodness [0,1] 0.9996799317187667 Centerline is valid? [True, True] Translation: X:294.60, Y:-40.20, Z:-2.53 [[ 9.74093758e-01 2.26121199e-01 3.24883652e-03 2.94597234e+02] [-2.26120162e-01 9.74099173e-01 -6.87921541e-04 -4.02011718e+01] [-3.32024261e-03 -6.45273597e-05 9.99994486e-01 -2.52711963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88576923100004 meters Centerline goodness [0,1] 0.9996614473127381 Centerline is valid? [True, True] Translation: X:294.63, Y:-40.20, Z:-2.53 [[ 9.73767997e-01 2.27523277e-01 3.00767768e-03 2.94626286e+02] [-2.27522395e-01 9.73772640e-01 -6.36761565e-04 -4.02000917e+01] [-3.07367231e-03 -6.42559949e-05 9.99995274e-01 -2.52894169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91576923100007 meters Centerline goodness [0,1] 0.9996412896691425 Centerline is valid? [True, True] Translation: X:294.65, Y:-40.20, Z:-2.53 [[ 9.73706487e-01 2.27797894e-01 1.94852389e-03 2.94654647e+02] [-2.27797525e-01 9.73708436e-01 -4.12482597e-04 -4.02043296e+01] [-1.99125681e-03 -4.22319385e-05 9.99998017e-01 -2.53161845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94576923100004 meters Centerline goodness [0,1] 0.9996806744156341 Centerline is valid? [True, True] Translation: X:294.68, Y:-40.21, Z:-2.53 [[ 9.73661700e-01 2.27991960e-01 1.59994649e-03 2.94682563e+02] [-2.27991711e-01 9.73663014e-01 -3.38708811e-04 -4.02077312e+01] [-1.63503161e-03 -3.49867412e-05 9.99998663e-01 -2.53262004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.9757692310001 meters Centerline goodness [0,1] 0.9996363480790622 Centerline is valid? [True, True] Translation: X:294.71, Y:-40.21, Z:-2.53 [[ 9.73684247e-01 2.27876475e-01 3.36141100e-03 2.94711476e+02] [-2.27875378e-01 9.73690047e-01 -7.11020104e-04 -4.02093900e+01] [-3.43499718e-03 -7.36737256e-05 9.99994098e-01 -2.52949667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00576923100004 meters Centerline goodness [0,1] 0.9995728594921299 Centerline is valid? [True, True] Translation: X:294.74, Y:-40.21, Z:-2.53 [[ 9.73455576e-01 2.28842416e-01 3.92295427e-03 2.94741378e+02] [-2.28840930e-01 9.73463477e-01 -8.29569167e-04 -4.02077580e+01] [-4.00869332e-03 -9.01837728e-05 9.99991961e-01 -2.52847943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0357692310001 meters Centerline goodness [0,1] 0.9995127428341419 Centerline is valid? [True, True] Translation: X:294.77, Y:-40.21, Z:-2.53 [[ 9.73326933e-01 2.29391233e-01 3.78722090e-03 2.94769334e+02] [-2.29389853e-01 9.73334297e-01 -8.00715789e-04 -4.02097305e+01] [-3.86990917e-03 -8.93918015e-05 9.99992508e-01 -2.52967467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06576923100005 meters Centerline goodness [0,1] 0.9994891008174387 Centerline is valid? [True, True] Translation: X:294.80, Y:-40.21, Z:-2.53 [[ 9.73208099e-01 2.29901743e-01 3.34418100e-03 2.94798323e+02] [-2.29900671e-01 9.73213842e-01 -7.06860723e-04 -4.02124985e+01] [-3.41711175e-03 -8.09068744e-05 9.99994158e-01 -2.53090753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0957692310001 meters Centerline goodness [0,1] 0.9994919021911718 Centerline is valid? [True, True] Translation: X:294.83, Y:-40.21, Z:-2.53 [[ 9.72865354e-01 2.31360069e-01 2.34996789e-03 2.94827142e+02] [-2.31359543e-01 9.72868190e-01 -4.96716666e-04 -4.02092507e+01] [-2.40112941e-03 -6.04490623e-05 9.99997115e-01 -2.53269969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12576923100005 meters Centerline goodness [0,1] 0.9995363931386184 Centerline is valid? [True, True] Translation: X:294.86, Y:-40.21, Z:-2.53 [[ 9.72710604e-01 2.32005616e-01 2.73411387e-03 2.94856059e+02] [-2.32004908e-01 9.72714444e-01 -5.77669632e-04 -4.02109100e+01] [-2.79353465e-03 -7.24224612e-05 9.99996095e-01 -2.53235703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.155769231 meters Centerline goodness [0,1] 0.9993016168627783 Centerline is valid? [True, True] Translation: X:294.89, Y:-40.21, Z:-2.53 [[ 9.72614204e-01 2.32388844e-01 4.12733199e-03 2.94885292e+02] [-2.32387236e-01 9.72622955e-01 -8.71707991e-04 -4.02109387e+01] [-4.21691305e-03 -1.11303697e-04 9.99991103e-01 -2.52998402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18576923100005 meters Centerline goodness [0,1] 0.99942695842265 Centerline is valid? [True, True] Translation: X:294.91, Y:-40.22, Z:-2.53 [[ 9.72876289e-01 2.31274551e-01 4.87942502e-03 2.94913715e+02] [-2.31272290e-01 9.72888517e-01 -1.03027823e-03 -4.02163458e+01] [-4.98541371e-03 -1.26142540e-04 9.99987565e-01 -2.52881509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.215769231 meters Centerline goodness [0,1] 0.9995752362748221 Centerline is valid? [True, True] Translation: X:294.94, Y:-40.23, Z:-2.53 [[ 9.74016256e-01 2.26404241e-01 5.78376675e-03 2.94941051e+02] [-2.26400981e-01 9.74033421e-01 -1.22091419e-03 -4.02251792e+01] [-5.91000226e-03 -1.20260195e-04 9.99982529e-01 -2.52705200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24576923100005 meters Centerline goodness [0,1] 0.9996618051151976 Centerline is valid? [True, True] Translation: X:294.97, Y:-40.23, Z:-2.53 [[ 9.74719323e-01 2.23366210e-01 5.45690172e-03 2.94967974e+02] [-2.23363261e-01 9.74734593e-01 -1.15173915e-03 -4.02335561e+01] [-5.57629048e-03 -9.62489602e-05 9.99984448e-01 -2.52848587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.275769231 meters Centerline goodness [0,1] 0.9997683527776607 Centerline is valid? [True, True] Translation: X:294.99, Y:-40.25, Z:-2.53 [[ 9.76044559e-01 2.17544799e-01 3.35856951e-03 2.94994731e+02] [-2.17543648e-01 9.76050336e-01 -7.08620510e-04 -4.02478191e+01] [-3.43228961e-03 -3.89902722e-05 9.99994109e-01 -2.53385088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30576923100006 meters Centerline goodness [0,1] 0.9998286864533813 Centerline is valid? [True, True] Translation: X:295.02, Y:-40.26, Z:-2.53 [[ 9.76611230e-01 2.14992081e-01 2.98503936e-03 2.95022330e+02] [-2.14991160e-01 9.76615792e-01 -6.29869720e-04 -4.02581773e+01] [-3.05065358e-03 -2.66192320e-05 9.99995346e-01 -2.53398376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.33576923100003 meters Centerline goodness [0,1] 0.9999144092095691 Centerline is valid? [True, True] Translation: X:295.05, Y:-40.27, Z:-2.53 [[ 9.77518223e-01 2.10798503e-01 4.70255031e-03 2.95049981e+02] [-2.10796171e-01 9.77529534e-01 -9.91910014e-04 -4.02697123e+01] [-4.80597496e-03 -2.16694825e-05 9.99988451e-01 -2.52895131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36576923100006 meters Centerline goodness [0,1] 0.9999144110409757 Centerline is valid? [True, True] Translation: X:295.08, Y:-40.28, Z:-2.53 [[ 9.77839781e-01 2.09283011e-01 5.47574159e-03 2.95077413e+02] [-2.09279826e-01 9.77855112e-01 -1.15477987e-03 -4.02771189e+01] [-5.59615772e-03 -1.67725534e-05 9.99984341e-01 -2.52700101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39576923100003 meters Centerline goodness [0,1] 0.9999577675950757 Centerline is valid? [True, True] Translation: X:295.10, Y:-40.28, Z:-2.53 [[ 9.78404984e-01 2.06620554e-01 5.62449016e-03 2.95104585e+02] [-2.06617151e-01 9.78421150e-01 -1.18586179e-03 -4.02834024e+01] [-5.74814355e-03 -1.86304895e-06 9.99983479e-01 -2.52835375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.13, Y:-40.29, Z:-2.53 [[ 9.78727096e-01 2.05092502e-01 5.50788328e-03 2.95131279e+02] [-2.05089216e-01 9.78742594e-01 -1.16092212e-03 -4.02903439e+01] [-5.62889639e-03 6.61847230e-06 9.99984158e-01 -2.52927803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45576923100003 meters Centerline goodness [0,1] 0.9999788198415724 Centerline is valid? [True, True] Translation: X:295.16, Y:-40.30, Z:-2.53 [[ 9.79389255e-01 2.01912660e-01 5.28824312e-03 2.95157644e+02] [-2.01909587e-01 9.79403531e-01 -1.11428286e-03 -4.02996494e+01] [-5.40431180e-03 2.35696719e-05 9.99985396e-01 -2.53072431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.19, Y:-40.31, Z:-2.53 [[ 9.79791177e-01 1.99955897e-01 5.18540297e-03 2.95185578e+02] [-1.99952916e-01 9.79804898e-01 -1.09232587e-03 -4.03074026e+01] [-5.29910023e-03 3.34148041e-05 9.99985959e-01 -2.53120929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.21, Y:-40.32, Z:-2.53 [[ 9.80225772e-01 1.97826051e-01 4.72111551e-03 2.95212391e+02] [-1.97823556e-01 9.80237141e-01 -9.94330224e-04 -4.03166466e+01] [-4.82451719e-03 4.07202542e-05 9.99988361e-01 -2.53186916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.24, Y:-40.33, Z:-2.53 [[ 9.80898626e-01 1.94462801e-01 4.70143140e-03 2.95239032e+02] [-1.94460290e-01 9.80909892e-01 -9.89889148e-04 -4.03303628e+01] [-4.80417718e-03 5.67391919e-05 9.99988458e-01 -2.53122911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.27, Y:-40.34, Z:-2.53 [[ 9.81209417e-01 1.92875075e-01 5.22357175e-03 2.95266822e+02] [-1.92871954e-01 9.81223318e-01 -1.09962418e-03 -4.03372639e+01] [-5.33758050e-03 7.14811155e-05 9.99985752e-01 -2.53067723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.29, Y:-40.34, Z:-2.53 [[ 9.81177199e-01 1.93038842e-01 5.22589763e-03 2.95294968e+02] [-1.93035721e-01 9.81191113e-01 -1.09986288e-03 -4.03445555e+01] [-5.33992057e-03 7.03754640e-05 9.99985740e-01 -2.53086743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.32, Y:-40.35, Z:-2.53 [[ 9.81047433e-01 1.93701777e-01 5.05533258e-03 2.95324141e+02] [-1.93698866e-01 9.81060456e-01 -1.06383617e-03 -4.03486761e+01] [-5.16565384e-03 6.44615535e-05 9.99986656e-01 -2.53130390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.35, Y:-40.36, Z:-2.53 [[ 9.80404641e-01 1.96928160e-01 5.10280807e-03 2.95351749e+02] [-1.96925239e-01 9.80417920e-01 -1.07370503e-03 -4.03556068e+01] [-5.21432723e-03 4.77936974e-05 9.99986404e-01 -2.53089467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.38, Y:-40.35, Z:-2.53 [[ 9.79215999e-01 2.02743683e-01 5.57006162e-03 2.95382214e+02] [-2.02740298e-01 9.79231841e-01 -1.17179773e-03 -4.03508665e+01] [-5.69195629e-03 1.81671298e-05 9.99983801e-01 -2.52873380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7257692310001 meters Centerline goodness [0,1] 0.999957378795951 Centerline is valid? [True, True] Translation: X:295.41, Y:-40.35, Z:-2.53 [[ 9.78390083e-01 2.06702821e-01 5.17586320e-03 2.95411647e+02] [-2.06699955e-01 9.78403773e-01 -1.08863957e-03 -4.03510294e+01] [-5.28910896e-03 -4.73653403e-06 9.99986013e-01 -2.53003426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75576923100004 meters Centerline goodness [0,1] 0.9998520803837457 Centerline is valid? [True, True] Translation: X:295.44, Y:-40.35, Z:-2.53 [[ 9.76820603e-01 2.14030612e-01 3.52236125e-03 2.95442410e+02] [-2.14029332e-01 9.76826953e-01 -7.40772519e-04 -4.03454629e+01] [-3.59928540e-03 -3.02867671e-05 9.99993522e-01 -2.53441781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7857692310001 meters Centerline goodness [0,1] 0.999871696176546 Centerline is valid? [True, True] Translation: X:295.47, Y:-40.35, Z:-2.54 [[ 9.76199915e-01 2.16859806e-01 2.35612470e-03 2.95471770e+02] [-2.16859241e-01 9.76202758e-01 -4.95481257e-04 -4.03461775e+01] [-2.40750540e-03 -2.72586547e-05 9.99997102e-01 -2.53668786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81576923100005 meters Centerline goodness [0,1] 0.9998737586264939 Centerline is valid? [True, True] Translation: X:295.50, Y:-40.35, Z:-2.54 [[ 9.75661461e-01 2.19279708e-01 1.05959730e-03 2.95500496e+02] [-2.19279595e-01 9.75662037e-01 -2.22976459e-04 -4.03463960e+01] [-1.08270307e-03 -1.47985299e-05 9.99999414e-01 -2.53993521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8457692310001 meters Centerline goodness [0,1] 0.999915610033967 Centerline is valid? [True, True] Translation: X:295.53, Y:-40.35, Z:-2.54 [[ 9.75628036e-01 2.19430771e-01 -2.70509984e-04 2.95528127e+02] [-2.19430763e-01 9.75628073e-01 5.63535816e-05 -4.03513212e+01] [ 2.76282844e-04 4.37807805e-06 9.99999962e-01 -2.54309384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87576923100005 meters Centerline goodness [0,1] 0.9999154065771386 Centerline is valid? [True, True] Translation: X:295.55, Y:-40.36, Z:-2.54 [[ 9.76412014e-01 2.15901333e-01 2.48854574e-03 2.95554450e+02] [-2.15900702e-01 9.76415185e-01 -5.22828697e-04 -4.03646580e+01] [-2.54273326e-03 -2.67825509e-05 9.99996767e-01 -2.53802660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.905769231 meters Centerline goodness [0,1] 0.9998523393663249 Centerline is valid? [True, True] Translation: X:295.58, Y:-40.37, Z:-2.54 [[ 9.76717342e-01 2.14489659e-01 4.17382549e-03 2.95581565e+02] [-2.14487871e-01 9.76726259e-01 -8.76537913e-04 -4.03721685e+01] [-4.26469327e-03 -3.91051647e-05 9.99990905e-01 -2.53513297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93576923100005 meters Centerline goodness [0,1] 0.9999576001695993 Centerline is valid? [True, True] Translation: X:295.61, Y:-40.38, Z:-2.53 [[ 9.76787659e-01 2.14150777e-01 5.03134745e-03 2.95609852e+02] [-2.14148177e-01 9.76800616e-01 -1.05625724e-03 -4.03774362e+01] [-5.14082159e-03 -4.57148441e-05 9.99986785e-01 -2.53291544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.965769231 meters Centerline goodness [0,1] 0.9998310097169413 Centerline is valid? [True, True] Translation: X:295.64, Y:-40.37, Z:-2.53 [[ 9.75923536e-01 2.18070334e-01 4.31053869e-03 2.95639825e+02] [-2.18068464e-01 9.75933054e-01 -9.04783018e-04 -4.03717812e+01] [-4.40410353e-03 -5.69935102e-05 9.99990300e-01 -2.53424029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99576923100005 meters Centerline goodness [0,1] 0.9998097854802916 Centerline is valid? [True, True] Translation: X:295.67, Y:-40.37, Z:-2.54 [[ 9.75288389e-01 2.20905914e-01 3.62438358e-03 2.95669372e+02] [-2.20904612e-01 9.75295121e-01 -7.60576798e-04 -4.03696101e+01] [-3.70285954e-03 -5.88613291e-05 9.99993143e-01 -2.53596001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.025769231 meters Centerline goodness [0,1] 0.9998077251751837 Centerline is valid? [True, True] Translation: X:295.70, Y:-40.37, Z:-2.54 [[ 9.74470065e-01 2.24480844e-01 4.05494567e-03 2.95700412e+02] [-2.24479247e-01 9.74478499e-01 -8.50679132e-04 -4.03666547e+01] [-4.14241853e-03 -8.12897991e-05 9.99991417e-01 -2.53524409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05576923100006 meters Centerline goodness [0,1] 0.999741990969684 Centerline is valid? [True, True] Translation: X:295.73, Y:-40.37, Z:-2.53 [[ 9.74423462e-01 2.24679459e-01 4.24949655e-03 2.95729088e+02] [-2.24677707e-01 9.74432724e-01 -8.91414672e-04 -4.03709806e+01] [-4.34113106e-03 -8.61517689e-05 9.99990574e-01 -2.53475212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08576923100003 meters Centerline goodness [0,1] 0.9998086734693877 Centerline is valid? [True, True] Translation: X:295.76, Y:-40.38, Z:-2.54 [[ 9.75077635e-01 2.21835833e-01 3.53122584e-03 2.95755732e+02] [-2.21834605e-01 9.75084027e-01 -7.40635952e-04 -4.03789695e+01] [-3.60754150e-03 -6.11705376e-05 9.99993491e-01 -2.53600250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11576923100006 meters Centerline goodness [0,1] 0.9998943297334996 Centerline is valid? [True, True] Translation: X:295.78, Y:-40.39, Z:-2.54 [[ 9.75739861e-01 2.18909699e-01 3.20436950e-03 2.95782504e+02] [-2.18908672e-01 9.75745121e-01 -6.71959578e-04 -4.03878151e+01] [-3.27374638e-03 -4.58065269e-05 9.99994640e-01 -2.53700178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14576923100003 meters Centerline goodness [0,1] 0.9999137893874736 Centerline is valid? [True, True] Translation: X:295.81, Y:-40.40, Z:-2.54 [[ 9.76447562e-01 2.15729204e-01 3.32703962e-03 2.95809901e+02] [-2.15728080e-01 9.76453229e-01 -6.97310117e-04 -4.03992985e+01] [-3.39912874e-03 -3.68491044e-05 9.99994222e-01 -2.53686220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.84, Y:-40.41, Z:-2.54 [[ 9.77542619e-01 2.10693600e-01 4.31673371e-03 2.95835985e+02] [-2.10691661e-01 9.77552150e-01 -9.04454503e-04 -4.04118210e+01] [-4.41039509e-03 -2.53569699e-05 9.99990274e-01 -2.53679776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.86, Y:-40.42, Z:-2.54 [[ 9.78103072e-01 2.08077437e-01 4.26156794e-03 2.95863005e+02] [-2.08075522e-01 9.78112356e-01 -8.92616803e-04 -4.04240924e+01] [-4.35402567e-03 -1.36567369e-05 9.99990521e-01 -2.53728023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.89, Y:-40.43, Z:-2.54 [[ 9.78295306e-01 2.07188684e-01 3.33833840e-03 2.95890241e+02] [-2.07187504e-01 9.78301001e-01 -6.99137229e-04 -4.04331359e+01] [-3.41075312e-03 -7.69933176e-06 9.99994183e-01 -2.53850935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.92, Y:-40.44, Z:-2.54 [[ 9.78735939e-01 2.05118794e-01 1.49737430e-03 2.95916586e+02] [-2.05118554e-01 9.78737084e-01 -3.13718985e-04 -4.04439596e+01] [-1.52988541e-03 -9.12054761e-08 9.99998830e-01 -2.54230359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.94, Y:-40.45, Z:-2.54 [[ 9.78891252e-01 2.04380164e-01 8.16241107e-04 2.95944337e+02] [-2.04380092e-01 9.78891592e-01 -1.71053594e-04 -4.04514666e+01] [-8.33971519e-04 6.19434290e-07 9.99999652e-01 -2.54371157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.97, Y:-40.46, Z:-2.54 [[ 9.78930359e-01 2.04193788e-01 4.98208272e-04 2.95971741e+02] [-2.04193762e-01 9.78930486e-01 -1.04616199e-04 -4.04579209e+01] [-5.09073244e-04 6.80951993e-07 9.99999870e-01 -2.54430217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.00, Y:-40.46, Z:-2.55 [[ 9.78621526e-01 2.05669391e-01 -9.97355414e-05 2.95999558e+02] [-2.05669390e-01 9.78621531e-01 2.05117117e-05 -4.04620793e+01] [ 1.01821979e-04 4.39345405e-07 9.99999995e-01 -2.54567160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.03, Y:-40.46, Z:-2.54 [[ 9.78145823e-01 2.07919998e-01 1.55467253e-04 2.96028510e+02] [-2.07919995e-01 9.78145835e-01 -3.27862149e-05 -4.04647295e+01] [-1.58886556e-04 -2.55051428e-07 9.99999987e-01 -2.54436102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.06, Y:-40.47, Z:-2.55 [[ 9.77982079e-01 2.08688850e-01 -1.27675560e-04 2.96056231e+02] [-2.08688848e-01 9.77982088e-01 2.63253652e-05 -4.04674745e+01] [ 1.30358221e-04 8.98730282e-07 9.99999992e-01 -2.54648230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.08, Y:-40.47, Z:-2.55 [[ 9.77927126e-01 2.08945252e-01 -6.46413269e-04 2.96084918e+02] [-2.08945208e-01 9.77927340e-01 1.34780863e-04 -4.04718781e+01] [ 6.60307030e-04 3.25909289e-06 9.99999782e-01 -2.54759946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.4757692310001 meters Centerline goodness [0,1] 0.9999576163431381 Centerline is valid? [True, True] Translation: X:296.11, Y:-40.48, Z:-2.55 [[ 9.78149275e-01 2.07903815e-01 -1.26819540e-05 2.96112543e+02] [-2.07903815e-01 9.78149275e-01 2.31060263e-06 -4.04768340e+01] [ 1.28852272e-05 3.76512339e-07 1.00000000e+00 -2.54706393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50576923100004 meters Centerline goodness [0,1] 0.9999786543715847 Centerline is valid? [True, True] Translation: X:296.14, Y:-40.48, Z:-2.54 [[ 9.78222322e-01 2.07559683e-01 2.59227903e-04 2.96140898e+02] [-2.07559675e-01 9.78222356e-01 -5.45499067e-05 -4.04801081e+01] [-2.64904892e-04 -4.43323020e-07 9.99999965e-01 -2.54463235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5357692310001 meters Centerline goodness [0,1] 0.9999567791848554 Centerline is valid? [True, True] Translation: X:296.17, Y:-40.48, Z:-2.54 [[ 9.78214185e-01 2.07598143e-01 1.36450284e-04 2.96168456e+02] [-2.07598141e-01 9.78214195e-01 -2.89037788e-05 -4.04827190e+01] [-1.39477975e-04 -5.27387605e-08 9.99999990e-01 -2.54491314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.20, Y:-40.49, Z:-2.55 [[ 9.78191575e-01 2.07704700e-01 -2.30580252e-05 2.96195299e+02] [-2.07704700e-01 9.78191575e-01 4.31621746e-06 -4.04851671e+01] [ 2.34516646e-05 5.67172651e-07 1.00000000e+00 -2.54570606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5957692310001 meters Centerline goodness [0,1] 0.9998715588474547 Centerline is valid? [True, True] Translation: X:296.22, Y:-40.49, Z:-2.55 [[ 9.78594738e-01 2.05796829e-01 -6.22445120e-05 2.96223374e+02] [-2.05796829e-01 9.78594740e-01 1.27068784e-05 -4.04905012e+01] [ 6.35271873e-05 3.74838874e-07 9.99999998e-01 -2.54596934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62576923100005 meters Centerline goodness [0,1] 0.9999575884810314 Centerline is valid? [True, True] Translation: X:296.25, Y:-40.50, Z:-2.55 [[ 9.78889693e-01 2.04388279e-01 6.32713391e-04 2.96250727e+02] [-2.04388236e-01 9.78889898e-01 -1.32367984e-04 -4.04965244e+01] [-6.46411211e-04 2.54481783e-07 9.99999791e-01 -2.54551749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6557692310001 meters Centerline goodness [0,1] 0.9999787021063616 Centerline is valid? [True, True] Translation: X:296.28, Y:-40.50, Z:-2.54 [[ 9.79304683e-01 2.02367009e-01 3.15148783e-03 2.96279078e+02] [-2.02365942e-01 9.79309754e-01 -6.57171567e-04 -4.05032583e+01] [-3.21927262e-03 5.81739005e-06 9.99994818e-01 -2.54166039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.31, Y:-40.51, Z:-2.54 [[ 9.79365331e-01 2.02070556e-01 3.32250458e-03 2.96305501e+02] [-2.02069368e-01 9.79370967e-01 -6.92733107e-04 -4.05082555e+01] [-3.39394548e-03 7.06238740e-06 9.99994241e-01 -2.54167925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.33, Y:-40.51, Z:-2.55 [[ 9.79404061e-01 2.01908096e-01 8.97306490e-04 2.96334212e+02] [-2.01908009e-01 9.79404473e-01 -1.87189631e-04 -4.05131872e+01] [-9.16621092e-04 2.16091789e-06 9.99999580e-01 -2.54565136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.36, Y:-40.52, Z:-2.55 [[ 9.79550603e-01 2.01197673e-01 3.34934062e-04 2.96361599e+02] [-2.01197660e-01 9.79550661e-01 -7.01464474e-05 -4.05194968e+01] [-3.42198184e-04 1.32404521e-06 9.99999941e-01 -2.54703731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.39, Y:-40.52, Z:-2.55 [[ 9.79564819e-01 2.01128449e-01 3.34938197e-04 2.96388548e+02] [-2.01128437e-01 9.79564876e-01 -7.01266533e-05 -4.05249671e+01] [-3.42198159e-04 1.32800628e-06 9.99999941e-01 -2.54719241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.42, Y:-40.53, Z:-2.55 [[ 9.80110946e-01 1.98440589e-01 1.96616048e-03 2.96415906e+02] [-1.98440167e-01 9.80112918e-01 -4.09443070e-04 -4.05336222e+01] [-2.00830941e-03 1.11344223e-05 9.99997983e-01 -2.54501690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.83576923100003 meters Centerline goodness [0,1] 0.9999576298116645 Centerline is valid? [True, True] Translation: X:296.44, Y:-40.54, Z:-2.54 [[ 9.80317540e-01 1.97409949e-01 2.61394259e-03 2.96444039e+02] [-1.97409200e-01 9.80321025e-01 -5.44122447e-04 -4.05406180e+01] [-2.66991807e-03 1.73964620e-05 9.99996436e-01 -2.54367673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.47, Y:-40.55, Z:-2.54 [[ 9.80422539e-01 1.96889079e-01 2.51724319e-03 2.96471950e+02] [-1.96888383e-01 9.80425770e-01 -5.23886615e-04 -4.05463596e+01] [-2.57111764e-03 1.80143039e-05 9.99996695e-01 -2.54372201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.50, Y:-40.56, Z:-2.55 [[ 9.80741836e-01 1.95308596e-01 -6.11301522e-05 2.96498396e+02] [-1.95308595e-01 9.80741838e-01 1.23602106e-05 -4.05553551e+01] [ 6.23669532e-05 -1.82931485e-07 9.99999998e-01 -2.54995508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.53, Y:-40.56, Z:-2.55 [[ 9.80993012e-01 1.94032395e-01 -2.03459245e-03 2.96526707e+02] [-1.94031936e-01 9.80995122e-01 4.22714814e-04 -4.05627510e+01] [ 2.07794563e-03 -1.99043670e-05 9.99997841e-01 -2.55369148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.55, Y:-40.57, Z:-2.56 [[ 9.81604301e-01 1.90907519e-01 -2.70469476e-03 2.96554143e+02] [-1.90906696e-01 9.81608027e-01 5.61887585e-04 -4.05721050e+01] [ 2.76221865e-03 -3.52069297e-05 9.99996184e-01 -2.55511744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.58, Y:-40.58, Z:-2.55 [[ 9.82001647e-01 1.88861766e-01 -1.99983855e-03 2.96581113e+02] [-1.88861312e-01 9.82003683e-01 4.15194425e-04 -4.05815783e+01] [ 2.04226318e-03 -3.00294767e-05 9.99997914e-01 -2.55373829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01576923100004 meters Centerline goodness [0,1] 0.9999785858066726 Centerline is valid? [True, True] Translation: X:296.61, Y:-40.60, Z:-2.55 [[ 9.82833870e-01 1.84483517e-01 -1.84842528e-03 2.96608362e+02] [-1.84483121e-01 9.82835607e-01 3.83889019e-04 -4.05954425e+01] [ 1.88751938e-03 -3.62958652e-05 9.99998218e-01 -2.55349499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04576923100007 meters Centerline goodness [0,1] 0.9998938879456706 Centerline is valid? [True, True] Translation: X:296.64, Y:-40.61, Z:-2.55 [[ 9.83141477e-01 1.82836418e-01 -1.91846182e-03 2.96635304e+02] [-1.82835989e-01 9.83143348e-01 3.98301055e-04 -4.06075561e+01] [ 1.95894692e-03 -4.08224230e-05 9.99998080e-01 -2.55478625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07576923100004 meters Centerline goodness [0,1] 0.9999570741758241 Centerline is valid? [True, True] Translation: X:296.66, Y:-40.62, Z:-2.55 [[ 9.83425509e-01 1.81305970e-01 -1.55386643e-03 2.96662956e+02] [-1.81305687e-01 9.83426735e-01 3.22512042e-04 -4.06176351e+01] [ 1.58658715e-03 -3.54417490e-05 9.99998741e-01 -2.55428509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10576923100007 meters Centerline goodness [0,1] 0.9999571505088377 Centerline is valid? [True, True] Translation: X:296.69, Y:-40.63, Z:-2.55 [[ 9.83836480e-01 1.79068492e-01 -5.05969479e-04 2.96689926e+02] [-1.79068462e-01 9.83836610e-01 1.04933994e-04 -4.06348341e+01] [ 5.16581669e-04 -1.26347151e-05 9.99999866e-01 -2.55124881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13576923100004 meters Centerline goodness [0,1] 0.9998510321344967 Centerline is valid? [True, True] Translation: X:296.72, Y:-40.65, Z:-2.55 [[ 9.84011432e-01 1.78103700e-01 7.57068971e-04 2.96716691e+02] [-1.78103631e-01 9.84011723e-01 -1.57271764e-04 -4.06500377e+01] [-7.72975426e-04 1.99204809e-05 9.99999701e-01 -2.54819889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16576923100007 meters Centerline goodness [0,1] 0.9999356209360716 Centerline is valid? [True, True] Translation: X:296.75, Y:-40.65, Z:-2.55 [[ 9.83817145e-01 1.79164306e-01 1.99405485e-03 2.96747800e+02] [-1.79163835e-01 9.83819165e-01 -4.13971530e-04 -4.06538559e+01] [-2.03595829e-03 5.00097761e-05 9.99997926e-01 -2.54538958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19576923100004 meters Centerline goodness [0,1] 0.9999363557290452 Centerline is valid? [True, True] Translation: X:296.78, Y:-40.66, Z:-2.54 [[ 9.83366143e-01 1.81600234e-01 3.51906719e-03 2.96776691e+02] [-1.81598781e-01 9.83372436e-01 -7.30793414e-04 -4.06634529e+01] [-3.59326593e-03 7.95791880e-05 9.99993541e-01 -2.54328968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.81, Y:-40.66, Z:-2.54 [[ 9.81947739e-01 1.89108442e-01 4.07850547e-03 2.96807356e+02] [-1.89106554e-01 9.81956208e-01 -8.47085445e-04 -4.06610810e+01] [-4.16510477e-03 6.05215228e-05 9.99991324e-01 -2.54225487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.84, Y:-40.66, Z:-2.54 [[ 9.81152564e-01 1.93203937e-01 3.44756631e-03 2.96838332e+02] [-1.93202614e-01 9.81158620e-01 -7.15988796e-04 -4.06590780e+01] [-3.52094126e-03 3.64154198e-05 9.99993801e-01 -2.54305962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2857692310001 meters Centerline goodness [0,1] 0.9999577184897045 Centerline is valid? [True, True] Translation: X:296.87, Y:-40.66, Z:-2.54 [[ 9.79822194e-01 1.99843634e-01 3.31522332e-03 2.96866836e+02] [-1.99842449e-01 9.79827802e-01 -6.88508943e-04 -4.06567261e+01] [-3.38594211e-03 1.20939954e-05 9.99994268e-01 -2.54422138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.90, Y:-40.66, Z:-2.54 [[ 9.79394928e-01 2.01924674e-01 3.46412788e-03 2.96895698e+02] [-2.01923393e-01 9.79401055e-01 -7.19157360e-04 -4.06586751e+01] [-3.53798612e-03 4.85061507e-06 9.99993741e-01 -2.54398569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.92, Y:-40.66, Z:-2.55 [[ 9.79167981e-01 2.03037357e-01 2.42848581e-03 2.96923177e+02] [-2.03036731e-01 9.79170992e-01 -5.04155485e-04 -4.06618754e+01] [-2.48026525e-03 5.81088933e-07 9.99996924e-01 -2.54700384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.95, Y:-40.67, Z:-2.55 [[ 9.79450770e-01 2.01671208e-01 2.21634203e-03 2.96950923e+02] [-2.01670684e-01 9.79453278e-01 -4.59968292e-04 -4.06693163e+01] [-2.26356583e-03 3.54508522e-06 9.99997438e-01 -2.54695505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.98, Y:-40.68, Z:-2.54 [[ 9.80382541e-01 1.97066052e-01 3.87859575e-03 2.96977589e+02] [-1.97064411e-01 9.80390213e-01 -8.04544363e-04 -4.06816215e+01] [-3.96108570e-03 2.44280599e-05 9.99992155e-01 -2.54401126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.01, Y:-40.69, Z:-2.54 [[ 9.80800845e-01 1.94972858e-01 3.90979420e-03 2.97005168e+02] [-1.94971174e-01 9.80808638e-01 -8.10799109e-04 -4.06908064e+01] [-3.99284374e-03 3.29352852e-05 9.99992028e-01 -2.54394494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.465769231 meters Centerline goodness [0,1] 0.999893696183693 Centerline is valid? [True, True] Translation: X:297.03, Y:-40.70, Z:-2.55 [[ 9.80925178e-01 1.94367095e-01 2.68840727e-03 2.97033618e+02] [-1.94366297e-01 9.80928862e-01 -5.57442167e-04 -4.06977269e+01] [-2.74548470e-03 2.42732895e-05 9.99996231e-01 -2.54617455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49576923100005 meters Centerline goodness [0,1] 0.9999784950861271 Centerline is valid? [True, True] Translation: X:297.06, Y:-40.70, Z:-2.55 [[ 9.80648016e-01 1.95773305e-01 1.51066919e-03 2.97062653e+02] [-1.95773054e-01 9.80649179e-01 -3.13359853e-04 -4.07012621e+01] [-1.54278399e-03 1.15473979e-05 9.99998810e-01 -2.54767056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.09, Y:-40.70, Z:-2.55 [[ 9.80254342e-01 1.97740409e-01 3.93373382e-04 2.97090790e+02] [-1.97740393e-01 9.80254421e-01 -8.18437493e-05 -4.07032969e+01] [-4.01789813e-04 2.44188372e-06 9.99999919e-01 -2.54990173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.12, Y:-40.70, Z:-2.55 [[ 9.79479470e-01 2.01537125e-01 -1.65957647e-03 2.97121300e+02] [-2.01536832e-01 9.79480876e-01 3.43476763e-04 -4.07004828e+01] [ 1.69474674e-03 -1.96265255e-06 9.99998564e-01 -2.55364278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.15, Y:-40.70, Z:-2.56 [[ 9.79105209e-01 2.03343417e-01 -2.10810821e-03 2.97149464e+02] [-2.03342949e-01 9.79107479e-01 4.36139280e-04 -4.07022928e+01] [ 2.15275056e-03 1.64269882e-06 9.99997683e-01 -2.55568408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.18, Y:-40.70, Z:-2.56 [[ 9.78837786e-01 2.04633216e-01 -1.35501506e-03 2.97178837e+02] [-2.04633024e-01 9.78838724e-01 2.80239617e-04 -4.07047800e+01] [ 1.38368755e-03 2.97170289e-06 9.99999043e-01 -2.55513096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.21, Y:-40.71, Z:-2.56 [[ 9.79002327e-01 2.03847423e-01 -8.19477920e-04 2.97206325e+02] [-2.03847352e-01 9.79002670e-01 1.69256705e-04 -4.07107228e+01] [ 8.36773615e-04 1.34569634e-06 9.99999650e-01 -2.55505294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67576923100006 meters Centerline goodness [0,1] 0.9999575947756764 Centerline is valid? [True, True] Translation: X:297.23, Y:-40.72, Z:-2.55 [[ 9.79861173e-01 1.99679692e-01 -3.19571077e-04 2.97232263e+02] [-1.99679681e-01 9.79861225e-01 6.57923626e-05 -4.07221613e+01] [ 3.26272706e-04 -6.55530830e-07 9.99999947e-01 -2.55427556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.26, Y:-40.73, Z:-2.56 [[ 9.80359702e-01 1.97217012e-01 -5.51896035e-04 2.97259192e+02] [-1.97216979e-01 9.80359857e-01 1.13898646e-04 -4.07322778e+01] [ 5.63519469e-04 -2.81837395e-06 9.99999841e-01 -2.55503933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73576923100006 meters Centerline goodness [0,1] 0.9999578548098198 Centerline is valid? [True, True] Translation: X:297.28, Y:-40.75, Z:-2.56 [[ 9.81102064e-01 1.93487944e-01 -1.07512261e-03 2.97284611e+02] [-1.93487817e-01 9.81102653e-01 2.22001120e-04 -4.07455588e+01] [ 1.09776019e-03 -9.78263004e-06 9.99999397e-01 -2.55695960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.31, Y:-40.75, Z:-2.56 [[ 9.81429664e-01 1.91820462e-01 -8.51379837e-04 2.97312200e+02] [-1.91820382e-01 9.81430033e-01 1.75662745e-04 -4.07523344e+01] [ 8.69265450e-04 -9.08862375e-06 9.99999622e-01 -2.55543390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.34, Y:-40.76, Z:-2.55 [[ 9.81693619e-01 1.90466618e-01 3.25847613e-04 2.97339508e+02] [-1.90466606e-01 9.81693673e-01 -6.76195582e-05 -4.07605689e+01] [-3.32761808e-04 4.31859988e-06 9.99999945e-01 -2.55312774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82576923100004 meters Centerline goodness [0,1] 0.9999576387859276 Centerline is valid? [True, True] Translation: X:297.37, Y:-40.77, Z:-2.55 [[ 9.81975232e-01 1.88990996e-01 2.65463620e-03 2.97366906e+02] [-1.88990203e-01 9.81978820e-01 -5.48734338e-04 -4.07708399e+01] [-2.71050237e-03 3.71432955e-05 9.99996326e-01 -2.54835969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85576923100007 meters Centerline goodness [0,1] 0.9999366580803175 Centerline is valid? [True, True] Translation: X:297.39, Y:-40.78, Z:-2.55 [[ 9.81871002e-01 1.89518141e-01 3.49421991e-03 2.97394605e+02] [-1.89516771e-01 9.81877218e-01 -7.22168645e-04 -4.07789596e+01] [-3.56775899e-03 4.68631756e-05 9.99993634e-01 -2.54700244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88576923100004 meters Centerline goodness [0,1] 0.9999785880992655 Centerline is valid? [True, True] Translation: X:297.42, Y:-40.78, Z:-2.55 [[ 9.81535076e-01 1.91242635e-01 3.89220604e-03 2.97423392e+02] [-1.91240949e-01 9.81542792e-01 -8.04237458e-04 -4.07842186e+01] [-3.97417127e-03 4.50380970e-05 9.99992102e-01 -2.54595867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.45, Y:-40.79, Z:-2.55 [[ 9.81434727e-01 1.91776533e-01 2.76360511e-03 2.97452220e+02] [-1.91775685e-01 9.81438618e-01 -5.71010368e-04 -4.07903022e+01] [-2.82181517e-03 3.04171408e-05 9.99996018e-01 -2.54823652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94576923100004 meters Centerline goodness [0,1] 0.9999571091571949 Centerline is valid? [True, True] Translation: X:297.48, Y:-40.80, Z:-2.55 [[ 9.81155819e-01 1.93218002e-01 2.51669006e-04 2.97481657e+02] [-1.93217995e-01 9.81155851e-01 -5.21195978e-05 -4.07964005e+01] [-2.56996963e-04 2.51046585e-06 9.99999967e-01 -2.55211176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.9757692310001 meters Centerline goodness [0,1] 0.9999788072733438 Centerline is valid? [True, True] Translation: X:297.51, Y:-40.80, Z:-2.55 [[ 9.81028517e-01 1.93863419e-01 -1.52270832e-04 2.97509494e+02] [-1.93863416e-01 9.81028529e-01 3.12376350e-05 -4.08030897e+01] [ 1.55437865e-04 -1.12526707e-06 9.99999988e-01 -2.55314125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00576923100004 meters Centerline goodness [0,1] 0.9999571008772871 Centerline is valid? [True, True] Translation: X:297.54, Y:-40.81, Z:-2.55 [[ 9.80963707e-01 1.94191148e-01 -5.99144643e-05 2.97538365e+02] [-1.94191148e-01 9.80963709e-01 1.22317588e-05 -4.08077626e+01] [ 6.11492144e-05 -3.64052858e-07 9.99999998e-01 -2.55154992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.57, Y:-40.81, Z:-2.55 [[ 9.80345399e-01 1.97276076e-01 2.24668402e-03 2.97567367e+02] [-1.97275530e-01 9.80347974e-01 -4.64060744e-04 -4.08093886e+01] [-2.29408021e-03 1.17240330e-05 9.99997369e-01 -2.54729180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06576923100005 meters Centerline goodness [0,1] 0.9999574594801548 Centerline is valid? [True, True] Translation: X:297.60, Y:-40.81, Z:-2.55 [[ 9.79485132e-01 2.01475896e-01 4.04223568e-03 2.97596174e+02] [-2.01474167e-01 9.79493473e-01 -8.34530104e-04 -4.08079662e+01] [-4.12748116e-03 3.00376154e-06 9.99991482e-01 -2.54549509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.63, Y:-40.81, Z:-2.55 [[ 9.79183533e-01 2.02954651e-01 3.00301468e-03 2.97625536e+02] [-2.02953704e-01 9.79188138e-01 -6.19848967e-04 -4.08104797e+01] [-3.06631758e-03 -2.52705068e-06 9.99995299e-01 -2.54791288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.65, Y:-40.81, Z:-2.55 [[ 9.78895705e-01 2.04356244e-01 1.31276547e-03 2.97654804e+02] [-2.04356065e-01 9.78896586e-01 -2.71054884e-04 -4.08135852e+01] [-1.34045339e-03 -2.93712268e-06 9.99999102e-01 -2.55132590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.68, Y:-40.82, Z:-2.55 [[ 9.78523339e-01 2.06130832e-01 -1.46800801e-03 2.97683218e+02] [-2.06130610e-01 9.78524440e-01 3.02457853e-04 -4.08164915e+01] [ 1.49882761e-03 6.63931943e-06 9.99998877e-01 -2.55472914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.71, Y:-40.82, Z:-2.55 [[ 9.78349032e-01 2.06956178e-01 -1.52024397e-03 2.97711704e+02] [-2.06955941e-01 9.78350214e-01 3.13155819e-04 -4.08201289e+01] [ 1.55214055e-03 8.24782993e-06 9.99998795e-01 -2.55475033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.74, Y:-40.82, Z:-2.55 [[ 9.77795911e-01 2.09553568e-01 1.56798383e-03 2.97739612e+02] [-2.09553319e-01 9.77797168e-01 -3.23609924e-04 -4.08171051e+01] [-1.60098376e-03 -1.21517553e-05 9.99998718e-01 -2.54887760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24576923100005 meters Centerline goodness [0,1] 0.9999577524292353 Centerline is valid? [True, True] Translation: X:297.77, Y:-40.82, Z:-2.55 [[ 9.77487709e-01 2.10971194e-01 2.98900076e-03 2.97769220e+02] [-2.10970296e-01 9.77492279e-01 -6.16107018e-04 -4.08184259e+01] [-3.05170599e-03 -2.83533371e-05 9.99995343e-01 -2.54681993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.80, Y:-40.82, Z:-2.55 [[ 9.77126384e-01 2.12633172e-01 3.34111599e-03 2.97797785e+02] [-2.12632061e-01 9.77132096e-01 -6.88563489e-04 -4.08170568e+01] [-3.41112311e-03 -3.76148249e-05 9.99994181e-01 -2.54692911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30576923100006 meters Centerline goodness [0,1] 0.9999577854233067 Centerline is valid? [True, True] Translation: X:297.83, Y:-40.82, Z:-2.55 [[ 9.77035629e-01 2.13062063e-01 2.43676642e-03 2.97826688e+02] [-2.13061473e-01 9.77038667e-01 -5.02011452e-04 -4.08213161e+01] [-2.48777461e-03 -2.86979677e-05 9.99996905e-01 -2.54872932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.33576923100003 meters Centerline goodness [0,1] 0.9998513768869828 Centerline is valid? [True, True] Translation: X:297.85, Y:-40.82, Z:-2.55 [[ 9.76969669e-01 2.13372651e-01 1.54190829e-03 2.97854383e+02] [-2.13372415e-01 9.76970886e-01 -3.17726717e-04 -4.08225412e+01] [-1.57419370e-03 -1.85913314e-05 9.99998761e-01 -2.55061077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36576923100006 meters Centerline goodness [0,1] 0.9998092128972081 Centerline is valid? [True, True] Translation: X:297.88, Y:-40.83, Z:-2.55 [[ 9.77179703e-01 2.12402042e-01 2.28038568e-03 2.97883015e+02] [-2.12401524e-01 9.77182364e-01 -4.69566292e-04 -4.08266949e+01] [-2.32808951e-03 -2.55067435e-05 9.99997290e-01 -2.54806818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39576923100003 meters Centerline goodness [0,1] 0.999871729091842 Centerline is valid? [True, True] Translation: X:297.91, Y:-40.83, Z:-2.54 [[ 9.77621535e-01 2.10299525e-01 5.49949303e-03 2.97911049e+02] [-2.10296485e-01 9.77637002e-01 -1.13180104e-03 -4.08327405e+01] [-5.61452510e-03 -5.00509894e-05 9.99984237e-01 -2.54291363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42576923100006 meters Centerline goodness [0,1] 0.9998512473968294 Centerline is valid? [True, True] Translation: X:297.94, Y:-40.84, Z:-2.54 [[ 9.77864338e-01 2.09154366e-01 5.98222137e-03 2.97939301e+02] [-2.09150750e-01 9.77882636e-01 -1.23084761e-03 -4.08410745e+01] [-6.10734755e-03 -4.75841008e-05 9.99981349e-01 -2.54256367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45576923100003 meters Centerline goodness [0,1] 0.9998933515346714 Centerline is valid? [True, True] Translation: X:297.97, Y:-40.85, Z:-2.54 [[ 9.78064818e-01 2.08230812e-01 5.39823042e-03 2.97966837e+02] [-2.08227854e-01 9.78079714e-01 -1.11051606e-03 -4.08473468e+01] [-5.51114333e-03 -3.79052473e-05 9.99984813e-01 -2.54322095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48576923100006 meters Centerline goodness [0,1] 0.9999789500273649 Centerline is valid? [True, True] Translation: X:297.99, Y:-40.85, Z:-2.55 [[ 9.78171760e-01 2.07769855e-01 3.41980498e-03 2.97994744e+02] [-2.07768665e-01 9.78177738e-01 -7.03458892e-04 -4.08527520e+01] [-3.49133465e-03 -2.24246924e-05 9.99993905e-01 -2.54627029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51576923100004 meters Centerline goodness [0,1] 0.9999785706632379 Centerline is valid? [True, True] Translation: X:298.02, Y:-40.86, Z:-2.55 [[ 9.78105533e-01 2.08087046e-01 3.05729052e-03 2.98022423e+02] [-2.08086097e-01 9.78110311e-01 -6.28676746e-04 -4.08558822e+01] [-3.12118687e-03 -2.12674477e-05 9.99995129e-01 -2.54706378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54576923100007 meters Centerline goodness [0,1] 0.9998716989201326 Centerline is valid? [True, True] Translation: X:298.05, Y:-40.86, Z:-2.54 [[ 9.77547665e-01 2.10675163e-01 4.06677621e-03 2.98051630e+02] [-2.10673509e-01 9.77556123e-01 -8.35881206e-04 -4.08553554e+01] [-4.15160140e-03 -3.96482929e-05 9.99991381e-01 -2.54498686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57576923100004 meters Centerline goodness [0,1] 0.9998282266549289 Centerline is valid? [True, True] Translation: X:298.08, Y:-40.86, Z:-2.55 [[ 9.77190680e-01 2.12326495e-01 3.97926220e-03 2.98080383e+02] [-2.12324925e-01 9.77198781e-01 -8.17706765e-04 -4.08568445e+01] [-4.06215098e-03 -4.58411187e-05 9.99991748e-01 -2.54509980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60576923100007 meters Centerline goodness [0,1] 0.9999363462762572 Centerline is valid? [True, True] Translation: X:298.11, Y:-40.85, Z:-2.55 [[ 9.76565231e-01 2.15217338e-01 1.35920268e-03 2.98110252e+02] [-2.15217157e-01 9.76566176e-01 -2.79466171e-04 -4.08511245e+01] [-1.38749733e-03 -1.96067907e-05 9.99999037e-01 -2.55130610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63576923100004 meters Centerline goodness [0,1] 0.9998090590856051 Centerline is valid? [True, True] Translation: X:298.14, Y:-40.85, Z:-2.56 [[ 9.76342089e-01 2.16231634e-01 -8.12199790e-05 2.98139304e+02] [-2.16231633e-01 9.76342092e-01 1.63459266e-05 -4.08498718e+01] [ 8.28329906e-05 1.60311257e-06 9.99999997e-01 -2.55543524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66576923100007 meters Centerline goodness [0,1] 0.9998090590856051 Centerline is valid? [True, True] Translation: X:298.17, Y:-40.86, Z:-2.56 [[ 9.76356078e-01 2.16168458e-01 -8.12296692e-05 2.98166270e+02] [-2.16168457e-01 9.76356081e-01 1.62986678e-05 -4.08552600e+01] [ 8.28323394e-05 1.64598892e-06 9.99999997e-01 -2.55559035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69576923100004 meters Centerline goodness [0,1] 0.9998930435526654 Centerline is valid? [True, True] Translation: X:298.19, Y:-40.86, Z:-2.56 [[ 9.76203956e-01 2.16852178e-01 -9.84797276e-04 2.98194013e+02] [-2.16852085e-01 9.76204452e-01 2.01714467e-04 -4.08612541e+01] [ 1.00510571e-03 1.66408822e-05 9.99999495e-01 -2.55569245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7257692310001 meters Centerline goodness [0,1] 0.9998514967011053 Centerline is valid? [True, True] Translation: X:298.22, Y:-40.86, Z:-2.56 [[ 9.76059851e-01 2.17499829e-01 -9.95496266e-04 2.98224325e+02] [-2.17499734e-01 9.76060359e-01 2.03929947e-04 -4.08588559e+01] [ 1.01601917e-03 1.74723397e-05 9.99999484e-01 -2.55578019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75576923100004 meters Centerline goodness [0,1] 0.9999356761508609 Centerline is valid? [True, True] Translation: X:298.25, Y:-40.86, Z:-2.56 [[ 9.76411000e-01 2.15920158e-01 -2.11180082e-04 2.98253467e+02] [-2.15920154e-01 9.76411023e-01 4.30320491e-05 -4.08594251e+01] [ 2.15490047e-04 3.58106971e-06 9.99999977e-01 -2.55579917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7857692310001 meters Centerline goodness [0,1] 0.9999152650086853 Centerline is valid? [True, True] Translation: X:298.28, Y:-40.86, Z:-2.56 [[ 9.76951267e-01 2.13461965e-01 4.60875020e-04 2.98280920e+02] [-2.13461943e-01 9.76951375e-01 -9.49752702e-05 -4.08645280e+01] [-4.70526092e-04 -5.59306693e-06 9.99999889e-01 -2.55596581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81576923100005 meters Centerline goodness [0,1] 0.9999574667177066 Centerline is valid? [True, True] Translation: X:298.31, Y:-40.88, Z:-2.56 [[ 9.77796517e-01 2.09555071e-01 8.02939494e-04 2.98307547e+02] [-2.09555006e-01 9.77796846e-01 -1.64820967e-04 -4.08766700e+01] [-8.19650775e-04 -7.09862293e-06 9.99999664e-01 -2.55504636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.33, Y:-40.90, Z:-2.55 [[ 9.79976577e-01 1.99106652e-01 1.56504053e-03 2.98331959e+02] [-1.99106393e-01 9.79977827e-01 -3.20925556e-04 -4.08983765e+01] [-1.59760343e-03 2.88995360e-06 9.99998724e-01 -2.55370925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.36, Y:-40.92, Z:-2.55 [[ 9.81960345e-01 1.89070699e-01 2.48004480e-03 2.98357572e+02] [-1.89070019e-01 9.81963477e-01 -5.08204021e-04 -4.09210061e+01] [-2.53139990e-03 3.01340806e-05 9.99996796e-01 -2.55176580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9057692310001 meters Centerline goodness [0,1] 0.9999787730842709 Centerline is valid? [True, True] Translation: X:298.38, Y:-40.94, Z:-2.55 [[ 9.82637410e-01 1.85512973e-01 2.94222653e-03 2.98382676e+02] [-1.85511999e-01 9.82641814e-01 -6.02909044e-04 -4.09367609e+01] [-3.00300226e-03 4.66226580e-05 9.99995490e-01 -2.55157088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.41, Y:-40.95, Z:-2.55 [[ 9.83195241e-01 1.82529916e-01 3.15402861e-03 2.98409941e+02] [-1.82528782e-01 9.83200298e-01 -6.46065007e-04 -4.09478504e+01] [-3.21896806e-03 5.95070395e-05 9.99994817e-01 -2.55088777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.965769231 meters Centerline goodness [0,1] 0.9998945080912294 Centerline is valid? [True, True] Translation: X:298.43, Y:-40.97, Z:-2.55 [[ 9.83729179e-01 1.79638416e-01 2.63463428e-03 2.98434685e+02] [-1.79637615e-01 9.83732706e-01 -5.39481475e-04 -4.09736734e+01] [-2.68868750e-03 5.74242493e-05 9.99996384e-01 -2.55318598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99576923100005 meters Centerline goodness [0,1] 0.9999785766313896 Centerline is valid? [True, True] Translation: X:298.46, Y:-40.98, Z:-2.55 [[ 9.83740307e-01 1.79575441e-01 2.76950457e-03 2.98464573e+02] [-1.79574556e-01 9.83744203e-01 -5.67094282e-04 -4.09758886e+01] [-2.82632028e-03 6.05409480e-05 9.99996004e-01 -2.55138764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.025769231 meters Centerline goodness [0,1] 0.9999366741250475 Centerline is valid? [True, True] Translation: X:298.49, Y:-40.99, Z:-2.55 [[ 9.83705936e-01 1.79755573e-01 3.25037283e-03 2.98491700e+02] [-1.79754355e-01 9.83711304e-01 -6.65456054e-04 -4.09888508e+01] [-3.31704793e-03 7.03443988e-05 9.99994496e-01 -2.55094079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05576923100006 meters Centerline goodness [0,1] 0.9999788086206531 Centerline is valid? [True, True] Translation: X:298.52, Y:-41.00, Z:-2.55 [[ 9.83771465e-01 1.79391170e-01 3.53730994e-03 2.98520198e+02] [-1.79389726e-01 9.83777822e-01 -7.24055314e-04 -4.10039480e+01] [-3.60981620e-03 7.77478974e-05 9.99993482e-01 -2.55034779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08576923100003 meters Centerline goodness [0,1] 0.9999787202349286 Centerline is valid? [True, True] Translation: X:298.55, Y:-41.02, Z:-2.55 [[ 9.83560694e-01 1.80539613e-01 3.71601482e-03 2.98548723e+02] [-1.80538027e-01 9.83567711e-01 -7.60634584e-04 -4.10162307e+01] [-3.79227687e-03 7.72482964e-05 9.99992806e-01 -2.54944278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.58, Y:-41.02, Z:-2.55 [[ 9.83253390e-01 1.82217185e-01 3.10959138e-03 2.98577038e+02] [-1.82216082e-01 9.83258305e-01 -6.36534546e-04 -4.10248244e+01] [-3.17351908e-03 5.92571909e-05 9.99994963e-01 -2.55112175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.61, Y:-41.03, Z:-2.55 [[ 9.82838117e-01 1.84459236e-01 2.00650864e-03 2.98607355e+02] [-1.84458782e-01 9.82840165e-01 -4.10646268e-04 -4.10307931e+01] [-2.04782478e-03 3.34806636e-05 9.99997903e-01 -2.55242955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.64, Y:-41.04, Z:-2.56 [[ 9.82161232e-01 1.88038880e-01 8.32747043e-04 2.98635417e+02] [-1.88038803e-01 9.82161585e-01 -1.70513711e-04 -4.10422207e+01] [-8.49955363e-04 1.08831988e-05 9.99999639e-01 -2.55524595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.66, Y:-41.05, Z:-2.55 [[ 9.81880094e-01 1.89499791e-01 1.14423094e-03 2.98664403e+02] [-1.89499647e-01 9.81880761e-01 -2.34304018e-04 -4.10490288e+01] [-1.16789891e-03 1.32270927e-05 9.99999318e-01 -2.55456589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.69, Y:-41.05, Z:-2.55 [[ 9.80924175e-01 1.94370574e-01 2.80043108e-03 2.98694458e+02] [-1.94369729e-01 9.80928173e-01 -5.73188973e-04 -4.10514553e+01] [-2.85843281e-03 1.79358902e-05 9.99995915e-01 -2.55024809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.72, Y:-41.05, Z:-2.55 [[ 9.80296816e-01 1.97501582e-01 3.35835202e-03 2.98724366e+02] [-1.97500386e-01 9.80302568e-01 -6.87275482e-04 -4.10541333e+01] [-3.42793911e-03 1.04581448e-05 9.99994125e-01 -2.54988190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.75, Y:-41.06, Z:-2.55 [[ 9.79664869e-01 2.00609720e-01 3.53340346e-03 2.98752998e+02] [-2.00608417e-01 9.79671241e-01 -7.23029009e-04 -4.10562737e+01] [-3.60662040e-03 -5.04353318e-07 9.99993496e-01 -2.54998453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32576923100004 meters Centerline goodness [0,1] 0.9999788958298159 Centerline is valid? [True, True] Translation: X:298.78, Y:-41.05, Z:-2.55 [[ 9.78538511e-01 2.06040531e-01 3.11161781e-03 2.98782628e+02] [-2.06039548e-01 9.78543458e-01 -6.36690305e-04 -4.10528502e+01] [-3.17603726e-03 -1.80903447e-05 9.99994956e-01 -2.55040246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35576923100007 meters Centerline goodness [0,1] 0.9999786443428864 Centerline is valid? [True, True] Translation: X:298.81, Y:-41.05, Z:-2.55 [[ 9.77585519e-01 2.10533795e-01 1.43997042e-03 2.98812869e+02] [-2.10533589e-01 9.77586580e-01 -2.94687301e-04 -4.10505686e+01] [-1.46973739e-03 -1.50801018e-05 9.99998920e-01 -2.55289028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38576923100004 meters Centerline goodness [0,1] 0.999914412872304 Centerline is valid? [True, True] Translation: X:298.84, Y:-41.05, Z:-2.56 [[ 9.77263476e-01 2.12028457e-01 1.79476250e-04 2.98841603e+02] [-2.12028454e-01 9.77263492e-01 -3.69607004e-05 -4.10535084e+01] [-1.83232307e-04 -1.93372931e-06 9.99999983e-01 -2.55550383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41576923100007 meters Centerline goodness [0,1] 0.9999568854013969 Centerline is valid? [True, True] Translation: X:298.87, Y:-41.06, Z:-2.56 [[ 9.77121862e-01 2.12679515e-01 -5.40256753e-04 2.98870323e+02] [-2.12679486e-01 9.77122011e-01 1.10133036e-04 -4.10570617e+01] [ 5.51319806e-04 7.28813106e-06 9.99999848e-01 -2.55679338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44576923100004 meters Centerline goodness [0,1] 0.9998941149065035 Centerline is valid? [True, True] Translation: X:298.90, Y:-41.06, Z:-2.55 [[ 9.77397327e-01 2.11405404e-01 1.49036941e-03 2.98898087e+02] [-2.11405185e-01 9.77398463e-01 -3.04818608e-04 -4.10613590e+01] [-1.52112507e-03 -1.71429274e-05 9.99998843e-01 -2.55498941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.4757692310001 meters Centerline goodness [0,1] 0.9999788126615534 Centerline is valid? [True, True] Translation: X:298.93, Y:-41.07, Z:-2.55 [[ 9.77730536e-01 2.09843398e-01 2.95747537e-03 2.98925461e+02] [-2.09842530e-01 9.77735009e-01 -6.04359459e-04 -4.10678445e+01] [-3.01844805e-03 -2.97034163e-05 9.99995444e-01 -2.55222376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50576923100004 meters Centerline goodness [0,1] 0.9999787667742484 Centerline is valid? [True, True] Translation: X:298.95, Y:-41.07, Z:-2.55 [[ 9.78331408e-01 2.07021328e-01 3.13473616e-03 2.98952824e+02] [-2.07020339e-01 9.78336429e-01 -6.40372099e-04 -4.10749727e+01] [-3.19939727e-03 -2.24580061e-05 9.99994882e-01 -2.55206077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.98, Y:-41.08, Z:-2.55 [[ 9.78635907e-01 2.05591677e-01 1.95536356e-03 2.98980948e+02] [-2.05591289e-01 9.78637861e-01 -3.99413369e-04 -4.10812216e+01] [-1.99570888e-03 -1.11254501e-05 9.99998009e-01 -2.55421067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56576923100005 meters Centerline goodness [0,1] 0.9999788386659895 Centerline is valid? [True, True] Translation: X:299.01, Y:-41.09, Z:-2.56 [[ 9.78906652e-01 2.04306276e-01 8.44317113e-04 2.99008641e+02] [-2.04306203e-01 9.78907016e-01 -1.72632548e-04 -4.10862554e+01] [-8.61777859e-04 -3.50807419e-06 9.99999629e-01 -2.55604186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.04, Y:-41.09, Z:-2.55 [[ 9.79475357e-01 2.01558295e-01 1.50931204e-03 2.99035863e+02] [-2.01558060e-01 9.79476520e-01 -3.08240399e-04 -4.10931563e+01] [-1.54046411e-03 -2.30013150e-06 9.99998813e-01 -2.55459812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.06, Y:-41.10, Z:-2.55 [[ 9.79760229e-01 2.00158245e-01 2.56344386e-03 2.99064434e+02] [-2.00157562e-01 9.79763582e-01 -5.23071139e-04 -4.10999158e+01] [-2.61626594e-03 -6.08374616e-07 9.99996578e-01 -2.55248900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6557692310001 meters Centerline goodness [0,1] 0.9999789513565851 Centerline is valid? [True, True] Translation: X:299.09, Y:-41.10, Z:-2.55 [[ 9.79868883e-01 1.99597629e-01 4.21400978e-03 2.99092233e+02] [-1.99595778e-01 9.79877945e-01 -8.59616368e-04 -4.11031516e+01] [-4.30079263e-03 1.21277056e-06 9.99990752e-01 -2.54966802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68576923100005 meters Centerline goodness [0,1] 0.9999786844012448 Centerline is valid? [True, True] Translation: X:299.12, Y:-41.11, Z:-2.55 [[ 9.79794076e-01 1.99961353e-01 4.36178405e-03 2.99119907e+02] [-1.99959374e-01 9.79803785e-01 -8.89481234e-04 -4.11056238e+01] [-4.45155439e-03 -6.71164999e-07 9.99990092e-01 -2.54937717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.715769231 meters Centerline goodness [0,1] 0.9999788314987299 Centerline is valid? [True, True] Translation: X:299.15, Y:-41.11, Z:-2.55 [[ 9.79548431e-01 2.01166944e-01 4.09056033e-03 2.99148775e+02] [-2.01165216e-01 9.79556972e-01 -8.33938236e-04 -4.11072881e+01] [-4.17469770e-03 -5.99556162e-06 9.99991286e-01 -2.54952295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.18, Y:-41.10, Z:-2.55 [[ 9.78958795e-01 2.04020667e-01 3.90442306e-03 2.99178839e+02] [-2.04019116e-01 9.78966581e-01 -7.95815868e-04 -4.11044612e+01] [-3.98466258e-03 -1.75059973e-05 9.99992061e-01 -2.54932079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.775769231 meters Centerline goodness [0,1] 0.9999785628537129 Centerline is valid? [True, True] Translation: X:299.21, Y:-41.10, Z:-2.55 [[ 9.78571003e-01 2.05856378e-01 4.68441095e-03 2.99207678e+02] [-2.05854168e-01 9.78582215e-01 -9.54511635e-04 -4.11026446e+01] [-4.78057355e-03 -3.02481090e-05 9.99988573e-01 -2.54908289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80576923100006 meters Centerline goodness [0,1] 0.9999787478216517 Centerline is valid? [True, True] Translation: X:299.24, Y:-41.10, Z:-2.55 [[ 9.77825092e-01 2.09349742e-01 5.54744766e-03 2.99237797e+02] [-2.09346700e-01 9.77840827e-01 -1.12995175e-03 -4.10969858e+01] [-5.66107592e-03 -5.64446836e-05 9.99983974e-01 -2.54755321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.83576923100003 meters Centerline goodness [0,1] 0.9998936532244342 Centerline is valid? [True, True] Translation: X:299.27, Y:-41.10, Z:-2.55 [[ 9.77631612e-01 2.10248729e-01 5.64834185e-03 2.99266874e+02] [-2.10245592e-01 9.77647926e-01 -1.15016111e-03 -4.10992741e+01] [-5.76390961e-03 -6.31051224e-05 9.99983387e-01 -2.54822875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86576923100006 meters Centerline goodness [0,1] 0.9999575614828018 Centerline is valid? [True, True] Translation: X:299.30, Y:-41.10, Z:-2.55 [[ 9.77822635e-01 2.09403837e-01 3.59545694e-03 2.99296213e+02] [-2.09402561e-01 9.77829245e-01 -7.32059303e-04 -4.11004033e+01] [-3.66903897e-03 -3.70737338e-05 9.99993268e-01 -2.55270283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89576923100003 meters Centerline goodness [0,1] 0.9999361294443262 Centerline is valid? [True, True] Translation: X:299.32, Y:-41.10, Z:-2.56 [[ 9.78006609e-01 2.08560966e-01 2.32283996e-03 2.99324790e+02] [-2.08560431e-01 9.78009367e-01 -4.72929601e-04 -4.11040946e+01] [-2.37039389e-03 -2.19242277e-05 9.99997190e-01 -2.55563714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92576923100006 meters Centerline goodness [0,1] 0.9999152416671964 Centerline is valid? [True, True] Translation: X:299.35, Y:-41.10, Z:-2.56 [[ 9.78344480e-01 2.06967443e-01 2.56055174e-03 2.99353467e+02] [-2.06966787e-01 9.78347830e-01 -5.21210808e-04 -4.11042285e+01] [-2.61298391e-03 -2.00254499e-05 9.99996586e-01 -2.55651626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95576923100003 meters Centerline goodness [0,1] 0.9999366072183248 Centerline is valid? [True, True] Translation: X:299.38, Y:-41.11, Z:-2.55 [[ 9.78544567e-01 2.06003971e-01 3.59082347e-03 2.99380953e+02] [-2.06002677e-01 9.78551155e-01 -7.30615380e-04 -4.11079847e+01] [-3.66431412e-03 -2.47795352e-05 9.99993286e-01 -2.55440869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98576923100006 meters Centerline goodness [0,1] 0.9999786807657869 Centerline is valid? [True, True] Translation: X:299.41, Y:-41.11, Z:-2.55 [[ 9.78809103e-01 2.04731535e-01 4.21172259e-03 2.99409156e+02] [-2.04729745e-01 9.78818164e-01 -8.56469806e-04 -4.11133268e+01] [-4.29785695e-03 -2.39444506e-05 9.99990764e-01 -2.55288574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.44, Y:-41.12, Z:-2.55 [[ 9.79419829e-01 2.01806854e-01 3.28502554e-03 2.99437089e+02] [-2.01805749e-01 9.79425338e-01 -6.67939436e-04 -4.11215773e+01] [-3.35223200e-03 -8.74391060e-06 9.99994381e-01 -2.55381899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04576923100007 meters Centerline goodness [0,1] 0.999978696207925 Centerline is valid? [True, True] Translation: X:299.46, Y:-41.13, Z:-2.55 [[ 9.79733420e-01 2.00285948e-01 2.82218524e-03 2.99464708e+02] [-2.00285127e-01 9.79737485e-01 -5.73797548e-04 -4.11276057e+01] [-2.87992425e-03 -3.07309298e-06 9.99995853e-01 -2.55475151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07576923100004 meters Centerline goodness [0,1] 0.9999577934411007 Centerline is valid? [True, True] Translation: X:299.49, Y:-41.13, Z:-2.56 [[ 9.80138855e-01 1.98296045e-01 2.55015646e-03 2.99491348e+02] [-1.98295367e-01 9.80142173e-01 -5.18374573e-04 -4.11308868e+01] [-2.60230752e-03 2.39484833e-06 9.99996614e-01 -2.55517121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10576923100007 meters Centerline goodness [0,1] 0.999978681220287 Centerline is valid? [True, True] Translation: X:299.52, Y:-41.13, Z:-2.55 [[ 9.80231078e-01 1.97833846e-01 2.96711655e-03 2.99518798e+02] [-1.97832928e-01 9.80235568e-01 -6.02768039e-04 -4.11346476e+01] [-3.02772110e-03 3.85860980e-06 9.99995416e-01 -2.55477078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13576923100004 meters Centerline goodness [0,1] 0.99985183617314 Centerline is valid? [True, True] Translation: X:299.55, Y:-41.14, Z:-2.55 [[ 9.80333974e-01 1.97305002e-01 4.00447769e-03 2.99546007e+02] [-1.97303327e-01 9.80342153e-01 -8.13088932e-04 -4.11380142e+01] [-4.08618479e-03 7.00193228e-06 9.99991651e-01 -2.55297030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16576923100007 meters Centerline goodness [0,1] 0.9998309168533627 Centerline is valid? [True, True] Translation: X:299.57, Y:-41.14, Z:-2.55 [[ 9.80478591e-01 1.96581258e-01 4.18830455e-03 2.99572728e+02] [-1.96579420e-01 9.80487536e-01 -8.50035194e-04 -4.11440547e+01] [-4.27368140e-03 1.01068291e-05 9.99990868e-01 -2.55331989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19576923100004 meters Centerline goodness [0,1] 0.9997454337173042 Centerline is valid? [True, True] Translation: X:299.60, Y:-41.15, Z:-2.55 [[ 9.80725710e-01 1.95353834e-01 3.73640807e-03 2.99600709e+02] [-1.95352364e-01 9.80732828e-01 -7.57991184e-04 -4.11499946e+01] [-3.81249454e-03 1.34652937e-05 9.99992732e-01 -2.55407544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2257692310001 meters Centerline goodness [0,1] 0.9997251353179973 Centerline is valid? [True, True] Translation: X:299.63, Y:-41.16, Z:-2.56 [[ 9.81397777e-01 1.91969360e-01 2.48368210e-03 2.99627718e+02] [-1.91968700e-01 9.81400919e-01 -5.03825395e-04 -4.11617221e+01] [-2.53420694e-03 1.76638983e-05 9.99996789e-01 -2.55637823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25576923100004 meters Centerline goodness [0,1] 0.9996798292422625 Centerline is valid? [True, True] Translation: X:299.66, Y:-41.17, Z:-2.56 [[ 9.81779523e-01 1.89998692e-01 3.07666535e-03 2.99655030e+02] [-1.89997670e-01 9.81784343e-01 -6.23900375e-04 -4.11726291e+01] [-3.13916212e-03 2.79733639e-05 9.99995072e-01 -2.55538995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2857692310001 meters Centerline goodness [0,1] 0.999554376657825 Centerline is valid? [True, True] Translation: X:299.68, Y:-41.19, Z:-2.55 [[ 9.82408395e-01 1.86625935e-01 6.67128255e-03 2.99681339e+02] [-1.86621055e-01 9.82431043e-01 -1.35218946e-03 -4.11884445e+01] [-6.80642870e-03 8.34004816e-05 9.99976833e-01 -2.54963376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31576923100005 meters Centerline goodness [0,1] 0.9994844917948278 Centerline is valid? [True, True] Translation: X:299.71, Y:-41.20, Z:-2.55 [[ 9.82578838e-01 1.85673083e-01 8.02077961e-03 2.99708921e+02] [-1.85666001e-01 9.82611569e-01 -1.62526608e-03 -4.11961305e+01] [-8.18307900e-03 1.07765985e-04 9.99966512e-01 -2.54773564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3457692310001 meters Centerline goodness [0,1] 0.9994917407878018 Centerline is valid? [True, True] Translation: X:299.74, Y:-41.21, Z:-2.55 [[ 9.82630463e-01 1.85466089e-01 6.30109364e-03 2.99735498e+02] [-1.85461715e-01 9.82650662e-01 -1.27653198e-03 -4.12072939e+01] [-6.42852723e-03 8.57475719e-05 9.99979333e-01 -2.54943752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37576923100005 meters Centerline goodness [0,1] 0.9995578109536544 Centerline is valid? [True, True] Translation: X:299.76, Y:-41.21, Z:-2.55 [[ 9.82509619e-01 1.86169959e-01 3.94917451e-03 2.99762863e+02] [-1.86168247e-01 9.82517554e-01 -7.99921169e-04 -4.12136853e+01] [-4.02905457e-03 5.07193460e-05 9.99991882e-01 -2.55389256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4057692310001 meters Centerline goodness [0,1] 0.9996772041576104 Centerline is valid? [True, True] Translation: X:299.79, Y:-41.22, Z:-2.56 [[ 9.81993496e-01 1.88906908e-01 1.71896813e-03 2.99791619e+02] [-1.88906588e-01 9.81995000e-01 -3.48234847e-04 -4.12159257e+01] [-1.75380208e-03 1.72399501e-05 9.99998462e-01 -2.55787508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43576923100005 meters Centerline goodness [0,1] 0.999766340251078 Centerline is valid? [True, True] Translation: X:299.82, Y:-41.22, Z:-2.56 [[ 9.81760235e-01 1.90112518e-01 2.01799410e-03 2.99818368e+02] [-1.90112079e-01 9.81762308e-01 -4.08714342e-04 -4.12221802e+01] [-2.05889226e-03 1.76144349e-05 9.99997880e-01 -2.55852335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.465769231 meters Centerline goodness [0,1] 0.9996589140676629 Centerline is valid? [True, True] Translation: X:299.85, Y:-41.23, Z:-2.56 [[ 9.81545217e-01 1.91199959e-01 3.40031902e-03 2.99846954e+02] [-1.91198722e-01 9.81551107e-01 -6.88158451e-04 -4.12267063e+01] [-3.46916276e-03 2.53219855e-05 9.99993982e-01 -2.55588917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49576923100005 meters Centerline goodness [0,1] 0.9996408501288714 Centerline is valid? [True, True] Translation: X:299.87, Y:-41.23, Z:-2.55 [[ 9.81272426e-01 1.92587195e-01 3.82073867e-03 2.99874529e+02] [-1.92585645e-01 9.81279864e-01 -7.73047008e-04 -4.12309692e+01] [-3.89809288e-03 2.27502910e-05 9.99992402e-01 -2.55380044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.525769231 meters Centerline goodness [0,1] 0.9997230448028293 Centerline is valid? [True, True] Translation: X:299.90, Y:-41.23, Z:-2.55 [[ 9.81172057e-01 1.93108096e-01 3.26470974e-03 2.99902061e+02] [-1.93106967e-01 9.81177488e-01 -6.60425271e-04 -4.12348492e+01] [-3.33079317e-03 1.75526261e-05 9.99994453e-01 -2.55484568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55576923100006 meters Centerline goodness [0,1] 0.9998933014660378 Centerline is valid? [True, True] Translation: X:299.93, Y:-41.23, Z:-2.56 [[ 9.80782651e-01 1.95075945e-01 3.28129794e-03 2.99931116e+02] [-1.95074817e-01 9.80788140e-01 -6.63495573e-04 -4.12346267e+01] [-3.34769013e-03 1.06463533e-05 9.99994396e-01 -2.55546436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58576923100003 meters Centerline goodness [0,1] 0.9998933014660378 Centerline is valid? [True, True] Translation: X:299.96, Y:-41.24, Z:-2.56 [[ 9.80796433e-01 1.95006639e-01 3.28131854e-03 2.99958096e+02] [-1.95005511e-01 9.80801922e-01 -6.63393712e-04 -4.12399390e+01] [-3.34768971e-03 1.07789881e-05 9.99994396e-01 -2.55561946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61576923100006 meters Centerline goodness [0,1] 0.999872397439442 Centerline is valid? [True, True] Translation: X:299.99, Y:-41.24, Z:-2.55 [[ 9.80633062e-01 1.95809958e-01 4.15430217e-03 2.99985586e+02] [-1.95808159e-01 9.80641861e-01 -8.39456341e-04 -4.12432449e+01] [-4.23825653e-03 9.75238148e-06 9.99991019e-01 -2.55469121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64576923100003 meters Centerline goodness [0,1] 0.9998087303948655 Centerline is valid? [True, True] Translation: X:300.01, Y:-41.25, Z:-2.55 [[ 9.80509378e-01 1.96405970e-01 5.10438019e-03 3.00012681e+02] [-1.96403263e-01 9.80522664e-01 -1.03105830e-03 -4.12450362e+01] [-5.20746647e-03 8.44540120e-06 9.99986441e-01 -2.55296425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67576923100006 meters Centerline goodness [0,1] 0.9997442945726523 Centerline is valid? [True, True] Translation: X:300.04, Y:-41.25, Z:-2.55 [[ 9.80540083e-01 1.96258764e-01 4.86242773e-03 3.00040512e+02] [-1.96256309e-01 9.80552139e-01 -9.81800777e-04 -4.12491597e+01] [-4.96055092e-03 8.41289776e-06 9.99987696e-01 -2.55364520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70576923100003 meters Centerline goodness [0,1] 0.9998931897803982 Centerline is valid? [True, True] Translation: X:300.07, Y:-41.25, Z:-2.56 [[ 9.80601934e-01 1.95970593e-01 3.92095239e-03 3.00068274e+02] [-1.95968995e-01 9.80609773e-01 -7.91508242e-04 -4.12529551e+01] [-4.00003657e-03 7.76941495e-06 9.99992000e-01 -2.55528788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73576923100006 meters Centerline goodness [0,1] 0.9999786925764936 Centerline is valid? [True, True] Translation: X:300.10, Y:-41.26, Z:-2.56 [[ 9.80599286e-01 1.96015715e-01 1.69685437e-03 3.00097642e+02] [-1.96015415e-01 9.80600754e-01 -3.42553854e-04 -4.12553817e+01] [-1.73108262e-03 3.29845087e-06 9.99998502e-01 -2.55934506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76576923100004 meters Centerline goodness [0,1] 0.9998732572877059 Centerline is valid? [True, True] Translation: X:300.13, Y:-41.26, Z:-2.56 [[ 9.80499933e-01 1.96516929e-01 9.89146590e-04 3.00125160e+02] [-1.96516827e-01 9.80500432e-01 -1.99806226e-04 -4.12588492e+01] [-1.00912396e-03 1.52604124e-06 9.99999491e-01 -2.56195420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79576923100007 meters Centerline goodness [0,1] 0.9997637659994846 Centerline is valid? [True, True] Translation: X:300.15, Y:-41.26, Z:-2.56 [[ 9.80207889e-01 1.97961334e-01 1.95052630e-03 3.00154475e+02] [-1.97960943e-01 9.80209830e-01 -3.93506398e-04 -4.12586221e+01] [-1.98982411e-03 -4.09951105e-07 9.99998020e-01 -2.55875541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82576923100004 meters Centerline goodness [0,1] 0.9998512726809161 Centerline is valid? [True, True] Translation: X:300.18, Y:-41.26, Z:-2.56 [[ 9.80036971e-01 1.98789418e-01 3.20986416e-03 3.00182074e+02] [-1.98788364e-01 9.80042227e-01 -6.47258879e-04 -4.12610176e+01] [-3.27447064e-03 -3.74601615e-06 9.99994639e-01 -2.55734221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85576923100007 meters Centerline goodness [0,1] 0.9998946103745547 Centerline is valid? [True, True] Translation: X:300.21, Y:-41.26, Z:-2.56 [[ 9.80003935e-01 1.98927836e-01 4.47247023e-03 3.00210059e+02] [-1.98925793e-01 9.80014141e-01 -9.01457422e-04 -4.12634830e+01] [-4.56240904e-03 -6.25786678e-06 9.99989592e-01 -2.55547082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88576923100004 meters Centerline goodness [0,1] 0.9998105582217732 Centerline is valid? [True, True] Translation: X:300.24, Y:-41.27, Z:-2.56 [[ 9.80186163e-01 1.98026401e-01 4.54201664e-03 3.00237642e+02] [-1.98024286e-01 9.80196687e-01 -9.15132838e-04 -4.12694827e+01] [-4.63329012e-03 -2.42905655e-06 9.99989266e-01 -2.55580566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91576923100007 meters Centerline goodness [0,1] 0.9997648618028687 Centerline is valid? [True, True] Translation: X:300.26, Y:-41.28, Z:-2.56 [[ 9.80469628e-01 1.96617475e-01 4.56909066e-03 3.00264595e+02] [-1.96615321e-01 9.80480274e-01 -9.20247989e-04 -4.12768814e+01] [-4.66084010e-03 3.92197474e-06 9.99989138e-01 -2.55606093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94576923100004 meters Centerline goodness [0,1] 0.9997676334523332 Centerline is valid? [True, True] Translation: X:300.29, Y:-41.29, Z:-2.56 [[ 9.81327545e-01 1.92286974e-01 4.68704892e-03 3.00291523e+02] [-1.92284660e-01 9.81338738e-01 -9.43628846e-04 -4.12910293e+01] [-4.78103020e-03 2.47613711e-05 9.99988571e-01 -2.55584751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.9757692310001 meters Centerline goodness [0,1] 0.9996580100459549 Centerline is valid? [True, True] Translation: X:300.32, Y:-41.30, Z:-2.56 [[ 9.81901024e-01 1.89326294e-01 5.09259075e-03 3.00318279e+02] [-1.89323524e-01 9.81914229e-01 -1.02500678e-03 -4.13019229e+01] [-5.19454806e-03 4.23079811e-05 9.99986507e-01 -2.55540557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00576923100004 meters Centerline goodness [0,1] 0.999533621639956 Centerline is valid? [True, True] Translation: X:300.34, Y:-41.32, Z:-2.55 [[ 9.83004730e-01 1.83499924e-01 5.42940717e-03 3.00343771e+02] [-1.83496689e-01 9.83019721e-01 -1.09242991e-03 -4.13202021e+01] [-5.53767512e-03 7.75855358e-05 9.99984664e-01 -2.55490527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0357692310001 meters Centerline goodness [0,1] 0.9995131966050754 Centerline is valid? [True, True] Translation: X:300.37, Y:-41.33, Z:-2.56 [[ 9.83413831e-01 1.81295061e-01 5.41649936e-03 3.00369824e+02] [-1.81291809e-01 9.83428743e-01 -1.08963141e-03 -4.13310541e+01] [-5.52428595e-03 8.95916344e-05 9.99984737e-01 -2.55537613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06576923100005 meters Centerline goodness [0,1] 0.999573851529873 Centerline is valid? [True, True] Translation: X:300.40, Y:-41.34, Z:-2.56 [[ 9.83692399e-01 1.79789142e-01 5.01287864e-03 3.00397830e+02] [-1.79786338e-01 9.83705167e-01 -1.00814832e-03 -4.13398263e+01] [-5.11244874e-03 9.04607445e-05 9.99986927e-01 -2.55651330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0957692310001 meters Centerline goodness [0,1] 0.99957633401826 Centerline is valid? [True, True] Translation: X:300.42, Y:-41.35, Z:-2.56 [[ 9.83881678e-01 1.78755201e-01 4.83957409e-03 3.00423781e+02] [-1.78752576e-01 9.83893576e-01 -9.73077195e-04 -4.13523897e+01] [-4.93556847e-03 9.23064886e-05 9.99987816e-01 -2.55655865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12576923100005 meters Centerline goodness [0,1] 0.9995949777237748 Centerline is valid? [True, True] Translation: X:300.45, Y:-41.36, Z:-2.56 [[ 9.83907254e-01 1.78608537e-01 5.05033899e-03 3.00452458e+02] [-1.78605679e-01 9.83920211e-01 -1.01507017e-03 -4.13618556e+01] [-5.15043080e-03 9.67156804e-05 9.99986732e-01 -2.55630216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1557692310001 meters Centerline goodness [0,1] 0.9994887198824056 Centerline is valid? [True, True] Translation: X:300.48, Y:-41.38, Z:-2.56 [[ 9.84136322e-01 1.77353675e-01 4.62319405e-03 3.00479032e+02] [-1.77351267e-01 9.84147176e-01 -9.29126623e-04 -4.13758096e+01] [-4.71468739e-03 9.44579372e-05 9.99988881e-01 -2.55714139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18576923100005 meters Centerline goodness [0,1] 0.999365897994124 Centerline is valid? [True, True] Translation: X:300.51, Y:-41.39, Z:-2.56 [[ 9.84421287e-01 1.75781889e-01 3.93159605e-03 3.00507190e+02] [-1.75780135e-01 9.84429134e-01 -7.89981972e-04 -4.13869652e+01] [-4.00924221e-03 8.65785870e-05 9.99991959e-01 -2.55863194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.215769231 meters Centerline goodness [0,1] 0.9993371110873517 Centerline is valid? [True, True] Translation: X:300.53, Y:-41.41, Z:-2.56 [[ 9.85201656e-01 1.71357334e-01 3.78960650e-03 3.00534466e+02] [-1.71355672e-01 9.85208939e-01 -7.61365818e-04 -4.14070794e+01] [-3.86401982e-03 1.00728296e-04 9.99992530e-01 -2.56042979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24576923100005 meters Centerline goodness [0,1] 0.9992753314293021 Centerline is valid? [True, True] Translation: X:300.56, Y:-41.42, Z:-2.56 [[ 9.85594583e-01 1.69079074e-01 3.94780449e-03 3.00563896e+02] [-1.69077253e-01 9.85602483e-01 -7.93082906e-04 -4.14212306e+01] [-4.02505963e-03 1.14174278e-04 9.99991893e-01 -2.56028176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.275769231 meters Centerline goodness [0,1] 0.999124997332309 Centerline is valid? [True, True] Translation: X:300.59, Y:-41.43, Z:-2.56 [[ 9.85904972e-01 1.67248250e-01 4.40549334e-03 3.00593713e+02] [-1.67245961e-01 9.85914806e-01 -8.85378394e-04 -4.14338049e+01] [-4.49151910e-03 1.36097991e-04 9.99989904e-01 -2.55916829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30576923100006 meters Centerline goodness [0,1] 0.9987653532579773 Centerline is valid? [True, True] Translation: X:300.62, Y:-41.45, Z:-2.56 [[ 9.85939413e-01 1.67062695e-01 3.67815849e-03 3.00622249e+02] [-1.67061097e-01 9.85946268e-01 -7.39649920e-04 -4.14515418e+01] [-3.75003454e-03 1.14772815e-04 9.99992962e-01 -2.56007761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.33576923100003 meters Centerline goodness [0,1] 0.9993828736806265 Centerline is valid? [True, True] Translation: X:300.65, Y:-41.46, Z:-2.56 [[ 9.85661288e-01 1.68722184e-01 2.15642294e-03 3.00652716e+02] [-1.68721639e-01 9.85663645e-01 -4.33637312e-04 -4.14592382e+01] [-2.19867192e-03 6.35843001e-05 9.99997581e-01 -2.56325672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36576923100006 meters Centerline goodness [0,1] 0.9993166481592209 Centerline is valid? [True, True] Translation: X:300.68, Y:-41.47, Z:-2.57 [[ 9.84948286e-01 1.72848905e-01 3.60313974e-04 3.00682768e+02] [-1.72848890e-01 9.84948352e-01 -7.24762279e-05 -4.14657658e+01] [-3.67418092e-04 9.10546594e-06 9.99999932e-01 -2.56733917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39576923100003 meters Centerline goodness [0,1] 0.9995342239535918 Centerline is valid? [True, True] Translation: X:300.71, Y:-41.47, Z:-2.57 [[ 9.84637166e-01 1.74610724e-01 8.63457405e-04 3.00713656e+02] [-1.74610639e-01 9.84637545e-01 -1.73884098e-04 -4.14714906e+01] [-8.80554608e-04 2.04438966e-05 9.99999612e-01 -2.56616036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42576923100006 meters Centerline goodness [0,1] 0.9994270557029178 Centerline is valid? [True, True] Translation: X:300.74, Y:-41.48, Z:-2.56 [[ 9.84358159e-01 1.76167523e-01 2.00487668e-03 3.00744753e+02] [-1.76167065e-01 9.84360199e-01 -4.03964614e-04 -4.14770361e+01] [-2.04468626e-03 4.44526221e-05 9.99997909e-01 -2.56413464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45576923100003 meters Centerline goodness [0,1] 0.9993842495275708 Centerline is valid? [True, True] Translation: X:300.77, Y:-41.48, Z:-2.56 [[ 9.84056960e-01 1.77834819e-01 2.58412167e-03 3.00774234e+02] [-1.77834064e-01 9.84060351e-01 -5.20811026e-04 -4.14846454e+01] [-2.63555002e-03 5.29628559e-05 9.99996526e-01 -2.56325655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48576923100006 meters Centerline goodness [0,1] 0.9994308960225955 Centerline is valid? [True, True] Translation: X:300.81, Y:-41.49, Z:-2.57 [[ 9.84114996e-01 1.77520878e-01 2.00295530e-03 3.00805147e+02] [-1.77520425e-01 9.84117034e-01 -4.03156614e-04 -4.14944978e+01] [-2.04271114e-03 4.11869950e-05 9.99997913e-01 -2.56504110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51576923100004 meters Centerline goodness [0,1] 0.9994249568717654 Centerline is valid? [True, True] Translation: X:300.83, Y:-41.51, Z:-2.57 [[ 9.84817005e-01 1.73584071e-01 2.00932704e-03 3.00833644e+02] [-1.73583606e-01 9.84819053e-01 -4.05299915e-04 -4.15081824e+01] [-2.04917717e-03 5.03600150e-05 9.99997899e-01 -2.56584474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54576923100007 meters Centerline goodness [0,1] 0.999163933371921 Centerline is valid? [True, True] Translation: X:300.86, Y:-41.52, Z:-2.56 [[ 9.85244125e-01 1.71136480e-01 2.51386202e-03 3.00863914e+02] [-1.71135743e-01 9.85247330e-01 -5.07005543e-04 -4.15206561e+01] [-2.56354298e-03 6.93125885e-05 9.99996712e-01 -2.56455719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57576923100004 meters Centerline goodness [0,1] 0.9993002396149198 Centerline is valid? [True, True] Translation: X:300.89, Y:-41.53, Z:-2.56 [[ 9.85551432e-01 1.69337928e-01 3.61117588e-03 3.00893783e+02] [-1.69336395e-01 9.85558042e-01 -7.28402527e-04 -4.15325756e+01] [-3.68236961e-03 1.06374648e-04 9.99993214e-01 -2.56259106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60576923100007 meters Centerline goodness [0,1] 0.9985872132253711 Centerline is valid? [True, True] Translation: X:300.92, Y:-41.55, Z:-2.56 [[ 9.85758155e-01 1.68072603e-01 5.69729361e-03 3.00921585e+02] [-1.68068757e-01 9.85774603e-01 -1.15060525e-03 -4.15532375e+01] [-5.80963257e-03 1.76681449e-04 9.99983108e-01 -2.55870499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63576923100004 meters Centerline goodness [0,1] 0.9992126151816305 Centerline is valid? [True, True] Translation: X:300.95, Y:-41.56, Z:-2.56 [[ 9.85744931e-01 1.68150000e-01 5.70167027e-03 3.00954753e+02] [-1.68146145e-01 9.85761404e-01 -1.15239618e-03 -4.15563091e+01] [-5.81426191e-03 1.77254818e-04 9.99983081e-01 -2.55892160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66576923100007 meters Centerline goodness [0,1] 0.9992154534467038 Centerline is valid? [True, True] Translation: X:300.98, Y:-41.57, Z:-2.56 [[ 9.85804254e-01 1.67859518e-01 3.62707316e-03 3.00983714e+02] [-1.67857954e-01 9.85810920e-01 -7.33477138e-04 -4.15701031e+01] [-3.69872945e-03 1.14231804e-04 9.99993153e-01 -2.56372133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69576923100004 meters Centerline goodness [0,1] 0.9989996594585391 Centerline is valid? [True, True] Translation: X:301.01, Y:-41.59, Z:-2.57 [[ 9.85741547e-01 1.68243684e-01 2.76845643e-03 3.01013573e+02] [-1.68242774e-01 9.85745431e-01 -5.60015398e-04 -4.15850001e+01] [-2.82321233e-03 8.62576543e-05 9.99996011e-01 -2.56543516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7257692310001 meters Centerline goodness [0,1] 0.9991497502391328 Centerline is valid? [True, True] Translation: X:301.05, Y:-41.59, Z:-2.57 [[ 9.85611882e-01 1.69007857e-01 2.35854895e-03 3.01045635e+02] [-1.69007198e-01 9.85614701e-01 -4.77419031e-04 -4.15907992e+01] [-2.40530808e-03 7.19381202e-05 9.99997105e-01 -2.56596519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75576923100004 meters Centerline goodness [0,1] 0.9992175604804602 Centerline is valid? [True, True] Translation: X:301.08, Y:-41.60, Z:-2.57 [[ 9.85403096e-01 1.70228027e-01 1.77698214e-03 3.01075257e+02] [-1.70227655e-01 9.85404697e-01 -3.59815131e-04 -4.16028254e+01] [-1.81229716e-03 5.20714429e-05 9.99998356e-01 -2.56580097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7857692310001 meters Centerline goodness [0,1] 0.9992712151415771 Centerline is valid? [True, True] Translation: X:301.11, Y:-41.61, Z:-2.56 [[ 9.85352653e-01 1.70510100e-01 2.54079797e-03 3.01106488e+02] [-1.70509338e-01 9.85355926e-01 -5.15189322e-04 -4.16099908e+01] [-2.59143531e-03 7.44133860e-05 9.99996639e-01 -2.56400530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81576923100005 meters Centerline goodness [0,1] 0.999418391745471 Centerline is valid? [True, True] Translation: X:301.14, Y:-41.62, Z:-2.56 [[ 9.85250000e-01 1.71090226e-01 3.25133353e-03 3.01135686e+02] [-1.71088978e-01 9.85255361e-01 -6.60108656e-04 -4.16221054e+01] [-3.31633193e-03 9.41047213e-05 9.99994497e-01 -2.56368364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8457692310001 meters Centerline goodness [0,1] 0.9992412106904983 Centerline is valid? [True, True] Translation: X:301.17, Y:-41.63, Z:-2.56 [[ 9.85217647e-01 1.71274867e-01 3.33285423e-03 3.01166048e+02] [-1.71273555e-01 9.85223280e-01 -6.77282267e-04 -4.16326825e+01] [-3.39960700e-03 9.64406515e-05 9.99994217e-01 -2.56449448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87576923100005 meters Centerline goodness [0,1] 0.9991881035808905 Centerline is valid? [True, True] Translation: X:301.20, Y:-41.64, Z:-2.57 [[ 9.85218334e-01 1.71271316e-01 3.31222722e-03 3.01197691e+02] [-1.71270020e-01 9.85223897e-01 -6.73327153e-04 -4.16418267e+01] [-3.37860704e-03 9.60890350e-05 9.99994288e-01 -2.56542244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9057692310001 meters Centerline goodness [0,1] 0.9994468908885911 Centerline is valid? [True, True] Translation: X:301.23, Y:-41.65, Z:-2.57 [[ 9.85095259e-01 1.71985598e-01 2.87820120e-03 3.01226928e+02] [-1.71984620e-01 9.85099461e-01 -5.85601182e-04 -4.16542500e+01] [-2.93602942e-03 8.18666073e-05 9.99995687e-01 -2.56577786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93576923100005 meters Centerline goodness [0,1] 0.9993583024962033 Centerline is valid? [True, True] Translation: X:301.26, Y:-41.66, Z:-2.57 [[ 9.84907180e-01 1.73072137e-01 1.97035303e-03 3.01256904e+02] [-1.73071681e-01 9.84909149e-01 -4.00930728e-04 -4.16635425e+01] [-2.01000866e-03 5.38672413e-05 9.99997978e-01 -2.56763724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.965769231 meters Centerline goodness [0,1] 0.9994266176814118 Centerline is valid? [True, True] Translation: X:301.29, Y:-41.67, Z:-2.57 [[ 9.84461785e-01 1.75598774e-01 2.54523920e-04 3.01287536e+02] [-1.75598767e-01 9.84461818e-01 -5.16384130e-05 -4.16716229e+01] [-2.59636723e-04 6.14195780e-06 9.99999966e-01 -2.57140703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99576923100005 meters Centerline goodness [0,1] 0.9995299848313286 Centerline is valid? [True, True] Translation: X:301.32, Y:-41.68, Z:-2.57 [[ 9.84196514e-01 1.77079247e-01 4.03357850e-04 3.01318756e+02] [-1.77079229e-01 9.84196596e-01 -8.14294931e-05 -4.16774057e+01] [-4.11402896e-04 8.71632629e-06 9.99999915e-01 -2.57104752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.025769231 meters Centerline goodness [0,1] 0.9995097098761484 Centerline is valid? [True, True] Translation: X:301.35, Y:-41.68, Z:-2.57 [[ 9.83999430e-01 1.78166450e-01 1.35538799e-03 3.01350776e+02] [-1.78166238e-01 9.84000363e-01 -2.76419059e-04 -4.16836958e+01] [-1.38295087e-03 3.05118172e-05 9.99999043e-01 -2.56920992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05576923100006 meters Centerline goodness [0,1] 0.9994489657511021 Centerline is valid? [True, True] Translation: X:301.38, Y:-41.69, Z:-2.57 [[ 9.83758030e-01 1.79465243e-01 3.51624327e-03 3.01380559e+02] [-1.79463824e-01 9.83764312e-01 -7.17637693e-04 -4.16922569e+01] [-3.58794567e-03 7.49433784e-05 9.99993560e-01 -2.56538478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08576923100003 meters Centerline goodness [0,1] 0.9995098561534363 Centerline is valid? [True, True] Translation: X:301.41, Y:-41.70, Z:-2.57 [[ 9.83707186e-01 1.79735648e-01 3.90749679e-03 3.01412260e+02] [-1.79733895e-01 9.83714943e-01 -7.98116879e-04 -4.17010033e+01] [-3.98731304e-03 8.28036913e-05 9.99992047e-01 -2.56520182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11576923100006 meters Centerline goodness [0,1] 0.9994476898566118 Centerline is valid? [True, True] Translation: X:301.44, Y:-41.71, Z:-2.57 [[ 9.83715662e-01 1.79695648e-01 3.60131121e-03 3.01444337e+02] [-1.79694157e-01 9.83722251e-01 -7.36161012e-04 -4.17107237e+01] [-3.67497490e-03 7.70385359e-05 9.99993244e-01 -2.56626632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14576923100003 meters Centerline goodness [0,1] 0.9994497354497355 Centerline is valid? [True, True] Translation: X:301.47, Y:-41.72, Z:-2.57 [[ 9.83853828e-01 1.78940903e-01 3.43484673e-03 3.01473597e+02] [-1.78939539e-01 9.83859821e-01 -7.02792082e-04 -4.17249475e+01] [-3.50516593e-03 7.68147894e-05 9.99993854e-01 -2.56684139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17576923100006 meters Centerline goodness [0,1] 0.9994292599403893 Centerline is valid? [True, True] Translation: X:301.50, Y:-41.73, Z:-2.57 [[ 9.83825578e-01 1.79093964e-01 3.54744966e-03 3.01503956e+02] [-1.79092508e-01 9.83831970e-01 -7.26339423e-04 -4.17348917e+01] [-3.62017739e-03 7.92696449e-05 9.99993444e-01 -2.56605349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20576923100003 meters Centerline goodness [0,1] 0.9995134334673155 Centerline is valid? [True, True] Translation: X:301.53, Y:-41.74, Z:-2.57 [[ 9.83313414e-01 1.81894766e-01 3.00408032e-03 3.01534330e+02] [-1.81893733e-01 9.83318001e-01 -6.15825888e-04 -4.17401571e+01] [-3.06598176e-03 5.91264714e-05 9.99995298e-01 -2.56651205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23576923100006 meters Centerline goodness [0,1] 0.9997211676640285 Centerline is valid? [True, True] Translation: X:301.57, Y:-41.74, Z:-2.57 [[ 9.82770070e-01 1.84819375e-01 2.18806484e-03 3.01566658e+02] [-1.84818835e-01 9.82772505e-01 -4.48114061e-04 -4.17422885e+01] [-2.23319012e-03 3.59974936e-05 9.99997506e-01 -2.56839964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26576923100004 meters Centerline goodness [0,1] 0.9998074619202465 Centerline is valid? [True, True] Translation: X:301.60, Y:-41.74, Z:-2.57 [[ 9.82043892e-01 1.88640030e-01 2.17553358e-03 3.01599063e+02] [-1.88639504e-01 9.82046301e-01 -4.46333032e-04 -4.17416011e+01] [-2.22067098e-03 2.79270525e-05 9.99997534e-01 -2.56774214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29576923100007 meters Centerline goodness [0,1] 0.9999145773715458 Centerline is valid? [True, True] Translation: X:301.63, Y:-41.73, Z:-2.56 [[ 9.80260770e-01 1.97667164e-01 4.06396944e-03 3.01633270e+02] [-1.97665405e-01 9.80269194e-01 -8.33963291e-04 -4.17298763e+01] [-4.14863121e-03 1.41953299e-05 9.99991394e-01 -2.56311090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32576923100004 meters Centerline goodness [0,1] 0.9999573278713009 Centerline is valid? [True, True] Translation: X:301.67, Y:-41.73, Z:-2.56 [[ 9.79508812e-01 2.01343432e-01 4.82809456e-03 3.01665627e+02] [-2.01340994e-01 9.79520711e-01 -9.90814995e-04 -4.17274303e+01] [-4.92871270e-03 -1.58134020e-06 9.99987854e-01 -2.56188614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.70, Y:-41.73, Z:-2.56 [[ 9.78933707e-01 2.04120333e-01 4.86689452e-03 3.01699233e+02] [-2.04117886e-01 9.78945805e-01 -9.99458156e-04 -4.17263971e+01] [-4.96843570e-03 -1.50169439e-05 9.99987657e-01 -2.56214348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.73, Y:-41.73, Z:-2.56 [[ 9.78532335e-01 2.06014805e-01 5.68944211e-03 3.01732596e+02] [-2.06011487e-01 9.78548874e-01 -1.16953952e-03 -4.17261971e+01] [-5.80833963e-03 -2.76581876e-05 9.99983131e-01 -2.56222154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41576923100007 meters Centerline goodness [0,1] 0.9999572795625428 Centerline is valid? [True, True] Translation: X:301.76, Y:-41.73, Z:-2.56 [[ 9.78727884e-01 2.05063545e-01 6.37736715e-03 3.01763856e+02] [-2.05059347e-01 9.78748661e-01 -1.31227628e-03 -4.17328307e+01] [-6.51093958e-03 -2.33773593e-05 9.99978803e-01 -2.56072839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.79, Y:-41.75, Z:-2.56 [[ 9.80111407e-01 1.98372934e-01 5.45981831e-03 3.01792621e+02] [-1.98369749e-01 9.80126614e-01 -1.12429577e-03 -4.17506985e+01] [-5.57434308e-03 1.88723235e-05 9.99984463e-01 -2.56336459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.82, Y:-41.76, Z:-2.56 [[ 9.80078390e-01 1.98535994e-01 5.45964277e-03 3.01824396e+02] [-1.98532806e-01 9.80093597e-01 -1.12514754e-03 -4.17574762e+01] [-5.57434321e-03 1.88145882e-05 9.99984463e-01 -2.56354802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50576923100004 meters Centerline goodness [0,1] 0.9997855871695362 Centerline is valid? [True, True] Translation: X:301.85, Y:-41.77, Z:-2.57 [[ 9.80949147e-01 1.94231755e-01 3.57727721e-03 3.01854464e+02] [-1.94230357e-01 9.80955669e-01 -7.37513454e-04 -4.17687420e+01] [-3.65239890e-03 2.86473621e-05 9.99993330e-01 -2.56735533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5357692310001 meters Centerline goodness [0,1] 0.9997878614310868 Centerline is valid? [True, True] Translation: X:301.88, Y:-41.78, Z:-2.57 [[ 9.81714129e-01 1.90337851e-01 2.97861949e-03 3.01884676e+02] [-1.90336862e-01 9.81718647e-01 -6.14443153e-04 -4.17815878e+01] [-3.04111809e-03 3.62664364e-05 9.99995375e-01 -2.56988744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56576923100005 meters Centerline goodness [0,1] 0.9996368219786793 Centerline is valid? [True, True] Translation: X:301.91, Y:-41.81, Z:-2.57 [[ 9.82970047e-01 1.83714499e-01 4.34382343e-03 3.01910120e+02] [-1.83712326e-01 9.82979642e-01 -8.97442219e-04 -4.18090507e+01] [-4.43476314e-03 8.41449145e-05 9.99990163e-01 -2.56776191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5957692310001 meters Centerline goodness [0,1] 0.9994882401859394 Centerline is valid? [True, True] Translation: X:301.94, Y:-41.81, Z:-2.56 [[ 9.83433399e-01 1.81217770e-01 4.34395294e-03 3.01941250e+02] [-1.81215573e-01 9.83442988e-01 -8.97348202e-04 -4.18145072e+01] [-4.43464550e-03 9.52902698e-05 9.99990162e-01 -2.56413364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62576923100005 meters Centerline goodness [0,1] 0.9995926243567753 Centerline is valid? [True, True] Translation: X:301.97, Y:-41.83, Z:-2.57 [[ 9.83980840e-01 1.78271888e-01 9.17131494e-04 3.01968120e+02] [-1.78271789e-01 9.83981267e-01 -1.89475673e-04 -4.18340005e+01] [-9.36218395e-04 2.29417596e-05 9.99999561e-01 -2.57379742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6557692310001 meters Centerline goodness [0,1] 0.9992150206852657 Centerline is valid? [True, True] Translation: X:301.99, Y:-41.86, Z:-2.58 [[ 9.84110618e-01 1.77556062e-01 -3.70039877e-04 3.01994486e+02] [-1.77556046e-01 9.84110687e-01 7.70316963e-05 -4.18574294e+01] [ 3.77837643e-04 -1.01048929e-05 9.99999929e-01 -2.57969960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68576923100005 meters Centerline goodness [0,1] 0.9996157950907151 Centerline is valid? [True, True] Translation: X:302.03, Y:-41.86, Z:-2.58 [[ 9.84128916e-01 1.77453433e-01 -7.45386377e-04 3.02027025e+02] [-1.77453366e-01 9.84129198e-01 1.55324690e-04 -4.18584975e+01] [ 7.61119397e-04 -2.05881972e-05 9.99999710e-01 -2.57797084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.715769231 meters Centerline goodness [0,1] 0.9997655534005414 Centerline is valid? [True, True] Translation: X:302.06, Y:-41.87, Z:-2.58 [[ 9.83850505e-01 1.78992124e-01 -6.02216801e-05 3.02056431e+02] [-1.78992123e-01 9.83850507e-01 1.34685950e-05 -4.18742192e+01] [ 6.16599029e-05 -2.47187756e-06 9.99999998e-01 -2.57634610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74576923100005 meters Centerline goodness [0,1] 0.999744838291267 Centerline is valid? [True, True] Translation: X:302.09, Y:-41.88, Z:-2.57 [[ 9.83485855e-01 1.80983244e-01 7.98730624e-04 3.02086407e+02] [-1.80983170e-01 9.83486179e-01 -1.65058582e-04 -4.18830897e+01] [-8.15413367e-04 1.77759809e-05 9.99999667e-01 -2.57396682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.775769231 meters Centerline goodness [0,1] 0.9998510353046328 Centerline is valid? [True, True] Translation: X:302.12, Y:-41.89, Z:-2.57 [[ 9.82293812e-01 1.87311882e-01 3.62291591e-03 3.02117546e+02] [-1.87310385e-01 9.82300491e-01 -7.51208680e-04 -4.18869106e+01] [-3.69950239e-03 5.92978642e-05 9.99993155e-01 -2.56828762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80576923100006 meters Centerline goodness [0,1] 0.9998928418345477 Centerline is valid? [True, True] Translation: X:302.15, Y:-41.89, Z:-2.57 [[ 9.81459587e-01 1.91626338e-01 4.05284022e-03 3.02149688e+02] [-1.91624502e-01 9.81467954e-01 -8.40374582e-04 -4.18891832e+01] [-4.13877070e-03 4.81702030e-05 9.99991434e-01 -2.56699561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.83576923100003 meters Centerline goodness [0,1] 0.9999363097891854 Centerline is valid? [True, True] Translation: X:302.18, Y:-41.89, Z:-2.57 [[ 9.80526255e-01 1.96344117e-01 4.15339788e-03 3.02181046e+02] [-1.96342230e-01 9.80535051e-01 -8.61217475e-04 -4.18925824e+01] [-4.24164719e-03 2.89589408e-05 9.99991004e-01 -2.56754064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.21, Y:-41.89, Z:-2.57 [[ 9.78895196e-01 2.04339786e-01 3.07354588e-03 3.02212823e+02] [-2.04338792e-01 9.78900021e-01 -6.37596110e-04 -4.18920766e+01] [-3.13898038e-03 -3.90488157e-06 9.99995073e-01 -2.57002072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.25, Y:-41.90, Z:-2.57 [[ 9.78054128e-01 2.08330129e-01 2.94622898e-03 3.02245458e+02] [-2.08329232e-01 9.78058565e-01 -6.11560735e-04 -4.18951128e+01] [-3.00899102e-03 -1.56461212e-05 9.99995473e-01 -2.56945662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.28, Y:-41.89, Z:-2.57 [[ 9.76338101e-01 2.16220626e-01 3.54319129e-03 3.02278453e+02] [-2.16219377e-01 9.76344529e-01 -7.36305567e-04 -4.18914012e+01] [-3.61857988e-03 -4.72234352e-05 9.99993452e-01 -2.56864260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.31, Y:-41.89, Z:-2.57 [[ 9.75559719e-01 2.19704706e-01 3.61630878e-03 3.02311124e+02] [-2.19703426e-01 9.75566419e-01 -7.52312491e-04 -4.18935515e+01] [-3.69323601e-03 -6.05896662e-05 9.99993178e-01 -2.56841678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.34, Y:-41.89, Z:-2.57 [[ 9.74796604e-01 2.23063887e-01 3.75268076e-03 3.02342623e+02] [-2.23062533e-01 9.74803825e-01 -7.80814541e-04 -4.18935200e+01] [-3.83229908e-03 -7.59471120e-05 9.99992654e-01 -2.56822298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01576923100004 meters Centerline goodness [0,1] 0.9999362014333412 Centerline is valid? [True, True] Translation: X:302.37, Y:-41.89, Z:-2.57 [[ 9.73674489e-01 2.27905664e-01 4.12287364e-03 3.02374161e+02] [-2.27904071e-01 9.73683212e-01 -8.58320379e-04 -4.18935553e+01] [-4.20998893e-03 -1.03895031e-04 9.99991133e-01 -2.56647131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04576923100007 meters Centerline goodness [0,1] 0.9999577175958225 Centerline is valid? [True, True] Translation: X:302.41, Y:-41.90, Z:-2.57 [[ 9.73216979e-01 2.29863900e-01 3.36139840e-03 3.02405659e+02] [-2.29862854e-01 9.73222780e-01 -6.99555527e-04 -4.19007150e+01] [-3.43219206e-03 -9.18413145e-05 9.99994106e-01 -2.56778103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07576923100004 meters Centerline goodness [0,1] 0.9998941306004913 Centerline is valid? [True, True] Translation: X:302.44, Y:-41.90, Z:-2.57 [[ 9.72724243e-01 2.31954795e-01 2.12599698e-03 3.02437222e+02] [-2.31954381e-01 9.72726565e-01 -4.42507830e-04 -4.19034996e+01] [-2.17065555e-03 -6.26962189e-05 9.99997642e-01 -2.57080326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10576923100007 meters Centerline goodness [0,1] 0.9998300728562629 Centerline is valid? [True, True] Translation: X:302.47, Y:-41.90, Z:-2.57 [[ 9.71826391e-01 2.35695688e-01 1.00378176e-03 3.02468404e+02] [-2.35695597e-01 9.71826909e-01 -2.09286182e-04 -4.19043762e+01] [-1.02482997e-03 -3.31971059e-05 9.99999474e-01 -2.57466407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13576923100004 meters Centerline goodness [0,1] 0.9998934719618203 Centerline is valid? [True, True] Translation: X:302.50, Y:-41.91, Z:-2.58 [[ 9.71538909e-01 2.36877443e-01 1.10720177e-03 3.02499873e+02] [-2.36877334e-01 9.71539539e-01 -2.30222505e-04 -4.19063488e+01] [-1.13022482e-03 -3.86008830e-05 9.99999361e-01 -2.57512457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16576923100007 meters Centerline goodness [0,1] 0.9998289136013687 Centerline is valid? [True, True] Translation: X:302.53, Y:-41.91, Z:-2.57 [[ 9.71127387e-01 2.38540807e-01 3.14353875e-03 3.02532353e+02] [-2.38539932e-01 9.71132468e-01 -6.55726312e-04 -4.19093665e+01] [-3.20921003e-03 -1.13065740e-04 9.99994844e-01 -2.57183980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19576923100004 meters Centerline goodness [0,1] 0.9998729836148863 Centerline is valid? [True, True] Translation: X:302.56, Y:-41.91, Z:-2.57 [[ 9.71114295e-01 2.38576778e-01 4.25985694e-03 3.02563464e+02] [-2.38575168e-01 9.71123626e-01 -8.89664541e-04 -4.19140982e+01] [-4.34910102e-03 -1.52330132e-04 9.99990531e-01 -2.56937608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2257692310001 meters Centerline goodness [0,1] 0.9998288660234881 Centerline is valid? [True, True] Translation: X:302.60, Y:-41.92, Z:-2.57 [[ 9.71232201e-01 2.38075963e-01 5.27712314e-03 3.02595104e+02] [-2.38073479e-01 9.71246519e-01 -1.10315177e-03 -4.19219405e+01] [-5.38802140e-03 -1.84926546e-04 9.99985467e-01 -2.56742452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.25576923100004 meters Centerline goodness [0,1] 0.9997460586181357 Centerline is valid? [True, True] Translation: X:302.63, Y:-41.92, Z:-2.57 [[ 9.71707449e-01 2.36112934e-01 5.94278673e-03 3.02626046e+02] [-2.36109740e-01 9.71725601e-01 -1.24337588e-03 -4.19233195e+01] [-6.06833513e-03 -1.94952225e-04 9.99981568e-01 -2.56747234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.66, Y:-41.93, Z:-2.57 [[ 9.71984658e-01 2.34962066e-01 6.21709665e-03 3.02656820e+02] [-2.34958547e-01 9.72004521e-01 -1.30095574e-03 -4.19319719e+01] [-6.34872130e-03 -1.96250971e-04 9.99979827e-01 -2.56908543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.31576923100005 meters Centerline goodness [0,1] 0.9999576316068213 Centerline is valid? [True, True] Translation: X:302.69, Y:-41.94, Z:-2.57 [[ 9.72195021e-01 2.34104845e-01 5.63584243e-03 3.02687975e+02] [-2.34101933e-01 9.72211341e-01 -1.18018835e-03 -4.19374480e+01] [-5.75551774e-03 -1.71988367e-04 9.99983422e-01 -2.57012763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3457692310001 meters Centerline goodness [0,1] 0.9999363881173003 Centerline is valid? [True, True] Translation: X:302.72, Y:-41.94, Z:-2.57 [[ 9.72547539e-01 2.32674079e-01 3.74920358e-03 3.02719048e+02] [-2.32672779e-01 9.72554760e-01 -7.85427970e-04 -4.19447063e+01] [-3.82905452e-03 -1.08471576e-04 9.99992663e-01 -2.57285359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.37576923100005 meters Centerline goodness [0,1] 0.9999367955335511 Centerline is valid? [True, True] Translation: X:302.75, Y:-41.95, Z:-2.57 [[ 9.72865483e-01 2.31353939e-01 2.84737207e-03 3.02749970e+02] [-2.31353182e-01 9.72869646e-01 -5.96793102e-04 -4.19490101e+01] [-2.90819230e-03 -7.81491802e-05 9.99995768e-01 -2.57482163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4057692310001 meters Centerline goodness [0,1] 0.9999787505312367 Centerline is valid? [True, True] Translation: X:302.78, Y:-41.96, Z:-2.58 [[ 9.74012878e-01 2.26479392e-01 2.44920383e-03 3.02777970e+02] [-2.26478815e-01 9.74015956e-01 -5.14087385e-04 -4.19586445e+01] [-2.50199381e-03 -5.39650477e-05 9.99996869e-01 -2.57595519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.81, Y:-41.97, Z:-2.58 [[ 9.74694649e-01 2.23523704e-01 2.73778245e-03 3.02808260e+02] [-2.23522972e-01 9.74698492e-01 -5.74560489e-04 -4.19696860e+01] [-2.79694032e-03 -5.19362357e-05 9.99996087e-01 -2.57565300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.84, Y:-41.98, Z:-2.58 [[ 9.75505307e-01 2.19955587e-01 2.98937351e-03 3.02837089e+02] [-2.19954697e-01 9.75509886e-01 -6.27545843e-04 -4.19807518e+01] [-3.05419563e-03 -4.53524436e-05 9.99995335e-01 -2.57548288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.87, Y:-42.00, Z:-2.58 [[ 9.77139891e-01 2.12586836e-01 2.11457941e-03 3.02865527e+02] [-2.12586373e-01 9.77142178e-01 -4.43869303e-04 -4.19976142e+01] [-2.16060550e-03 -1.58083657e-05 9.99997666e-01 -2.57692006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.90, Y:-42.01, Z:-2.58 [[ 9.77761788e-01 2.09713944e-01 1.39528653e-03 3.02896091e+02] [-2.09713740e-01 9.77762784e-01 -2.92251049e-04 -4.20088363e+01] [-1.42554836e-03 -6.85884922e-06 9.99998984e-01 -2.57805001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.93, Y:-42.02, Z:-2.58 [[ 9.78154159e-01 2.07876607e-01 1.32591955e-03 3.02925936e+02] [-2.07876421e-01 9.78155057e-01 -2.77959191e-04 -4.20179200e+01] [-1.35473612e-03 -3.74047190e-06 9.99999082e-01 -2.57862840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.96, Y:-42.03, Z:-2.58 [[ 9.78284579e-01 2.07254718e-01 2.18291113e-03 3.02957384e+02] [-2.07254211e-01 9.78287014e-01 -4.58417286e-04 -4.20274594e+01] [-2.23052275e-03 -3.95496195e-06 9.99997512e-01 -2.57570816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.99, Y:-42.03, Z:-2.58 [[ 9.78209827e-01 2.07604524e-01 2.42816482e-03 3.02988554e+02] [-2.07603897e-01 9.78212841e-01 -5.10568995e-04 -4.20330870e+01] [-2.48125844e-03 -4.65287022e-06 9.99996922e-01 -2.57571838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.02, Y:-42.04, Z:-2.58 [[ 9.77900968e-01 2.09053891e-01 2.48356094e-03 3.03022035e+02] [-2.09053237e-01 9.77904121e-01 -5.22656940e-04 -4.20364868e+01] [-2.53794794e-03 -8.08972756e-06 9.99996779e-01 -2.57582228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.05, Y:-42.04, Z:-2.58 [[ 9.77692888e-01 2.10028226e-01 2.18182960e-03 3.03053692e+02] [-2.10027724e-01 9.77695323e-01 -4.59505222e-04 -4.20416217e+01] [-2.22967367e-03 -8.98971722e-06 9.99997514e-01 -2.57661200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.09, Y:-42.05, Z:-2.58 [[ 9.77512175e-01 2.10868212e-01 2.13174541e-03 3.03086143e+02] [-2.10867733e-01 9.77514500e-01 -4.49306319e-04 -4.20482768e+01] [-2.17855646e-03 -1.03139245e-05 9.99997627e-01 -2.57657203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.12, Y:-42.05, Z:-2.58 [[ 9.76934311e-01 2.13521148e-01 2.84094759e-03 3.03117890e+02] [-2.13520307e-01 9.76938442e-01 -5.99793298e-04 -4.20508063e+01] [-2.90349947e-03 -2.06413484e-05 9.99995785e-01 -2.57520455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.15, Y:-42.06, Z:-2.57 [[ 9.76499829e-01 2.15482807e-01 3.90437583e-03 3.03149610e+02] [-2.15481229e-01 9.76507634e-01 -8.25215122e-04 -4.20550981e+01] [-3.99047248e-03 -3.54972794e-05 9.99992037e-01 -2.57412391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.79576923100007 meters Centerline goodness [0,1] 0.9999789580001683 Centerline is valid? [True, True] Translation: X:303.18, Y:-42.05, Z:-2.57 [[ 9.75730890e-01 2.18895017e-01 5.84826394e-03 3.03181385e+02] [-2.18891531e-01 9.75748413e-01 -1.23754918e-03 -4.20529350e+01] [-5.97732761e-03 -7.26204822e-05 9.99982133e-01 -2.57093028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.21, Y:-42.06, Z:-2.57 [[ 9.75537588e-01 2.19745402e-01 6.19452745e-03 3.03212914e+02] [-2.19741504e-01 9.75557252e-01 -1.31144942e-03 -4.20589710e+01] [-6.33130116e-03 -8.18265726e-05 9.99979954e-01 -2.57050472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.24, Y:-42.06, Z:-2.57 [[ 9.75467431e-01 2.20051526e-01 6.37314117e-03 3.03244583e+02] [-2.20047399e-01 9.75488246e-01 -1.35042266e-03 -4.20620718e+01] [-6.51408687e-03 -8.50998112e-05 9.99978779e-01 -2.57016707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.27, Y:-42.07, Z:-2.57 [[ 9.76164994e-01 2.16877592e-01 8.12493724e-03 3.03274546e+02] [-2.16870759e-01 9.76198803e-01 -1.72338817e-03 -4.20746497e+01] [-8.30531829e-03 -7.97501015e-05 9.99965507e-01 -2.56797086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.30, Y:-42.09, Z:-2.57 [[ 9.76850747e-01 2.13760239e-01 8.31733191e-03 3.03303403e+02] [-2.13752953e-01 9.76886154e-01 -1.76562535e-03 -4.20873989e+01] [-8.50250687e-03 -5.31018153e-05 9.99963852e-01 -2.56783116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.33, Y:-42.10, Z:-2.57 [[ 9.77676868e-01 2.09952842e-01 8.23084991e-03 3.03332433e+02] [-2.09945561e-01 9.77711514e-01 -1.74857460e-03 -4.21021029e+01] [-8.41451493e-03 -1.84894597e-05 9.99964597e-01 -2.56781272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.9757692310001 meters Centerline goodness [0,1] 0.999957538958006 Centerline is valid? [True, True] Translation: X:303.36, Y:-42.13, Z:-2.57 [[ 9.79368159e-01 2.01946321e-01 7.46271499e-03 3.03359419e+02] [-2.01940094e-01 9.79396590e-01 -1.58651680e-03 -4.21271525e+01] [-7.62934885e-03 4.67626637e-05 9.99970895e-01 -2.56939806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00576923100004 meters Centerline goodness [0,1] 0.9999787320019566 Centerline is valid? [True, True] Translation: X:303.39, Y:-42.14, Z:-2.57 [[ 9.79978686e-01 1.98986075e-01 6.80570753e-03 3.03388260e+02] [-1.98980818e-01 9.80002315e-01 -1.44789328e-03 -4.21416966e+01] [-6.95771974e-03 6.46993037e-05 9.99975793e-01 -2.57137229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.42, Y:-42.16, Z:-2.58 [[ 9.80781814e-01 1.95062487e-01 4.20227622e-03 3.03416555e+02] [-1.95060445e-01 9.80790815e-01 -8.94341203e-04 -4.21605024e+01] [-4.29600633e-03 5.74557181e-05 9.99990770e-01 -2.57635621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06576923100005 meters Centerline goodness [0,1] 0.9999784059254141 Centerline is valid? [True, True] Translation: X:303.45, Y:-42.17, Z:-2.58 [[ 9.81025880e-01 1.93844656e-01 3.53161712e-03 3.03446980e+02] [-1.93843205e-01 9.81032235e-01 -7.51998050e-04 -4.21709827e+01] [-3.61040104e-03 5.31495686e-05 9.99993481e-01 -2.57721415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0957692310001 meters Centerline goodness [0,1] 0.9998944568750792 Centerline is valid? [True, True] Translation: X:303.48, Y:-42.19, Z:-2.58 [[ 9.81125756e-01 1.93336756e-01 3.62612577e-03 3.03476072e+02] [-1.93335220e-01 9.81132456e-01 -7.72846051e-04 -4.21857403e+01] [-3.70712923e-03 5.72013449e-05 9.99993127e-01 -2.57743329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12576923100005 meters Centerline goodness [0,1] 0.9999149189603097 Centerline is valid? [True, True] Translation: X:303.51, Y:-42.20, Z:-2.57 [[ 9.81138383e-01 1.93202867e-01 6.33453093e-03 3.03506566e+02] [-1.93198164e-01 9.81158826e-01 -1.35189936e-03 -4.22013955e+01] [-6.47637176e-03 1.02580606e-04 9.99979023e-01 -2.57200955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1557692310001 meters Centerline goodness [0,1] 0.999957710443406 Centerline is valid? [True, True] Translation: X:303.54, Y:-42.21, Z:-2.57 [[ 9.81100910e-01 1.93351522e-01 7.49624258e-03 3.03537433e+02] [-1.93344928e-01 9.81129540e-01 -1.60146785e-03 -4.22130692e+01] [-7.66443128e-03 1.21841082e-04 9.99970620e-01 -2.56989249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18576923100005 meters Centerline goodness [0,1] 0.9999158160580869 Centerline is valid? [True, True] Translation: X:303.57, Y:-42.23, Z:-2.57 [[ 9.81279422e-01 1.92500721e-01 5.84543392e-03 3.03565575e+02] [-1.92496691e-01 9.81296827e-01 -1.24967344e-03 -4.22323493e+01] [-5.97666880e-03 1.01052144e-04 9.99982134e-01 -2.57481800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.215769231 meters Centerline goodness [0,1] 0.9999574929332001 Centerline is valid? [True, True] Translation: X:303.60, Y:-42.24, Z:-2.58 [[ 9.81442289e-01 1.91727959e-01 3.37988130e-03 3.03595361e+02] [-1.91726607e-01 9.81448107e-01 -7.22699599e-04 -4.22446124e+01] [-3.45573982e-03 6.12747748e-05 9.99994027e-01 -2.57999136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24576923100005 meters Centerline goodness [0,1] 0.9999148845621875 Centerline is valid? [True, True] Translation: X:303.62, Y:-42.26, Z:-2.58 [[ 9.81567212e-01 1.91111307e-01 1.50903573e-03 3.03623690e+02] [-1.91111037e-01 9.81568371e-01 -3.22453518e-04 -4.22593707e+01] [-1.54284626e-03 2.81164162e-05 9.99998809e-01 -2.58441095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.275769231 meters Centerline goodness [0,1] 0.9998730561726437 Centerline is valid? [True, True] Translation: X:303.65, Y:-42.27, Z:-2.58 [[ 9.81684776e-01 1.90509266e-01 1.10436208e-03 3.03654248e+02] [-1.90509121e-01 9.81685397e-01 -2.35859755e-04 -4.22705944e+01] [-1.12906959e-03 2.11488826e-05 9.99999362e-01 -2.58444065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30576923100006 meters Centerline goodness [0,1] 0.9998722452890451 Centerline is valid? [True, True] Translation: X:303.68, Y:-42.29, Z:-2.58 [[ 9.81779108e-01 1.89969396e-01 4.62718781e-03 3.03684642e+02] [-1.89966829e-01 9.81790008e-01 -9.92058580e-04 -4.22877792e+01] [-4.73138752e-03 9.49701918e-05 9.99988802e-01 -2.57625337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.33576923100003 meters Centerline goodness [0,1] 0.9998733081357292 Centerline is valid? [True, True] Translation: X:303.71, Y:-42.30, Z:-2.57 [[ 9.81711321e-01 1.90288895e-01 5.74625194e-03 3.03714861e+02] [-1.90284934e-01 9.81728131e-01 -1.23341459e-03 -4.23006041e+01] [-5.87596227e-03 1.17431896e-04 9.99982729e-01 -2.57394811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36576923100006 meters Centerline goodness [0,1] 0.9999786548272108 Centerline is valid? [True, True] Translation: X:303.74, Y:-42.31, Z:-2.58 [[ 9.81296253e-01 1.92431924e-01 5.25535368e-03 3.03744726e+02] [-1.92428637e-01 9.81310321e-01 -1.12895563e-03 -4.23119265e+01] [-5.37437990e-03 9.65593878e-05 9.99985553e-01 -2.57666133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.39576923100003 meters Centerline goodness [0,1] 0.9999786548272108 Centerline is valid? [True, True] Translation: X:303.78, Y:-42.32, Z:-2.58 [[ 9.81260854e-01 1.92612354e-01 5.25517219e-03 3.03776423e+02] [-1.92609065e-01 9.81274922e-01 -1.12979976e-03 -4.23189476e+01] [-5.37438208e-03 9.64344769e-05 9.99985553e-01 -2.57684475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42576923100006 meters Centerline goodness [0,1] 0.9999785752544188 Centerline is valid? [True, True] Translation: X:303.81, Y:-42.32, Z:-2.58 [[ 9.80790277e-01 1.95017304e-01 4.32250031e-03 3.03808126e+02] [-1.95015099e-01 9.80799799e-01 -9.29947562e-04 -4.23244253e+01] [-4.42086330e-03 6.91307035e-05 9.99990226e-01 -2.57965590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.84, Y:-42.33, Z:-2.58 [[ 9.80298903e-01 1.97478959e-01 4.01526506e-03 3.03838699e+02] [-1.97477075e-01 9.80307124e-01 -8.64493376e-04 -4.23329902e+01] [-4.10691220e-03 5.45391094e-05 9.99991565e-01 -2.58060570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.87, Y:-42.34, Z:-2.58 [[ 9.79366744e-01 2.02045289e-01 4.29914284e-03 3.03869184e+02] [-2.02043168e-01 9.79376179e-01 -9.26441473e-04 -4.23421447e+01] [-4.39766122e-03 3.87135284e-05 9.99990329e-01 -2.57989299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.90, Y:-42.35, Z:-2.58 [[ 9.78803733e-01 2.04743298e-01 4.84092713e-03 3.03900978e+02] [-2.04740638e-01 9.78815703e-01 -1.04414911e-03 -4.23465240e+01] [-4.95215802e-03 3.08825368e-05 9.99987738e-01 -2.57861033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.93, Y:-42.35, Z:-2.58 [[ 9.77818113e-01 2.09375400e-01 5.80345100e-03 3.03930928e+02] [-2.09371652e-01 9.77835335e-01 -1.25296298e-03 -4.23532598e+01] [-5.93715908e-03 1.00917777e-05 9.99982375e-01 -2.57742876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.96, Y:-42.36, Z:-2.58 [[ 9.77446396e-01 2.11112863e-01 5.46819746e-03 3.03962410e+02] [-2.11109558e-01 9.77461692e-01 -1.18141294e-03 -4.23618210e+01] [-5.59436501e-03 3.79071851e-07 9.99984351e-01 -2.57847506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.99, Y:-42.37, Z:-2.58 [[ 9.77062489e-01 2.12888034e-01 5.25152387e-03 3.03993727e+02] [-2.12885005e-01 9.77076601e-01 -1.13560153e-03 -4.23702175e+01] [-5.37289707e-03 -8.41703036e-06 9.99985566e-01 -2.57851138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.02, Y:-42.38, Z:-2.58 [[ 9.76148436e-01 2.17012056e-01 6.32447301e-03 3.04024052e+02] [-2.17007741e-01 9.76168923e-01 -1.36892060e-03 -4.23763802e+01] [-6.47082628e-03 -3.61898988e-05 9.99979063e-01 -2.57683251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.06, Y:-42.38, Z:-2.58 [[ 9.75514563e-01 2.19841916e-01 6.39295108e-03 3.04055679e+02] [-2.19837564e-01 9.75535509e-01 -1.38440061e-03 -4.23813973e+01] [-6.54090007e-03 -5.49078337e-05 9.99978607e-01 -2.57694142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.09, Y:-42.38, Z:-2.58 [[ 9.74075006e-01 2.26165118e-01 5.21755148e-03 3.04086676e+02] [-2.26162306e-01 9.74088976e-01 -1.13062169e-03 -4.23799957e+01] [-5.33806657e-03 -7.87031396e-05 9.99985749e-01 -2.57908612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7257692310001 meters Centerline goodness [0,1] 0.9999150292087096 Centerline is valid? [True, True] Translation: X:304.12, Y:-42.38, Z:-2.58 [[ 9.73276770e-01 2.29590608e-01 4.52560881e-03 3.04118592e+02] [-2.29588530e-01 9.73287288e-01 -9.80601407e-04 -4.23820298e+01] [-4.62985440e-03 -8.46313019e-05 9.99989279e-01 -2.58044174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.75576923100004 meters Centerline goodness [0,1] 0.9999573951387853 Centerline is valid? [True, True] Translation: X:304.15, Y:-42.39, Z:-2.58 [[ 9.72538695e-01 2.32706732e-01 4.00808900e-03 3.04150553e+02] [-2.32705126e-01 9.72546950e-01 -8.68783619e-04 -4.23854164e+01] [-4.10022652e-03 -8.77771695e-05 9.99991590e-01 -2.58112005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7857692310001 meters Centerline goodness [0,1] 0.9999364285562925 Centerline is valid? [True, True] Translation: X:304.18, Y:-42.38, Z:-2.58 [[ 9.70961639e-01 2.39193619e-01 4.46186783e-03 3.04183010e+02] [-2.39191697e-01 9.70971882e-01 -9.67438167e-04 -4.23796912e+01] [-4.56375324e-03 -1.27896388e-04 9.99989578e-01 -2.58007850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.81576923100005 meters Centerline goodness [0,1] 0.9998520053278082 Centerline is valid? [True, True] Translation: X:304.21, Y:-42.38, Z:-2.58 [[ 9.70266593e-01 2.41994151e-01 4.64420348e-03 3.04214466e+02] [-2.41992101e-01 9.70277697e-01 -1.00701306e-03 -4.23760081e+01] [-4.74985832e-03 -1.46789424e-04 9.99988709e-01 -2.58014986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8457692310001 meters Centerline goodness [0,1] 0.9997033332626984 Centerline is valid? [True, True] Translation: X:304.25, Y:-42.37, Z:-2.58 [[ 9.69564753e-01 2.44815802e-01 3.06808410e-03 3.04246647e+02] [-2.44814921e-01 9.69569601e-01 -6.65230604e-04 -4.23732223e+01] [-3.13758004e-03 -1.06128620e-04 9.99995072e-01 -2.58276683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.87576923100005 meters Centerline goodness [0,1] 0.9997865391593912 Centerline is valid? [True, True] Translation: X:304.28, Y:-42.38, Z:-2.58 [[ 9.69429898e-01 2.45353361e-01 2.72038808e-03 3.04279080e+02] [-2.45352672e-01 9.69433710e-01 -5.89437825e-04 -4.23750611e+01] [-2.78185646e-03 -9.60358340e-05 9.99996126e-01 -2.58375649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9057692310001 meters Centerline goodness [0,1] 0.999873168875642 Centerline is valid? [True, True] Translation: X:304.31, Y:-42.38, Z:-2.58 [[ 9.69374989e-01 2.45564092e-01 3.22621992e-03 3.04312149e+02] [-2.45563121e-01 9.69380350e-01 -6.99677608e-04 -4.23802659e+01] [-3.29924989e-03 -1.13990660e-04 9.99994551e-01 -2.58302380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.93576923100005 meters Centerline goodness [0,1] 0.9994731407135782 Centerline is valid? [True, True] Translation: X:304.35, Y:-42.37, Z:-2.58 [[ 9.69388676e-01 2.45479213e-01 5.05473431e-03 3.04345545e+02] [-2.45476822e-01 9.69401839e-01 -1.09783420e-03 -4.23726532e+01] [-5.16956421e-03 -1.76592069e-04 9.99986622e-01 -2.57893474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.965769231 meters Centerline goodness [0,1] 0.9998290890446078 Centerline is valid? [True, True] Translation: X:304.38, Y:-42.38, Z:-2.58 [[ 9.69712822e-01 2.44184339e-01 5.57245587e-03 3.04376395e+02] [-2.44181406e-01 9.69728815e-01 -1.21123728e-03 -4.23835419e+01] [-5.69953620e-03 -1.86137789e-04 9.99983740e-01 -2.57812035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.99576923100005 meters Centerline goodness [0,1] 0.9998298813422362 Centerline is valid? [True, True] Translation: X:304.41, Y:-42.38, Z:-2.58 [[ 9.70562798e-01 2.40806190e-01 4.49820901e-03 3.04406697e+02] [-2.40804239e-01 9.70573213e-01 -9.78489464e-04 -4.23840629e+01] [-4.60146749e-03 -1.33502326e-04 9.99989404e-01 -2.58042202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.025769231 meters Centerline goodness [0,1] 0.9999573887847282 Centerline is valid? [True, True] Translation: X:304.44, Y:-42.39, Z:-2.58 [[ 9.70791133e-01 2.39888758e-01 4.23789627e-03 3.04438305e+02] [-2.39887018e-01 9.70800375e-01 -9.21649673e-04 -4.23902675e+01] [-4.33524469e-03 -1.21886970e-04 9.99990595e-01 -2.58078166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.05576923100006 meters Centerline goodness [0,1] 0.9998098457637862 Centerline is valid? [True, True] Translation: X:304.47, Y:-42.39, Z:-2.58 [[ 9.70765606e-01 2.39981939e-01 4.77566658e-03 3.04470780e+02] [-2.39979727e-01 9.70777343e-01 -1.03951551e-03 -4.23935343e+01] [-4.88557386e-03 -1.36937254e-04 9.99988056e-01 -2.57992829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08576923100003 meters Centerline goodness [0,1] 0.9996842969292614 Centerline is valid? [True, True] Translation: X:304.50, Y:-42.39, Z:-2.58 [[ 9.70434420e-01 2.41304814e-01 5.38729641e-03 3.04503583e+02] [-2.41302013e-01 9.70449360e-01 -1.17374553e-03 -4.23897888e+01] [-5.51132880e-03 -1.60922405e-04 9.99984800e-01 -2.57833612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.11576923100006 meters Centerline goodness [0,1] 0.9995325017531185 Centerline is valid? [True, True] Translation: X:304.54, Y:-42.39, Z:-2.58 [[ 9.70347591e-01 2.41651683e-01 5.47878314e-03 3.04536437e+02] [-2.41648786e-01 9.70363044e-01 -1.19453867e-03 -4.23920906e+01] [-5.60507096e-03 -1.64823577e-04 9.99984278e-01 -2.57862179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14576923100003 meters Centerline goodness [0,1] 0.9995300249941254 Centerline is valid? [True, True] Translation: X:304.57, Y:-42.40, Z:-2.58 [[ 9.70527619e-01 2.40950552e-01 4.35581352e-03 3.04568369e+02] [-2.40948711e-01 9.70537385e-01 -9.50327383e-04 -4.23971488e+01] [-4.45646177e-03 -1.27208682e-04 9.99990062e-01 -2.58106080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.17576923100006 meters Centerline goodness [0,1] 0.9994678020223523 Centerline is valid? [True, True] Translation: X:304.60, Y:-42.40, Z:-2.58 [[ 9.70661439e-01 2.40422913e-01 3.63237409e-03 3.04599951e+02] [-2.40421627e-01 9.70668230e-01 -7.92988199e-04 -4.23979569e+01] [-3.71648266e-03 -1.03578223e-04 9.99993088e-01 -2.58267971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20576923100003 meters Centerline goodness [0,1] 0.9996180938640414 Centerline is valid? [True, True] Translation: X:304.63, Y:-42.40, Z:-2.58 [[ 9.70801025e-01 2.39867070e-01 3.02633062e-03 3.04631086e+02] [-2.39866174e-01 9.70805738e-01 -6.61000937e-04 -4.24047209e+01] [-3.09653149e-03 -8.42139610e-05 9.99995202e-01 -2.58444574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.23576923100006 meters Centerline goodness [0,1] 0.9995947098976109 Centerline is valid? [True, True] Translation: X:304.66, Y:-42.41, Z:-2.59 [[ 9.71185904e-01 2.38313658e-01 2.13096907e-03 3.04663124e+02] [-2.38313209e-01 9.71188240e-01 -4.65767049e-04 -4.24052831e+01] [-2.18057075e-03 -5.54916861e-05 9.99997621e-01 -2.58696584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26576923100004 meters Centerline goodness [0,1] 0.9996749940415575 Centerline is valid? [True, True] Translation: X:304.69, Y:-42.41, Z:-2.59 [[ 9.71484565e-01 2.37094700e-01 1.96034921e-03 3.04693929e+02] [-2.37094318e-01 9.71486542e-01 -4.28336978e-04 -4.24133532e+01] [-2.00600930e-03 -4.86648975e-05 9.99997987e-01 -2.58671759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.29576923100007 meters Centerline goodness [0,1] 0.9996593860433431 Centerline is valid? [True, True] Translation: X:304.72, Y:-42.41, Z:-2.59 [[ 9.72270776e-01 2.33846129e-01 2.35064184e-03 3.04724794e+02] [-2.33845568e-01 9.72273617e-01 -5.14538680e-04 -4.24147803e+01] [-2.40578992e-03 -4.94162550e-05 9.99997105e-01 -2.58621615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32576923100004 meters Centerline goodness [0,1] 0.9996363636363637 Centerline is valid? [True, True] Translation: X:304.76, Y:-42.42, Z:-2.59 [[ 9.72717071e-01 2.31983740e-01 2.24588928e-03 3.04755881e+02] [-2.31983223e-01 9.72719663e-01 -4.91487179e-04 -4.24180625e+01] [-2.29863770e-03 -4.29306651e-05 9.99997357e-01 -2.58660914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.35576923100007 meters Centerline goodness [0,1] 0.9997237569060774 Centerline is valid? [True, True] Translation: X:304.79, Y:-42.43, Z:-2.59 [[ 9.73221304e-01 2.29860032e-01 2.15833359e-03 3.04787650e+02] [-2.29859549e-01 9.73223697e-01 -4.72957906e-04 -4.24258409e+01] [-2.20925551e-03 -3.58208734e-05 9.99997559e-01 -2.58708429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38576923100004 meters Centerline goodness [0,1] 0.9997016897146875 Centerline is valid? [True, True] Translation: X:304.82, Y:-42.43, Z:-2.59 [[ 9.74328689e-01 2.25127547e-01 1.09288773e-03 3.04817628e+02] [-2.25127420e-01 9.74329301e-01 -2.39548370e-04 -4.24301952e+01] [-1.11876147e-03 -1.26401451e-05 9.99999374e-01 -2.59041557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.41576923100007 meters Centerline goodness [0,1] 0.9997454283168569 Centerline is valid? [True, True] Translation: X:304.85, Y:-42.44, Z:-2.59 [[ 9.75052136e-01 2.21975398e-01 5.04903122e-04 3.04848229e+02] [-2.21975371e-01 9.75052267e-01 -1.09875041e-04 -4.24419863e+01] [-5.16696489e-04 -4.94216373e-06 9.99999866e-01 -2.59098254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44576923100004 meters Centerline goodness [0,1] 0.9998519082677498 Centerline is valid? [True, True] Translation: X:304.88, Y:-42.46, Z:-2.59 [[ 9.76925724e-01 2.13579329e-01 -1.67860920e-05 3.04876374e+02] [-2.13579329e-01 9.76925724e-01 4.55680751e-06 -4.24591264e+01] [ 1.73720050e-05 -8.66500200e-07 1.00000000e+00 -2.59299121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.4757692310001 meters Centerline goodness [0,1] 0.9997658827285304 Centerline is valid? [True, True] Translation: X:304.91, Y:-42.47, Z:-2.59 [[ 9.77853757e-01 2.09288778e-01 4.87788329e-04 3.04906102e+02] [-2.09288751e-01 9.77853878e-01 -1.06333447e-04 -4.24715478e+01] [-4.99240107e-04 1.88995056e-06 9.99999875e-01 -2.59061898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50576923100004 meters Centerline goodness [0,1] 0.9999147157903714 Centerline is valid? [True, True] Translation: X:304.94, Y:-42.48, Z:-2.59 [[ 9.78676657e-01 2.05398556e-01 1.85324146e-03 3.04936394e+02] [-2.05398154e-01 9.78678411e-01 -4.06712872e-04 -4.24842589e+01] [-1.89726565e-03 1.73880193e-05 9.99998200e-01 -2.58872862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.96, Y:-42.50, Z:-2.58 [[ 9.79930186e-01 1.99287441e-01 4.62017232e-03 3.04964420e+02] [-1.99284864e-01 9.79941075e-01 -1.01617260e-03 -4.25026847e+01] [-4.73000707e-03 7.50477979e-05 9.99988811e-01 -2.58383639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56576923100005 meters Centerline goodness [0,1] 0.9999149280078267 Centerline is valid? [True, True] Translation: X:304.99, Y:-42.51, Z:-2.58 [[ 9.80449632e-01 1.96712755e-01 4.75518114e-03 3.04994729e+02] [-1.96709992e-01 9.80461159e-01 -1.04664063e-03 -4.25145436e+01] [-4.86815797e-03 9.07867733e-05 9.99988146e-01 -2.58327867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5957692310001 meters Centerline goodness [0,1] 0.9998933583585718 Centerline is valid? [True, True] Translation: X:305.02, Y:-42.53, Z:-2.58 [[ 9.80899208e-01 1.94472055e-01 4.16695279e-03 3.05023752e+02] [-1.94469910e-01 9.80908055e-01 -9.17801268e-04 -4.25286606e+01] [-4.26588426e-03 8.99236015e-05 9.99990897e-01 -2.58494281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62576923100005 meters Centerline goodness [0,1] 0.9998915424828095 Centerline is valid? [True, True] Translation: X:305.05, Y:-42.54, Z:-2.59 [[ 9.81137930e-01 1.93293707e-01 2.43019505e-03 3.05053525e+02] [-1.93292973e-01 9.81140938e-01 -5.35279881e-04 -4.25408886e+01] [-2.48783008e-03 5.54437674e-05 9.99996904e-01 -2.58803337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6557692310001 meters Centerline goodness [0,1] 0.999849552957359 Centerline is valid? [True, True] Translation: X:305.09, Y:-42.55, Z:-2.59 [[ 9.80853040e-01 1.94736246e-01 2.25997552e-03 3.05085137e+02] [-1.94735614e-01 9.80855643e-01 -4.98428667e-04 -4.25488117e+01] [-2.31377186e-03 4.87875529e-05 9.99997322e-01 -2.58820691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68576923100005 meters Centerline goodness [0,1] 0.9999572877736252 Centerline is valid? [True, True] Translation: X:305.12, Y:-42.55, Z:-2.59 [[ 9.79820220e-01 1.99868540e-01 2.21432083e-03 3.05116488e+02] [-1.99867946e-01 9.79822721e-01 -4.88580360e-04 -4.25548192e+01] [-2.26729371e-03 3.61491604e-05 9.99997429e-01 -2.58764072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.715769231 meters Centerline goodness [0,1] 0.9998934991905939 Centerline is valid? [True, True] Translation: X:305.15, Y:-42.56, Z:-2.59 [[ 9.79090987e-01 2.03411372e-01 2.15716873e-03 3.05147221e+02] [-2.03410818e-01 9.79093363e-01 -4.75624476e-04 -4.25602638e+01] [-2.20881701e-03 2.68881823e-05 9.99997560e-01 -2.58796657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74576923100005 meters Centerline goodness [0,1] 0.999914946097089 Centerline is valid? [True, True] Translation: X:305.18, Y:-42.56, Z:-2.59 [[ 9.78259809e-01 2.07372818e-01 2.06397825e-03 3.05178948e+02] [-2.07372319e-01 9.78261986e-01 -4.55363870e-04 -4.25634236e+01] [-2.11354155e-03 1.74522163e-05 9.99997766e-01 -2.58803171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.775769231 meters Centerline goodness [0,1] 0.9997230860989221 Centerline is valid? [True, True] Translation: X:305.21, Y:-42.56, Z:-2.58 [[ 9.76725312e-01 2.14466263e-01 3.44767159e-03 3.05212623e+02] [-2.14464910e-01 9.76731397e-01 -7.61838692e-04 -4.25591215e+01] [-3.53083779e-03 4.70255598e-06 9.99993767e-01 -2.58490872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80576923100006 meters Centerline goodness [0,1] 0.9996617693689884 Centerline is valid? [True, True] Translation: X:305.24, Y:-42.56, Z:-2.58 [[ 9.76162694e-01 2.17003084e-01 4.00697678e-03 3.05244411e+02] [-2.17001274e-01 9.76170918e-01 -8.86353655e-04 -4.25624546e+01] [-4.10383568e-03 -4.29369313e-06 9.99991579e-01 -2.58428104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.83576923100003 meters Centerline goodness [0,1] 0.9997671021151362 Centerline is valid? [True, True] Translation: X:305.28, Y:-42.57, Z:-2.58 [[ 9.75447022e-01 2.20184307e-01 4.68814728e-03 3.05277525e+02] [-2.20181863e-01 9.75458287e-01 -1.03765706e-03 -4.25653721e+01] [-4.80156791e-03 -2.00655154e-05 9.99988472e-01 -2.58273178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86576923100006 meters Centerline goodness [0,1] 0.9997012058478284 Centerline is valid? [True, True] Translation: X:305.31, Y:-42.57, Z:-2.58 [[ 9.75320437e-01 2.20740467e-01 4.86729265e-03 3.05309921e+02] [-2.20737834e-01 9.75332582e-01 -1.07833099e-03 -4.25722426e+01] [-4.98526039e-03 -2.26773868e-05 9.99987573e-01 -2.58304997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.89576923100003 meters Centerline goodness [0,1] 0.9996813933729821 Centerline is valid? [True, True] Translation: X:305.34, Y:-42.58, Z:-2.58 [[ 9.75430281e-01 2.20261918e-01 4.52270483e-03 3.05342088e+02] [-2.20259636e-01 9.75440766e-01 -1.00281661e-03 -4.25806946e+01] [-4.63251297e-03 -1.79916326e-05 9.99989270e-01 -2.58381523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92576923100006 meters Centerline goodness [0,1] 0.9997876857749469 Centerline is valid? [True, True] Translation: X:305.37, Y:-42.59, Z:-2.59 [[ 9.75874515e-01 2.18291827e-01 4.19641512e-03 3.05372671e+02] [-2.18289840e-01 9.75883537e-01 -9.31241755e-04 -4.25901947e+01] [-4.29849490e-03 -7.25969146e-06 9.99990761e-01 -2.58560472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.95576923100003 meters Centerline goodness [0,1] 0.9997235101450508 Centerline is valid? [True, True] Translation: X:305.41, Y:-42.60, Z:-2.59 [[ 9.76031769e-01 2.17597657e-01 3.63950661e-03 3.05405076e+02] [-2.17596155e-01 9.76038554e-01 -8.08384893e-04 -4.25977559e+01] [-3.72820143e-03 -2.93330705e-06 9.99993050e-01 -2.58607732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98576923100006 meters Centerline goodness [0,1] 0.9998093301131308 Centerline is valid? [True, True] Translation: X:305.44, Y:-42.60, Z:-2.59 [[ 9.75927410e-01 2.18087658e-01 1.86098222e-03 3.05436673e+02] [-2.18087268e-01 9.75929185e-01 -4.12919562e-04 -4.26013689e+01] [-1.90623952e-03 -2.87700832e-06 9.99998183e-01 -2.58896636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01576923100004 meters Centerline goodness [0,1] 0.9997875459431897 Centerline is valid? [True, True] Translation: X:305.47, Y:-42.61, Z:-2.59 [[ 9.75614272e-01 2.19489558e-01 1.06132338e-03 3.05468960e+02] [-2.19489432e-01 9.75614849e-01 -2.35254613e-04 -4.26053385e+01] [-1.08707878e-03 -3.43150905e-06 9.99999409e-01 -2.59058141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04576923100007 meters Centerline goodness [0,1] 0.9997429911546123 Centerline is valid? [True, True] Translation: X:305.50, Y:-42.61, Z:-2.59 [[ 9.75237642e-01 2.21157382e-01 9.76489010e-04 3.05501699e+02] [-2.21157276e-01 9.75238131e-01 -2.16496684e-04 -4.26092353e+01] [-1.00018916e-03 -4.82193407e-06 9.99999500e-01 -2.59029516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07576923100004 meters Centerline goodness [0,1] 0.9997017342025651 Centerline is valid? [True, True] Translation: X:305.53, Y:-42.61, Z:-2.59 [[ 9.74632295e-01 2.23796612e-01 2.63927007e-03 3.05534653e+02] [-2.23795841e-01 9.74635869e-01 -5.87528618e-04 -4.26103057e+01] [-2.70381419e-03 -1.80333014e-05 9.99996345e-01 -2.58672045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10576923100007 meters Centerline goodness [0,1] 0.999744702578504 Centerline is valid? [True, True] Translation: X:305.57, Y:-42.62, Z:-2.59 [[ 9.74400006e-01 2.24795260e-01 3.42331902e-03 3.05566834e+02] [-2.24793966e-01 9.74406019e-01 -7.62962154e-04 -4.26155262e+01] [-3.50721293e-03 -2.61111331e-05 9.99993849e-01 -2.58539104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13576923100004 meters Centerline goodness [0,1] 0.9997036347086095 Centerline is valid? [True, True] Translation: X:305.60, Y:-42.62, Z:-2.59 [[ 9.74098367e-01 2.26101909e-01 3.20917468e-03 3.05598467e+02] [-2.26100777e-01 9.74103653e-01 -7.15871951e-04 -4.26177390e+01] [-3.28792879e-03 -2.82671898e-05 9.99994594e-01 -2.58566738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16576923100007 meters Centerline goodness [0,1] 0.9997656982193065 Centerline is valid? [True, True] Translation: X:305.63, Y:-42.62, Z:-2.59 [[ 9.74071361e-01 2.26221124e-01 2.99786801e-03 3.05631026e+02] [-2.26220136e-01 9.74075974e-01 -6.69054495e-04 -4.26231443e+01] [-3.07150546e-03 -2.64712865e-05 9.99995283e-01 -2.58635150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19576923100004 meters Centerline goodness [0,1] 0.9997626548137919 Centerline is valid? [True, True] Translation: X:305.66, Y:-42.63, Z:-2.59 [[ 9.74129942e-01 2.25971504e-01 2.78113509e-03 3.05663729e+02] [-2.25970652e-01 9.74133912e-01 -6.21100983e-04 -4.26300178e+01] [-2.84954913e-03 -2.34218463e-05 9.99995940e-01 -2.58644366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2257692310001 meters Centerline goodness [0,1] 0.9998500878057138 Centerline is valid? [True, True] Translation: X:305.69, Y:-42.63, Z:-2.59 [[ 9.74262895e-01 2.25390356e-01 3.31644856e-03 3.05694920e+02] [-2.25389137e-01 9.74268539e-01 -7.41635769e-04 -4.26330397e+01] [-3.39826904e-03 -2.49432664e-05 9.99994226e-01 -2.58624048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.25576923100004 meters Centerline goodness [0,1] 0.9998078401229823 Centerline is valid? [True, True] Translation: X:305.73, Y:-42.64, Z:-2.58 [[ 9.74377930e-01 2.24876120e-01 4.28711398e-03 3.05726474e+02] [-2.24874074e-01 9.74387361e-01 -9.59680793e-04 -4.26404363e+01] [-4.39311897e-03 -2.89690014e-05 9.99990350e-01 -2.58469826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2857692310001 meters Centerline goodness [0,1] 0.9998078401229823 Centerline is valid? [True, True] Translation: X:305.76, Y:-42.65, Z:-2.58 [[ 9.74337078e-01 2.25053061e-01 4.28696776e-03 3.05758126e+02] [-2.25051013e-01 9.74346509e-01 -9.60333443e-04 -4.26477313e+01] [-4.39311805e-03 -2.90979580e-05 9.99990350e-01 -2.58488167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.31576923100005 meters Centerline goodness [0,1] 0.999808085977482 Centerline is valid? [True, True] Translation: X:305.79, Y:-42.65, Z:-2.58 [[ 9.74823481e-01 2.22926785e-01 4.77795190e-03 3.05789748e+02] [-2.22924212e-01 9.74835190e-01 -1.07136922e-03 -4.26548657e+01] [-4.89655255e-03 -2.07252927e-05 9.99988012e-01 -2.58452085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3457692310001 meters Centerline goodness [0,1] 0.9998300872926534 Centerline is valid? [True, True] Translation: X:305.82, Y:-42.66, Z:-2.59 [[ 9.75244634e-01 2.21093851e-01 3.92589969e-03 3.05820238e+02] [-2.21092096e-01 9.75252536e-01 -8.80916282e-04 -4.26629225e+01] [-4.02350880e-03 -8.87651492e-06 9.99991906e-01 -2.58705276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.37576923100005 meters Centerline goodness [0,1] 0.9998306448198484 Centerline is valid? [True, True] Translation: X:305.85, Y:-42.67, Z:-2.59 [[ 9.75598812e-01 2.19545815e-01 2.56791029e-03 3.05851981e+02] [-2.19545059e-01 9.75602191e-01 -5.75975846e-04 -4.26728264e+01] [-2.63171200e-03 -1.85066740e-06 9.99996537e-01 -2.58967386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4057692310001 meters Centerline goodness [0,1] 0.9998296313648657 Centerline is valid? [True, True] Translation: X:305.88, Y:-42.69, Z:-2.59 [[ 9.76157254e-01 2.17053980e-01 2.14130217e-03 3.05882973e+02] [-2.17053448e-01 9.76159603e-01 -4.80525051e-04 -4.26857063e+01] [-2.19455255e-03 4.29099481e-06 9.99997592e-01 -2.58970513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.43576923100005 meters Centerline goodness [0,1] 0.9998105183376143 Centerline is valid? [True, True] Translation: X:305.91, Y:-42.69, Z:-2.59 [[ 9.76169040e-01 2.16995414e-01 2.64485569e-03 3.05914353e+02] [-2.16994600e-01 9.76172623e-01 -5.94317987e-04 -4.26932316e+01] [-2.71080000e-03 6.23541566e-06 9.99996326e-01 -2.58880795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.465769231 meters Centerline goodness [0,1] 0.9998717428015648 Centerline is valid? [True, True] Translation: X:305.95, Y:-42.70, Z:-2.59 [[ 9.75843649e-01 2.18457968e-01 2.29989160e-03 3.05947295e+02] [-2.18457356e-01 9.75846359e-01 -5.17062170e-04 -4.26956706e+01] [-2.35729720e-03 2.14359624e-06 9.99997222e-01 -2.59031721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.49576923100005 meters Centerline goodness [0,1] 0.9999155940071746 Centerline is valid? [True, True] Translation: X:305.98, Y:-42.70, Z:-2.59 [[ 9.75591626e-01 2.19588527e-01 1.36287522e-03 3.05978786e+02] [-2.19588314e-01 9.75592578e-01 -3.06288337e-04 -4.27007400e+01] [-1.39686835e-03 -4.59134000e-07 9.99999024e-01 -2.59211055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.525769231 meters Centerline goodness [0,1] 0.9998308489269478 Centerline is valid? [True, True] Translation: X:306.01, Y:-42.71, Z:-2.59 [[ 9.75331861e-01 2.20741267e-01 1.02630439e-03 3.06010267e+02] [-2.20741147e-01 9.75332401e-01 -2.30860501e-04 -4.27063162e+01] [-1.05194837e-03 -1.38200601e-06 9.99999447e-01 -2.59294928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.55576923100006 meters Centerline goodness [0,1] 0.999807593637763 Centerline is valid? [True, True] Translation: X:306.04, Y:-42.71, Z:-2.59 [[ 9.74746360e-01 2.23309575e-01 1.53879340e-03 3.06042828e+02] [-2.23309307e-01 9.74747574e-01 -3.46288874e-04 -4.27106096e+01] [-1.57726476e-03 -6.08306825e-06 9.99998756e-01 -2.59080901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58576923100003 meters Centerline goodness [0,1] 0.9997674516933744 Centerline is valid? [True, True] Translation: X:306.07, Y:-42.71, Z:-2.59 [[ 9.74330955e-01 2.25107108e-01 2.44538905e-03 3.06074835e+02] [-2.25106433e-01 9.74334024e-01 -5.51487169e-04 -4.27137548e+01] [-2.50676943e-03 -1.31417861e-05 9.99996858e-01 -2.59048947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.61576923100006 meters Centerline goodness [0,1] 0.9997443708327121 Centerline is valid? [True, True] Translation: X:306.11, Y:-42.72, Z:-2.59 [[ 9.73787248e-01 2.27452236e-01 1.96884776e-03 3.06106515e+02] [-2.27451803e-01 9.73789238e-01 -4.44227075e-04 -4.27175402e+01] [-2.01828321e-03 -1.52353126e-05 9.99997963e-01 -2.59076365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64576923100003 meters Centerline goodness [0,1] 0.9996774124174713 Centerline is valid? [True, True] Translation: X:306.14, Y:-42.72, Z:-2.59 [[ 9.73633029e-01 2.28119779e-01 3.02003544e-04 3.06136853e+02] [-2.28119769e-01 9.73633076e-01 -6.75766815e-05 -4.27223360e+01] [-3.09456217e-04 -3.09808963e-06 9.99999952e-01 -2.59380517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.67576923100006 meters Centerline goodness [0,1] 0.9997410779786821 Centerline is valid? [True, True] Translation: X:306.17, Y:-42.73, Z:-2.60 [[ 9.73502281e-01 2.28674099e-01 -1.21061975e-03 3.06167847e+02] [-2.28673933e-01 9.73503034e-01 2.75016344e-04 -4.27289137e+01] [ 1.24143111e-03 9.10814100e-06 9.99999229e-01 -2.59505580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70576923100003 meters Centerline goodness [0,1] 0.9997415631124416 Centerline is valid? [True, True] Translation: X:306.20, Y:-42.73, Z:-2.60 [[ 9.73405931e-01 2.29085721e-01 -7.91732072e-04 3.06200835e+02] [-2.29085650e-01 9.73406253e-01 1.80059786e-04 -4.27302715e+01] [ 8.11926075e-04 6.10319287e-06 9.99999670e-01 -2.59596276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.73576923100006 meters Centerline goodness [0,1] 0.9997435130167144 Centerline is valid? [True, True] Translation: X:306.23, Y:-42.73, Z:-2.59 [[ 9.73105888e-01 2.30354829e-01 1.25831213e-03 3.06233981e+02] [-2.30354654e-01 9.73106702e-01 -2.84209838e-04 -4.27326592e+01] [-1.28994107e-03 -1.32917878e-05 9.99999168e-01 -2.59260923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76576923100004 meters Centerline goodness [0,1] 0.9997015688949522 Centerline is valid? [True, True] Translation: X:306.27, Y:-42.73, Z:-2.59 [[ 9.72847743e-01 2.31439402e-01 1.75303058e-03 3.06265596e+02] [-2.31439062e-01 9.72849322e-01 -3.97128331e-04 -4.27342690e+01] [-1.79734576e-03 -1.93743525e-05 9.99998385e-01 -2.59219576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.79576923100007 meters Centerline goodness [0,1] 0.9998300150861611 Centerline is valid? [True, True] Translation: X:306.30, Y:-42.74, Z:-2.59 [[ 9.72570454e-01 2.32599941e-01 1.99495362e-03 3.06296961e+02] [-2.32599503e-01 9.72572499e-01 -4.51995421e-04 -4.27355860e+01] [-2.04537113e-03 -2.44278292e-05 9.99997908e-01 -2.59168026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82576923100004 meters Centerline goodness [0,1] 0.9998085024894676 Centerline is valid? [True, True] Translation: X:306.33, Y:-42.74, Z:-2.59 [[ 9.72300642e-01 2.33723267e-01 2.21271699e-03 3.06329231e+02] [-2.33722730e-01 9.72303159e-01 -5.01705491e-04 -4.27386269e+01] [-2.26869197e-03 -2.93536864e-05 9.99997426e-01 -2.59104885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.85576923100007 meters Centerline goodness [0,1] 0.9997022733555919 Centerline is valid? [True, True] Translation: X:306.36, Y:-42.74, Z:-2.59 [[ 9.72218561e-01 2.34058109e-01 2.80561243e-03 3.06362543e+02] [-2.34057246e-01 9.72222608e-01 -6.36875659e-04 -4.27369949e+01] [-2.87674575e-03 -3.74915814e-05 9.99995861e-01 -2.59093452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88576923100004 meters Centerline goodness [0,1] 0.9998289977128444 Centerline is valid? [True, True] Translation: X:306.39, Y:-42.74, Z:-2.59 [[ 9.72365295e-01 2.33452876e-01 2.34245652e-03 3.06394418e+02] [-2.33452271e-01 9.72368117e-01 -5.31989373e-04 -4.27421510e+01] [-2.40192448e-03 -2.95637910e-05 9.99997115e-01 -2.59182761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.91576923100007 meters Centerline goodness [0,1] 0.9997858488949803 Centerline is valid? [True, True] Translation: X:306.43, Y:-42.75, Z:-2.59 [[ 9.73014086e-01 2.30741288e-01 1.43055991e-03 3.06425239e+02] [-2.30741060e-01 9.73015137e-01 -3.24820367e-04 -4.27455277e+01] [-1.46690592e-03 -1.40341177e-05 9.99998924e-01 -2.59376286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94576923100004 meters Centerline goodness [0,1] 0.9997001756114275 Centerline is valid? [True, True] Translation: X:306.46, Y:-42.75, Z:-2.59 [[ 9.73346685e-01 2.29330923e-01 1.88621865e-03 3.06456512e+02] [-2.29330522e-01 9.73348513e-01 -4.28829712e-04 -4.27522076e+01] [-1.93429203e-03 -1.51675295e-05 9.99998129e-01 -2.59300311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.9757692310001 meters Centerline goodness [0,1] 0.9998100785008863 Centerline is valid? [True, True] Translation: X:306.49, Y:-42.76, Z:-2.59 [[ 9.73975940e-01 2.26617483e-01 3.92231250e-03 3.06487434e+02] [-2.26615722e-01 9.73983838e-01 -8.93486013e-04 -4.27559447e+01] [-4.02274854e-03 -1.86238025e-05 9.99991909e-01 -2.58985439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00576923100004 meters Centerline goodness [0,1] 0.9998272212863375 Centerline is valid? [True, True] Translation: X:306.52, Y:-42.76, Z:-2.59 [[ 9.74239097e-01 2.25475713e-01 4.34553749e-03 3.06518997e+02] [-2.25473537e-01 9.74248789e-01 -9.90680892e-04 -4.27633878e+01] [-4.45700912e-03 -1.46436526e-05 9.99990067e-01 -2.58920477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0357692310001 meters Centerline goodness [0,1] 0.9998514399711369 Centerline is valid? [True, True] Translation: X:306.55, Y:-42.77, Z:-2.59 [[ 9.74628748e-01 2.23797022e-01 3.70097083e-03 3.06548922e+02] [-2.23795429e-01 9.74635775e-01 -8.44264999e-04 -4.27708297e+01] [-3.79604256e-03 -5.41541698e-06 9.99992795e-01 -2.59143117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06576923100005 meters Centerline goodness [0,1] 0.9998507908087139 Centerline is valid? [True, True] Translation: X:306.58, Y:-42.78, Z:-2.60 [[ 9.75654800e-01 2.19309796e-01 9.61855122e-04 3.06578839e+02] [-2.19309686e-01 9.75655274e-01 -2.19369903e-04 -4.27825876e+01] [-9.86548991e-04 3.08515380e-06 9.99999513e-01 -2.59747850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0957692310001 meters Centerline goodness [0,1] 0.9999153062736877 Centerline is valid? [True, True] Translation: X:306.61, Y:-42.79, Z:-2.60 [[ 9.76204774e-01 2.16850504e-01 3.14019359e-04 3.06607721e+02] [-2.16850492e-01 9.76204824e-01 -7.16005709e-05 -4.27939720e+01] [-3.22073834e-04 1.80156657e-06 9.99999948e-01 -2.59932067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12576923100005 meters Centerline goodness [0,1] 0.9999785807612398 Centerline is valid? [True, True] Translation: X:306.64, Y:-42.81, Z:-2.60 [[ 9.77092535e-01 2.12814396e-01 -4.59482832e-04 3.06637572e+02] [-2.12814369e-01 9.77092643e-01 1.05988143e-04 -4.28088463e+01] [ 4.71513097e-04 -5.77567376e-06 9.99999889e-01 -2.59931679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.67, Y:-42.82, Z:-2.60 [[ 9.77428526e-01 2.11264789e-01 -8.15554506e-04 3.06668635e+02] [-2.11264707e-01 9.77428866e-01 1.87537093e-04 -4.28187129e+01] [ 8.36766500e-04 -1.10062209e-05 9.99999650e-01 -2.60013209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.70, Y:-42.83, Z:-2.60 [[ 9.77773937e-01 2.09661888e-01 -1.45707973e-04 3.06697615e+02] [-2.09661885e-01 9.77773948e-01 3.40988908e-05 -4.28295000e+01] [ 1.49618698e-04 -2.79159840e-06 9.99999989e-01 -2.60038660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.215769231 meters Centerline goodness [0,1] 0.9999788220843304 Centerline is valid? [True, True] Translation: X:306.73, Y:-42.84, Z:-2.59 [[ 9.77968100e-01 2.08732988e-01 2.98923032e-03 3.06727784e+02] [-2.08731872e-01 9.77972667e-01 -6.83896319e-04 -4.28390187e+01] [-3.06613727e-03 4.48811408e-05 9.99995298e-01 -2.59441755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.76, Y:-42.85, Z:-2.59 [[ 9.77861630e-01 2.09224585e-01 3.42140272e-03 3.06757799e+02] [-2.09223124e-01 9.77867614e-01 -7.83497232e-04 -4.28472022e+01] [-3.50960580e-03 5.03153135e-05 9.99993840e-01 -2.59363581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.275769231 meters Centerline goodness [0,1] 0.9999787043741215 Centerline is valid? [True, True] Translation: X:306.79, Y:-42.85, Z:-2.60 [[ 9.77619493e-01 2.10378138e-01 1.08012129e-03 3.06790015e+02] [-2.10377994e-01 9.77620089e-01 -2.46820232e-04 -4.28495433e+01] [-1.10787385e-03 1.40625202e-05 9.99999386e-01 -2.59740925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30576923100006 meters Centerline goodness [0,1] 0.9999787175176112 Centerline is valid? [True, True] Translation: X:306.82, Y:-42.86, Z:-2.60 [[ 9.77488464e-01 2.10988061e-01 -5.83833513e-04 3.06820760e+02] [-2.10988018e-01 9.77488638e-01 1.35102768e-04 -4.28583777e+01] [ 5.99195697e-04 -8.87952163e-06 9.99999820e-01 -2.60201283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.33576923100003 meters Centerline goodness [0,1] 0.9999786762197203 Centerline is valid? [True, True] Translation: X:306.85, Y:-42.86, Z:-2.60 [[ 9.77269202e-01 2.11996128e-01 -1.59632575e-03 3.06852980e+02] [-2.11995809e-01 9.77270506e-01 3.67883546e-04 -4.28643309e+01] [ 1.63803196e-03 -2.11068894e-05 9.99998658e-01 -2.60490143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36576923100006 meters Centerline goodness [0,1] 0.9999786347612435 Centerline is valid? [True, True] Translation: X:306.89, Y:-42.87, Z:-2.60 [[ 9.76662082e-01 2.14779024e-01 -1.07183525e-03 3.06885444e+02] [-2.14778881e-01 9.76662670e-01 2.47501077e-04 -4.28653061e+01] [ 1.09997951e-03 -1.15173416e-05 9.99999395e-01 -2.60151549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.92, Y:-42.87, Z:-2.60 [[ 9.76253696e-01 2.16630064e-01 3.69164967e-04 3.06915558e+02] [-2.16630047e-01 9.76253766e-01 -8.40401079e-05 -4.28718416e+01] [-3.78604303e-04 2.07224165e-06 9.99999928e-01 -2.59947586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42576923100006 meters Centerline goodness [0,1] 0.9999149876732126 Centerline is valid? [True, True] Translation: X:306.95, Y:-42.87, Z:-2.59 [[ 9.75538449e-01 2.19796931e-01 3.74739611e-03 3.06948397e+02] [-2.19795241e-01 9.75545647e-01 -8.62150296e-04 -4.28718081e+01] [-3.84525395e-03 1.74009317e-05 9.99992607e-01 -2.59170883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.45576923100003 meters Centerline goodness [0,1] 0.9999147266990706 Centerline is valid? [True, True] Translation: X:306.98, Y:-42.88, Z:-2.59 [[ 9.75424066e-01 2.20287952e-01 4.59461115e-03 3.06979756e+02] [-2.20285412e-01 9.75434886e-01 -1.05817160e-03 -4.28789115e+01] [-4.71484646e-03 2.00402363e-05 9.99988885e-01 -2.59169612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48576923100006 meters Centerline goodness [0,1] 0.999936263782957 Centerline is valid? [True, True] Translation: X:307.01, Y:-42.89, Z:-2.59 [[ 9.75495615e-01 2.19975265e-01 4.38031664e-03 3.07010241e+02] [-2.19972951e-01 9.75505450e-01 -1.00927796e-03 -4.28884545e+01] [-4.49503894e-03 2.09950452e-05 9.99989897e-01 -2.59307006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51576923100004 meters Centerline goodness [0,1] 0.9999787658725103 Centerline is valid? [True, True] Translation: X:307.04, Y:-42.90, Z:-2.60 [[ 9.75962550e-01 2.17914384e-01 3.22849139e-03 3.07038309e+02] [-2.17913114e-01 9.75967889e-01 -7.44287902e-04 -4.29039348e+01] [-3.31309496e-03 2.28665068e-05 9.99994511e-01 -2.59617739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54576923100007 meters Centerline goodness [0,1] 0.9999364689439021 Centerline is valid? [True, True] Translation: X:307.07, Y:-42.91, Z:-2.60 [[ 9.76172948e-01 2.16973591e-01 2.97257238e-03 3.07068518e+02] [-2.16972509e-01 9.76177474e-01 -6.85890745e-04 -4.29138877e+01] [-3.05057837e-03 2.45815046e-05 9.99995347e-01 -2.59642797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57576923100004 meters Centerline goodness [0,1] 0.999957422349009 Centerline is valid? [True, True] Translation: X:307.10, Y:-42.92, Z:-2.60 [[ 9.76344746e-01 2.16211170e-01 1.91500864e-03 3.07099027e+02] [-2.16210720e-01 9.76346624e-01 -4.41568499e-04 -4.29235878e+01] [-1.96518426e-03 1.70776881e-05 9.99998069e-01 -2.59817730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60576923100007 meters Centerline goodness [0,1] 0.9999365186846672 Centerline is valid? [True, True] Translation: X:307.13, Y:-42.93, Z:-2.60 [[ 9.76164650e-01 2.17026678e-01 1.41291225e-03 3.07129551e+02] [-2.17026433e-01 9.76165673e-01 -3.25739892e-04 -4.29337666e+01] [-1.44993068e-03 1.13364619e-05 9.99998949e-01 -2.59937234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63576923100004 meters Centerline goodness [0,1] 0.9999154655733548 Centerline is valid? [True, True] Translation: X:307.16, Y:-42.94, Z:-2.60 [[ 9.75503373e-01 2.19976953e-01 1.81917446e-03 3.07162028e+02] [-2.19976553e-01 9.75505069e-01 -4.20065307e-04 -4.29353495e+01] [-1.86701860e-03 9.59939702e-06 9.99998257e-01 -2.59634329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66576923100007 meters Centerline goodness [0,1] 0.9998715340969918 Centerline is valid? [True, True] Translation: X:307.19, Y:-42.94, Z:-2.60 [[ 9.75022872e-01 2.22095750e-01 1.96902627e-03 3.07194461e+02] [-2.22095284e-01 9.75024860e-01 -4.55054139e-04 -4.29381310e+01] [-2.02091515e-03 6.37674570e-06 9.99997958e-01 -2.59567818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69576923100004 meters Centerline goodness [0,1] 0.9998718934153216 Centerline is valid? [True, True] Translation: X:307.23, Y:-42.94, Z:-2.60 [[ 9.74546012e-01 2.24182325e-01 1.53480339e-03 3.07226145e+02] [-2.24182044e-01 9.74547221e-01 -3.54715315e-04 -4.29426435e+01] [-1.57525928e-03 1.61103516e-06 9.99998759e-01 -2.59704395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7257692310001 meters Centerline goodness [0,1] 0.9998930778607018 Centerline is valid? [True, True] Translation: X:307.26, Y:-42.95, Z:-2.59 [[ 9.74002625e-01 2.26518156e-01 2.90026591e-03 3.07257682e+02] [-2.26517159e-01 9.74006943e-01 -6.71846569e-04 -4.29484035e+01] [-2.97706458e-03 -2.57967435e-06 9.99995569e-01 -2.59441524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.75576923100004 meters Centerline goodness [0,1] 0.9998737586264939 Centerline is valid? [True, True] Translation: X:307.29, Y:-42.95, Z:-2.59 [[ 9.73756847e-01 2.27549259e-01 4.35185797e-03 3.07289228e+02] [-2.27547020e-01 9.73766571e-01 -1.00936221e-03 -4.29537953e+01] [-4.46737344e-03 -7.37895009e-06 9.99990021e-01 -2.59238951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7857692310001 meters Centerline goodness [0,1] 0.9998526253736999 Centerline is valid? [True, True] Translation: X:307.32, Y:-42.95, Z:-2.59 [[ 9.73215667e-01 2.29855377e-01 4.21546158e-03 3.07320257e+02] [-2.29853294e-01 9.73224797e-01 -9.78739582e-04 -4.29542876e+01] [-4.32756030e-03 -1.64130345e-05 9.99990636e-01 -2.59324740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.81576923100005 meters Centerline goodness [0,1] 0.9998940700408889 Centerline is valid? [True, True] Translation: X:307.35, Y:-42.96, Z:-2.60 [[ 9.72832745e-01 2.31493042e-01 2.72420551e-03 3.07349614e+02] [-2.31492179e-01 9.72836559e-01 -6.32568377e-04 -4.29560668e+01] [-2.79664189e-03 -1.52490378e-05 9.99996089e-01 -2.59782780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8457692310001 meters Centerline goodness [0,1] 0.9998504049751031 Centerline is valid? [True, True] Translation: X:307.38, Y:-42.96, Z:-2.60 [[ 9.72376484e-01 2.33414076e-01 1.35748660e-03 3.07380643e+02] [-2.33413863e-01 9.72377431e-01 -3.15042313e-04 -4.29629974e+01] [-1.39352464e-03 -1.05164541e-05 9.99999029e-01 -2.59622067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.87576923100005 meters Centerline goodness [0,1] 0.9998295551389126 Centerline is valid? [True, True] Translation: X:307.41, Y:-42.96, Z:-2.60 [[ 9.71629404e-01 2.36502053e-01 1.75477749e-03 3.07409581e+02] [-2.36501703e-01 9.71630989e-01 -4.07564529e-04 -4.29632852e+01] [-1.80138604e-03 -1.90061843e-05 9.99998377e-01 -2.59727612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9057692310001 meters Centerline goodness [0,1] 0.9998728921277857 Centerline is valid? [True, True] Translation: X:307.44, Y:-42.97, Z:-2.60 [[ 9.71310475e-01 2.37807878e-01 1.83666634e-03 3.07439581e+02] [-2.37807497e-01 9.71312212e-01 -4.26459066e-04 -4.29672255e+01] [-1.88539177e-03 -2.25488665e-05 9.99998222e-01 -2.59643010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.93576923100005 meters Centerline goodness [0,1] 0.999872897513028 Centerline is valid? [True, True] Translation: X:307.47, Y:-42.97, Z:-2.60 [[ 9.70862708e-01 2.39635303e-01 7.23540457e-04 3.07468591e+02] [-2.39635244e-01 9.70862978e-01 -1.68123861e-04 -4.29674212e+01] [-7.42747055e-04 -1.01606066e-05 9.99999724e-01 -2.59873189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.965769231 meters Centerline goodness [0,1] 0.999852395411606 Centerline is valid? [True, True] Translation: X:307.50, Y:-42.97, Z:-2.60 [[ 9.70753063e-01 2.40080161e-01 7.81306177e-05 3.07496449e+02] [-2.40080160e-01 9.70753067e-01 -1.84629568e-05 -4.29709894e+01] [-8.02781264e-05 -8.34639318e-07 9.99999997e-01 -2.60092134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.99576923100005 meters Centerline goodness [0,1] 0.9999150508632956 Centerline is valid? [True, True] Translation: X:307.53, Y:-42.97, Z:-2.60 [[ 9.70587695e-01 2.40747744e-01 -2.23784861e-04 3.07525622e+02] [-2.40747739e-01 9.70587721e-01 5.16390178e-05 -4.29730955e+01] [ 2.29634815e-04 3.75550405e-06 9.99999974e-01 -2.60215880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.025769231 meters Centerline goodness [0,1] 0.999894316332354 Centerline is valid? [True, True] Translation: X:307.55, Y:-42.97, Z:-2.60 [[ 9.70397546e-01 2.41512929e-01 3.28039973e-04 3.07554325e+02] [-2.41512917e-01 9.70397602e-01 -7.64142283e-05 -4.29744833e+01] [-3.36784227e-04 -5.07371109e-06 9.99999943e-01 -2.60097036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.05576923100006 meters Centerline goodness [0,1] 0.9998524203069658 Centerline is valid? [True, True] Translation: X:307.58, Y:-42.98, Z:-2.60 [[ 9.70062332e-01 2.42852750e-01 1.27052921e-03 3.07583227e+02] [-2.42852573e-01 9.70063163e-01 -2.94853691e-04 -4.29769827e+01] [-1.30409961e-03 -2.25248277e-05 9.99999149e-01 -2.59897576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08576923100003 meters Centerline goodness [0,1] 0.9997206343748657 Centerline is valid? [True, True] Translation: X:307.61, Y:-42.97, Z:-2.60 [[ 9.69575566e-01 2.44779354e-01 2.50809887e-03 3.07613068e+02] [-2.44778668e-01 9.69578808e-01 -5.81671957e-04 -4.29748179e+01] [-2.57418080e-03 -4.99541835e-05 9.99996686e-01 -2.59689943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.11576923100006 meters Centerline goodness [0,1] 0.9997047098774546 Centerline is valid? [True, True] Translation: X:307.64, Y:-42.97, Z:-2.60 [[ 9.69611154e-01 2.44640731e-01 2.26331527e-03 3.07641645e+02] [-2.44640172e-01 9.69613795e-01 -5.24855768e-04 -4.29745896e+01] [-2.32294281e-03 -4.47918308e-05 9.99997301e-01 -2.59831909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14576923100003 meters Centerline goodness [0,1] 0.9997675057595165 Centerline is valid? [True, True] Translation: X:307.67, Y:-42.98, Z:-2.60 [[ 9.69989397e-01 2.43137174e-01 2.21012368e-03 3.07671455e+02] [-2.43136638e-01 9.69991914e-01 -5.12307264e-04 -4.29755311e+01] [-2.26836303e-03 -4.04294251e-05 9.99997426e-01 -2.59987234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.17576923100006 meters Centerline goodness [0,1] 0.9998091198303287 Centerline is valid? [True, True] Translation: X:307.70, Y:-42.98, Z:-2.60 [[ 9.70379908e-01 2.41574129e-01 2.18482759e-03 3.07700338e+02] [-2.41573601e-01 9.70382367e-01 -5.06526172e-04 -4.29806415e+01] [-2.24248178e-03 -3.62738463e-05 9.99997485e-01 -2.59986993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20576923100003 meters Centerline goodness [0,1] 0.9998091198303287 Centerline is valid? [True, True] Translation: X:307.73, Y:-42.99, Z:-2.60 [[ 9.70396547e-01 2.41507284e-01 2.18487606e-03 3.07727163e+02] [-2.41506756e-01 9.70399006e-01 -5.06316917e-04 -4.29867141e+01] [-2.24248078e-03 -3.63341418e-05 9.99997485e-01 -2.60002504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.23576923100006 meters Centerline goodness [0,1] 0.9997872340425532 Centerline is valid? [True, True] Translation: X:307.76, Y:-42.99, Z:-2.60 [[ 9.70850385e-01 2.39676635e-01 2.15441468e-03 3.07755774e+02] [-2.39676118e-01 9.70852774e-01 -4.99027296e-04 -4.29922796e+01] [-2.21122465e-03 -3.18809033e-05 9.99997555e-01 -2.59908205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26576923100004 meters Centerline goodness [0,1] 0.9998943632214992 Centerline is valid? [True, True] Translation: X:307.78, Y:-43.00, Z:-2.60 [[ 9.72095162e-01 2.34567792e-01 2.99123078e-03 3.07782961e+02] [-2.34566772e-01 9.72099763e-01 -6.92639387e-04 -4.29992953e+01] [-3.07024563e-03 -2.83319511e-05 9.99995286e-01 -2.59734182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.29576923100007 meters Centerline goodness [0,1] 0.9998925839993126 Centerline is valid? [True, True] Translation: X:307.81, Y:-43.01, Z:-2.60 [[ 9.72747339e-01 2.31841980e-01 3.45120944e-03 3.07810827e+02] [-2.31840605e-01 9.72753461e-01 -7.98869365e-04 -4.30075491e+01] [-3.54238738e-03 -2.30324351e-05 9.99993725e-01 -2.59640498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32576923100004 meters Centerline goodness [0,1] 0.9999156046923791 Centerline is valid? [True, True] Translation: X:307.84, Y:-43.01, Z:-2.60 [[ 9.73559426e-01 2.28414926e-01 2.94382543e-03 3.07838873e+02] [-2.28413910e-01 9.73563876e-01 -6.81314253e-04 -4.30119104e+01] [-3.02162444e-03 -9.11076593e-06 9.99995435e-01 -2.59826054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.35576923100007 meters Centerline goodness [0,1] 0.9999357436600411 Centerline is valid? [True, True] Translation: X:307.87, Y:-43.02, Z:-2.60 [[ 9.73858507e-01 2.27137495e-01 2.85787109e-03 3.07865855e+02] [-2.27136533e-01 9.73862700e-01 -6.61312436e-04 -4.30170193e+01] [-2.93338290e-03 -5.10218810e-06 9.99995698e-01 -2.59903991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38576923100004 meters Centerline goodness [0,1] 0.9999365374851921 Centerline is valid? [True, True] Translation: X:307.89, Y:-43.02, Z:-2.60 [[ 9.74124897e-01 2.25985524e-01 3.35081130e-03 3.07894036e+02] [-2.25984194e-01 9.74130660e-01 -7.75091503e-04 -4.30227942e+01] [-3.43928749e-03 -2.19446247e-06 9.99994086e-01 -2.59828898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.41576923100007 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:307.92, Y:-43.03, Z:-2.60 [[ 9.74604620e-01 2.23894078e-01 4.15649492e-03 3.07920793e+02] [-2.23892015e-01 9.74613483e-01 -9.61207650e-04 -4.30289246e+01] [-4.26618470e-03 6.19139298e-06 9.99990900e-01 -2.59672451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.95, Y:-43.04, Z:-2.60 [[ 9.74994705e-01 2.22195719e-01 3.79312250e-03 3.07948803e+02] [-2.22193989e-01 9.75002083e-01 -8.76953557e-04 -4.30365446e+01] [-3.89315766e-03 1.22160579e-05 9.99992422e-01 -2.59763548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.97, Y:-43.05, Z:-2.60 [[ 9.76057259e-01 2.17496911e-01 2.70559621e-03 3.07974802e+02] [-2.17496013e-01 9.76061009e-01 -6.25517401e-04 -4.30489379e+01] [-2.77687507e-03 2.20844132e-05 9.99996144e-01 -2.60075157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.00, Y:-43.06, Z:-2.60 [[ 9.76616975e-01 2.14979488e-01 1.76164090e-03 3.08002082e+02] [-2.14979103e-01 9.76618564e-01 -4.07238232e-04 -4.30564521e+01] [-1.80799907e-03 1.89997892e-05 9.99998365e-01 -2.60205108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.03, Y:-43.07, Z:-2.61 [[ 9.77002408e-01 2.13227931e-01 3.80549023e-04 3.08029087e+02] [-2.13227913e-01 9.77002482e-01 -8.81081058e-05 -4.30683287e+01] [-3.90584449e-04 4.93815782e-06 9.99999924e-01 -2.60597591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.06, Y:-43.08, Z:-2.61 [[ 9.77467273e-01 2.11085418e-01 -8.22960942e-04 3.08057934e+02] [-2.11085333e-01 9.77467619e-01 1.89918419e-04 -4.30760142e+01] [ 8.44506681e-04 -1.19240546e-05 9.99999643e-01 -2.60685096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.09, Y:-43.08, Z:-2.61 [[ 9.77532333e-01 2.10785338e-01 2.82920102e-04 3.08085192e+02] [-2.10785328e-01 9.77532374e-01 -6.56931925e-05 -4.30830749e+01] [-2.90410721e-04 4.58181322e-06 9.99999958e-01 -2.60532234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62576923100005 meters Centerline goodness [0,1] 0.9999576612049621 Centerline is valid? [True, True] Translation: X:308.11, Y:-43.09, Z:-2.60 [[ 9.77645748e-01 2.10235933e-01 3.10542735e-03 3.08111257e+02] [-2.10234715e-01 9.77650679e-01 -7.17122785e-04 -4.30929673e+01] [-3.18678814e-03 4.82234069e-05 9.99994921e-01 -2.60024189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.14, Y:-43.10, Z:-2.60 [[ 9.77710806e-01 2.09923951e-01 3.67615139e-03 3.08140476e+02] [-2.09922244e-01 9.77717716e-01 -8.48550472e-04 -4.30967294e+01] [-3.77236941e-03 5.79310165e-05 9.99992883e-01 -2.59856925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68576923100005 meters Centerline goodness [0,1] 0.9999788027810751 Centerline is valid? [True, True] Translation: X:308.17, Y:-43.11, Z:-2.60 [[ 9.77866374e-01 2.09199884e-01 3.57259005e-03 3.08167419e+02] [-2.09198267e-01 9.77872898e-01 -8.24572585e-04 -4.31081449e+01] [-3.66603948e-03 5.89421553e-05 9.99993278e-01 -2.59990496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.715769231 meters Centerline goodness [0,1] 0.9999788583509513 Centerline is valid? [True, True] Translation: X:308.19, Y:-43.12, Z:-2.60 [[ 9.78192289e-01 2.07689423e-01 2.22460731e-03 3.08193863e+02] [-2.07688792e-01 9.78194818e-01 -5.13458233e-04 -4.31199861e+01] [-2.28273919e-03 4.02348790e-05 9.99997394e-01 -2.60363696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74576923100005 meters Centerline goodness [0,1] 0.9999786794021704 Centerline is valid? [True, True] Translation: X:308.22, Y:-43.13, Z:-2.61 [[ 9.78531141e-01 2.06098300e-01 5.45773250e-04 3.08221295e+02] [-2.06098261e-01 9.78531293e-01 -1.26035191e-04 -4.31317838e+01] [-5.60031843e-04 1.08464410e-05 9.99999843e-01 -2.60747926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.775769231 meters Centerline goodness [0,1] 0.9999363705777552 Centerline is valid? [True, True] Translation: X:308.25, Y:-43.14, Z:-2.61 [[ 9.78809003e-01 2.04775226e-01 2.05578138e-04 3.08248695e+02] [-2.04775221e-01 9.78809025e-01 -4.76067074e-05 -4.31419839e+01] [-2.10970411e-04 4.50056532e-06 9.99999978e-01 -2.60894709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.28, Y:-43.15, Z:-2.61 [[ 9.79002620e-01 2.03847597e-01 1.67377309e-04 3.08279726e+02] [-2.03847594e-01 9.79002634e-01 -3.84733744e-05 -4.31452137e+01] [-1.71705531e-04 3.54607264e-06 9.99999985e-01 -2.60667404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.83576923100003 meters Centerline goodness [0,1] 0.9999361117618246 Centerline is valid? [True, True] Translation: X:308.31, Y:-43.16, Z:-2.61 [[ 9.79062898e-01 2.03557648e-01 3.54944614e-04 3.08307952e+02] [-2.03557632e-01 9.79062962e-01 -8.18179587e-05 -4.31575736e+01] [-3.64167797e-04 7.85324258e-06 9.99999934e-01 -2.60625254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.34, Y:-43.16, Z:-2.61 [[ 9.79044105e-01 2.03647696e-01 5.05856269e-04 3.08336680e+02] [-2.03647663e-01 9.79044236e-01 -1.16763796e-04 -4.31646881e+01] [-5.19034342e-04 1.13004587e-05 9.99999865e-01 -2.60581999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.89576923100003 meters Centerline goodness [0,1] 0.9999146429943238 Centerline is valid? [True, True] Translation: X:308.36, Y:-43.17, Z:-2.61 [[ 9.79091786e-01 2.03418072e-01 6.01666473e-04 3.08364689e+02] [-2.03418025e-01 9.79091971e-01 -1.38858687e-04 -4.31731032e+01] [-6.17333180e-04 1.35655943e-05 9.99999809e-01 -2.60598739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92576923100006 meters Centerline goodness [0,1] 0.9999574649085495 Centerline is valid? [True, True] Translation: X:308.39, Y:-43.18, Z:-2.61 [[ 9.79138820e-01 2.03191208e-01 7.10492039e-04 3.08393832e+02] [-2.03191143e-01 9.79139077e-01 -1.63896976e-04 -4.31816546e+01] [-7.28972944e-04 1.61122023e-05 9.99999734e-01 -2.60542948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.42, Y:-43.19, Z:-2.61 [[ 9.79260964e-01 2.02602868e-01 -2.07899664e-04 3.08423623e+02] [-2.02602862e-01 9.79260986e-01 4.80998468e-05 -4.31917512e+01] [ 2.13333197e-04 -4.98123534e-06 9.99999977e-01 -2.60638358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.45, Y:-43.20, Z:-2.61 [[ 9.79334206e-01 2.02246385e-01 -9.54928022e-04 3.08454314e+02] [-2.02246265e-01 9.79334672e-01 2.21367748e-04 -4.31996155e+01] [ 9.79964948e-04 -2.36623821e-05 9.99999520e-01 -2.60695059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01576923100004 meters Centerline goodness [0,1] 0.9999574404698572 Centerline is valid? [True, True] Translation: X:308.48, Y:-43.21, Z:-2.61 [[ 9.79360485e-01 2.02119800e-01 -7.92126794e-04 3.08484218e+02] [-2.02119717e-01 9.79360805e-01 1.83903593e-04 -4.32100020e+01] [ 8.12948492e-04 -2.00034685e-05 9.99999669e-01 -2.60773583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04576923100007 meters Centerline goodness [0,1] 0.9999785407725322 Centerline is valid? [True, True] Translation: X:308.51, Y:-43.22, Z:-2.60 [[ 9.79220777e-01 2.02789725e-01 1.73137451e-03 3.08512971e+02] [-2.02789334e-01 9.79222307e-01 -3.99958425e-04 -4.32206094e+01] [-1.77650800e-03 4.05433157e-05 9.99998421e-01 -2.60362291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.54, Y:-43.23, Z:-2.60 [[ 9.78892328e-01 2.04353609e-01 3.06813351e-03 3.08544803e+02] [-2.04352391e-01 9.78897134e-01 -7.08448289e-04 -4.32255296e+01] [-3.14816107e-03 6.65141740e-05 9.99995042e-01 -2.60094079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.57, Y:-43.23, Z:-2.60 [[ 9.77836268e-01 2.09343541e-01 3.39350937e-03 3.08574496e+02] [-2.09342078e-01 9.77842154e-01 -7.84603023e-04 -4.32343236e+01] [-3.48256808e-03 5.68089894e-05 9.99993934e-01 -2.60061644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.61, Y:-43.23, Z:-2.60 [[ 9.77179487e-01 2.12400404e-01 2.51372058e-03 3.08605946e+02] [-2.12399611e-01 9.77182719e-01 -5.81364538e-04 -4.32299531e+01] [-2.57984638e-03 3.41842269e-05 9.99996672e-01 -2.60156733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.64, Y:-43.23, Z:-2.60 [[ 9.76541160e-01 2.15325260e-01 1.54769573e-03 3.08636252e+02] [-2.15324963e-01 9.76542386e-01 -3.57962309e-04 -4.32311254e+01] [-1.58846881e-03 1.63074024e-05 9.99998738e-01 -2.60327192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19576923100004 meters Centerline goodness [0,1] 0.9999786834924966 Centerline is valid? [True, True] Translation: X:308.67, Y:-43.23, Z:-2.60 [[ 9.75697355e-01 2.19118375e-01 1.34479058e-03 3.08666710e+02] [-2.19118155e-01 9.75698282e-01 -3.11020004e-04 -4.32322423e+01] [-1.38026005e-03 8.79336527e-06 9.99999047e-01 -2.60395262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.69, Y:-43.24, Z:-2.60 [[ 9.75535654e-01 2.19834843e-01 1.68216189e-03 3.08694583e+02] [-2.19834499e-01 9.75537104e-01 -3.89016131e-04 -4.32382783e+01] [-1.72653064e-03 9.70188894e-06 9.99998509e-01 -2.60457597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.72, Y:-43.24, Z:-2.60 [[ 9.75634756e-01 2.19390366e-01 2.16575033e-03 3.08724095e+02] [-2.19389796e-01 9.75637159e-01 -5.00664456e-04 -4.32435036e+01] [-2.22282746e-03 1.33221222e-05 9.99997529e-01 -2.60316953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.75, Y:-43.25, Z:-2.61 [[ 9.75730404e-01 2.18968030e-01 1.78325611e-03 3.08751175e+02] [-2.18967642e-01 9.75732034e-01 -4.12267803e-04 -4.32517967e+01] [-1.83025358e-03 1.17868432e-05 9.99998325e-01 -2.60541388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.78, Y:-43.26, Z:-2.61 [[ 9.75924927e-01 2.18106710e-01 -7.39963705e-07 3.08778323e+02] [-2.18106710e-01 9.75924927e-01 -1.49343101e-07 -4.32579267e+01] [ 6.89576276e-07 3.07138704e-07 1.00000000e+00 -2.60887768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.81, Y:-43.26, Z:-2.61 [[ 9.75865379e-01 2.18372983e-01 -4.12401018e-05 3.08807451e+02] [-2.18372983e-01 9.75865380e-01 9.24872149e-06 -4.32611296e+01] [ 4.22644585e-05 -1.97830578e-08 9.99999999e-01 -2.60738290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.84, Y:-43.26, Z:-2.61 [[ 9.75413554e-01 2.20377851e-01 1.41461880e-03 3.08835638e+02] [-2.20377608e-01 9.75414580e-01 -3.26979872e-04 -4.32621727e+01] [-1.45189892e-03 7.19029041e-06 9.99998946e-01 -2.60580028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.86, Y:-43.27, Z:-2.61 [[ 9.75132782e-01 2.21616393e-01 1.49383583e-03 3.08863048e+02] [-2.21616124e-01 9.75133926e-01 -3.45166749e-04 -4.32653536e+01] [-1.53318461e-03 5.52530544e-06 9.99998825e-01 -2.60572751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.89, Y:-43.27, Z:-2.61 [[ 9.74929186e-01 2.22513608e-01 8.81048061e-04 3.08890498e+02] [-2.22513515e-01 9.74929584e-01 -2.03648907e-04 -4.32685956e+01] [-9.04274473e-04 2.49816278e-06 9.99999591e-01 -2.60751615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.92, Y:-43.27, Z:-2.61 [[ 9.74767663e-01 2.23221850e-01 9.94580911e-05 3.08918742e+02] [-2.23221848e-01 9.74767668e-01 -2.32605649e-05 -4.32714913e+01] [-1.02140798e-04 4.72427561e-07 9.99999995e-01 -2.60981832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.95, Y:-43.28, Z:-2.61 [[ 9.74947664e-01 2.22431531e-01 1.12524045e-03 3.08947036e+02] [-2.22431380e-01 9.74948313e-01 -2.59836099e-04 -4.32782378e+01] [-1.15484702e-03 3.03781213e-06 9.99999333e-01 -2.60676352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.97, Y:-43.29, Z:-2.61 [[ 9.75646837e-01 2.19336084e-01 2.22063716e-03 3.08972997e+02] [-2.19335486e-01 9.75649364e-01 -5.12447828e-04 -4.32887864e+01] [-2.27896154e-03 1.29035710e-05 9.99997403e-01 -2.60536554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.00, Y:-43.30, Z:-2.61 [[ 9.75947288e-01 2.18002725e-01 1.30457086e-03 3.09000514e+02] [-2.18002518e-01 9.75948160e-01 -3.01064318e-04 -4.32960209e+01] [-1.33882638e-03 9.42317250e-06 9.99999104e-01 -2.60650309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.03, Y:-43.30, Z:-2.61 [[ 9.76157096e-01 2.17065216e-01 -1.25521278e-04 3.09026995e+02] [-2.17065214e-01 9.76157104e-01 2.85588367e-05 -4.33049028e+01] [ 1.28727617e-04 -6.31608001e-07 9.99999992e-01 -2.60920947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.06, Y:-43.31, Z:-2.61 [[ 9.76108788e-01 2.17282352e-01 -1.14715421e-04 3.09055383e+02] [-2.17282350e-01 9.76108795e-01 2.61485124e-05 -4.33093794e+01] [ 1.17656341e-04 -5.98156562e-07 9.99999993e-01 -2.60786841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.08, Y:-43.32, Z:-2.61 [[ 9.75935493e-01 2.18059230e-01 2.93731199e-04 3.09082784e+02] [-2.18059219e-01 9.75935537e-01 -6.80268799e-05 -4.33159283e+01] [-3.01496605e-04 2.33905054e-06 9.99999955e-01 -2.60902505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.11, Y:-43.32, Z:-2.61 [[ 9.75849521e-01 2.18429658e-01 2.48935252e-03 3.09110685e+02] [-2.18428905e-01 9.75852696e-01 -5.73639477e-04 -4.33240473e+01] [-2.55454124e-03 1.60392643e-05 9.99996737e-01 -2.60512621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.14, Y:-43.33, Z:-2.60 [[ 9.75955563e-01 2.17942032e-01 3.46549281e-03 3.09138995e+02] [-2.17940571e-01 9.75961716e-01 -7.98261396e-04 -4.33326472e+01] [-3.55616302e-03 2.37961686e-05 9.99993677e-01 -2.60331516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.17, Y:-43.35, Z:-2.61 [[ 9.76194530e-01 2.16887597e-01 2.00237903e-03 3.09165909e+02] [-2.16887107e-01 9.76196584e-01 -4.61026676e-04 -4.33450315e+01] [-2.05470653e-03 1.57615244e-05 9.99997889e-01 -2.60685998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.19, Y:-43.35, Z:-2.61 [[ 9.76377377e-01 2.16068976e-01 1.18937064e-03 3.09192801e+02] [-2.16068803e-01 9.76378102e-01 -2.74172418e-04 -4.33538178e+01] [-1.22051560e-03 1.07098562e-05 9.99999255e-01 -2.60926253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.22, Y:-43.36, Z:-2.61 [[ 9.76398316e-01 2.15971313e-01 1.64909874e-03 3.09221195e+02] [-2.15970980e-01 9.76399709e-01 -3.79875326e-04 -4.33620975e+01] [-1.69222171e-03 1.47521575e-05 9.99998568e-01 -2.60699105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.25, Y:-43.37, Z:-2.61 [[ 9.76208003e-01 2.16821902e-01 2.48955779e-03 3.09248597e+02] [-2.16821145e-01 9.76211177e-01 -5.73382366e-04 -4.33695493e+01] [-2.55465600e-03 1.99516831e-05 9.99996737e-01 -2.60594097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.28, Y:-43.37, Z:-2.60 [[ 9.75969066e-01 2.17889936e-01 2.89116467e-03 3.09278275e+02] [-2.17888920e-01 9.75973348e-01 -6.65704633e-04 -4.33737867e+01] [-2.96675000e-03 1.97543818e-05 9.99995599e-01 -2.60438228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.31, Y:-43.37, Z:-2.61 [[ 9.75330982e-01 2.20728742e-01 2.88075020e-03 3.09306783e+02] [-2.20727746e-01 9.75335236e-01 -6.63332387e-04 -4.33748811e+01] [-2.95611370e-03 1.11071301e-05 9.99995631e-01 -2.60564619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.34, Y:-43.38, Z:-2.61 [[ 9.74942525e-01 2.22436219e-01 3.03330266e-03 3.09336333e+02] [-2.22435123e-01 9.74947244e-01 -6.98220258e-04 -4.33768153e+01] [-3.11261954e-03 6.01157127e-06 9.99995156e-01 -2.60622451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.36, Y:-43.38, Z:-2.61 [[ 9.74638755e-01 2.23764814e-01 2.93352799e-03 3.09364183e+02] [-2.23763795e-01 9.74643170e-01 -6.75149500e-04 -4.33798348e+01] [-3.01021772e-03 1.60951020e-06 9.99995469e-01 -2.60715126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.39, Y:-43.39, Z:-2.61 [[ 9.74822748e-01 2.22966157e-01 2.58897919e-03 3.09392238e+02] [-2.22965361e-01 9.74826186e-01 -5.95698575e-04 -4.33876735e+01] [-2.65662533e-03 3.44784170e-06 9.99996471e-01 -2.60800045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.42, Y:-43.40, Z:-2.61 [[ 9.75112393e-01 2.21697896e-01 2.42135770e-03 3.09420156e+02] [-2.21697197e-01 9.75115400e-01 -5.57030883e-04 -4.33960545e+01] [-2.48459576e-03 6.35950315e-06 9.99996913e-01 -2.60814036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.45, Y:-43.41, Z:-2.61 [[ 9.75947971e-01 2.17988928e-01 2.52674288e-03 3.09446175e+02] [-2.17988154e-01 9.75951242e-01 -5.81140532e-04 -4.34085996e+01] [-2.59266005e-03 1.63629072e-05 9.99996639e-01 -2.60829446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06576923100005 meters Centerline goodness [0,1] 0.9999142219934809 Centerline is valid? [True, True] Translation: X:309.47, Y:-43.42, Z:-2.61 [[ 9.76547654e-01 2.15273371e-01 3.47214491e-03 3.09472097e+02] [-2.15271894e-01 9.76553826e-01 -7.98290088e-04 -4.34220080e+01] [-3.56258699e-03 3.21131030e-05 9.99993653e-01 -2.60625542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0957692310001 meters Centerline goodness [0,1] 0.9999142219934809 Centerline is valid? [True, True] Translation: X:309.50, Y:-43.43, Z:-2.61 [[ 9.76552522e-01 2.15251284e-01 3.47217741e-03 3.09500534e+02] [-2.15249807e-01 9.76558694e-01 -7.98148681e-04 -4.34284958e+01] [-3.56258757e-03 3.20485903e-05 9.99993653e-01 -2.60641994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12576923100005 meters Centerline goodness [0,1] 0.9999360040957379 Centerline is valid? [True, True] Translation: X:309.53, Y:-43.44, Z:-2.61 [[ 9.76609612e-01 2.14999351e-01 2.99090967e-03 3.09529306e+02] [-2.14998254e-01 9.76614191e-01 -6.87466661e-04 -4.34363662e+01] [-3.06876971e-03 2.83461938e-05 9.99995291e-01 -2.60711149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1557692310001 meters Centerline goodness [0,1] 0.9999787152526499 Centerline is valid? [True, True] Translation: X:309.56, Y:-43.44, Z:-2.61 [[ 9.76461688e-01 2.15680047e-01 2.16541918e-03 3.09557493e+02] [-2.15679473e-01 9.76464089e-01 -4.97789102e-04 -4.34417547e+01] [-2.22181725e-03 1.90355191e-05 9.99997532e-01 -2.60920263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18576923100005 meters Centerline goodness [0,1] 0.9998936600097833 Centerline is valid? [True, True] Translation: X:309.59, Y:-43.44, Z:-2.61 [[ 9.75972247e-01 2.17892688e-01 9.74755772e-04 3.09586282e+02] [-2.17892573e-01 9.75972733e-01 -2.24174571e-04 -4.34442132e+01] [-1.00018106e-03 6.39611611e-06 9.99999500e-01 -2.61184763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.215769231 meters Centerline goodness [0,1] 0.9999789189644995 Centerline is valid? [True, True] Translation: X:309.62, Y:-43.44, Z:-2.61 [[ 9.74621429e-01 2.23858780e-01 5.62914984e-04 3.09615837e+02] [-2.23858742e-01 9.74621592e-01 -1.29616838e-04 -4.34402792e+01] [-5.77644964e-04 3.13907723e-07 9.99999833e-01 -2.61228137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24576923100005 meters Centerline goodness [0,1] 0.9999149930931889 Centerline is valid? [True, True] Translation: X:309.64, Y:-43.44, Z:-2.61 [[ 9.73955997e-01 2.26732556e-01 1.43625097e-03 3.09643286e+02] [-2.26732316e-01 9.73957056e-01 -3.30072146e-04 -4.34434745e+01] [-1.47368487e-03 -4.16876225e-06 9.99998914e-01 -2.61061198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.275769231 meters Centerline goodness [0,1] 0.9998948165600808 Centerline is valid? [True, True] Translation: X:309.67, Y:-43.45, Z:-2.61 [[ 9.73920888e-01 2.26876080e-01 2.31287141e-03 3.09670811e+02] [-2.26875458e-01 9.73923634e-01 -5.31202488e-04 -4.34500953e+01] [-2.37307726e-03 -7.38456063e-06 9.99997184e-01 -2.60905015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30576923100006 meters Centerline goodness [0,1] 0.9998498273013966 Centerline is valid? [True, True] Translation: X:309.70, Y:-43.46, Z:-2.61 [[ 9.74065252e-01 2.26247093e-01 3.02277002e-03 3.09698506e+02] [-2.26246029e-01 9.74069943e-01 -6.93949174e-04 -4.34579086e+01] [-3.10139340e-03 -7.93793550e-06 9.99995191e-01 -2.60817989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.33576923100003 meters Centerline goodness [0,1] 0.9998712142351199 Centerline is valid? [True, True] Translation: X:309.73, Y:-43.47, Z:-2.61 [[ 9.74381622e-01 2.24877552e-01 3.24668698e-03 3.09725547e+02] [-2.24876317e-01 9.74387031e-01 -7.45211704e-04 -4.34664735e+01] [-3.33111107e-03 -3.98242139e-06 9.99994452e-01 -2.60914036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36576923100006 meters Centerline goodness [0,1] 0.999743123193835 Centerline is valid? [True, True] Translation: X:309.75, Y:-43.48, Z:-2.61 [[ 9.75219049e-01 2.21229490e-01 2.30614796e-03 3.09752474e+02] [-2.21228857e-01 9.75221776e-01 -5.29183867e-04 -4.34811248e+01] [-2.36607678e-03 5.88371060e-06 9.99997201e-01 -2.61141663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.39576923100003 meters Centerline goodness [0,1] 0.9997454013111833 Centerline is valid? [True, True] Translation: X:309.78, Y:-43.50, Z:-2.61 [[ 9.75824852e-01 2.18540320e-01 2.44658591e-03 3.09779222e+02] [-2.18539600e-01 9.75827919e-01 -5.61303250e-04 -4.34968743e+01] [-2.51011423e-03 1.30577548e-05 9.99996850e-01 -2.61213760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42576923100006 meters Centerline goodness [0,1] 0.9997450280469148 Centerline is valid? [True, True] Translation: X:309.81, Y:-43.50, Z:-2.61 [[ 9.75939573e-01 2.18024273e-01 2.71394057e-03 3.09808467e+02] [-2.18023385e-01 9.75943347e-01 -6.22565482e-04 -4.35049822e+01] [-2.78438663e-03 1.58837823e-05 9.99996123e-01 -2.61058980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.45576923100003 meters Centerline goodness [0,1] 0.9997016706443914 Centerline is valid? [True, True] Translation: X:309.84, Y:-43.52, Z:-2.61 [[ 9.75983755e-01 2.17827067e-01 2.66060571e-03 3.09837246e+02] [-2.17826213e-01 9.75987381e-01 -6.10259931e-04 -4.35158267e+01] [-2.72964873e-03 1.60541145e-05 9.99996274e-01 -2.61184483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48576923100006 meters Centerline goodness [0,1] 0.9997247045868451 Centerline is valid? [True, True] Translation: X:309.86, Y:-43.52, Z:-2.61 [[ 9.76018401e-01 2.17672302e-01 2.61730441e-03 3.09864818e+02] [-2.17671474e-01 9.76021910e-01 -6.00592720e-04 -4.35244651e+01] [-2.68527885e-03 1.64770371e-05 9.99996394e-01 -2.61217649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51576923100004 meters Centerline goodness [0,1] 0.999702646446625 Centerline is valid? [True, True] Translation: X:309.89, Y:-43.54, Z:-2.62 [[ 9.76025051e-01 2.17653965e-01 1.36024395e-03 3.09891729e+02] [-2.17653742e-01 9.76025999e-01 -3.12144957e-04 -4.35350795e+01] [-1.39557305e-03 8.59911249e-06 9.99999026e-01 -2.61509392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54576923100007 meters Centerline goodness [0,1] 0.9997654284130166 Centerline is valid? [True, True] Translation: X:309.92, Y:-43.54, Z:-2.62 [[ 9.75893487e-01 2.18246644e-01 5.51040384e-04 3.09922564e+02] [-2.18246608e-01 9.75893643e-01 -1.26253727e-04 -4.35406413e+01] [-5.65311260e-04 2.94749539e-06 9.99999840e-01 -2.61515720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57576923100004 meters Centerline goodness [0,1] 0.9997878299244675 Centerline is valid? [True, True] Translation: X:309.95, Y:-43.54, Z:-2.61 [[ 9.75145508e-01 2.21552701e-01 2.37446824e-03 3.09952506e+02] [-2.21552032e-01 9.75148399e-01 -5.44662338e-04 -4.35437587e+01] [-2.43613031e-03 5.05676941e-06 9.99997033e-01 -2.61314984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60576923100007 meters Centerline goodness [0,1] 0.9998733696340383 Centerline is valid? [True, True] Translation: X:309.98, Y:-43.55, Z:-2.61 [[ 9.74650435e-01 2.23688984e-01 4.44615593e-03 3.09982773e+02] [-2.23686659e-01 9.74660576e-01 -1.01977007e-03 -4.35460011e+01] [-4.56160423e-03 -6.26417863e-07 9.99989596e-01 -2.60851669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63576923100004 meters Centerline goodness [0,1] 0.9999150165717685 Centerline is valid? [True, True] Translation: X:310.01, Y:-43.54, Z:-2.61 [[ 9.73682953e-01 2.27843298e-01 5.37940844e-03 3.10012122e+02] [-2.27839959e-01 9.73697813e-01 -1.23366739e-03 -4.35440576e+01] [-5.51900108e-03 -2.44432913e-05 9.99984770e-01 -2.60673435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.04, Y:-43.55, Z:-2.61 [[ 9.73361179e-01 2.29241096e-01 4.06633613e-03 3.10040485e+02] [-2.29239201e-01 9.73369673e-01 -9.32357597e-04 -4.35474958e+01] [-4.17178294e-03 -2.46429563e-05 9.99991298e-01 -2.60966567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.07, Y:-43.55, Z:-2.61 [[ 9.73232632e-01 2.29811843e-01 2.18171812e-03 3.10068881e+02] [-2.29811299e-01 9.73235078e-01 -5.00256399e-04 -4.35526142e+01] [-2.23828945e-03 -1.45176245e-05 9.99997495e-01 -2.61383510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7257692310001 meters Centerline goodness [0,1] 0.9999785990968819 Centerline is valid? [True, True] Translation: X:310.10, Y:-43.56, Z:-2.62 [[ 9.73470652e-01 2.28811066e-01 6.20526556e-04 3.10096761e+02] [-2.28811022e-01 9.73470850e-01 -1.42439509e-04 -4.35601054e+01] [-6.36656250e-04 -3.32263369e-06 9.99999797e-01 -2.61723888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.12, Y:-43.57, Z:-2.62 [[ 9.73713242e-01 2.27774750e-01 1.08914545e-03 3.10124553e+02] [-2.27774613e-01 9.73713851e-01 -2.49770840e-04 -4.35682796e+01] [-1.11740750e-03 -4.87450879e-06 9.99999376e-01 -2.61595378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7857692310001 meters Centerline goodness [0,1] 0.9999785692855 Centerline is valid? [True, True] Translation: X:310.15, Y:-43.58, Z:-2.61 [[ 9.74222122e-01 2.25583120e-01 1.87433792e-03 3.10153147e+02] [-2.25582711e-01 9.74223925e-01 -4.29463635e-04 -4.35779141e+01] [-1.92290459e-03 -4.42525683e-06 9.99998151e-01 -2.61397151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.81576923100005 meters Centerline goodness [0,1] 0.9999786753102743 Centerline is valid? [True, True] Translation: X:310.18, Y:-43.58, Z:-2.61 [[ 9.74290898e-01 2.25282814e-01 2.21369023e-03 3.10181484e+02] [-2.25282244e-01 9.74293412e-01 -5.07178501e-04 -4.35846766e+01] [-2.27104241e-03 -4.56570486e-06 9.99997421e-01 -2.61357698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8457692310001 meters Centerline goodness [0,1] 0.9999363597793806 Centerline is valid? [True, True] Translation: X:310.21, Y:-43.59, Z:-2.61 [[ 9.74314830e-01 2.25174222e-01 2.68006699e-03 3.10209685e+02] [-2.25173385e-01 9.74318516e-01 -6.13883714e-04 -4.35907397e+01] [-2.74946968e-03 -5.36375010e-06 9.99996220e-01 -2.61378724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.87576923100005 meters Centerline goodness [0,1] 0.9999156651908075 Centerline is valid? [True, True] Translation: X:310.24, Y:-43.59, Z:-2.61 [[ 9.74068088e-01 2.26212784e-01 4.37455574e-03 3.10238383e+02] [-2.26210567e-01 9.74077911e-01 -1.00173299e-03 -4.35948518e+01] [-4.48776292e-03 -1.38145979e-05 9.99989930e-01 -2.61066632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.27, Y:-43.60, Z:-2.61 [[ 9.73845229e-01 2.27161843e-01 4.79237484e-03 3.10266498e+02] [-2.27159195e-01 9.73857021e-01 -1.09716056e-03 -4.35986310e+01] [-4.91632090e-03 -2.01674310e-05 9.99987915e-01 -2.60967162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.30, Y:-43.60, Z:-2.61 [[ 9.73317611e-01 2.29424776e-01 4.13531600e-03 3.10296366e+02] [-2.29422825e-01 9.73326395e-01 -9.46483297e-04 -4.36008309e+01] [-4.24215894e-03 -2.75070190e-05 9.99991002e-01 -2.61053008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.32, Y:-43.60, Z:-2.61 [[ 9.73123892e-01 2.30255280e-01 3.52079566e-03 3.10324482e+02] [-2.30253871e-01 9.73130261e-01 -8.05848202e-04 -4.36036385e+01] [-3.61174360e-03 -2.64866914e-05 9.99993477e-01 -2.61225577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.35, Y:-43.61, Z:-2.61 [[ 9.73042528e-01 2.30593971e-01 3.82867254e-03 3.10352692e+02] [-2.30592309e-01 9.73050060e-01 -8.75995474e-04 -4.36079056e+01] [-3.92748932e-03 -3.04815899e-05 9.99992287e-01 -2.61259488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.38, Y:-43.62, Z:-2.61 [[ 9.73278777e-01 2.29576079e-01 4.82144882e-03 3.10379338e+02] [-2.29573432e-01 9.73290719e-01 -1.10284092e-03 -4.36157657e+01] [-4.94585728e-03 -3.35048899e-05 9.99987769e-01 -2.61129894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.05576923100006 meters Centerline goodness [0,1] 0.9999786466229634 Centerline is valid? [True, True] Translation: X:310.41, Y:-43.62, Z:-2.61 [[ 9.73636622e-01 2.28041773e-01 5.35516534e-03 3.10406981e+02] [-2.28038487e-01 9.73651349e-01 -1.22455313e-03 -4.36249817e+01] [-5.49331322e-03 -2.89140299e-05 9.99984911e-01 -2.61125274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.44, Y:-43.64, Z:-2.61 [[ 9.74151234e-01 2.25851938e-01 4.50290220e-03 3.10435973e+02] [-2.25849592e-01 9.74161641e-01 -1.02942938e-03 -4.36372303e+01] [-4.61905321e-03 -1.41587267e-05 9.99989332e-01 -2.61256584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.46, Y:-43.64, Z:-2.61 [[ 9.74205436e-01 2.25630136e-01 3.84830916e-03 3.10463594e+02] [-2.25628420e-01 9.74213037e-01 -8.79903183e-04 -4.36435986e+01] [-3.94760563e-03 -1.10814522e-05 9.99992208e-01 -2.61397297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.49, Y:-43.65, Z:-2.62 [[ 9.73682325e-01 2.27890259e-01 2.95962342e-03 3.10492768e+02] [-2.27889255e-01 9.73686823e-01 -6.76669130e-04 -4.36474484e+01] [-3.03595263e-03 -1.56056048e-05 9.99995391e-01 -2.61553880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.52, Y:-43.65, Z:-2.61 [[ 9.72991163e-01 2.30814483e-01 3.58755655e-03 3.10521124e+02] [-2.30813028e-01 9.72997777e-01 -8.20027987e-04 -4.36487070e+01] [-3.67995888e-03 -3.01748069e-05 9.99993228e-01 -2.61473153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.55, Y:-43.65, Z:-2.61 [[ 9.72182283e-01 2.34192564e-01 3.93092749e-03 3.10550114e+02] [-2.34190847e-01 9.72190229e-01 -8.98231578e-04 -4.36503453e+01] [-4.03196845e-03 -4.73424102e-05 9.99991870e-01 -2.61324429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.58, Y:-43.65, Z:-2.61 [[ 9.70569977e-01 2.40791852e-01 3.63363932e-03 3.10581436e+02] [-2.40790431e-01 9.70576777e-01 -8.30093823e-04 -4.36456769e+01] [-3.72660577e-03 -6.92814342e-05 9.99993054e-01 -2.61433600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26576923100004 meters Centerline goodness [0,1] 0.9999788319468258 Centerline is valid? [True, True] Translation: X:310.61, Y:-43.64, Z:-2.62 [[ 9.69828737e-01 2.43769758e-01 2.91999604e-03 3.10611023e+02] [-2.43768854e-01 9.69833130e-01 -6.67049400e-04 -4.36445470e+01] [-2.99451537e-03 -6.48804104e-05 9.99995514e-01 -2.61586792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.29576923100007 meters Centerline goodness [0,1] 0.9999787879430668 Centerline is valid? [True, True] Translation: X:310.64, Y:-43.64, Z:-2.62 [[ 9.69004919e-01 2.47038118e-01 1.27866464e-03 3.10641245e+02] [-2.47037948e-01 9.69005762e-01 -2.92114101e-04 -4.36445686e+01] [-1.31119672e-03 -3.28186874e-05 9.99999140e-01 -2.61942524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32576923100004 meters Centerline goodness [0,1] 0.9999151823579304 Centerline is valid? [True, True] Translation: X:310.67, Y:-43.65, Z:-2.62 [[ 9.69075884e-01 2.46762268e-01 5.60264674e-04 3.10668066e+02] [-2.46762235e-01 9.69076046e-01 -1.28358856e-04 -4.36468799e+01] [-5.74613198e-04 -1.38626912e-05 9.99999835e-01 -2.62174031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.35576923100007 meters Centerline goodness [0,1] 0.9999363300649433 Centerline is valid? [True, True] Translation: X:310.70, Y:-43.66, Z:-2.62 [[ 9.69403752e-01 2.45471712e-01 6.32757667e-05 3.10695528e+02] [-2.45471711e-01 9.69403754e-01 -1.47138847e-05 -4.36552635e+01] [-6.49516083e-05 -1.26871567e-06 9.99999998e-01 -2.62175159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38576923100004 meters Centerline goodness [0,1] 0.9999784115196131 Centerline is valid? [True, True] Translation: X:310.72, Y:-43.67, Z:-2.62 [[ 9.70503765e-01 2.41081679e-01 1.43758288e-03 3.10722999e+02] [-2.41081457e-01 9.70504829e-01 -3.28174972e-04 -4.36672065e+01] [-1.47429811e-03 -2.80795308e-05 9.99998913e-01 -2.62026558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.41576923100007 meters Centerline goodness [0,1] 0.9999788063750424 Centerline is valid? [True, True] Translation: X:310.75, Y:-43.67, Z:-2.62 [[ 9.71148709e-01 2.38459616e-01 2.68262685e-03 3.10750541e+02] [-2.38458834e-01 9.71152413e-01 -6.12277734e-04 -4.36740336e+01] [-2.75124305e-03 -4.50833393e-05 9.99996214e-01 -2.61960700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.78, Y:-43.69, Z:-2.62 [[ 9.72445145e-01 2.33104944e-01 3.53908179e-03 3.10776449e+02] [-2.33103549e-01 9.72451584e-01 -8.07479314e-04 -4.36897953e+01] [-3.62981311e-03 -3.97431846e-05 9.99993411e-01 -2.61814066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.80, Y:-43.70, Z:-2.62 [[ 9.73043049e-01 2.30594833e-01 3.63963371e-03 3.10803855e+02] [-2.30593341e-01 9.73049856e-01 -8.30236814e-04 -4.36993509e+01] [-3.73299338e-03 -3.14191344e-05 9.99993032e-01 -2.61806675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50576923100004 meters Centerline goodness [0,1] 0.9999786055069425 Centerline is valid? [True, True] Translation: X:310.83, Y:-43.71, Z:-2.62 [[ 9.73509591e-01 2.28620505e-01 3.42643986e-03 3.10831928e+02] [-2.28619171e-01 9.73515621e-01 -7.81423351e-04 -4.37082752e+01] [-3.51434213e-03 -2.26267136e-05 9.99993824e-01 -2.61881585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5357692310001 meters Centerline goodness [0,1] 0.9999155084280343 Centerline is valid? [True, True] Translation: X:310.86, Y:-43.72, Z:-2.62 [[ 9.74138681e-01 2.25932775e-01 2.86539806e-03 3.10858349e+02] [-2.25931830e-01 9.74142896e-01 -6.53465465e-04 -4.37183885e+01] [-2.93894643e-03 -1.08186406e-05 9.99995681e-01 -2.62071170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.89, Y:-43.73, Z:-2.62 [[ 9.74267196e-01 2.25385952e-01 2.14550259e-03 3.10886289e+02] [-2.25385422e-01 9.74269558e-01 -4.89204275e-04 -4.37263318e+01] [-2.20055763e-03 -6.94932729e-06 9.99997579e-01 -2.62268279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5957692310001 meters Centerline goodness [0,1] 0.9999788851351351 Centerline is valid? [True, True] Translation: X:310.91, Y:-43.73, Z:-2.63 [[ 9.74262770e-01 2.25411041e-01 1.38475387e-03 3.10913875e+02] [-2.25410819e-01 9.74263754e-01 -3.15823332e-04 -4.37320690e+01] [-1.42030557e-03 -4.44358980e-06 9.99998991e-01 -2.62500346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.94, Y:-43.74, Z:-2.62 [[ 9.74232005e-01 2.25538485e-01 2.09564240e-03 3.10941561e+02] [-2.25537980e-01 9.74234259e-01 -4.77601037e-04 -4.37382055e+01] [-2.14936403e-03 -7.35273727e-06 9.99997690e-01 -2.62349004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.97, Y:-43.75, Z:-2.62 [[ 9.74287339e-01 2.25287753e-01 3.09986321e-03 3.10969872e+02] [-2.25286646e-01 9.74292271e-01 -7.06179943e-04 -4.37453942e+01] [-3.17926645e-03 -1.03356077e-05 9.99994946e-01 -2.62209569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.00, Y:-43.76, Z:-2.62 [[ 9.74777570e-01 2.23159185e-01 2.94396524e-03 3.10997617e+02] [-2.23158178e-01 9.74782016e-01 -6.70469717e-04 -4.37566747e+01] [-3.01934585e-03 -3.41107627e-06 9.99995442e-01 -2.62316084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.715769231 meters Centerline goodness [0,1] 0.9999571183533448 Centerline is valid? [True, True] Translation: X:311.02, Y:-43.77, Z:-2.63 [[ 9.75055518e-01 2.21952545e-01 1.95075380e-03 3.11024596e+02] [-2.21952100e-01 9.75057469e-01 -4.44313658e-04 -4.37654905e+01] [-2.00071361e-03 2.56580440e-07 9.99997999e-01 -2.62646120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74576923100005 meters Centerline goodness [0,1] 0.9998940700408889 Centerline is valid? [True, True] Translation: X:311.05, Y:-43.78, Z:-2.63 [[ 9.75586210e-01 2.19616521e-01 3.61086230e-04 3.11051306e+02] [-2.19616506e-01 9.75586277e-01 -8.23557293e-05 -4.37790481e+01] [-3.70357449e-04 1.04461763e-06 9.99999931e-01 -2.63089644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.775769231 meters Centerline goodness [0,1] 0.9998513074325042 Centerline is valid? [True, True] Translation: X:311.08, Y:-43.79, Z:-2.63 [[ 9.75781004e-01 2.18749164e-01 4.84877986e-04 3.11079833e+02] [-2.18749136e-01 9.75781125e-01 -1.10494875e-04 -4.37889655e+01] [-4.97305448e-04 1.75215945e-06 9.99999876e-01 -2.63022206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80576923100006 meters Centerline goodness [0,1] 0.9998305371970853 Centerline is valid? [True, True] Translation: X:311.11, Y:-43.80, Z:-2.63 [[ 9.76069237e-01 2.17459024e-01 6.45891465e-04 3.11106791e+02] [-2.17458975e-01 9.76069451e-01 -1.47184987e-04 -4.38012015e+01] [-6.62441632e-04 3.20784249e-06 9.99999781e-01 -2.63070145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.83576923100003 meters Centerline goodness [0,1] 0.9999150274036623 Centerline is valid? [True, True] Translation: X:311.14, Y:-43.81, Z:-2.63 [[ 9.76207512e-01 2.16838308e-01 -2.03315340e-04 3.11136630e+02] [-2.16838303e-01 9.76207533e-01 4.64134207e-05 -4.38097513e+01] [ 2.08542174e-04 -1.22257673e-06 9.99999978e-01 -2.63127441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86576923100006 meters Centerline goodness [0,1] 0.9998942201912498 Centerline is valid? [True, True] Translation: X:311.17, Y:-43.82, Z:-2.63 [[ 9.76409914e-01 2.15925036e-01 -2.44152856e-04 3.11166134e+02] [-2.15925028e-01 9.76409944e-01 5.61492108e-05 -4.38212476e+01] [ 2.50517297e-04 -2.10593368e-06 9.99999969e-01 -2.63335691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.89576923100003 meters Centerline goodness [0,1] 0.9999364716345849 Centerline is valid? [True, True] Translation: X:311.19, Y:-43.83, Z:-2.63 [[ 9.76564359e-01 2.15220082e-01 1.53886850e-03 3.11193601e+02] [-2.15219797e-01 9.76565572e-01 -3.50441427e-04 -4.38335327e+01] [-1.57822803e-03 1.10336404e-05 9.99998755e-01 -2.62933436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92576923100006 meters Centerline goodness [0,1] 0.9999575920782002 Centerline is valid? [True, True] Translation: X:311.22, Y:-43.84, Z:-2.63 [[ 9.76516163e-01 2.15435438e-01 1.93799171e-03 3.11221932e+02] [-2.15434986e-01 9.76518086e-01 -4.41291786e-04 -4.38422985e+01] [-1.98755384e-03 1.34173454e-05 9.99998025e-01 -2.62883665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.95576923100003 meters Centerline goodness [0,1] 0.9998727870242765 Centerline is valid? [True, True] Translation: X:311.25, Y:-43.86, Z:-2.63 [[ 9.76390166e-01 2.15997392e-01 2.71494889e-03 3.11253129e+02] [-2.15996510e-01 9.76393940e-01 -6.17554319e-04 -4.38554009e+01] [-2.78424977e-03 1.65544796e-05 9.99996124e-01 -2.62741183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98576923100006 meters Centerline goodness [0,1] 0.9998514494291414 Centerline is valid? [True, True] Translation: X:311.28, Y:-43.87, Z:-2.63 [[ 9.76462571e-01 2.15656076e-01 3.64762065e-03 3.11282313e+02] [-2.15654477e-01 9.76469383e-01 -8.30851100e-04 -4.38693441e+01] [-3.74096797e-03 2.46692787e-05 9.99993002e-01 -2.62628953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01576923100004 meters Centerline goodness [0,1] 0.9998514494291414 Centerline is valid? [True, True] Translation: X:311.31, Y:-43.88, Z:-2.63 [[ 9.76457794e-01 2.15677707e-01 3.64740496e-03 3.11312363e+02] [-2.15676104e-01 9.76464606e-01 -8.31796812e-04 -4.38762459e+01] [-3.74096188e-03 2.55563870e-05 9.99993002e-01 -2.62646362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04576923100007 meters Centerline goodness [0,1] 0.9998518330369994 Centerline is valid? [True, True] Translation: X:311.34, Y:-43.89, Z:-2.62 [[ 9.76480373e-01 2.15556927e-01 4.61429952e-03 3.11343454e+02] [-2.15554361e-01 9.76491275e-01 -1.05229530e-03 -4.38892040e+01] [-4.73265276e-03 3.29133218e-05 9.99988800e-01 -2.62444551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07576923100004 meters Centerline goodness [0,1] 0.9999147757537019 Centerline is valid? [True, True] Translation: X:311.37, Y:-43.90, Z:-2.62 [[ 9.76454888e-01 2.15638466e-01 5.99202780e-03 3.11374276e+02] [-2.15634132e-01 9.76473271e-01 -1.36791546e-03 -4.39046599e+01] [-6.14603018e-03 4.36220273e-05 9.99981112e-01 -2.62274686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10576923100007 meters Centerline goodness [0,1] 0.9998930984349611 Centerline is valid? [True, True] Translation: X:311.40, Y:-43.91, Z:-2.62 [[ 9.76235288e-01 2.16616751e-01 6.46887057e-03 3.11404472e+02] [-2.16611713e-01 9.76256719e-01 -1.47803759e-03 -4.39139826e+01] [-6.63544606e-03 4.16793138e-05 9.99977984e-01 -2.62233960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13576923100004 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:311.44, Y:-43.92, Z:-2.62 [[ 9.75399988e-01 2.20347449e-01 6.47036355e-03 3.11435134e+02] [-2.20342483e-01 9.75421448e-01 -1.47936927e-03 -4.39226118e+01] [-6.63730663e-03 1.72807970e-05 9.99977973e-01 -2.62256499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.47, Y:-43.93, Z:-2.62 [[ 9.74886389e-01 2.22621973e-01 5.99881493e-03 3.11466839e+02] [-2.22617742e-01 9.74904845e-01 -1.37246728e-03 -4.39303995e+01] [-6.15381511e-03 2.55703190e-06 9.99981065e-01 -2.62372082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.50, Y:-43.94, Z:-2.63 [[ 9.74355361e-01 2.24957346e-01 5.08167940e-03 3.11499290e+02] [-2.24954338e-01 9.74368612e-01 -1.16341978e-03 -4.39372037e+01] [-5.21314873e-03 -9.56152065e-06 9.99986411e-01 -2.62549736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.53, Y:-43.94, Z:-2.63 [[ 9.73244332e-01 2.29753410e-01 2.97326548e-03 3.11529576e+02] [-2.29752400e-01 9.73248874e-01 -6.81277170e-04 -4.39401792e+01] [-3.05025303e-03 -2.00657358e-05 9.99995348e-01 -2.63125480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.56, Y:-43.95, Z:-2.63 [[ 9.72585441e-01 2.32527283e-01 2.93636112e-03 3.11561207e+02] [-2.32526312e-01 9.72589873e-01 -6.72457809e-04 -4.39466975e+01] [-3.01223987e-03 -2.87585477e-05 9.99995463e-01 -2.63153741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.59, Y:-43.95, Z:-2.63 [[ 9.71364802e-01 2.37552185e-01 4.40240545e-03 3.11592358e+02] [-2.37550049e-01 9.71374776e-01 -1.00954137e-03 -4.39509878e+01] [-4.51620437e-03 -6.51586763e-05 9.99989800e-01 -2.62780441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.62, Y:-43.96, Z:-2.63 [[ 9.70730501e-01 2.40114347e-01 5.23408865e-03 3.11623753e+02] [-2.40111364e-01 9.70744607e-01 -1.20039281e-03 -4.39560333e+01] [-5.36919487e-03 -9.15062532e-05 9.99985582e-01 -2.62631649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3457692310001 meters Centerline goodness [0,1] 0.9999789100725494 Centerline is valid? [True, True] Translation: X:311.66, Y:-43.95, Z:-2.63 [[ 9.70085496e-01 2.42705680e-01 5.29939706e-03 3.11655148e+02] [-2.42702658e-01 9.70099965e-01 -1.21585738e-03 -4.39529247e+01] [-5.43604040e-03 -1.06692140e-04 9.99985219e-01 -2.62627939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.37576923100005 meters Centerline goodness [0,1] 0.9999787757874183 Centerline is valid? [True, True] Translation: X:311.69, Y:-43.96, Z:-2.63 [[ 9.68643691e-01 2.48415284e-01 4.38719102e-03 3.11685363e+02] [-2.48413270e-01 9.68653619e-01 -1.00685655e-03 -4.39559557e+01] [-4.49978701e-03 -1.14551225e-04 9.99989869e-01 -2.62919714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4057692310001 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:311.72, Y:-43.96, Z:-2.63 [[ 9.68072437e-01 2.50641586e-01 3.81471130e-03 3.11715453e+02] [-2.50640082e-01 9.68079947e-01 -8.75337888e-04 -4.39631313e+01] [-3.91234159e-03 -1.08729069e-04 9.99992341e-01 -2.63042736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.43576923100005 meters Centerline goodness [0,1] 0.9999360191089595 Centerline is valid? [True, True] Translation: X:311.75, Y:-43.97, Z:-2.63 [[ 9.67627616e-01 2.52349581e-01 4.06022944e-03 3.11746415e+02] [-2.52347890e-01 9.67636127e-01 -9.31909997e-04 -4.39684692e+01] [-4.16399179e-03 -1.22848484e-04 9.99991323e-01 -2.63098567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.465769231 meters Centerline goodness [0,1] 0.9998524296405608 Centerline is valid? [True, True] Translation: X:311.78, Y:-43.97, Z:-2.63 [[ 9.67744579e-01 2.51888533e-01 4.75355759e-03 3.11776497e+02] [-2.51886209e-01 9.67756243e-01 -1.09119504e-03 -4.39719888e+01] [-4.87514455e-03 -1.41357521e-04 9.99988106e-01 -2.62993552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.49576923100005 meters Centerline goodness [0,1] 0.999936593820011 Centerline is valid? [True, True] Translation: X:311.80, Y:-43.98, Z:-2.63 [[ 9.67932162e-01 2.51160936e-01 5.05121424e-03 3.11804507e+02] [-2.51158302e-01 9.67945330e-01 -1.15960644e-03 -4.39806652e+01] [-5.18054708e-03 -1.46234025e-04 9.99986570e-01 -2.62966988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.525769231 meters Centerline goodness [0,1] 0.9999787789402202 Centerline is valid? [True, True] Translation: X:311.83, Y:-43.99, Z:-2.63 [[ 9.68185454e-01 2.50185147e-01 4.93142829e-03 3.11834320e+02] [-2.50182624e-01 9.68198003e-01 -1.13196576e-03 -4.39924724e+01] [-5.05780004e-03 -1.37804886e-04 9.99987200e-01 -2.62998972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.55576923100006 meters Centerline goodness [0,1] 0.9998307881044037 Centerline is valid? [True, True] Translation: X:311.86, Y:-44.00, Z:-2.63 [[ 9.68262201e-01 2.49876962e-01 5.46012562e-03 3.11864407e+02] [-2.49873864e-01 9.68277585e-01 -1.25347203e-03 -4.39972172e+01] [-5.60013103e-03 -1.50653093e-04 9.99984308e-01 -2.62987650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58576923100003 meters Centerline goodness [0,1] 0.9998946614418742 Centerline is valid? [True, True] Translation: X:311.89, Y:-44.00, Z:-2.63 [[ 9.68021007e-01 2.50779661e-01 6.70015932e-03 3.11893434e+02] [-2.50775016e-01 9.68044175e-01 -1.53818430e-03 -4.39996823e+01] [-6.87179554e-03 -1.91237845e-04 9.99976371e-01 -2.62767363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.61576923100006 meters Centerline goodness [0,1] 0.9993646356185272 Centerline is valid? [True, True] Translation: X:311.92, Y:-43.99, Z:-2.63 [[ 9.67798543e-01 2.51639472e-01 6.59972336e-03 3.11923549e+02] [-2.51634988e-01 9.67821026e-01 -1.51486992e-03 -4.39945070e+01] [-6.76855210e-03 -1.94632401e-04 9.99977074e-01 -2.62737721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64576923100003 meters Centerline goodness [0,1] 0.999893437906268 Centerline is valid? [True, True] Translation: X:311.95, Y:-44.01, Z:-2.63 [[ 9.67625282e-01 2.52312348e-01 6.30805924e-03 3.11950790e+02] [-2.52308268e-01 9.67645825e-01 -1.44761476e-03 -4.40122107e+01] [-6.46921826e-03 -1.90826860e-04 9.99979056e-01 -2.62824062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.67576923100006 meters Centerline goodness [0,1] 0.9998095721721467 Centerline is valid? [True, True] Translation: X:311.98, Y:-44.01, Z:-2.63 [[ 9.67590145e-01 2.52481765e-01 4.71910270e-03 3.11979495e+02] [-2.52479483e-01 9.67601642e-01 -1.08299236e-03 -4.40144809e+01] [-4.83964735e-03 -1.43583875e-04 9.99988279e-01 -2.63030734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70576923100003 meters Centerline goodness [0,1] 0.9998512442357141 Centerline is valid? [True, True] Translation: X:312.01, Y:-44.02, Z:-2.63 [[ 9.67632463e-01 2.52320425e-01 4.67115836e-03 3.12008461e+02] [-2.52318187e-01 9.67643728e-01 -1.07186740e-03 -4.40171297e+01] [-4.79047113e-03 -1.41444518e-04 9.99988516e-01 -2.63058807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.73576923100006 meters Centerline goodness [0,1] 0.9999362407549095 Centerline is valid? [True, True] Translation: X:312.04, Y:-44.02, Z:-2.63 [[ 9.67722196e-01 2.51945275e-01 6.10985247e-03 3.12038134e+02] [-2.51941442e-01 9.67741466e-01 -1.40170832e-03 -4.40187644e+01] [-6.26591138e-03 -1.82860787e-04 9.99980352e-01 -2.62868471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76576923100004 meters Centerline goodness [0,1] 0.9998082699559021 Centerline is valid? [True, True] Translation: X:312.07, Y:-44.02, Z:-2.63 [[ 9.67796769e-01 2.51618726e-01 7.57832313e-03 3.12066980e+02] [-2.51612822e-01 9.67826413e-01 -1.73817566e-03 -4.40224070e+01] [-7.77185884e-03 -2.24602483e-04 9.99969773e-01 -2.62663661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.79576923100007 meters Centerline goodness [0,1] 0.9997243017411406 Centerline is valid? [True, True] Translation: X:312.10, Y:-44.02, Z:-2.63 [[ 9.67890584e-01 2.51230680e-01 8.42390676e-03 3.12096194e+02] [-2.51223375e-01 9.67927210e-01 -1.93168935e-03 -4.40246525e+01] [-8.63902820e-03 -2.46618352e-04 9.99962652e-01 -2.62558250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82576923100004 meters Centerline goodness [0,1] 0.9999572658703874 Centerline is valid? [True, True] Translation: X:312.13, Y:-44.03, Z:-2.63 [[ 9.67980838e-01 2.50895301e-01 8.04019875e-03 3.12126411e+02] [-2.50888636e-01 9.68014201e-01 -1.84345203e-03 -4.40286806e+01] [-8.24554002e-03 -2.32768258e-04 9.99965978e-01 -2.62769175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.85576923100007 meters Centerline goodness [0,1] 0.9998513453248105 Centerline is valid? [True, True] Translation: X:312.16, Y:-44.02, Z:-2.63 [[ 9.68109605e-01 2.50419106e-01 7.35286292e-03 3.12157164e+02] [-2.50413518e-01 9.68137505e-01 -1.68581254e-03 -4.40248435e+01] [-7.54074202e-03 -2.09204959e-04 9.99971546e-01 -2.62854022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.19, Y:-44.03, Z:-2.63 [[ 9.69044301e-01 2.46793737e-01 6.78191894e-03 3.12186929e+02] [-2.46788896e-01 9.69068018e-01 -1.55474976e-03 -4.40283360e+01] [-6.95584325e-03 -1.67080896e-04 9.99975794e-01 -2.62975700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.91576923100007 meters Centerline goodness [0,1] 0.9999789628694646 Centerline is valid? [True, True] Translation: X:312.22, Y:-44.03, Z:-2.63 [[ 9.69851968e-01 2.43604633e-01 6.62901537e-03 3.12215738e+02] [-2.43599934e-01 9.69874612e-01 -1.51954069e-03 -4.40331443e+01] [-6.79948087e-03 -1.41098177e-04 9.99976873e-01 -2.63024015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.24, Y:-44.04, Z:-2.63 [[ 9.70651825e-01 2.40405248e-01 6.35220893e-03 3.12243160e+02] [-2.40400866e-01 9.70672604e-01 -1.45592372e-03 -4.40404068e+01] [-6.51592688e-03 -1.13881511e-04 9.99978765e-01 -2.63087707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.27, Y:-44.05, Z:-2.63 [[ 9.72283223e-01 2.33744249e-01 5.38154714e-03 3.12270532e+02] [-2.33741003e-01 9.72298114e-01 -1.23323507e-03 -4.40522652e+01] [-5.52072974e-03 -5.88344590e-05 9.99984759e-01 -2.63394347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.30, Y:-44.06, Z:-2.64 [[ 9.73099642e-01 2.30333568e-01 4.85110754e-03 3.12297959e+02] [-2.30330888e-01 9.73111734e-01 -1.11159522e-03 -4.40621393e+01] [-4.97670736e-03 -3.56669956e-05 9.99987615e-01 -2.63549312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.33, Y:-44.07, Z:-2.64 [[ 9.73794221e-01 2.27381598e-01 4.73545968e-03 3.12325820e+02] [-2.27379011e-01 9.73805734e-01 -1.08488279e-03 -4.40712234e+01] [-4.85810017e-03 -2.02915512e-05 9.99988199e-01 -2.63590739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.35, Y:-44.08, Z:-2.63 [[ 9.74630737e-01 2.23727221e-01 6.40757523e-03 3.12351816e+02] [-2.23722408e-01 9.74651800e-01 -1.46756369e-03 -4.40813179e+01] [-6.57348868e-03 -3.18547676e-06 9.99978394e-01 -2.63371407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0957692310001 meters Centerline goodness [0,1] 0.9999141520367429 Centerline is valid? [True, True] Translation: X:312.38, Y:-44.09, Z:-2.63 [[ 9.75094662e-01 2.21630981e-01 8.37311301e-03 3.12380871e+02] [-2.21622688e-01 9.75130611e-01 -1.91736339e-03 -4.40926183e+01] [-8.58982593e-03 1.39390011e-05 9.99963107e-01 -2.63056886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12576923100005 meters Centerline goodness [0,1] 0.99991452260877 Centerline is valid? [True, True] Translation: X:312.41, Y:-44.10, Z:-2.63 [[ 9.75270267e-01 2.20888020e-01 7.50927502e-03 3.12410900e+02] [-2.20881325e-01 9.75299176e-01 -1.71994213e-03 -4.41027861e+01] [-7.70370435e-03 1.87498020e-05 9.99970326e-01 -2.63148611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1557692310001 meters Centerline goodness [0,1] 0.9999363219561895 Centerline is valid? [True, True] Translation: X:312.44, Y:-44.11, Z:-2.64 [[ 9.75423135e-01 2.20267043e-01 5.66894388e-03 3.12439305e+02] [-2.20263213e-01 9.75439608e-01 -1.29910046e-03 -4.41119515e+01] [-5.81586141e-03 1.85128550e-05 9.99983088e-01 -2.63598418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18576923100005 meters Centerline goodness [0,1] 0.9999787591070328 Centerline is valid? [True, True] Translation: X:312.47, Y:-44.12, Z:-2.64 [[ 9.75507043e-01 2.19923577e-01 4.43039439e-03 3.12466262e+02] [-2.19921235e-01 9.75517104e-01 -1.01521200e-03 -4.41207997e+01] [-4.54519456e-03 1.60086565e-05 9.99989670e-01 -2.63908952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.215769231 meters Centerline goodness [0,1] 0.9999786438868126 Centerline is valid? [True, True] Translation: X:312.50, Y:-44.13, Z:-2.64 [[ 9.75647419e-01 2.19258993e-01 6.13252965e-03 3.12496299e+02] [-2.19254493e-01 9.75666692e-01 -1.40500864e-03 -4.41300575e+01] [-6.29136570e-03 2.62083709e-05 9.99980209e-01 -2.63620519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24576923100005 meters Centerline goodness [0,1] 0.9999577622436696 Centerline is valid? [True, True] Translation: X:312.53, Y:-44.14, Z:-2.63 [[ 9.75849506e-01 2.18320810e-01 7.33250472e-03 3.12525671e+02] [-2.18314348e-01 9.75877053e-01 -1.68027627e-03 -4.41406013e+01] [-7.52246237e-03 3.89057791e-05 9.99971705e-01 -2.63344693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.275769231 meters Centerline goodness [0,1] 0.9998513011152417 Centerline is valid? [True, True] Translation: X:312.56, Y:-44.15, Z:-2.63 [[ 9.76197986e-01 2.16763170e-01 7.15686537e-03 3.12555500e+02] [-2.16756965e-01 9.76224219e-01 -1.64084160e-03 -4.41528457e+01] [-7.34237933e-03 5.04858432e-05 9.99973043e-01 -2.63481600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30576923100006 meters Centerline goodness [0,1] 0.9998309097057829 Centerline is valid? [True, True] Translation: X:312.59, Y:-44.17, Z:-2.64 [[ 9.76239662e-01 2.16588133e-01 6.76035208e-03 3.12585397e+02] [-2.16582585e-01 9.76263068e-01 -1.55105220e-03 -4.41659631e+01] [-6.93582156e-03 5.00241450e-05 9.99975946e-01 -2.63562768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.33576923100003 meters Centerline goodness [0,1] 0.9998726601298866 Centerline is valid? [True, True] Translation: X:312.61, Y:-44.18, Z:-2.64 [[ 9.76386508e-01 2.15945059e-01 6.09247660e-03 3.12614737e+02] [-2.15940535e-01 9.76405515e-01 -1.39873695e-03 -4.41764968e+01] [-6.25077808e-03 5.00952298e-05 9.99980462e-01 -2.63706204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36576923100006 meters Centerline goodness [0,1] 0.9998519834221433 Centerline is valid? [True, True] Translation: X:312.65, Y:-44.19, Z:-2.64 [[ 9.76638587e-01 2.14840198e-01 4.55630016e-03 3.12645875e+02] [-2.14837656e-01 9.76649214e-01 -1.04598618e-03 -4.41853808e+01] [-4.67462685e-03 4.26856190e-05 9.99989073e-01 -2.64082326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.39576923100003 meters Centerline goodness [0,1] 0.9997890651366858 Centerline is valid? [True, True] Translation: X:312.68, Y:-44.20, Z:-2.64 [[ 9.76637342e-01 2.14848280e-01 4.44052045e-03 3.12675890e+02] [-2.14845862e-01 9.76647436e-01 -1.02018825e-03 -4.41961868e+01] [-4.55600861e-03 4.23264983e-05 9.99989620e-01 -2.64167430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42576923100006 meters Centerline goodness [0,1] 0.9998087263298833 Centerline is valid? [True, True] Translation: X:312.71, Y:-44.20, Z:-2.64 [[ 9.76448822e-01 2.15658205e-01 6.26394831e-03 3.12707153e+02] [-2.15653403e-01 9.76468912e-01 -1.44018103e-03 -4.42027641e+01] [-6.42713764e-03 5.54212963e-05 9.99979344e-01 -2.63714920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.45576923100003 meters Centerline goodness [0,1] 0.9998727249586357 Centerline is valid? [True, True] Translation: X:312.74, Y:-44.21, Z:-2.64 [[ 9.76422349e-01 2.15760557e-01 6.83947975e-03 3.12738918e+02] [-2.15754826e-01 9.76446301e-01 -1.57378690e-03 -4.42110269e+01] [-7.01794584e-03 6.10299328e-05 9.99975372e-01 -2.63611457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48576923100006 meters Centerline goodness [0,1] 0.9998091319746357 Centerline is valid? [True, True] Translation: X:312.77, Y:-44.22, Z:-2.64 [[ 9.76565686e-01 2.15124831e-01 6.38502314e-03 3.12768159e+02] [-2.15119815e-01 9.76586557e-01 -1.47032070e-03 -4.42208806e+01] [-6.55183026e-03 6.23197468e-05 9.99978535e-01 -2.63740400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51576923100004 meters Centerline goodness [0,1] 0.9997448111602586 Centerline is valid? [True, True] Translation: X:312.80, Y:-44.24, Z:-2.64 [[ 9.77609695e-01 2.10348270e-01 5.73500055e-03 3.12796746e+02] [-2.10344138e-01 9.77626513e-01 -1.32114663e-03 -4.42379108e+01] [-5.88458950e-03 8.52420114e-05 9.99982682e-01 -2.64132348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54576923100007 meters Centerline goodness [0,1] 0.999576477563899 Centerline is valid? [True, True] Translation: X:312.83, Y:-44.25, Z:-2.64 [[ 9.78441831e-01 2.06440726e-01 5.81468587e-03 3.12825361e+02] [-2.06436404e-01 9.78459102e-01 -1.34043257e-03 -4.42548300e+01] [-5.96615219e-03 1.11172453e-04 9.99982196e-01 -2.64162494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57576923100004 meters Centerline goodness [0,1] 0.9993579729064567 Centerline is valid? [True, True] Translation: X:312.85, Y:-44.28, Z:-2.64 [[ 9.80168805e-01 1.98093888e-01 5.28450851e-03 3.12849568e+02] [-1.98090195e-01 9.80183039e-01 -1.21862510e-03 -4.42835230e+01] [-5.42118779e-03 1.47648989e-04 9.99985294e-01 -2.64223481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60576923100007 meters Centerline goodness [0,1] 0.9986602870813397 Centerline is valid? [True, True] Translation: X:312.88, Y:-44.30, Z:-2.64 [[ 9.80759360e-01 1.95169710e-01 4.45678060e-03 3.12876187e+02] [-1.95167053e-01 9.80769476e-01 -1.02778968e-03 -4.43030667e+01] [-4.57166779e-03 1.38197617e-04 9.99989540e-01 -2.64370944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63576923100004 meters Centerline goodness [0,1] 0.9983611442193087 Centerline is valid? [True, True] Translation: X:312.91, Y:-44.32, Z:-2.64 [[ 9.81062900e-01 1.93644966e-01 4.14883585e-03 3.12905944e+02] [-1.93642649e-01 9.81071663e-01 -9.56772363e-04 -4.43162453e+01] [-4.25557944e-03 1.35262304e-04 9.99990936e-01 -2.64465292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66576923100007 meters Centerline goodness [0,1] 0.9991948128999449 Centerline is valid? [True, True] Translation: X:312.94, Y:-44.32, Z:-2.64 [[ 9.80791851e-01 1.95010856e-01 4.25580275e-03 3.12937571e+02] [-1.95008430e-01 9.80801075e-01 -9.81628710e-04 -4.43244121e+01] [-4.36552416e-03 1.32856026e-04 9.99990462e-01 -2.64414641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69576923100004 meters Centerline goodness [0,1] 0.9994840263146579 Centerline is valid? [True, True] Translation: X:312.97, Y:-44.33, Z:-2.65 [[ 9.79727979e-01 2.00295407e-01 3.85178380e-03 3.12967204e+02] [-2.00293460e-01 9.79735546e-01 -8.88750754e-04 -4.43313475e+01] [-3.95174220e-03 9.92468768e-05 9.99992187e-01 -2.64512019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7257692310001 meters Centerline goodness [0,1] 0.9996806812134114 Centerline is valid? [True, True] Translation: X:313.00, Y:-44.34, Z:-2.65 [[ 9.79039284e-01 2.03633729e-01 3.92232600e-03 3.12996656e+02] [-2.03631737e-01 9.79047137e-01 -9.04909946e-04 -4.43389758e+01] [-4.02441223e-03 8.72323307e-05 9.99991898e-01 -2.64527674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.75576923100004 meters Centerline goodness [0,1] 0.9997028168715107 Centerline is valid? [True, True] Translation: X:313.03, Y:-44.34, Z:-2.64 [[ 9.78374784e-01 2.06791948e-01 4.45791372e-03 3.13028019e+02] [-2.06789405e-01 9.78384936e-01 -1.02890254e-03 -4.43440724e+01] [-4.57432439e-03 8.48029699e-05 9.99989534e-01 -2.64415903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7857692310001 meters Centerline goodness [0,1] 0.9998080122872136 Centerline is valid? [True, True] Translation: X:313.06, Y:-44.35, Z:-2.64 [[ 9.77389307e-01 2.11366959e-01 5.84392262e-03 3.13059693e+02] [-2.11362670e-01 9.77406774e-01 -1.34907487e-03 -4.43481736e+01] [-5.99703940e-03 8.33842656e-05 9.99982014e-01 -2.64224637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.81576923100005 meters Centerline goodness [0,1] 0.9998108806657 Centerline is valid? [True, True] Translation: X:313.09, Y:-44.36, Z:-2.64 [[ 9.76967404e-01 2.13296236e-01 6.27755528e-03 3.13089443e+02] [-2.13291324e-01 9.76987569e-01 -1.44953434e-03 -4.43572000e+01] [-6.44227369e-03 7.71997230e-05 9.99979245e-01 -2.64162106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8457692310001 meters Centerline goodness [0,1] 0.9998095641134152 Centerline is valid? [True, True] Translation: X:313.12, Y:-44.37, Z:-2.64 [[ 9.76114126e-01 2.17133111e-01 7.37729266e-03 3.13120335e+02] [-2.17126427e-01 9.76142002e-01 -1.70485249e-03 -4.43650862e+01] [-7.57146515e-03 6.23254053e-05 9.99971334e-01 -2.63932877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.87576923100005 meters Centerline goodness [0,1] 0.999788887012329 Centerline is valid? [True, True] Translation: X:313.15, Y:-44.37, Z:-2.64 [[ 9.75682204e-01 2.19076160e-01 7.06201541e-03 3.13150873e+02] [-2.19070079e-01 9.75707760e-01 -1.63303670e-03 -4.43723439e+01] [-7.24822265e-03 4.62485805e-05 9.99973730e-01 -2.63925447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9057692310001 meters Centerline goodness [0,1] 0.999788887012329 Centerline is valid? [True, True] Translation: X:313.18, Y:-44.38, Z:-2.64 [[ 9.75645180e-01 2.19240995e-01 7.06183786e-03 3.13182468e+02] [-2.19234912e-01 9.75670736e-01 -1.63380415e-03 -4.43798780e+01] [-7.24822539e-03 4.58117452e-05 9.99973730e-01 -2.63943781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.93576923100005 meters Centerline goodness [0,1] 0.9998720081914757 Centerline is valid? [True, True] Translation: X:313.21, Y:-44.38, Z:-2.64 [[ 9.75220522e-01 2.21149835e-01 6.13868792e-03 3.13213525e+02] [-2.21145271e-01 9.75239842e-01 -1.42116998e-03 -4.43837057e+01] [-6.30098455e-03 2.84123250e-05 9.99980148e-01 -2.64251786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.965769231 meters Centerline goodness [0,1] 0.9999150995457826 Centerline is valid? [True, True] Translation: X:313.25, Y:-44.38, Z:-2.65 [[ 9.74081692e-01 2.26161156e-01 3.99868705e-03 3.13247308e+02] [-2.26159260e-01 9.74089899e-01 -9.25988259e-04 -4.43801884e+01] [-4.10450324e-03 -2.35189420e-06 9.99991576e-01 -2.64724773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.99576923100005 meters Centerline goodness [0,1] 0.99997875775342 Centerline is valid? [True, True] Translation: X:313.28, Y:-44.38, Z:-2.65 [[ 9.73349205e-01 2.29275097e-01 4.92485762e-03 3.13279293e+02] [-2.29272256e-01 9.73361664e-01 -1.14155190e-03 -4.43818390e+01] [-5.05539703e-03 -1.80045813e-05 9.99987221e-01 -2.64524016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.31, Y:-44.38, Z:-2.64 [[ 9.72162339e-01 2.34178817e-01 7.78899493e-03 3.13312593e+02] [-2.34171852e-01 9.72193539e-01 -1.80743993e-03 -4.43780748e+01] [-7.99567470e-03 -6.68383363e-05 9.99968032e-01 -2.63797156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.34, Y:-44.38, Z:-2.64 [[ 9.71760065e-01 2.35847652e-01 7.63296985e-03 3.13344422e+02] [-2.35841004e-01 9.71790039e-01 -1.77246286e-03 -4.43817781e+01] [-7.83567527e-03 -7.77586509e-05 9.99969298e-01 -2.63951839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.38, Y:-44.38, Z:-2.64 [[ 9.71532267e-01 2.36810352e-01 6.77581729e-03 3.13377271e+02] [-2.36805129e-01 9.71555892e-01 -1.57454602e-03 -4.43849470e+01] [-6.95595401e-03 -7.48260245e-05 9.99975804e-01 -2.64259075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.41, Y:-44.38, Z:-2.65 [[ 9.71662850e-01 2.36337689e-01 3.97517497e-03 3.13408952e+02] [-2.36335886e-01 9.71670981e-01 -9.24149661e-04 -4.43847815e+01] [-4.08097355e-03 -4.15146057e-05 9.99991672e-01 -2.64879022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.44, Y:-44.39, Z:-2.65 [[ 9.71957273e-01 2.35139043e-01 2.94785775e-03 3.13440053e+02] [-2.35138045e-01 9.71961743e-01 -6.85577472e-04 -4.43898212e+01] [-3.02641099e-03 -2.68014993e-05 9.99995420e-01 -2.65022058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.47, Y:-44.40, Z:-2.65 [[ 9.72439810e-01 2.33140290e-01 2.53391715e-03 3.13471052e+02] [-2.33139545e-01 9.72443111e-01 -5.89550286e-04 -4.43976818e+01] [-2.60153820e-03 -1.74541254e-05 9.99996616e-01 -2.64975823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20576923100003 meters Centerline goodness [0,1] 0.9999574784734772 Centerline is valid? [True, True] Translation: X:313.50, Y:-44.41, Z:-2.65 [[ 9.73655820e-01 2.27996865e-01 3.43122484e-03 3.13500817e+02] [-2.27995464e-01 9.73661866e-01 -7.99302501e-04 -4.44054834e+01] [-3.52309124e-03 -4.05816650e-06 9.99993794e-01 -2.64737033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.23576923100006 meters Centerline goodness [0,1] 0.9999788837975379 Centerline is valid? [True, True] Translation: X:313.53, Y:-44.41, Z:-2.65 [[ 9.74121644e-01 2.25977472e-01 4.60478865e-03 3.13532344e+02] [-2.25974921e-01 9.74132528e-01 -1.07373093e-03 -4.44131084e+01] [-4.72831341e-03 5.37778452e-06 9.99988821e-01 -2.64560949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26576923100004 meters Centerline goodness [0,1] 0.999873292082867 Centerline is valid? [True, True] Translation: X:313.56, Y:-44.42, Z:-2.64 [[ 9.74429106e-01 2.24597838e-01 6.61279498e-03 3.13564904e+02] [-2.24592534e-01 9.74451544e-01 -1.54361927e-03 -4.44154520e+01] [-6.79054182e-03 1.89631640e-05 9.99976944e-01 -2.64260158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.29576923100007 meters Centerline goodness [0,1] 0.9999145499989319 Centerline is valid? [True, True] Translation: X:313.60, Y:-44.42, Z:-2.64 [[ 9.74449147e-01 2.24503162e-01 6.86950072e-03 3.13597761e+02] [-2.24497427e-01 9.74473360e-01 -1.60485520e-03 -4.44198326e+01] [-7.05444052e-03 2.16645478e-05 9.99975117e-01 -2.64303811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32576923100004 meters Centerline goodness [0,1] 0.9998715643462626 Centerline is valid? [True, True] Translation: X:313.63, Y:-44.43, Z:-2.64 [[ 9.74581175e-01 2.23922247e-01 7.09656063e-03 3.13628717e+02] [-2.23916100e-01 9.74607011e-01 -1.65934595e-03 -4.44264636e+01] [-7.28792221e-03 2.81331433e-05 9.99973442e-01 -2.64294254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.35576923100007 meters Centerline goodness [0,1] 0.9997891763118504 Centerline is valid? [True, True] Translation: X:313.66, Y:-44.44, Z:-2.64 [[ 9.75499692e-01 2.19840084e-01 8.40764219e-03 3.13657526e+02] [-2.19831290e-01 9.75535921e-01 -1.96760175e-03 -4.44393878e+01] [-8.63451470e-03 7.11320688e-05 9.99962719e-01 -2.64035190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38576923100004 meters Centerline goodness [0,1] 0.9997221094033902 Centerline is valid? [True, True] Translation: X:313.69, Y:-44.45, Z:-2.64 [[ 9.76119205e-01 2.17088630e-01 7.98906838e-03 3.13687623e+02] [-2.17080588e-01 9.76151893e-01 -1.87088837e-03 -4.44498050e+01] [-8.20469281e-03 9.19384126e-05 9.99966337e-01 -2.64187252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.41576923100007 meters Centerline goodness [0,1] 0.9997008610927117 Centerline is valid? [True, True] Translation: X:313.72, Y:-44.47, Z:-2.65 [[ 9.77297743e-01 2.11780270e-01 6.18379290e-03 3.13716271e+02] [-2.11775340e-01 9.77317300e-01 -1.44893343e-03 -4.44671710e+01] [-6.35038330e-03 1.06464520e-04 9.99979830e-01 -2.64630588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44576923100004 meters Centerline goodness [0,1] 0.999742306783774 Centerline is valid? [True, True] Translation: X:313.75, Y:-44.48, Z:-2.65 [[ 9.77915916e-01 2.08904766e-01 6.26573432e-03 3.13745908e+02] [-2.08899639e-01 9.77935981e-01 -1.46910126e-03 -4.44811039e+01] [-6.43438929e-03 1.27747869e-04 9.99979291e-01 -2.64644529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.4757692310001 meters Centerline goodness [0,1] 0.9995943378098512 Centerline is valid? [True, True] Translation: X:313.77, Y:-44.50, Z:-2.64 [[ 9.78507254e-01 2.06092168e-01 7.04077696e-03 3.13773619e+02] [-2.06085619e-01 9.78532570e-01 -1.65118331e-03 -4.44971119e+01] [-7.22992552e-03 1.64691968e-04 9.99973850e-01 -2.64483368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50576923100004 meters Centerline goodness [0,1] 0.9994453333333333 Centerline is valid? [True, True] Translation: X:313.80, Y:-44.51, Z:-2.65 [[ 9.79476035e-01 2.01451110e-01 6.64440512e-03 3.13801157e+02] [-2.01445170e-01 9.79498553e-01 -1.55839707e-03 -4.45146625e+01] [-6.82212601e-03 1.87929266e-04 9.99976711e-01 -2.64603360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5357692310001 meters Centerline goodness [0,1] 0.9991443484213228 Centerline is valid? [True, True] Translation: X:313.83, Y:-44.53, Z:-2.65 [[ 9.79693144e-01 2.00433460e-01 5.26997262e-03 3.13831134e+02] [-2.00429708e-01 9.79707305e-01 -1.23612912e-03 -4.45272732e+01] [-5.41079231e-03 1.54768155e-04 9.99985350e-01 -2.64901860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56576923100005 meters Centerline goodness [0,1] 0.9992811687350684 Centerline is valid? [True, True] Translation: X:313.86, Y:-44.54, Z:-2.65 [[ 9.79712120e-01 2.00378565e-01 3.54851137e-03 3.13859365e+02] [-2.00376863e-01 9.79718541e-01 -8.32683985e-04 -4.45423434e+01] [-3.64339440e-03 1.04751017e-04 9.99993357e-01 -2.65232189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5957692310001 meters Centerline goodness [0,1] 0.9996166542434246 Centerline is valid? [True, True] Translation: X:313.89, Y:-44.55, Z:-2.65 [[ 9.79128321e-01 2.03232101e-01 2.10797179e-03 3.13889239e+02] [-2.03231506e-01 9.79130589e-01 -4.95066200e-04 -4.45547030e+01] [-2.16459300e-03 5.63270569e-05 9.99997656e-01 -2.65370516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62576923100005 meters Centerline goodness [0,1] 0.9995959424111605 Centerline is valid? [True, True] Translation: X:313.92, Y:-44.56, Z:-2.65 [[ 9.78488257e-01 2.06281577e-01 2.93969467e-03 3.13919319e+02] [-2.06280432e-01 9.78492671e-01 -6.90653093e-04 -4.45596703e+01] [-3.01893870e-03 6.93944549e-05 9.99995441e-01 -2.65182741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6557692310001 meters Centerline goodness [0,1] 0.9995717619853114 Centerline is valid? [True, True] Translation: X:313.95, Y:-44.56, Z:-2.65 [[ 9.76932344e-01 2.13481482e-01 5.37145714e-03 3.13952090e+02] [-2.13477769e-01 9.76947107e-01 -1.26209535e-03 -4.45569930e+01] [-5.51706349e-03 8.62950814e-05 9.99984777e-01 -2.64574759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68576923100005 meters Centerline goodness [0,1] 0.9997844827586206 Centerline is valid? [True, True] Translation: X:313.98, Y:-44.56, Z:-2.65 [[ 9.76132700e-01 2.17107882e-01 5.39621691e-03 3.13982793e+02] [-2.17104189e-01 9.76147614e-01 -1.26799019e-03 -4.45613632e+01] [-5.54279492e-03 6.61853917e-05 9.99984636e-01 -2.64784639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.715769231 meters Centerline goodness [0,1] 0.9998304366256888 Centerline is valid? [True, True] Translation: X:314.01, Y:-44.56, Z:-2.65 [[ 9.75083172e-01 2.21792459e-01 4.57307552e-03 3.14013745e+02] [-2.21789856e-01 9.75093895e-01 -1.07518126e-03 -4.45645928e+01] [-4.69764512e-03 3.41293925e-05 9.99988965e-01 -2.64894082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74576923100005 meters Centerline goodness [0,1] 0.9998306304780454 Centerline is valid? [True, True] Translation: X:314.05, Y:-44.57, Z:-2.65 [[ 9.74853825e-01 2.22812201e-01 3.83961196e-03 3.14045469e+02] [-2.22810372e-01 9.74861386e-01 -9.03153107e-04 -4.45718935e+01] [-3.94432296e-03 2.49368949e-05 9.99992221e-01 -2.65095221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.775769231 meters Centerline goodness [0,1] 0.9998310953466768 Centerline is valid? [True, True] Translation: X:314.08, Y:-44.58, Z:-2.65 [[ 9.74855790e-01 2.22807245e-01 3.62226263e-03 3.14077134e+02] [-2.22805615e-01 9.74862519e-01 -8.52679830e-04 -4.45808447e+01] [-3.72119132e-03 2.41794166e-05 9.99993076e-01 -2.65208261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80576923100006 meters Centerline goodness [0,1] 0.999786561939725 Centerline is valid? [True, True] Translation: X:314.11, Y:-44.59, Z:-2.65 [[ 9.75426239e-01 2.20284056e-01 4.31114520e-03 3.14107492e+02] [-2.20281718e-01 9.75435766e-01 -1.01591935e-03 -4.45924704e+01] [-4.42903606e-03 4.12879203e-05 9.99990191e-01 -2.65089560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.83576923100003 meters Centerline goodness [0,1] 0.9997443054697321 Centerline is valid? [True, True] Translation: X:314.14, Y:-44.60, Z:-2.65 [[ 9.75585604e-01 2.19558724e-01 5.16688815e-03 3.14137157e+02] [-2.19555348e-01 9.75599284e-01 -1.21869484e-03 -4.46016914e+01] [-5.30838746e-03 5.45232124e-05 9.99985909e-01 -2.64900928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86576923100006 meters Centerline goodness [0,1] 0.9997670133226019 Centerline is valid? [True, True] Translation: X:314.17, Y:-44.61, Z:-2.64 [[ 9.75344880e-01 2.20562867e-01 7.37473201e-03 3.14167652e+02] [-2.20556008e-01 9.75372758e-01 -1.74092203e-03 -4.46067199e+01] [-7.57709545e-03 7.14579407e-05 9.99971291e-01 -2.64276176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.89576923100003 meters Centerline goodness [0,1] 0.9998085187864346 Centerline is valid? [True, True] Translation: X:314.20, Y:-44.61, Z:-2.64 [[ 9.74971848e-01 2.22182286e-01 8.05772995e-03 3.14199509e+02] [-2.22174145e-01 9.75005142e-01 -1.90318850e-03 -4.46099489e+01] [-8.27918291e-03 6.53359507e-05 9.99965725e-01 -2.64124169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92576923100006 meters Centerline goodness [0,1] 0.9998096889471569 Centerline is valid? [True, True] Translation: X:314.23, Y:-44.61, Z:-2.64 [[ 9.74436028e-01 2.24508275e-01 8.39412842e-03 3.14230876e+02] [-2.24499512e-01 9.74472181e-01 -1.98412006e-03 -4.46124904e+01] [-8.62529600e-03 4.89203381e-05 9.99962800e-01 -2.64120454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.95576923100003 meters Centerline goodness [0,1] 0.9998724571137045 Centerline is valid? [True, True] Translation: X:314.26, Y:-44.61, Z:-2.64 [[ 9.73488817e-01 2.28599682e-01 7.85553305e-03 3.14263214e+02] [-2.28592131e-01 9.73520511e-01 -1.85802347e-03 -4.46110070e+01] [-8.07226612e-03 1.30520298e-05 9.99967419e-01 -2.64354194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98576923100006 meters Centerline goodness [0,1] 0.9999578796621948 Centerline is valid? [True, True] Translation: X:314.30, Y:-44.62, Z:-2.65 [[ 9.73185351e-01 2.29912751e-01 7.09933296e-03 3.14296287e+02] [-2.29906611e-01 9.73211245e-01 -1.68027544e-03 -4.46160608e+01] [-7.29546742e-03 3.03586495e-06 9.99973388e-01 -2.64545517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01576923100004 meters Centerline goodness [0,1] 0.9999573424336141 Centerline is valid? [True, True] Translation: X:314.33, Y:-44.62, Z:-2.65 [[ 9.73052976e-01 2.30524322e-01 5.14228678e-03 3.14328015e+02] [-2.30521105e-01 9.73066564e-01 -1.21779726e-03 -4.46193363e+01] [-5.28451921e-03 -4.24380348e-07 9.99986037e-01 -2.64883756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04576923100007 meters Centerline goodness [0,1] 0.9999155779742935 Centerline is valid? [True, True] Translation: X:314.36, Y:-44.62, Z:-2.65 [[ 9.72947434e-01 2.30990458e-01 4.08648295e-03 3.14360149e+02] [-2.30988428e-01 9.72956016e-01 -9.68305346e-04 -4.46239816e+01] [-4.19963747e-03 -1.82007119e-06 9.99991181e-01 -2.65077984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07576923100004 meters Centerline goodness [0,1] 0.9999362326233898 Centerline is valid? [True, True] Translation: X:314.39, Y:-44.62, Z:-2.65 [[ 9.72630082e-01 2.32348346e-01 2.22950793e-03 3.14394263e+02] [-2.32347745e-01 9.72632637e-01 -5.28204975e-04 -4.46244657e+01] [-2.29121973e-03 -4.27309412e-06 9.99997375e-01 -2.65368833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10576923100007 meters Centerline goodness [0,1] 0.9999578707897121 Centerline is valid? [True, True] Translation: X:314.43, Y:-44.63, Z:-2.65 [[ 9.72434308e-01 2.33165892e-01 2.27661078e-03 3.14426826e+02] [-2.33165267e-01 9.72436973e-01 -5.40061290e-04 -4.46277502e+01] [-2.33978436e-03 -5.65243297e-06 9.99997263e-01 -2.65462139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13576923100004 meters Centerline goodness [0,1] 0.9999573478919196 Centerline is valid? [True, True] Translation: X:314.46, Y:-44.63, Z:-2.65 [[ 9.72331833e-01 2.33585653e-01 2.92383641e-03 3.14459679e+02] [-2.33584623e-01 9.72336229e-01 -6.93955711e-04 -4.46323657e+01] [-3.00505017e-03 -8.20799591e-06 9.99995485e-01 -2.65404362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16576923100007 meters Centerline goodness [0,1] 0.9999361674964892 Centerline is valid? [True, True] Translation: X:314.49, Y:-44.64, Z:-2.65 [[ 9.72492177e-01 2.32887513e-01 4.72996977e-03 3.14492851e+02] [-2.32884800e-01 9.72503679e-01 -1.12418303e-03 -4.46371831e+01] [-4.86172119e-03 -8.27885738e-06 9.99988182e-01 -2.65128215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19576923100004 meters Centerline goodness [0,1] 0.9999787188763567 Centerline is valid? [True, True] Translation: X:314.52, Y:-44.64, Z:-2.65 [[ 9.72662704e-01 2.32172518e-01 4.81529239e-03 3.14524690e+02] [-2.32169693e-01 9.72674623e-01 -1.14539836e-03 -4.46446858e+01] [-4.94964273e-03 -3.87868481e-06 9.99987750e-01 -2.65144834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2257692310001 meters Centerline goodness [0,1] 0.9999151895513527 Centerline is valid? [True, True] Translation: X:314.56, Y:-44.65, Z:-2.66 [[ 9.73013671e-01 2.30729034e-01 2.91713061e-03 3.14555562e+02] [-2.30727990e-01 9.73018043e-01 -6.94063939e-04 -4.46516390e+01] [-2.99856142e-03 2.27001928e-06 9.99995504e-01 -2.65507858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.25576923100004 meters Centerline goodness [0,1] 0.9999788462758868 Centerline is valid? [True, True] Translation: X:314.59, Y:-44.66, Z:-2.66 [[ 9.73116665e-01 2.30299457e-01 2.47330932e-03 3.14587001e+02] [-2.30298704e-01 9.73119808e-01 -5.88791120e-04 -4.46583829e+01] [-2.54242457e-03 3.36251792e-06 9.99996768e-01 -2.65687025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.62, Y:-44.66, Z:-2.66 [[ 9.73099029e-01 2.30374256e-01 2.44572054e-03 3.14618108e+02] [-2.30373520e-01 9.73102103e-01 -5.82656952e-04 -4.46643474e+01] [-2.51416496e-03 3.55366495e-06 9.99996839e-01 -2.65751743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.65, Y:-44.67, Z:-2.66 [[ 9.72843947e-01 2.31440886e-01 3.12596278e-03 3.14650337e+02] [-2.31439684e-01 9.72848969e-01 -7.45734942e-04 -4.46661098e+01] [-3.21368322e-03 2.01188619e-06 9.99994836e-01 -2.65611994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3457692310001 meters Centerline goodness [0,1] 0.9999361185639453 Centerline is valid? [True, True] Translation: X:314.68, Y:-44.67, Z:-2.66 [[ 9.72695834e-01 2.32056801e-01 3.52941215e-03 3.14680421e+02] [-2.32055273e-01 9.72702237e-01 -8.42127440e-04 -4.46699742e+01] [-3.62848849e-03 1.15154650e-07 9.99993417e-01 -2.65516008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.37576923100005 meters Centerline goodness [0,1] 0.9999787057345457 Centerline is valid? [True, True] Translation: X:314.71, Y:-44.67, Z:-2.66 [[ 9.72453340e-01 2.33069981e-01 3.58953721e-03 3.14710831e+02] [-2.33068408e-01 9.72459965e-01 -8.56517592e-04 -4.46712842e+01] [-3.69030977e-03 -3.68432783e-06 9.99993191e-01 -2.65535901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.74, Y:-44.68, Z:-2.66 [[ 9.72504931e-01 2.32863988e-01 2.91934048e-03 3.14739079e+02] [-2.32862947e-01 9.72509312e-01 -6.96583731e-04 -4.46765477e+01] [-3.00129507e-03 -2.37511279e-06 9.99995496e-01 -2.65738687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.77, Y:-44.68, Z:-2.66 [[ 9.72647262e-01 2.32277529e-01 2.11015336e-03 3.14768025e+02] [-2.32276984e-01 9.72649551e-01 -5.03444004e-04 -4.46836738e+01] [-2.16937845e-03 -4.66626586e-07 9.99997647e-01 -2.65981247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.465769231 meters Centerline goodness [0,1] 0.9999365723709248 Centerline is valid? [True, True] Translation: X:314.80, Y:-44.69, Z:-2.66 [[ 9.73371795e-01 2.29222561e-01 2.08942984e-03 3.14795482e+02] [-2.29222019e-01 9.73374038e-01 -4.98413556e-04 -4.46941393e+01] [-2.14804439e-03 6.19837060e-06 9.99997693e-01 -2.65960887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.49576923100005 meters Centerline goodness [0,1] 0.9998941036936632 Centerline is valid? [True, True] Translation: X:314.83, Y:-44.70, Z:-2.66 [[ 9.73711396e-01 2.27757061e-01 3.58300616e-03 3.14825590e+02] [-2.27755458e-01 9.73717988e-01 -8.54538112e-04 -4.47023378e+01] [-3.68346464e-03 1.60242886e-05 9.99993216e-01 -2.65593724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.525769231 meters Centerline goodness [0,1] 0.9998097171127743 Centerline is valid? [True, True] Translation: X:314.85, Y:-44.71, Z:-2.65 [[ 9.74409236e-01 2.24711629e-01 5.59680845e-03 3.14854814e+02] [-2.24707667e-01 9.74425309e-01 -1.33504754e-03 -4.47149102e+01] [-5.75367251e-03 4.32368845e-05 9.99983447e-01 -2.65129701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.55576923100006 meters Centerline goodness [0,1] 0.9998304797423292 Centerline is valid? [True, True] Translation: X:314.88, Y:-44.73, Z:-2.65 [[ 9.74672348e-01 2.23564639e-01 5.71548789e-03 3.14884066e+02] [-2.23560482e-01 9.74689104e-01 -1.36426071e-03 -4.47251530e+01] [-5.87582422e-03 5.19499586e-05 9.99982736e-01 -2.65124160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58576923100003 meters Centerline goodness [0,1] 0.9998298741068391 Centerline is valid? [True, True] Translation: X:314.91, Y:-44.74, Z:-2.65 [[ 9.74912565e-01 2.22520227e-01 5.49900974e-03 3.14913038e+02] [-2.22516358e-01 9.74928072e-01 -1.31340372e-03 -4.47361004e+01] [-5.65339786e-03 5.68341659e-05 9.99984018e-01 -2.65273462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.61576923100006 meters Centerline goodness [0,1] 0.9998733054605347 Centerline is valid? [True, True] Translation: X:314.94, Y:-44.75, Z:-2.65 [[ 9.75143174e-01 2.21518935e-01 5.01509748e-03 3.14942846e+02] [-2.21515700e-01 9.75156069e-01 -1.19852492e-03 -4.47462211e+01] [-5.15599871e-03 5.78105671e-05 9.99986706e-01 -2.65453675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64576923100003 meters Centerline goodness [0,1] 0.9998519395913533 Centerline is valid? [True, True] Translation: X:314.98, Y:-44.75, Z:-2.65 [[ 9.75115069e-01 2.21645507e-01 4.88583068e-03 3.14975378e+02] [-2.21642435e-01 9.75127308e-01 -1.16829925e-03 -4.47510354e+01] [-5.02325520e-03 5.63187924e-05 9.99987382e-01 -2.65476750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.67576923100006 meters Centerline goodness [0,1] 0.9998932581870971 Centerline is valid? [True, True] Translation: X:315.01, Y:-44.76, Z:-2.66 [[ 9.75135636e-01 2.21580946e-01 3.51793466e-03 3.15006181e+02] [-2.21579352e-01 9.75141981e-01 -8.41617906e-04 -4.47592102e+01] [-3.61697227e-03 4.11899292e-05 9.99993458e-01 -2.65673588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70576923100003 meters Centerline goodness [0,1] 0.9998308918341895 Centerline is valid? [True, True] Translation: X:315.04, Y:-44.77, Z:-2.66 [[ 9.75255389e-01 2.21064055e-01 2.75873438e-03 3.15037701e+02] [-2.21063071e-01 9.75259290e-01 -6.60311549e-04 -4.47669268e+01] [-2.83645248e-03 3.41181024e-05 9.99995977e-01 -2.65884872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.73576923100006 meters Centerline goodness [0,1] 0.9998513800424629 Centerline is valid? [True, True] Translation: X:315.07, Y:-44.78, Z:-2.66 [[ 9.75530480e-01 2.19848320e-01 2.64555412e-03 3.15068114e+02] [-2.19847410e-01 9.75534066e-01 -6.33845576e-04 -4.47758529e+01] [-2.72017805e-03 3.67174580e-05 9.99996300e-01 -2.65977863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76576923100004 meters Centerline goodness [0,1] 0.9998293296923668 Centerline is valid? [True, True] Translation: X:315.10, Y:-44.79, Z:-2.66 [[ 9.76201763e-01 2.16838605e-01 3.33715440e-03 3.15097989e+02] [-2.16837137e-01 9.76207466e-01 -7.99835179e-04 -4.47874961e+01] [-3.43119018e-03 5.71815069e-05 9.99994112e-01 -2.65900992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.79576923100007 meters Centerline goodness [0,1] 0.999725663156562 Centerline is valid? [True, True] Translation: X:315.13, Y:-44.80, Z:-2.66 [[ 9.76509137e-01 2.15449085e-01 3.40547439e-03 3.15126555e+02] [-2.15447547e-01 9.76515073e-01 -8.16771252e-04 -4.48024313e+01] [-3.50146969e-03 6.38834870e-05 9.99993868e-01 -2.65916583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82576923100004 meters Centerline goodness [0,1] 0.999725663156562 Centerline is valid? [True, True] Translation: X:315.16, Y:-44.81, Z:-2.66 [[ 9.76471473e-01 2.15619727e-01 3.40536429e-03 3.15158096e+02] [-2.15618187e-01 9.76477409e-01 -8.17229970e-04 -4.48102341e+01] [-3.50147220e-03 6.37432765e-05 9.99993868e-01 -2.65934927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.85576923100007 meters Centerline goodness [0,1] 0.9997424616375148 Centerline is valid? [True, True] Translation: X:315.19, Y:-44.83, Z:-2.66 [[ 9.77150615e-01 2.12538713e-01 1.99289917e-03 3.15187678e+02] [-2.12538179e-01 9.77152646e-01 -4.78691021e-04 -4.48254586e+01] [-2.04910707e-03 4.41860651e-05 9.99997900e-01 -2.66061185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88576923100004 meters Centerline goodness [0,1] 0.9996610169491525 Centerline is valid? [True, True] Translation: X:315.22, Y:-44.84, Z:-2.66 [[ 9.77227131e-01 2.12191333e-01 1.40483612e-03 3.15217922e+02] [-2.12191068e-01 9.77228140e-01 -3.36953471e-04 -4.48353306e+01] [-1.44434399e-03 3.11863987e-05 9.99998956e-01 -2.66193676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.91576923100007 meters Centerline goodness [0,1] 0.9997636797215718 Centerline is valid? [True, True] Translation: X:315.25, Y:-44.84, Z:-2.66 [[ 9.77131720e-01 2.12623077e-01 2.24264039e-03 3.15250707e+02] [-2.12622400e-01 9.77134292e-01 -5.38753593e-04 -4.48380765e+01] [-2.30591228e-03 4.95976431e-05 9.99997340e-01 -2.65974256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94576923100004 meters Centerline goodness [0,1] 0.9997226370812887 Centerline is valid? [True, True] Translation: X:315.28, Y:-44.85, Z:-2.66 [[ 9.76542326e-01 2.15265322e-01 5.09192735e-03 3.15280579e+02] [-2.15261857e-01 9.76555596e-01 -1.22541108e-03 -4.48488170e+01] [-5.23633866e-03 1.00568043e-04 9.99986285e-01 -2.65518071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.9757692310001 meters Centerline goodness [0,1] 0.9997463699194724 Centerline is valid? [True, True] Translation: X:315.31, Y:-44.85, Z:-2.66 [[ 9.76259402e-01 2.16540868e-01 5.25674239e-03 3.15310905e+02] [-2.16537189e-01 9.76273549e-01 -1.26605068e-03 -4.48549439e+01] [-5.40617026e-03 9.77136642e-05 9.99985382e-01 -2.65509656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00576923100004 meters Centerline goodness [0,1] 0.9997653333333333 Centerline is valid? [True, True] Translation: X:315.34, Y:-44.86, Z:-2.66 [[ 9.76115024e-01 2.17236581e-01 2.77974803e-03 3.15343961e+02] [-2.17235555e-01 9.76118981e-01 -6.69393309e-04 -4.48592205e+01] [-2.85878153e-03 4.95447601e-05 9.99995912e-01 -2.66018201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0357692310001 meters Centerline goodness [0,1] 0.9997863932500267 Centerline is valid? [True, True] Translation: X:315.37, Y:-44.87, Z:-2.66 [[ 9.76244772e-01 2.16659945e-01 2.14796636e-03 3.15374690e+02] [-2.16659331e-01 9.76247134e-01 -5.17512562e-04 -4.48691631e+01] [-2.20907025e-03 3.98419787e-05 9.99997559e-01 -2.66169828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06576923100005 meters Centerline goodness [0,1] 0.9997684454267972 Centerline is valid? [True, True] Translation: X:315.40, Y:-44.89, Z:-2.66 [[ 9.76831981e-01 2.13984070e-01 3.17792368e-03 3.15401790e+02] [-2.13982706e-01 9.76837148e-01 -7.66999551e-04 -4.48873780e+01] [-3.26843959e-03 6.92089807e-05 9.99994656e-01 -2.66009560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0957692310001 meters Centerline goodness [0,1] 0.9997660171871011 Centerline is valid? [True, True] Translation: X:315.43, Y:-44.89, Z:-2.66 [[ 9.77064305e-01 2.12902823e-01 4.21102773e-03 3.15433458e+02] [-2.12900419e-01 9.77073374e-01 -1.01630054e-03 -4.48935808e+01] [-4.33085632e-03 9.64614076e-05 9.99990617e-01 -2.65804004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12576923100005 meters Centerline goodness [0,1] 0.9997020706092656 Centerline is valid? [True, True] Translation: X:315.46, Y:-44.90, Z:-2.66 [[ 9.77138823e-01 2.12541100e-01 5.09911632e-03 3.15463840e+02] [-2.12537565e-01 9.77152120e-01 -1.23171500e-03 -4.49028769e+01] [-5.24440239e-03 1.19802781e-04 9.99986241e-01 -2.65707713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1557692310001 meters Centerline goodness [0,1] 0.9998071731585036 Centerline is valid? [True, True] Translation: X:315.49, Y:-44.91, Z:-2.66 [[ 9.76901908e-01 2.13627840e-01 5.08011685e-03 3.15494063e+02] [-2.13624341e-01 9.76915110e-01 -1.22800074e-03 -4.49132002e+01] [-5.22517806e-03 1.14399655e-04 9.99986342e-01 -2.65751711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18576923100005 meters Centerline goodness [0,1] 0.9997653032921547 Centerline is valid? [True, True] Translation: X:315.52, Y:-44.92, Z:-2.66 [[ 9.76655926e-01 2.14772421e-01 4.00117559e-03 3.15524926e+02] [-2.14770258e-01 9.76664118e-01 -9.67680248e-04 -4.49214796e+01] [-4.11563566e-03 8.57571345e-05 9.99991527e-01 -2.65988599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.215769231 meters Centerline goodness [0,1] 0.9998723621511232 Centerline is valid? [True, True] Translation: X:315.56, Y:-44.93, Z:-2.67 [[ 9.76118414e-01 2.17238616e-01 4.75221085e-04 3.15555301e+02] [-2.17238586e-01 9.76118530e-01 -1.14188530e-04 -4.49301675e+01] [-4.88678265e-04 8.22517067e-06 9.99999881e-01 -2.66681095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24576923100005 meters Centerline goodness [0,1] 0.9998940026711327 Centerline is valid? [True, True] Translation: X:315.59, Y:-44.94, Z:-2.67 [[ 9.75845141e-01 2.18463022e-01 -4.11309327e-04 3.15586721e+02] [-2.18462999e-01 9.75845228e-01 1.00201887e-04 -4.49390449e+01] [ 4.23264651e-04 -7.92565607e-06 9.99999910e-01 -2.66899002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.275769231 meters Centerline goodness [0,1] 0.9998299102776714 Centerline is valid? [True, True] Translation: X:315.62, Y:-44.95, Z:-2.67 [[ 9.75646194e-01 2.19349970e-01 3.07148453e-04 3.15615980e+02] [-2.19349958e-01 9.75646243e-01 -7.35607074e-05 -4.49533488e+01] [-3.15803773e-04 4.39622419e-06 9.99999950e-01 -2.66762485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30576923100006 meters Centerline goodness [0,1] 0.9998935739979992 Centerline is valid? [True, True] Translation: X:315.65, Y:-44.96, Z:-2.67 [[ 9.75647599e-01 2.19341947e-01 9.34369443e-04 3.15647077e+02] [-2.19341831e-01 9.75648046e-01 -2.25679258e-04 -4.49639494e+01] [-9.61116650e-04 1.52371217e-05 9.99999538e-01 -2.66565182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.33576923100003 meters Centerline goodness [0,1] 0.999850933793309 Centerline is valid? [True, True] Translation: X:315.68, Y:-44.98, Z:-2.66 [[ 9.75303168e-01 2.20850209e-01 2.98596991e-03 3.15677233e+02] [-2.20849025e-01 9.75307738e-01 -7.24605353e-04 -4.49781346e+01] [-3.07226880e-03 4.72613524e-05 9.99995279e-01 -2.66194394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36576923100006 meters Centerline goodness [0,1] 0.9998943431312469 Centerline is valid? [True, True] Translation: X:315.71, Y:-44.99, Z:-2.66 [[ 9.74793799e-01 2.23074038e-01 3.87593019e-03 3.15707264e+02] [-2.23072061e-01 9.74801503e-01 -9.40740522e-04 -4.49888582e+01] [-3.98811736e-03 5.24162921e-05 9.99992046e-01 -2.66032281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.39576923100003 meters Centerline goodness [0,1] 0.9998939689541098 Centerline is valid? [True, True] Translation: X:315.74, Y:-44.99, Z:-2.66 [[ 9.74052015e-01 2.26284693e-01 4.23191036e-03 3.15737777e+02] [-2.26282362e-01 9.74061207e-01 -1.02800339e-03 -4.49935855e+01] [-4.35476115e-03 4.37220983e-05 9.99990517e-01 -2.65952427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42576923100006 meters Centerline goodness [0,1] 0.9998923898071626 Centerline is valid? [True, True] Translation: X:315.77, Y:-44.99, Z:-2.66 [[ 9.72154882e-01 2.34320530e-01 2.96225678e-03 3.15771918e+02] [-2.34319424e-01 9.72159395e-01 -7.20015052e-04 -4.49917919e+01] [-3.04850007e-03 5.85184579e-06 9.99995353e-01 -2.65892404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.80, Y:-45.00, Z:-2.66 [[ 9.71361273e-01 2.37590510e-01 2.83314048e-03 3.15803978e+02] [-2.37589513e-01 9.71365405e-01 -6.88477724e-04 -4.49957896e+01] [-2.91559043e-03 -4.36386926e-06 9.99995750e-01 -2.66297152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.84, Y:-45.00, Z:-2.66 [[ 9.70272219e-01 2.41982740e-01 4.02166593e-03 3.15835022e+02] [-2.41980763e-01 9.70280554e-01 -9.78439685e-04 -4.49992044e+01] [-4.13890976e-03 -2.38129435e-05 9.99991434e-01 -2.66009150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.87, Y:-45.01, Z:-2.66 [[ 9.69887324e-01 2.43513885e-01 4.42347264e-03 3.15866724e+02] [-2.43511506e-01 9.69897410e-01 -1.07692836e-03 -4.50056248e+01] [-4.55256167e-03 -3.26673182e-05 9.99989637e-01 -2.65919189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.90, Y:-45.01, Z:-2.66 [[ 9.69629244e-01 2.44523921e-01 5.21359131e-03 3.15898697e+02] [-2.44520625e-01 9.69643259e-01 -1.27027379e-03 -4.50126622e+01] [-5.36593600e-03 -4.31359905e-05 9.99985602e-01 -2.65845836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.93, Y:-45.02, Z:-2.66 [[ 9.68950445e-01 2.47193847e-01 5.49882006e-03 3.15931263e+02] [-2.47190218e-01 9.68966046e-01 -1.34082643e-03 -4.50160273e+01] [-5.65961398e-03 -6.00601590e-05 9.99983982e-01 -2.65798993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.96, Y:-45.02, Z:-2.66 [[ 9.68452564e-01 2.49159060e-01 4.40376788e-03 3.15962905e+02] [-2.49156751e-01 9.68462575e-01 -1.07431896e-03 -4.50232594e+01] [-4.53256069e-03 -5.68015425e-05 9.99989726e-01 -2.65892340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.00, Y:-45.02, Z:-2.66 [[ 9.67186058e-01 2.54054554e-01 2.72261270e-03 3.15996407e+02] [-2.54053689e-01 9.67189889e-01 -6.64649271e-04 -4.50207390e+01] [-2.80214065e-03 -4.88502928e-05 9.99996073e-01 -2.66178318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.03, Y:-45.02, Z:-2.66 [[ 9.66620156e-01 2.56194061e-01 3.17459242e-03 3.16028388e+02] [-2.56192897e-01 9.66625366e-01 -7.75092630e-04 -4.50197675e+01] [-3.26721569e-03 -6.40878690e-05 9.99994661e-01 -2.66149719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69576923100004 meters Centerline goodness [0,1] 0.9999788503024407 Centerline is valid? [True, True] Translation: X:316.06, Y:-45.02, Z:-2.66 [[ 9.65956717e-01 2.58665290e-01 4.45972637e-03 3.16058654e+02] [-2.58663015e-01 9.65967006e-01 -1.08959452e-03 -4.50183220e+01] [-4.58978881e-03 -1.01065129e-04 9.99989462e-01 -2.66038262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.09, Y:-45.03, Z:-2.66 [[ 9.65936129e-01 2.58747568e-01 4.13419782e-03 3.16089261e+02] [-2.58745615e-01 9.65944971e-01 -1.00967187e-03 -4.50301999e+01] [-4.25465774e-03 -9.44270228e-05 9.99990944e-01 -2.66107873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.75576923100004 meters Centerline goodness [0,1] 0.999894058818544 Centerline is valid? [True, True] Translation: X:316.12, Y:-45.03, Z:-2.66 [[ 9.65972588e-01 2.58623993e-01 3.25405488e-03 3.16122347e+02] [-2.58622781e-01 9.65978067e-01 -7.95171608e-04 -4.50287404e+01] [-3.34899610e-03 -7.34587461e-05 9.99994389e-01 -2.66454587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7857692310001 meters Centerline goodness [0,1] 0.9999146320641967 Centerline is valid? [True, True] Translation: X:316.15, Y:-45.04, Z:-2.67 [[ 9.66548372e-01 2.56479700e-01 1.55195771e-03 3.16149368e+02] [-2.56479420e-01 9.66549617e-01 -3.79947639e-04 -4.50356499e+01] [-1.59749298e-03 -3.08074408e-05 9.99998724e-01 -2.66895632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.18, Y:-45.05, Z:-2.67 [[ 9.66925709e-01 2.55056046e-01 1.04228161e-03 3.16178665e+02] [-2.55055920e-01 9.66926271e-01 -2.54178954e-04 -4.50523918e+01] [-1.07263935e-03 -2.00679296e-05 9.99999425e-01 -2.66816450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8457692310001 meters Centerline goodness [0,1] 0.9999787460148778 Centerline is valid? [True, True] Translation: X:316.21, Y:-45.06, Z:-2.67 [[ 9.67594728e-01 2.52506366e-01 9.88927609e-04 3.16209699e+02] [-2.52506251e-01 9.67595233e-01 -2.41354112e-04 -4.50574366e+01] [-1.01782509e-03 -1.61774367e-05 9.99999482e-01 -2.66926889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.24, Y:-45.06, Z:-2.67 [[ 9.67905281e-01 2.51315162e-01 2.37179941e-04 3.16238390e+02] [-2.51315156e-01 9.67905310e-01 -5.81632020e-05 -4.50632120e+01] [-2.44185019e-04 -3.31044351e-06 9.99999970e-01 -2.67147627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.27, Y:-45.08, Z:-2.67 [[ 9.68157909e-01 2.50339452e-01 -6.49664391e-04 3.16268509e+02] [-2.50339401e-01 9.68158127e-01 1.60216496e-04 -4.50753059e+01] [ 6.69086369e-04 7.52172687e-06 9.99999776e-01 -2.67244201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.30, Y:-45.08, Z:-2.67 [[ 9.68532011e-01 2.48886029e-01 -1.22011632e-03 3.16299955e+02] [-2.48885849e-01 9.68532779e-01 2.99510333e-04 -4.50840969e+01] [ 1.25626658e-03 1.35843402e-05 9.99999211e-01 -2.67355930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.33, Y:-45.09, Z:-2.67 [[ 9.69385889e-01 2.45542104e-01 2.69140751e-04 3.16330916e+02] [-2.45542095e-01 9.69385927e-01 -6.54769023e-05 -4.50948271e+01] [-2.76978592e-04 -2.61299865e-06 9.99999962e-01 -2.67079600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.36, Y:-45.11, Z:-2.67 [[ 9.70181402e-01 2.42367049e-01 2.50229830e-03 3.16360854e+02] [-2.42366274e-01 9.70184628e-01 -6.13264300e-04 -4.51062023e+01] [-2.57632641e-03 -1.14950978e-05 9.99996681e-01 -2.66642466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.025769231 meters Centerline goodness [0,1] 0.9999788927116533 Centerline is valid? [True, True] Translation: X:316.39, Y:-45.12, Z:-2.67 [[ 9.70513943e-01 2.41029990e-01 2.68907795e-03 3.16390722e+02] [-2.41029087e-01 9.70517668e-01 -6.59812155e-04 -4.51168742e+01] [-2.76883217e-03 -7.78910560e-06 9.99996167e-01 -2.66670900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.42, Y:-45.13, Z:-2.67 [[ 9.70915408e-01 2.39412280e-01 2.24301737e-03 3.16420746e+02] [-2.39411648e-01 9.70917999e-01 -5.50211827e-04 -4.51286613e+01] [-2.30951340e-03 -2.79534400e-06 9.99997333e-01 -2.66859084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.45, Y:-45.14, Z:-2.67 [[ 9.71386056e-01 2.37497745e-01 1.98782136e-03 3.16451584e+02] [-2.37497244e-01 9.71388090e-01 -4.87831150e-04 -4.51413369e+01] [-2.04680479e-03 1.77028207e-06 9.99997905e-01 -2.66846169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.11576923100006 meters Centerline goodness [0,1] 0.9999786352177071 Centerline is valid? [True, True] Translation: X:316.48, Y:-45.16, Z:-2.66 [[ 9.72145467e-01 2.34339947e-01 4.24026296e-03 3.16480077e+02] [-2.34337628e-01 9.72154714e-01 -1.04270828e-03 -4.51587756e+01] [-4.36653984e-03 2.00109664e-05 9.99990466e-01 -2.66479098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.51, Y:-45.17, Z:-2.66 [[ 9.72505356e-01 2.32760177e-01 7.48555381e-03 3.16509713e+02] [-2.32752886e-01 9.72534163e-01 -1.84290610e-03 -4.51749825e+01] [-7.70891195e-03 4.99518021e-05 9.99970285e-01 -2.65780978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.54, Y:-45.19, Z:-2.66 [[ 9.72533559e-01 2.32658282e-01 6.97137773e-03 3.16539684e+02] [-2.32651947e-01 9.72558544e-01 -1.71749963e-03 -4.51860536e+01] [-7.17966349e-03 4.84214224e-05 9.99974225e-01 -2.65872313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20576923100003 meters Centerline goodness [0,1] 0.9999788605855617 Centerline is valid? [True, True] Translation: X:316.57, Y:-45.20, Z:-2.66 [[ 9.72404315e-01 2.33223405e-01 6.05737946e-03 3.16569952e+02] [-2.33218628e-01 9.72423180e-01 -1.49332704e-03 -4.51952483e+01] [-6.23861502e-03 3.94239300e-05 9.99980539e-01 -2.66144061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.60, Y:-45.20, Z:-2.66 [[ 9.71575048e-01 2.36678881e-01 5.00332194e-03 3.16601075e+02] [-2.36675664e-01 9.71587931e-01 -1.23421781e-03 -4.52020301e+01] [-5.15328050e-03 1.49706809e-05 9.99986722e-01 -2.66420514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.63, Y:-45.21, Z:-2.66 [[ 9.70912430e-01 2.39391149e-01 4.57507386e-03 3.16631851e+02] [-2.39388485e-01 9.70923209e-01 -1.12928702e-03 -4.52090173e+01] [-4.71238671e-03 1.21880518e-06 9.99988897e-01 -2.66377600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.66, Y:-45.22, Z:-2.67 [[ 9.69759517e-01 2.44043050e-01 3.07714488e-03 3.16663266e+02] [-2.44041867e-01 9.69764399e-01 -7.59819098e-04 -4.52153092e+01] [-3.16953413e-03 -1.41103820e-05 9.99994977e-01 -2.66529380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.69, Y:-45.22, Z:-2.67 [[ 9.69417894e-01 2.45400678e-01 2.73038153e-03 3.16694410e+02] [-2.45399751e-01 9.69421738e-01 -6.74529728e-04 -4.52229708e+01] [-2.81242126e-03 -1.61337595e-05 9.99996045e-01 -2.66633016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.72, Y:-45.23, Z:-2.67 [[ 9.69251920e-01 2.46053435e-01 2.90206902e-03 3.16724900e+02] [-2.46052389e-01 9.69256265e-01 -7.17549373e-04 -4.52318807e+01] [-2.98940407e-03 -1.85749083e-05 9.99995532e-01 -2.66694780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.76, Y:-45.25, Z:-2.67 [[ 9.69428820e-01 2.45354871e-01 2.95800859e-03 3.16755147e+02] [-2.45353780e-01 9.69433333e-01 -7.31919002e-04 -4.52477105e+01] [-3.04717202e-03 -1.62152140e-05 9.99995357e-01 -2.66798890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.79, Y:-45.26, Z:-2.67 [[ 9.69615349e-01 2.44614928e-01 3.10030277e-03 3.16785532e+02] [-2.44613724e-01 9.69620305e-01 -7.67776692e-04 -4.52604863e+01] [-3.19392616e-03 -1.39285412e-05 9.99994899e-01 -2.66805635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.82, Y:-45.28, Z:-2.67 [[ 9.69912549e-01 2.43441418e-01 2.43377891e-03 3.16815599e+02] [-2.43440672e-01 9.69915602e-01 -6.02957641e-04 -4.52770766e+01] [-2.50734500e-03 -7.66459069e-06 9.99996857e-01 -2.66976178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.85, Y:-45.29, Z:-2.67 [[ 9.69991949e-01 2.43132081e-01 1.55247963e-03 3.16845176e+02] [-2.43131777e-01 9.69993191e-01 -3.84586927e-04 -4.52890066e+01] [-1.59940009e-03 -4.41090855e-06 9.99998721e-01 -2.67188584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.88, Y:-45.30, Z:-2.67 [[ 9.70054700e-01 2.42885631e-01 6.70694917e-04 3.16876388e+02] [-2.42885575e-01 9.70054931e-01 -1.65648392e-04 -4.53019367e+01] [-6.90844526e-04 -2.21411941e-06 9.99999761e-01 -2.67282449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.91, Y:-45.32, Z:-2.67 [[ 9.70123171e-01 2.42612241e-01 -5.77906574e-04 3.16906123e+02] [-2.42612198e-01 9.70123343e-01 1.44821576e-04 -4.53193547e+01] [ 5.95776145e-04 -2.87582341e-07 9.99999823e-01 -2.67446980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.94, Y:-45.33, Z:-2.67 [[ 9.69978511e-01 2.43190640e-01 -2.95258285e-05 3.16936090e+02] [-2.43190639e-01 9.69978512e-01 8.34324489e-06 -4.53309436e+01] [ 3.06684183e-05 -9.12363142e-07 1.00000000e+00 -2.67424534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.97, Y:-45.34, Z:-2.67 [[ 9.69308648e-01 2.45846707e-01 3.77058897e-04 3.16967162e+02] [-2.45846690e-01 9.69308721e-01 -9.28249631e-05 -4.53431953e+01] [-3.88307189e-04 -2.72264225e-06 9.99999925e-01 -2.67228429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.00, Y:-45.35, Z:-2.67 [[ 9.68605592e-01 2.48602474e-01 -1.35178499e-04 3.16997343e+02] [-2.48602471e-01 9.68605601e-01 3.45980348e-05 -4.53496101e+01] [ 1.39535809e-04 9.38590320e-08 9.99999990e-01 -2.67302204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.03, Y:-45.35, Z:-2.68 [[ 9.66695023e-01 2.55921340e-01 -2.23630090e-03 3.17029720e+02] [-2.55920735e-01 9.66697609e-01 5.57701374e-04 -4.53500438e+01] [ 2.30455441e-03 3.31886269e-05 9.99997344e-01 -2.67589057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.06, Y:-45.35, Z:-2.67 [[ 9.65604793e-01 2.60009406e-01 -1.57860255e-03 3.17061091e+02] [-2.60009109e-01 9.65606083e-01 3.94175409e-04 -4.53530454e+01] [ 1.62679754e-03 2.98333789e-05 9.99998676e-01 -2.67475845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.09, Y:-45.36, Z:-2.67 [[ 9.65556107e-01 2.60190148e-01 -1.57838102e-03 3.17092560e+02] [-2.60189850e-01 9.65557397e-01 3.95063129e-04 -4.53610793e+01] [ 1.62680900e-03 2.92231022e-05 9.99998676e-01 -2.67494176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74576923100005 meters Centerline goodness [0,1] 0.9999364783602948 Centerline is valid? [True, True] Translation: X:317.12, Y:-45.36, Z:-2.67 [[ 9.64581948e-01 2.63783367e-01 3.49653503e-06 3.17124696e+02] [-2.63783367e-01 9.64581948e-01 -7.36989503e-07 -4.53585802e+01] [-3.56710016e-06 -2.11441014e-07 1.00000000e+00 -2.67344839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.775769231 meters Centerline goodness [0,1] 0.9999156171550324 Centerline is valid? [True, True] Translation: X:317.16, Y:-45.36, Z:-2.66 [[ 9.62783976e-01 2.70250539e-01 3.41494233e-03 3.17156487e+02] [-2.70249214e-01 9.62790027e-01 -8.52470644e-04 -4.53577146e+01] [-3.51825307e-03 -1.02140403e-04 9.99993806e-01 -2.66460122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80576923100006 meters Centerline goodness [0,1] 0.999935883735841 Centerline is valid? [True, True] Translation: X:317.19, Y:-45.36, Z:-2.66 [[ 9.61794380e-01 2.73743590e-01 4.00229098e-03 3.17188332e+02] [-2.73741800e-01 9.61802697e-01 -9.99095480e-04 -4.53586187e+01] [-4.12291024e-03 -1.34669918e-04 9.99991492e-01 -2.66333941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.83576923100003 meters Centerline goodness [0,1] 0.9993624075490947 Centerline is valid? [True, True] Translation: X:317.22, Y:-45.35, Z:-2.66 [[ 9.59881118e-01 2.80354158e-01 5.45763169e-03 3.17221484e+02] [-2.80350936e-01 9.59896607e-01 -1.36248425e-03 -4.53492953e+01] [-5.62074027e-03 -2.22229244e-04 9.99984179e-01 -2.66138426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86576923100006 meters Centerline goodness [0,1] 0.9983978750764172 Centerline is valid? [True, True] Translation: X:317.25, Y:-45.35, Z:-2.66 [[ 9.59145088e-01 2.82829585e-01 6.93730641e-03 3.17252765e+02] [-2.82824442e-01 9.59170128e-01 -1.73192716e-03 -4.53476302e+01] [-7.14389732e-03 -3.00870384e-04 9.99974437e-01 -2.65901038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.89576923100003 meters Centerline goodness [0,1] 0.9968146819955701 Centerline is valid? [True, True] Translation: X:317.29, Y:-45.34, Z:-2.66 [[ 9.58184831e-01 2.86011378e-01 8.90625771e-03 3.17285446e+02] [-2.86003035e-01 9.58226131e-01 -2.22387414e-03 -4.53417963e+01] [-9.17026217e-03 -4.16334271e-04 9.99957866e-01 -2.65597452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92576923100006 meters Centerline goodness [0,1] 0.9971498457938955 Centerline is valid? [True, True] Translation: X:317.32, Y:-45.35, Z:-2.66 [[ 9.58074737e-01 2.86405004e-01 8.06051993e-03 3.17316892e+02] [-2.86398184e-01 9.58108569e-01 -2.01277477e-03 -4.53462540e+01] [-8.29932198e-03 -3.80129609e-04 9.99965488e-01 -2.65783778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.95576923100003 meters Centerline goodness [0,1] 0.9957803223070398 Centerline is valid? [True, True] Translation: X:317.35, Y:-45.35, Z:-2.66 [[ 9.58214772e-01 2.85964523e-01 6.98160251e-03 3.17346348e+02] [-2.85959394e-01 9.58240150e-01 -1.74345545e-03 -4.53486239e+01] [-7.18861824e-03 -3.25850054e-04 9.99974108e-01 -2.65999380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98576923100006 meters Centerline goodness [0,1] 0.9992117429003601 Centerline is valid? [True, True] Translation: X:317.38, Y:-45.36, Z:-2.66 [[ 9.58913901e-01 2.83639112e-01 5.74313289e-03 3.17376085e+02] [-2.83635600e-01 9.58931066e-01 -1.43413316e-03 -4.53565686e+01] [-5.91404480e-03 -2.53746724e-04 9.99982480e-01 -2.66291771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01576923100004 meters Centerline goodness [0,1] 0.9990489475019021 Centerline is valid? [True, True] Translation: X:317.41, Y:-45.36, Z:-2.66 [[ 9.59144548e-01 2.82859772e-01 5.66444386e-03 3.17407135e+02] [-2.82856341e-01 9.59161243e-01 -1.41458053e-03 -4.53604332e+01] [-5.83324294e-03 -2.45436666e-04 9.99982956e-01 -2.66316565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04576923100007 meters Centerline goodness [0,1] 0.999155797560255 Centerline is valid? [True, True] Translation: X:317.44, Y:-45.36, Z:-2.66 [[ 9.59945342e-01 2.80131193e-01 5.60851968e-03 3.17437675e+02] [-2.80127779e-01 9.59961699e-01 -1.40147967e-03 -4.53606052e+01] [-5.77656226e-03 -2.25758279e-04 9.99983290e-01 -2.66266576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07576923100004 meters Centerline goodness [0,1] 0.9992822158419186 Centerline is valid? [True, True] Translation: X:317.47, Y:-45.37, Z:-2.66 [[ 9.60432021e-01 2.78456760e-01 5.67149797e-03 3.17465917e+02] [-2.78453239e-01 9.60448742e-01 -1.41721479e-03 -4.53661881e+01] [-5.84181612e-03 -2.18108518e-04 9.99982913e-01 -2.66303578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10576923100007 meters Centerline goodness [0,1] 0.9994666211516716 Centerline is valid? [True, True] Translation: X:317.49, Y:-45.37, Z:-2.66 [[ 9.60931280e-01 2.76734072e-01 5.41559664e-03 3.17493982e+02] [-2.76730834e-01 9.60946520e-01 -1.35321460e-03 -4.53712416e+01] [-5.57857933e-03 -1.98316342e-04 9.99984420e-01 -2.66411186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13576923100004 meters Centerline goodness [0,1] 0.9996388664655649 Centerline is valid? [True, True] Translation: X:317.52, Y:-45.38, Z:-2.67 [[ 9.61508920e-01 2.74748840e-01 3.69748677e-03 3.17523570e+02] [-2.74747317e-01 9.61516021e-01 -9.23753153e-04 -4.53809267e+01] [-3.80899287e-03 -1.27677671e-04 9.99992738e-01 -2.66795405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16576923100007 meters Centerline goodness [0,1] 0.9993042818291064 Centerline is valid? [True, True] Translation: X:317.55, Y:-45.38, Z:-2.67 [[ 9.61680162e-01 2.74161844e-01 2.55932935e-03 3.17553057e+02] [-2.74161111e-01 9.61683563e-01 -6.39520301e-04 -4.53806834e+01] [-2.63659703e-03 -8.66545916e-05 9.99996520e-01 -2.67057917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19576923100004 meters Centerline goodness [0,1] 0.999431375439631 Centerline is valid? [True, True] Translation: X:317.58, Y:-45.38, Z:-2.67 [[ 9.61982437e-01 2.73108326e-01 1.27783906e-03 3.17582737e+02] [-2.73108143e-01 9.61983285e-01 -3.19382418e-04 -4.53827091e+01] [-1.31648581e-03 -4.17479753e-05 9.99999133e-01 -2.67284416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2257692310001 meters Centerline goodness [0,1] 0.9999356871824555 Centerline is valid? [True, True] Translation: X:317.61, Y:-45.39, Z:-2.67 [[ 9.62049738e-01 2.72872975e-01 8.00293307e-04 3.17610545e+02] [-2.72872903e-01 9.62050071e-01 -2.00130961e-04 -4.53901198e+01] [-8.24532563e-04 -2.58424198e-05 9.99999660e-01 -2.67330358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.25576923100004 meters Centerline goodness [0,1] 0.9995572049086998 Centerline is valid? [True, True] Translation: X:317.64, Y:-45.39, Z:-2.67 [[ 9.62308008e-01 2.71961737e-01 3.34380052e-04 3.17639735e+02] [-2.71961724e-01 9.62308066e-01 -8.38169860e-05 -4.53896010e+01] [-3.44571634e-04 -1.02808186e-05 9.99999941e-01 -2.67487439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2857692310001 meters Centerline goodness [0,1] 0.9997877353484325 Centerline is valid? [True, True] Translation: X:317.67, Y:-45.40, Z:-2.67 [[ 9.62665076e-01 2.70695152e-01 2.94361617e-04 3.17667293e+02] [-2.70695142e-01 9.62665121e-01 -7.37430041e-05 -4.53979373e+01] [-3.03333535e-04 -8.69244489e-06 9.99999954e-01 -2.67461792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.31576923100005 meters Centerline goodness [0,1] 0.9999570123589469 Centerline is valid? [True, True] Translation: X:317.70, Y:-45.41, Z:-2.68 [[ 9.63876716e-01 2.66347275e-01 8.97023313e-04 3.17695976e+02] [-2.66347182e-01 9.63877133e-01 -2.23984373e-04 -4.54060375e+01] [-9.24277887e-04 -2.30263103e-05 9.99999573e-01 -2.67522785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3457692310001 meters Centerline goodness [0,1] 0.9999574449976595 Centerline is valid? [True, True] Translation: X:317.72, Y:-45.42, Z:-2.67 [[ 9.64846003e-01 2.62810277e-01 1.71724184e-03 3.17723265e+02] [-2.62809930e-01 9.64847530e-01 -4.28710979e-04 -4.54162294e+01] [-1.76954620e-03 -3.76681343e-05 9.99998434e-01 -2.67484167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.75, Y:-45.43, Z:-2.67 [[ 9.66018960e-01 2.58458672e-01 2.54632853e-03 3.17750631e+02] [-2.58457894e-01 9.66022315e-01 -6.35597077e-04 -4.54316046e+01] [-2.62408576e-03 -4.41198838e-05 9.99996556e-01 -2.67316373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.78, Y:-45.45, Z:-2.67 [[ 9.68039179e-01 2.50778431e-01 3.21353855e-03 3.17776060e+02] [-2.50777150e-01 9.68044512e-01 -8.02168575e-04 -4.54506187e+01] [-3.31201493e-03 -2.93514296e-05 9.99994515e-01 -2.67071264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.81, Y:-45.46, Z:-2.67 [[ 9.68667989e-01 2.48348059e-01 2.35984007e-03 3.17806301e+02] [-2.48347363e-01 9.68670863e-01 -5.88496235e-04 -4.54625798e+01] [-2.43206022e-03 -1.60025941e-05 9.99997042e-01 -2.67198478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.84, Y:-45.48, Z:-2.68 [[ 9.69336728e-01 2.45736042e-01 3.25002238e-04 3.17835894e+02] [-2.45736029e-01 9.69336782e-01 -8.02508545e-05 -4.54769984e+01] [-3.34757151e-04 -2.07465858e-06 9.99999944e-01 -2.67871294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.87, Y:-45.49, Z:-2.68 [[ 9.69423527e-01 2.45393439e-01 2.93313087e-04 3.17866252e+02] [-2.45393428e-01 9.69423571e-01 -7.24527337e-05 -4.54891924e+01] [-3.02124046e-04 -1.73971938e-06 9.99999954e-01 -2.67867938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.89, Y:-45.50, Z:-2.67 [[ 9.69243504e-01 2.46089614e-01 2.63304175e-03 3.17894601e+02] [-2.46088733e-01 9.69247080e-01 -6.58295666e-04 -4.55026537e+01] [-2.71406776e-03 -9.91311222e-06 9.99996317e-01 -2.67281268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.92, Y:-45.51, Z:-2.67 [[ 9.68923835e-01 2.47340352e-01 3.05802970e-03 3.17924886e+02] [-2.47339170e-01 9.68928661e-01 -7.64760576e-04 -4.55121649e+01] [-3.15216877e-03 -1.53757767e-05 9.99995032e-01 -2.67103982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.96, Y:-45.52, Z:-2.67 [[ 9.68408330e-01 2.49354008e-01 2.80803509e-03 3.17955777e+02] [-2.49353019e-01 9.68412401e-01 -7.02618575e-04 -4.55197768e+01] [-2.89453676e-03 -1.97703456e-05 9.99995811e-01 -2.67193224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.99, Y:-45.53, Z:-2.67 [[ 9.67169404e-01 2.54116303e-01 2.87186808e-03 3.17987137e+02] [-2.54115288e-01 9.67173668e-01 -7.19060263e-04 -4.55260319e+01] [-2.96032012e-03 -3.43324989e-05 9.99995618e-01 -2.67259833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.02, Y:-45.53, Z:-2.67 [[ 9.66628366e-01 2.56165658e-01 2.95936332e-03 3.18017057e+02] [-2.56164588e-01 9.66632895e-01 -7.41506721e-04 -4.55335334e+01] [-3.05056649e-03 -4.13226567e-05 9.99995346e-01 -2.67303840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.67576923100006 meters Centerline goodness [0,1] 0.9999787161586923 Centerline is valid? [True, True] Translation: X:318.05, Y:-45.55, Z:-2.67 [[ 9.65712286e-01 2.59598827e-01 2.86853803e-03 3.18046925e+02] [-2.59597835e-01 9.65716546e-01 -7.19414996e-04 -4.55469776e+01] [-2.95695393e-03 -4.99183633e-05 9.99995627e-01 -2.67301859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70576923100003 meters Centerline goodness [0,1] 0.999978916742215 Centerline is valid? [True, True] Translation: X:318.08, Y:-45.55, Z:-2.67 [[ 9.65344176e-01 2.60959567e-01 3.27510280e-03 3.18078143e+02] [-2.60958282e-01 9.65349730e-01 -8.21336790e-04 -4.55512456e+01] [-3.37595529e-03 -6.17925108e-05 9.99994300e-01 -2.67320198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.11, Y:-45.57, Z:-2.67 [[ 9.65122778e-01 2.61775109e-01 3.43748919e-03 3.18107353e+02] [-2.61773696e-01 9.65128897e-01 -8.62632479e-04 -4.55680984e+01] [-3.54343586e-03 -6.72979950e-05 9.99993720e-01 -2.67179232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76576923100004 meters Centerline goodness [0,1] 0.9999788985017937 Centerline is valid? [True, True] Translation: X:318.14, Y:-45.58, Z:-2.67 [[ 9.64872120e-01 2.62701858e-01 3.08629886e-03 3.18137374e+02] [-2.62700722e-01 9.64877054e-01 -7.75133345e-04 -4.55757852e+01] [-3.18152792e-03 -6.28683846e-05 9.99994937e-01 -2.67418991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.79576923100007 meters Centerline goodness [0,1] 0.9999364285562925 Centerline is valid? [True, True] Translation: X:318.17, Y:-45.59, Z:-2.68 [[ 9.64680263e-01 2.63411223e-01 2.55286564e-03 3.18167794e+02] [-2.63410448e-01 9.64683640e-01 -6.41127252e-04 -4.55877776e+01] [-2.63158783e-03 -5.39686743e-05 9.99996536e-01 -2.67547711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82576923100004 meters Centerline goodness [0,1] 0.9999788458283974 Centerline is valid? [True, True] Translation: X:318.20, Y:-45.60, Z:-2.68 [[ 9.63865348e-01 2.66382292e-01 2.01602054e-03 3.18198178e+02] [-2.66381815e-01 9.63867456e-01 -5.06479248e-04 -4.55961299e+01] [-2.07809369e-03 -4.88534136e-05 9.99997840e-01 -2.67661884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.85576923100007 meters Centerline goodness [0,1] 0.9998304905180634 Centerline is valid? [True, True] Translation: X:318.23, Y:-45.61, Z:-2.68 [[ 9.63127763e-01 2.69034470e-01 2.31631846e-03 3.18228919e+02] [-2.69033846e-01 9.63130547e-01 -5.82684617e-04 -4.56071715e+01] [-2.38767931e-03 -6.19683307e-05 9.99997148e-01 -2.67509599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88576923100004 meters Centerline goodness [0,1] 0.9998091683982867 Centerline is valid? [True, True] Translation: X:318.26, Y:-45.61, Z:-2.67 [[ 9.62284366e-01 2.72022959e-01 3.50826722e-03 3.18259191e+02] [-2.72021546e-01 9.62290756e-01 -8.82901341e-04 -4.56128361e+01] [-3.61614255e-03 -1.04722116e-04 9.99993456e-01 -2.67288475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.91576923100007 meters Centerline goodness [0,1] 0.9997663749893807 Centerline is valid? [True, True] Translation: X:318.29, Y:-45.62, Z:-2.67 [[ 9.60659268e-01 2.77671684e-01 5.67514535e-03 3.18289091e+02] [-2.77668085e-01 9.60676009e-01 -1.42833125e-03 -4.56175737e+01] [-5.84858313e-03 -2.03667090e-04 9.99982876e-01 -2.66918234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94576923100004 meters Centerline goodness [0,1] 0.9984309068934077 Centerline is valid? [True, True] Translation: X:318.32, Y:-45.62, Z:-2.67 [[ 9.59141462e-01 2.82892638e-01 4.40577587e-03 3.18318481e+02] [-2.82890524e-01 9.59151564e-01 -1.10888603e-03 -4.56197406e+01] [-4.53950251e-03 -1.82773671e-04 9.99989680e-01 -2.67287719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.9757692310001 meters Centerline goodness [0,1] 0.9987897318300528 Centerline is valid? [True, True] Translation: X:318.35, Y:-45.63, Z:-2.68 [[ 9.58500448e-01 2.85082769e-01 2.16921160e-03 3.18347747e+02] [-2.85082263e-01 9.58502898e-01 -5.45827165e-04 -4.56312917e+01] [-2.23480153e-03 -9.52281689e-05 9.99997498e-01 -2.67708535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00576923100004 meters Centerline goodness [0,1] 0.9951670250590815 Centerline is valid? [True, True] Translation: X:318.38, Y:-45.64, Z:-2.68 [[ 9.57973491e-01 2.86856724e-01 1.06267618e-04 3.18378059e+02] [-2.86856722e-01 9.57973497e-01 -2.66803766e-05 -4.56357175e+01] [-1.09455007e-04 -4.92448710e-06 9.99999994e-01 -2.68096274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0357692310001 meters Centerline goodness [0,1] 0.9696675461741425 Centerline is valid? [True, True] Translation: X:318.41, Y:-45.64, Z:-2.68 [[ 9.57241636e-01 2.89289545e-01 1.00436264e-04 3.18409182e+02] [-2.89289544e-01 9.57241641e-01 -2.49899789e-05 -4.56354644e+01] [-1.03371113e-04 -5.13371266e-06 9.99999995e-01 -2.68226932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06576923100005 meters Centerline goodness [0,1] 0.8563870474247832 Centerline is valid? [True, False] Translation: X:318.31, Y:-45.60, Z:-2.68 [[ 9.57603012e-01 2.88091067e-01 8.86110724e-05 3.18306685e+02] [-2.88081809e-01 9.57574617e-01 -7.72812404e-03 -4.56047532e+01] [-2.31125522e-03 7.37494762e-03 9.99970134e-01 -2.68309555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0957692310001 meters Centerline goodness [0,1] 0.9790368748947634 Centerline is valid? [False, True] Translation: X:318.26, Y:-45.59, Z:-2.68 [[ 9.58356338e-01 2.85575060e-01 -1.22193516e-04 3.18264999e+02] [-2.85558266e-01 9.58295160e-01 -1.12633344e-02 -4.55858922e+01] [-3.09942995e-03 1.08291813e-02 9.99936559e-01 -2.68294450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12576923100005 meters Centerline goodness [0,1] 0.9588073921272569 Centerline is valid? [True, True] Translation: X:318.30, Y:-45.59, Z:-2.68 [[ 9.57774768e-01 2.87512966e-01 1.94618070e-03 3.18295133e+02] [-2.87512594e-01 9.57776740e-01 -4.74279104e-04 -4.55922475e+01] [-2.00036800e-03 -1.05298902e-04 9.99997994e-01 -2.68263447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1557692310001 meters Centerline goodness [0,1] 0.7474926627393848 Centerline is valid? [True, False] Translation: X:318.24, Y:-45.57, Z:-2.69 [[ 9.57864910e-01 2.87218751e-01 4.51545833e-04 3.18236043e+02] [-2.87202286e-01 9.57824645e-01 -9.31642388e-03 -4.55700575e+01] [-3.10835336e-03 8.79419052e-03 9.99956499e-01 -2.68613699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18576923100005 meters Centerline goodness [0,1] 0.8547044836956521 Centerline is valid? [False, False] Translation: X:318.14, Y:-45.54, Z:-2.69 [[ 9.57136732e-01 2.89636434e-01 1.16165665e-04 3.18138280e+02] [-2.89606550e-01 9.57043586e-01 -1.39864685e-02 -4.55360666e+01] [-4.16216646e-03 1.33533204e-02 9.99902178e-01 -2.68882872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.215769231 meters Centerline goodness [0,1] 0.8404852128627982 Centerline is valid? [False, False] Translation: X:318.06, Y:-45.51, Z:-2.69 [[ 9.57653495e-01 2.87909366e-01 2.82506637e-03 3.18056906e+02] [-2.87844763e-01 9.57575486e-01 -1.39492047e-02 -4.55097198e+01] [-6.72132098e-03 1.25453240e-02 9.99898714e-01 -2.68989105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24576923100005 meters Centerline goodness [0,1] 0.9072017198136868 Centerline is valid? [False, False] Translation: X:317.97, Y:-45.48, Z:-2.69 [[ 9.58370266e-01 2.85452612e-01 6.57564953e-03 3.17971836e+02] [-2.85311613e-01 9.58285967e-01 -1.68905038e-02 -4.54770737e+01] [-1.11227911e-02 1.43112475e-02 9.99835722e-01 -2.68794132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.275769231 meters Centerline goodness [0,1] 0.9567174367507146 Centerline is valid? [False, True] Translation: X:317.85, Y:-45.44, Z:-2.69 [[ 9.59434917e-01 2.81786030e-01 9.01516664e-03 3.17853598e+02] [-2.81599505e-01 9.59367792e-01 -1.77527222e-02 -4.54430660e+01] [-1.36513296e-02 1.44939151e-02 9.99801764e-01 -2.68981370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30576923100006 meters Centerline goodness [0,1] 0.9019046013821002 Centerline is valid? [True, False] Translation: X:317.80, Y:-45.42, Z:-2.69 [[ 9.61370946e-01 2.75111603e-01 8.91680425e-03 3.17798403e+02] [-2.74970347e-01 9.61344609e-01 -1.44170444e-02 -4.54195485e+01] [-1.25384179e-02 1.14082708e-02 9.99856309e-01 -2.69225304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.33576923100003 meters Centerline goodness [0,1] 0.9005559386312705 Centerline is valid? [False, False] Translation: X:317.66, Y:-45.38, Z:-2.69 [[ 9.61789358e-01 2.73701295e-01 6.98801366e-03 3.17661700e+02] [-2.73526050e-01 9.61668902e-01 -1.94016346e-02 -4.53818759e+01] [-1.20304079e-02 1.67488819e-02 9.99787350e-01 -2.69263584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36576923100006 meters Centerline goodness [0,1] 0.9113008216839185 Centerline is valid? [False, False] Translation: X:317.60, Y:-45.36, Z:-2.69 [[ 9.63581916e-01 2.67307770e-01 7.51308784e-03 3.17601255e+02] [-2.67160778e-01 9.63512627e-01 -1.63870735e-02 -4.53565269e+01] [-1.16193471e-02 1.37830852e-02 9.99837495e-01 -2.69087148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.39576923100003 meters Centerline goodness [0,1] 0.9147774179208739 Centerline is valid? [False, False] Translation: X:317.54, Y:-45.34, Z:-2.69 [[ 9.64915244e-01 2.62407481e-01 8.99367602e-03 3.17537320e+02] [-2.62307927e-01 9.64922683e-01 -1.08979976e-02 -4.53375131e+01] [-1.15379181e-02 8.15653147e-03 9.99900169e-01 -2.68808370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42576923100006 meters Centerline goodness [0,1] 0.9056163570034784 Centerline is valid? [False, False] Translation: X:317.46, Y:-45.31, Z:-2.69 [[ 9.65763494e-01 2.59208283e-01 1.05801479e-02 3.17457533e+02] [-2.59073030e-01 9.65775138e-01 -1.26312169e-02 -4.53141616e+01] [-1.34921598e-02 9.45773724e-03 9.99864247e-01 -2.68993987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.45576923100003 meters Centerline goodness [0,1] 0.9531130227408228 Centerline is valid? [False, True] Translation: X:317.40, Y:-45.29, Z:-2.69 [[ 9.67289760e-01 2.53460246e-01 1.04126985e-02 3.17398879e+02] [-2.53376176e-01 9.67328278e-01 -8.74729152e-03 -4.52915536e+01] [-1.22895883e-02 5.82283580e-03 9.99907526e-01 -2.68985017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48576923100006 meters Centerline goodness [0,1] 0.9552999662959218 Centerline is valid? [True, True] Translation: X:317.43, Y:-45.30, Z:-2.69 [[ 9.67643288e-01 2.52096516e-01 1.06683547e-02 3.17427783e+02] [-2.52087700e-01 9.67701925e-01 -2.18524173e-03 -4.52968413e+01] [-1.08746792e-02 -5.74826503e-04 9.99940704e-01 -2.69195552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51576923100004 meters Centerline goodness [0,1] 0.9885341964417931 Centerline is valid? [True, True] Translation: X:317.46, Y:-45.30, Z:-2.69 [[ 9.68647302e-01 2.48267459e-01 9.25592636e-03 3.17457140e+02] [-2.48260652e-01 9.68691414e-01 -1.89553049e-03 -4.53027551e+01] [-9.43673493e-03 -4.61781822e-04 9.99955366e-01 -2.69433084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54576923100007 meters Centerline goodness [0,1] 0.9947835714437797 Centerline is valid? [True, True] Translation: X:317.49, Y:-45.31, Z:-2.69 [[ 9.69231968e-01 2.45953662e-01 9.80753257e-03 3.17487103e+02] [-2.45945902e-01 9.69281476e-01 -2.00843533e-03 -4.53078540e+01] [-1.00002417e-02 -4.65482718e-04 9.99949888e-01 -2.69379302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57576923100004 meters Centerline goodness [0,1] 0.9983322778129617 Centerline is valid? [True, True] Translation: X:317.52, Y:-45.31, Z:-2.69 [[ 9.70274932e-01 2.41780416e-01 1.04301146e-02 3.17516840e+02] [-2.41771400e-01 9.70330886e-01 -2.13580368e-03 -4.53102013e+01] [-1.06370578e-02 -4.49386640e-04 9.99943324e-01 -2.69223562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60576923100007 meters Centerline goodness [0,1] 0.9988744239386668 Centerline is valid? [True, True] Translation: X:317.55, Y:-45.32, Z:-2.69 [[ 9.70646773e-01 2.40284507e-01 1.04017609e-02 3.17546323e+02] [-2.40275456e-01 9.70702410e-01 -2.12984503e-03 -4.53158067e+01] [-1.06087831e-02 -4.31960633e-04 9.99943632e-01 -2.69250117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63576923100004 meters Centerline goodness [0,1] 0.9988744239386668 Centerline is valid? [True, True] Translation: X:317.57, Y:-45.32, Z:-2.69 [[ 9.70657826e-01 2.40239855e-01 1.04017558e-02 3.17574119e+02] [-2.40230801e-01 9.70713462e-01 -2.12986996e-03 -4.53214088e+01] [-1.06088040e-02 -4.31447183e-04 9.99943632e-01 -2.69292346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66576923100007 meters Centerline goodness [0,1] 0.9996797950688441 Centerline is valid? [True, True] Translation: X:317.60, Y:-45.33, Z:-2.69 [[ 9.70979723e-01 2.38939097e-01 1.03192175e-02 3.17602929e+02] [-2.38930119e-01 9.71034467e-01 -2.11238203e-03 -4.53292107e+01] [-1.05250465e-02 -4.14491746e-04 9.99944524e-01 -2.69290950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69576923100004 meters Centerline goodness [0,1] 0.9995500803427959 Centerline is valid? [True, True] Translation: X:317.63, Y:-45.33, Z:-2.69 [[ 9.71556514e-01 2.36547169e-01 1.11075097e-02 3.17633304e+02] [-2.36536614e-01 9.71619916e-01 -2.27344326e-03 -4.53255030e+01] [-1.13300542e-02 -4.18554139e-04 9.99935725e-01 -2.69278884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7257692310001 meters Centerline goodness [0,1] 0.999448076759786 Centerline is valid? [True, True] Translation: X:317.66, Y:-45.33, Z:-2.69 [[ 9.71932381e-01 2.34946032e-01 1.21576652e-02 3.17662007e+02] [-2.34933266e-01 9.72008318e-01 -2.48810368e-03 -4.53291117e+01] [-1.24019218e-02 -4.37971450e-04 9.99922997e-01 -2.69134005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.75576923100004 meters Centerline goodness [0,1] 0.999807605977041 Centerline is valid? [True, True] Translation: X:317.69, Y:-45.33, Z:-2.69 [[ 9.72814343e-01 2.31227221e-01 1.28928802e-02 3.17691063e+02] [-2.31212546e-01 9.72899687e-01 -2.63787798e-03 -4.53349551e+01] [-1.31534283e-02 -4.14830112e-04 9.99913404e-01 -2.69107047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7857692310001 meters Centerline goodness [0,1] 0.9997224416593719 Centerline is valid? [True, True] Translation: X:317.72, Y:-45.34, Z:-2.69 [[ 9.73337700e-01 2.29068484e-01 1.18891482e-02 3.17719635e+02] [-2.29055847e-01 9.73410244e-01 -2.43225833e-03 -4.53398352e+01] [-1.21301724e-02 -3.55870178e-04 9.99926363e-01 -2.69368831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.81576923100005 meters Centerline goodness [0,1] 0.9999152183128445 Centerline is valid? [True, True] Translation: X:317.75, Y:-45.35, Z:-2.70 [[ 9.74609246e-01 2.23764823e-01 8.13150142e-03 3.17747671e+02] [-2.23758728e-01 9.74643147e-01 -1.66344254e-03 -4.53461572e+01] [-8.29753206e-03 -1.98287939e-04 9.99965555e-01 -2.70150463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8457692310001 meters Centerline goodness [0,1] 0.99991522010979 Centerline is valid? [True, True] Translation: X:317.78, Y:-45.35, Z:-2.70 [[ 9.75317898e-01 2.20674477e-01 7.60081073e-03 3.17775966e+02] [-2.20669058e-01 9.75347502e-01 -1.55472034e-03 -4.53543894e+01] [-7.75651885e-03 -1.60917173e-04 9.99969905e-01 -2.70271751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.87576923100005 meters Centerline goodness [0,1] 0.9999786068800274 Centerline is valid? [True, True] Translation: X:317.80, Y:-45.37, Z:-2.70 [[ 9.76050667e-01 2.17365120e-01 8.80336432e-03 3.17803954e+02] [-2.17357720e-01 9.76090354e-01 -1.80044968e-03 -4.53662983e+01] [-8.98423396e-03 -1.56149082e-04 9.99959629e-01 -2.69991856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.83, Y:-45.38, Z:-2.69 [[ 9.77269394e-01 2.11665185e-01 1.19323795e-02 3.17832808e+02] [-2.11651169e-01 9.77342227e-01 -2.43990904e-03 -4.53772990e+01] [-1.21784621e-02 -1.41053639e-04 9.99925830e-01 -2.69494127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.86, Y:-45.39, Z:-2.69 [[ 9.77838976e-01 2.08969789e-01 1.27501127e-02 3.17862631e+02] [-2.08953557e-01 9.77922090e-01 -2.60707285e-03 -4.53866584e+01] [-1.30134163e-02 -1.14883955e-04 9.99915315e-01 -2.69394900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.89, Y:-45.40, Z:-2.69 [[ 9.79063910e-01 2.03088853e-01 1.37396284e-02 3.17892782e+02] [-2.03069420e-01 9.79160312e-01 -2.80970451e-03 -4.54026309e+01] [-1.40239185e-02 -3.92180816e-05 9.99901659e-01 -2.69239167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.92, Y:-45.42, Z:-2.69 [[ 9.79643853e-01 2.00245347e-01 1.41323390e-02 3.17924152e+02] [-2.00224472e-01 9.79745784e-01 -2.89134016e-03 -4.54150370e+01] [-1.44250770e-02 2.84349979e-06 9.99895953e-01 -2.69236127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.95, Y:-45.43, Z:-2.69 [[ 9.80842349e-01 1.94304194e-01 1.39343462e-02 3.17952900e+02] [-1.94283260e-01 9.80941319e-01 -2.85359753e-03 -4.54349252e+01] [-1.42232419e-02 9.17191061e-05 9.99898840e-01 -2.69306267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.98, Y:-45.45, Z:-2.69 [[ 9.81394042e-01 1.91524085e-01 1.35742259e-02 3.17982578e+02] [-1.91503921e-01 9.81487905e-01 -2.78216842e-03 -4.54481567e+01] [-1.38557908e-02 1.30886018e-04 9.99903995e-01 -2.69358558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08576923100003 meters Centerline goodness [0,1] 0.9999361267245784 Centerline is valid? [True, True] Translation: X:318.01, Y:-45.47, Z:-2.69 [[ 9.82319518e-01 1.86753719e-01 1.30924625e-02 3.18010172e+02] [-1.86734507e-01 9.82406744e-01 -2.68565856e-03 -4.54682142e+01] [-1.33636802e-02 1.93360284e-04 9.99910683e-01 -2.69422918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.11576923100006 meters Centerline goodness [0,1] 0.9999570815450644 Centerline is valid? [True, True] Translation: X:318.04, Y:-45.48, Z:-2.69 [[ 9.82520013e-01 1.85697401e-01 1.30728393e-02 3.18041048e+02] [-1.85678147e-01 9.82606957e-01 -2.68208871e-03 -4.54776906e+01] [-1.33435198e-02 2.07865247e-04 9.99910950e-01 -2.69472607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14576923100003 meters Centerline goodness [0,1] 0.9999356913183279 Centerline is valid? [True, True] Translation: X:318.07, Y:-45.49, Z:-2.69 [[ 9.82480026e-01 1.85878144e-01 1.35023689e-02 3.18071600e+02] [-1.85857586e-01 9.82572781e-01 -2.77276017e-03 -4.54881333e+01] [-1.37824557e-02 2.14663787e-04 9.99904994e-01 -2.69442398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.10, Y:-45.49, Z:-2.69 [[ 9.81948865e-01 1.88642235e-01 1.38034159e-02 3.18102547e+02] [-1.88620983e-01 9.82045861e-01 -2.83740013e-03 -4.54938330e+01] [-1.40908410e-02 1.82567952e-04 9.99900703e-01 -2.69439729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20576923100003 meters Centerline goodness [0,1] 0.9999789500273649 Centerline is valid? [True, True] Translation: X:318.13, Y:-45.50, Z:-2.70 [[ 9.81540602e-01 1.90847341e-01 1.24635059e-02 3.18133004e+02] [-1.90830180e-01 9.81619719e-01 -2.56295902e-03 -4.54980336e+01] [-1.27235571e-02 1.37235268e-04 9.99919043e-01 -2.69729616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.17, Y:-45.50, Z:-2.70 [[ 9.80895292e-01 1.94272768e-01 1.01251257e-02 3.18165319e+02] [-1.94261613e-01 9.80947545e-01 -2.08323585e-03 -4.55003487e+01] [-1.03369332e-02 7.65129993e-05 9.99946570e-01 -2.70181469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.20, Y:-45.51, Z:-2.70 [[ 9.80627922e-01 1.95608486e-01 1.03052865e-02 3.18197231e+02] [-1.95596986e-01 9.80682067e-01 -2.12210951e-03 -4.55060787e+01] [-1.05213123e-02 6.53168612e-05 9.99944647e-01 -2.70210392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.23, Y:-45.51, Z:-2.70 [[ 9.80451896e-01 1.96422184e-01 1.15067348e-02 3.18228578e+02] [-1.96407875e-01 9.80519414e-01 -2.37176976e-03 -4.55120250e+01] [-1.17484451e-02 6.53928290e-05 9.99930982e-01 -2.70015818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.26, Y:-45.52, Z:-2.70 [[ 9.80112006e-01 1.97975800e-01 1.36396041e-02 3.18259744e+02] [-1.97955806e-01 9.80206906e-01 -2.81418815e-03 -4.55167279e+01] [-1.39267753e-02 5.81807713e-05 9.99903016e-01 -2.69716329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.29, Y:-45.52, Z:-2.70 [[ 9.79963107e-01 1.98681627e-01 1.40683687e-02 3.18292516e+02] [-1.98660397e-01 9.80064084e-01 -2.90491594e-03 -4.55227470e+01] [-1.43650563e-02 5.18827489e-05 9.99896816e-01 -2.69730214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.33, Y:-45.53, Z:-2.70 [[ 9.79562269e-01 2.00733013e-01 1.28069734e-02 3.18325278e+02] [-2.00715565e-01 9.79645986e-01 -2.64663779e-03 -4.55266565e+01] [-1.30775677e-02 2.19876019e-05 9.99914485e-01 -2.70027358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.36, Y:-45.53, Z:-2.70 [[ 9.79322422e-01 2.01936005e-01 1.22246851e-02 3.18358365e+02] [-2.01920175e-01 9.79398718e-01 -2.52848552e-03 -4.55314173e+01] [-1.24834332e-02 7.79201074e-06 9.99922079e-01 -2.70142185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.39, Y:-45.53, Z:-2.70 [[ 9.78725439e-01 2.04793142e-01 1.25013828e-02 3.18390613e+02] [-2.04776788e-01 9.78805276e-01 -2.58817381e-03 -4.55314634e+01] [-1.27664596e-02 -2.68814591e-05 9.99918505e-01 -2.70111671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.42, Y:-45.53, Z:-2.70 [[ 9.78356472e-01 2.06535539e-01 1.27155089e-02 3.18423561e+02] [-2.06518738e-01 9.78439098e-01 -2.63478746e-03 -4.55347396e+01] [-1.29855283e-02 -4.82294809e-05 9.99915683e-01 -2.70108650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.46, Y:-45.54, Z:-2.70 [[ 9.77732307e-01 2.09421805e-01 1.34923734e-02 3.18455959e+02] [-2.09403126e-01 9.77825393e-01 -2.79846502e-03 -4.55366487e+01] [-1.37792449e-02 -8.91954948e-05 9.99905058e-01 -2.70085836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.49, Y:-45.54, Z:-2.70 [[ 9.77546455e-01 2.10322857e-01 1.29315268e-02 3.18488657e+02] [-2.10305750e-01 9.77631979e-01 -2.68418826e-03 -4.55422273e+01] [-1.32068202e-02 -9.56557193e-05 9.99912782e-01 -2.70278839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.52, Y:-45.55, Z:-2.70 [[ 9.77433509e-01 2.10889151e-01 1.22270728e-02 3.18520001e+02] [-2.10873871e-01 9.77509978e-01 -2.54041779e-03 -4.55472082e+01] [-1.24878322e-02 -9.52807001e-05 9.99922019e-01 -2.70492023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.55, Y:-45.55, Z:-2.71 [[ 9.77257175e-01 2.11723668e-01 1.18955107e-02 3.18552365e+02] [-2.11709252e-01 9.77329565e-01 -2.47276193e-03 -4.55518450e+01] [-1.21493765e-02 -1.01865338e-04 9.99926188e-01 -2.70531311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.58, Y:-45.56, Z:-2.70 [[ 9.77109655e-01 2.12341614e-01 1.29522768e-02 3.18584434e+02] [-2.12324540e-01 9.77195490e-01 -2.69522514e-03 -4.55578436e+01] [-1.32292149e-02 -1.16555701e-04 9.99912483e-01 -2.70303370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.62, Y:-45.56, Z:-2.70 [[ 9.76596519e-01 2.14596068e-01 1.44141062e-02 3.18616372e+02] [-2.14575121e-01 9.76702873e-01 -3.00256160e-03 -4.55587428e+01] [-1.47226369e-02 -1.60617391e-04 9.99891603e-01 -2.70052021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.65, Y:-45.56, Z:-2.70 [[ 9.76280508e-01 2.16052941e-01 1.40533694e-02 3.18647534e+02] [-2.16033150e-01 9.76381634e-01 -2.92956635e-03 -4.55648857e+01] [-1.43543932e-02 -1.75915137e-04 9.99896955e-01 -2.70209583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.715769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.68, Y:-45.57, Z:-2.70 [[ 9.75878414e-01 2.17877073e-01 1.38167569e-02 3.18680014e+02] [-2.17858092e-01 9.75976200e-01 -2.88260067e-03 -4.55683287e+01] [-1.41128785e-02 -1.97024531e-04 9.99900389e-01 -2.70367817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.71, Y:-45.56, Z:-2.70 [[ 9.75034480e-01 2.21645511e-01 1.34547628e-02 3.18712120e+02] [-2.21627836e-01 9.75127278e-01 -2.80954440e-03 -4.55634818e+01] [-1.37428291e-02 -2.42547300e-04 9.99905533e-01 -2.70441704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.775769231 meters Centerline goodness [0,1] 0.9999576513435111 Centerline is valid? [True, True] Translation: X:318.74, Y:-45.56, Z:-2.70 [[ 9.74587553e-01 2.23622058e-01 1.31254339e-02 3.18742172e+02] [-2.23605415e-01 9.74675898e-01 -2.74098690e-03 -4.55644496e+01] [-1.34059892e-02 -2.63586369e-04 9.99910101e-01 -2.70460170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.77, Y:-45.56, Z:-2.71 [[ 9.73829630e-01 2.26957845e-01 1.20825515e-02 3.18773587e+02] [-2.26944001e-01 9.73904541e-01 -2.52288332e-03 -4.55633356e+01] [-1.23398400e-02 -2.85204058e-04 9.99923821e-01 -2.70678141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.83576923100003 meters Centerline goodness [0,1] 0.9998521491181751 Centerline is valid? [True, True] Translation: X:318.80, Y:-45.56, Z:-2.71 [[ 9.73414719e-01 2.28766185e-01 1.13937194e-02 3.18803560e+02] [-2.28753997e-01 9.73481355e-01 -2.37917312e-03 -4.55607242e+01] [-1.16358477e-02 -2.90436718e-04 9.99932259e-01 -2.70904089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86576923100006 meters Centerline goodness [0,1] 0.9998509179196661 Centerline is valid? [True, True] Translation: X:318.83, Y:-45.56, Z:-2.71 [[ 9.73115827e-01 2.29959493e-01 1.28147919e-02 3.18833414e+02] [-2.29944186e-01 9.73200141e-01 -2.67538005e-03 -4.55585055e+01] [-1.30865863e-02 -3.43232218e-04 9.99914308e-01 -2.70747268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.89576923100003 meters Centerline goodness [0,1] 0.9999570824660415 Centerline is valid? [True, True] Translation: X:318.86, Y:-45.56, Z:-2.71 [[ 9.73252467e-01 2.29334930e-01 1.36060866e-02 3.18861743e+02] [-2.29317623e-01 9.73347504e-01 -2.83986146e-03 -4.55618174e+01] [-1.38947299e-02 -3.56213273e-04 9.99903400e-01 -2.70628153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92576923100006 meters Centerline goodness [0,1] 0.9999158071984845 Centerline is valid? [True, True] Translation: X:318.89, Y:-45.56, Z:-2.71 [[ 9.73507945e-01 2.28230251e-01 1.39008746e-02 3.18889880e+02] [-2.28212084e-01 9.73607123e-01 -2.90068556e-03 -4.55637231e+01] [-1.41960147e-02 -3.48507124e-04 9.99899171e-01 -2.70614840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.92, Y:-45.58, Z:-2.71 [[ 9.74715948e-01 2.23054375e-01 1.32501784e-02 3.18916661e+02] [-2.23037401e-01 9.74805969e-01 -2.76407534e-03 -4.55752304e+01] [-1.35328921e-02 -2.61097048e-04 9.99908392e-01 -2.70779023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.94, Y:-45.59, Z:-2.71 [[ 9.76177607e-01 2.16560392e-01 1.33744246e-02 3.18944075e+02] [-2.16542495e-01 9.76269208e-01 -2.78949408e-03 -4.55890569e+01] [-1.36611328e-02 -1.73089606e-04 9.99906667e-01 -2.70815403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.97, Y:-45.60, Z:-2.71 [[ 9.76580124e-01 2.14660104e-01 1.45705709e-02 3.18972817e+02] [-2.14638656e-01 9.76688801e-01 -3.03858936e-03 -4.55962928e+01] [-1.48831774e-02 -1.59981788e-04 9.99889227e-01 -2.70654095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.00, Y:-45.60, Z:-2.71 [[ 9.76796471e-01 2.13601251e-01 1.55935768e-02 3.19001338e+02] [-2.13576557e-01 9.76920919e-01 -3.25152724e-03 -4.56032975e+01] [-1.59282217e-02 -1.54342112e-04 9.99873126e-01 -2.70520714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.03, Y:-45.61, Z:-2.71 [[ 9.76646601e-01 2.14352674e-01 1.46406268e-02 3.19030115e+02] [-2.14330996e-01 9.76756319e-01 -3.05247806e-03 -4.56062882e+01] [-1.49546316e-02 -1.56747798e-04 9.99888161e-01 -2.70672794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.06, Y:-45.61, Z:-2.71 [[ 9.76162933e-01 2.16641737e-01 1.31257752e-02 3.19060325e+02] [-2.16624526e-01 9.76251160e-01 -2.73619041e-03 -4.56073630e+01] [-1.34068263e-02 -1.72397173e-04 9.99910110e-01 -2.71035722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.09, Y:-45.61, Z:-2.71 [[ 9.75948449e-01 2.17586964e-01 1.34364625e-02 3.19088593e+02] [-2.17569022e-01 9.76040920e-01 -2.80065975e-03 -4.56107738e+01] [-1.37239242e-02 -1.90058464e-04 9.99905804e-01 -2.70983199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.12, Y:-45.61, Z:-2.71 [[ 9.75674520e-01 2.18749708e-01 1.44151557e-02 3.19117041e+02] [-2.18729199e-01 9.75780977e-01 -3.00367229e-03 -4.56120508e+01] [-1.47230872e-02 -2.22408940e-04 9.99891585e-01 -2.70823538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.15, Y:-45.61, Z:-2.71 [[ 9.75367986e-01 2.20116998e-01 1.43457113e-02 3.19145158e+02] [-2.20096847e-01 9.75473448e-01 -2.98830548e-03 -4.56108518e+01] [-1.46516373e-02 -2.42748321e-04 9.99892630e-01 -2.70922543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.17, Y:-45.62, Z:-2.71 [[ 9.75345767e-01 2.20241678e-01 1.39369135e-02 3.19173695e+02] [-2.20222686e-01 9.75445307e-01 -2.90213390e-03 -4.56152450e+01] [-1.42338677e-02 -2.38640512e-04 9.99898665e-01 -2.71126539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.20, Y:-45.62, Z:-2.71 [[ 9.75562993e-01 2.19330776e-01 1.30712529e-02 3.19202138e+02] [-2.19313996e-01 9.75650535e-01 -2.72128292e-03 -4.56217885e+01] [-1.33498360e-02 -2.11925786e-04 9.99910865e-01 -2.71405918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.23, Y:-45.63, Z:-2.72 [[ 9.75789288e-01 2.18378615e-01 1.20849486e-02 3.19229577e+02] [-2.18364206e-01 9.75864102e-01 -2.51541603e-03 -4.56299373e+01] [-1.23425806e-02 -1.84404180e-04 9.99923810e-01 -2.71519080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.26, Y:-45.64, Z:-2.72 [[ 9.76450917e-01 2.15400652e-01 1.20898979e-02 3.19255739e+02] [-2.15386009e-01 9.76525748e-01 -2.51587879e-03 -4.56410470e+01] [-1.23480185e-02 -1.47362697e-04 9.99923749e-01 -2.71559005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.28, Y:-45.65, Z:-2.71 [[ 9.76872110e-01 2.13402000e-01 1.34337836e-02 3.19282486e+02] [-2.13383744e-01 9.76964466e-01 -2.79460013e-03 -4.56515444e+01] [-1.37207025e-02 -1.36584126e-04 9.99905857e-01 -2.71427350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.31, Y:-45.67, Z:-2.72 [[ 9.77675633e-01 2.09716950e-01 1.30060860e-02 3.19310052e+02] [-2.09699522e-01 9.77762136e-01 -2.70493990e-03 -4.56701539e+01] [-1.32841301e-02 -8.28161807e-05 9.99911759e-01 -2.71582706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.34, Y:-45.68, Z:-2.72 [[ 9.78045744e-01 2.08094832e-01 1.10934001e-02 3.19339338e+02] [-2.08082049e-01 9.78108654e-01 -2.30706082e-03 -4.56828870e+01] [-1.13306381e-02 -5.19264183e-05 9.99935805e-01 -2.71958057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.37, Y:-45.70, Z:-2.72 [[ 9.78437636e-01 2.06314650e-01 9.69829908e-03 3.19368094e+02] [-2.06304790e-01 9.78485700e-01 -2.01718748e-03 -4.56951568e+01] [-9.90582229e-03 -2.71134032e-05 9.99950936e-01 -2.72289100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.465769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.40, Y:-45.72, Z:-2.72 [[ 9.79024044e-01 2.03484100e-01 1.03025388e-02 3.19396804e+02] [-2.03472822e-01 9.79078251e-01 -2.14231171e-03 -4.57162185e+01] [-1.05229180e-02 1.08803466e-06 9.99944633e-01 -2.72191063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.43, Y:-45.73, Z:-2.72 [[ 9.79222515e-01 2.02461929e-01 1.15079730e-02 3.19426975e+02] [-2.02447760e-01 9.79290134e-01 -2.39524887e-03 -4.57302169e+01] [-1.17545911e-02 1.57182651e-05 9.99930912e-01 -2.72070279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.46, Y:-45.74, Z:-2.72 [[ 9.79190494e-01 2.02616767e-01 1.15075317e-02 3.19457935e+02] [-2.02602584e-01 9.79258110e-01 -2.39736686e-03 -4.57368336e+01] [-1.17545905e-02 1.60231820e-05 9.99930912e-01 -2.72117465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.49, Y:-45.75, Z:-2.72 [[ 9.79199940e-01 2.02416349e-01 1.39677769e-02 3.19488066e+02] [-2.02395393e-01 9.79299556e-01 -2.91271285e-03 -4.57540183e+01] [-1.42682184e-02 2.51145610e-05 9.99898203e-01 -2.71673223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.52, Y:-45.76, Z:-2.72 [[ 9.78957681e-01 2.03518792e-01 1.48983273e-02 3.19519464e+02] [-2.03495032e-01 9.79071040e-01 -3.10980055e-03 -4.57643263e+01] [-1.52194237e-02 1.26275356e-05 9.99884178e-01 -2.71519141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.55, Y:-45.78, Z:-2.71 [[ 9.78215534e-01 2.07018410e-01 1.54190646e-02 3.19551250e+02] [-2.06993346e-01 9.78337046e-01 -3.22154493e-03 -4.57750900e+01] [-1.57519613e-02 -4.02784938e-05 9.99875929e-01 -2.71423000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.58, Y:-45.78, Z:-2.72 [[ 9.77793877e-01 2.09043329e-01 1.48330893e-02 3.19582703e+02] [-2.09020325e-01 9.77906377e-01 -3.10189810e-03 -4.57816379e+01] [-1.51538037e-02 -6.74001748e-05 9.99885172e-01 -2.71566111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.67576923100006 meters Centerline goodness [0,1] 0.9999790268456376 Centerline is valid? [True, True] Translation: X:319.61, Y:-45.79, Z:-2.72 [[ 9.77324293e-01 2.11293163e-01 1.38717753e-02 3.19613466e+02] [-2.11273236e-01 9.77422729e-01 -2.90328028e-03 -4.57869909e+01] [-1.41720318e-02 -9.32885127e-05 9.99899567e-01 -2.71791732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.65, Y:-45.79, Z:-2.72 [[ 9.76112240e-01 2.16923747e-01 1.22058651e-02 3.19645275e+02] [-2.16908746e-01 9.76188540e-01 -2.55566336e-03 -4.57923906e+01] [-1.24696097e-02 -1.52944590e-04 9.99922240e-01 -2.72104292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.73576923100006 meters Centerline goodness [0,1] 0.9999572284003422 Centerline is valid? [True, True] Translation: X:319.68, Y:-45.79, Z:-2.72 [[ 9.75379820e-01 2.20222051e-01 1.16814185e-02 3.19676716e+02] [-2.20208545e-01 9.75449749e-01 -2.44609277e-03 -4.57937187e+01] [-1.19333203e-02 -1.86478638e-04 9.99928778e-01 -2.72222644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.71, Y:-45.79, Z:-2.72 [[ 9.73736080e-01 2.27360238e-01 1.20568732e-02 3.19708851e+02] [-2.27346364e-01 9.73810682e-01 -2.52722081e-03 -4.57881915e+01] [-1.23157014e-02 -2.80240189e-04 9.99924120e-01 -2.72202227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.79576923100007 meters Centerline goodness [0,1] 0.9999150815217391 Centerline is valid? [True, True] Translation: X:319.74, Y:-45.79, Z:-2.72 [[ 9.72901862e-01 2.30892253e-01 1.22773900e-02 3.19738863e+02] [-2.30878150e-01 9.72979269e-01 -2.57329780e-03 -4.57863580e+01] [-1.25398005e-02 -3.31014875e-04 9.99921319e-01 -2.72289643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82576923100004 meters Centerline goodness [0,1] 0.9998733161606351 Centerline is valid? [True, True] Translation: X:319.77, Y:-45.79, Z:-2.72 [[ 9.72214489e-01 2.33775172e-01 1.21719597e-02 3.19767655e+02] [-2.33761539e-01 9.72290613e-01 -2.55096742e-03 -4.57853988e+01] [-1.24310350e-02 -3.65248556e-04 9.99922665e-01 -2.72406407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.85576923100007 meters Centerline goodness [0,1] 0.9998938811893796 Centerline is valid? [True, True] Translation: X:319.80, Y:-45.79, Z:-2.72 [[ 9.71681012e-01 2.35997677e-01 1.18788723e-02 3.19797127e+02] [-2.35984866e-01 9.71753543e-01 -2.48893529e-03 -4.57884255e+01] [-1.21307191e-02 -3.84782916e-04 9.99926346e-01 -2.72411057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88576923100004 meters Centerline goodness [0,1] 0.9997883642674229 Centerline is valid? [True, True] Translation: X:319.83, Y:-45.79, Z:-2.72 [[ 9.71884659e-01 2.35155482e-01 1.19209314e-02 3.19826512e+02] [-2.35142519e-01 9.71957694e-01 -2.49748871e-03 -4.57898826e+01] [-1.21739392e-02 -3.75846887e-04 9.99925824e-01 -2.72450356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.91576923100007 meters Centerline goodness [0,1] 0.9999576844955992 Centerline is valid? [True, True] Translation: X:319.85, Y:-45.81, Z:-2.72 [[ 9.73119236e-01 2.29961536e-01 1.25158081e-02 3.19854785e+02] [-2.29946825e-01 9.73199664e-01 -2.62152889e-03 -4.58059915e+01] [-1.27832310e-02 -3.26910152e-04 9.99918238e-01 -2.72341208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.88, Y:-45.82, Z:-2.72 [[ 9.73956621e-01 2.26355665e-01 1.31001593e-02 3.19883646e+02] [-2.26339219e-01 9.74044674e-01 -2.74415822e-03 -4.58158717e+01] [-1.33812962e-02 -2.92388763e-04 9.99910424e-01 -2.72317292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.91, Y:-45.83, Z:-2.72 [[ 9.75660756e-01 2.18846100e-01 1.38734970e-02 3.19911266e+02] [-2.18826893e-01 9.75759368e-01 -2.90633266e-03 -4.58338732e+01] [-1.41732342e-02 -2.00299520e-04 9.99899535e-01 -2.72196092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.94, Y:-45.85, Z:-2.72 [[ 9.76430712e-01 2.15371616e-01 1.40759035e-02 3.19940512e+02] [-2.15351481e-01 9.76532152e-01 -2.94883636e-03 -4.58453432e+01] [-1.43806680e-02 -1.51932275e-04 9.99896581e-01 -2.72275785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.97, Y:-45.86, Z:-2.72 [[ 9.77696093e-01 2.09424439e-01 1.58667406e-02 3.19969243e+02] [-2.09398024e-01 9.77824831e-01 -3.32683480e-03 -4.58612392e+01] [-1.62116135e-02 -6.98307507e-05 9.99868581e-01 -2.72001784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.00, Y:-45.87, Z:-2.72 [[ 9.78300930e-01 2.06489221e-01 1.70144780e-02 3.19999514e+02] [-2.06458353e-01 9.78448875e-01 -3.57034633e-03 -4.58728646e+01] [-1.73850349e-02 -1.99079592e-05 9.99848869e-01 -2.71855201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.03, Y:-45.89, Z:-2.72 [[ 9.79741528e-01 1.99562172e-01 1.67773191e-02 3.20027863e+02] [-1.99531094e-01 9.79885161e-01 -3.52331703e-03 -4.58936567e+01] [-1.71429669e-02 1.04343164e-04 9.99853043e-01 -2.71943708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12576923100005 meters Centerline goodness [0,1] 0.9999787066413985 Centerline is valid? [True, True] Translation: X:320.06, Y:-45.91, Z:-2.72 [[ 9.80408164e-01 1.96348375e-01 1.57208995e-02 3.20056947e+02] [-1.96320636e-01 9.80534187e-01 -3.30391045e-03 -4.59094228e+01] [-1.60635969e-02 1.52843786e-04 9.99870960e-01 -2.72161658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.09, Y:-45.93, Z:-2.72 [[ 9.80884296e-01 1.94048326e-01 1.45342478e-02 3.20086589e+02] [-1.94024332e-01 9.80991955e-01 -3.05661929e-03 -4.59250351e+01] [-1.48511121e-02 1.78192130e-04 9.99889700e-01 -2.72348756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18576923100005 meters Centerline goodness [0,1] 0.9999786830380935 Centerline is valid? [True, True] Translation: X:320.12, Y:-45.94, Z:-2.73 [[ 9.81566116e-01 1.90632728e-01 1.36792741e-02 3.20115002e+02] [-1.90611112e-01 9.81661406e-01 -2.87897743e-03 -4.59439090e+01] [-1.39772428e-02 2.18485047e-04 9.99902290e-01 -2.72665111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.215769231 meters Centerline goodness [0,1] 0.9998528484338869 Centerline is valid? [True, True] Translation: X:320.14, Y:-45.96, Z:-2.73 [[ 9.81718424e-01 1.89871564e-01 1.33313620e-02 3.20143649e+02] [-1.89850934e-01 9.81808911e-01 -2.80791127e-03 -4.59566519e+01] [-1.36219925e-02 2.25606699e-04 9.99907191e-01 -2.72841682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24576923100005 meters Centerline goodness [0,1] 0.9998508798091261 Centerline is valid? [True, True] Translation: X:320.17, Y:-45.97, Z:-2.73 [[ 9.81580003e-01 1.90592520e-01 1.32358814e-02 3.20174346e+02] [-1.90572237e-01 9.81669214e-01 -2.78881300e-03 -4.59659804e+01] [-1.35247842e-02 2.15051547e-04 9.99908513e-01 -2.72853278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.275769231 meters Centerline goodness [0,1] 0.9999787424004082 Centerline is valid? [True, True] Translation: X:320.20, Y:-45.97, Z:-2.73 [[ 9.81276945e-01 1.92178772e-01 1.27623527e-02 3.20204141e+02] [-1.92160021e-01 9.81359916e-01 -2.69113532e-03 -4.59742342e+01] [-1.30416404e-02 1.88335088e-04 9.99914936e-01 -2.72865829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.24, Y:-45.98, Z:-2.73 [[ 9.80489147e-01 1.96233794e-01 1.15468979e-02 3.20235242e+02] [-1.96218707e-01 9.80557129e-01 -2.43639226e-03 -4.59793750e+01] [-1.18004955e-02 1.23138803e-04 9.99930364e-01 -2.73130085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.27, Y:-45.98, Z:-2.73 [[ 9.79938901e-01 1.98935832e-01 1.20118332e-02 3.20267095e+02] [-1.98919683e-01 9.80012513e-01 -2.53659104e-03 -4.59833482e+01] [-1.22763657e-02 9.63141944e-05 9.99924638e-01 -2.73112141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.30, Y:-45.99, Z:-2.73 [[ 9.79189735e-01 2.02451372e-01 1.41740770e-02 3.20297395e+02] [-2.02429212e-01 9.79292315e-01 -2.99602842e-03 -4.59889766e+01] [-1.44871147e-02 6.44330387e-05 9.99895054e-01 -2.72828149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.39576923100003 meters Centerline goodness [0,1] 0.9999362664910454 Centerline is valid? [True, True] Translation: X:320.33, Y:-46.00, Z:-2.73 [[ 9.79033646e-01 2.03158565e-01 1.48228755e-02 3.20330025e+02] [-2.03134374e-01 9.79145849e-01 -3.13558029e-03 -4.59962604e+01] [-1.51507770e-02 5.88030605e-05 9.99885219e-01 -2.72690802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.36, Y:-46.00, Z:-2.73 [[ 9.78941084e-01 2.03606068e-01 1.47960354e-02 3.20362249e+02] [-2.03581974e-01 9.79052892e-01 -3.13269186e-03 -4.60032118e+01] [-1.51239363e-02 5.45146668e-05 9.99885625e-01 -2.72641648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.39, Y:-46.01, Z:-2.73 [[ 9.78708479e-01 2.04785678e-01 1.38758725e-02 3.20393308e+02] [-2.04764571e-01 9.78806837e-01 -2.94035613e-03 -4.60085854e+01] [-1.41839417e-02 3.64643856e-05 9.99899402e-01 -2.72956839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.43, Y:-46.01, Z:-2.73 [[ 9.78514526e-01 2.05751525e-01 1.32526472e-02 3.20425649e+02] [-2.05732330e-01 9.78604266e-01 -2.81053354e-03 -4.60145029e+01] [-1.35473687e-02 2.36499032e-05 9.99908230e-01 -2.73149356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.46, Y:-46.02, Z:-2.73 [[ 9.78037179e-01 2.08001919e-01 1.33596029e-02 3.20457932e+02] [-2.07982588e-01 9.78128418e-01 -2.83573413e-03 -4.60157847e+01] [-1.36572453e-02 -5.11136329e-06 9.99906735e-01 -2.73057482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.49, Y:-46.02, Z:-2.73 [[ 9.77709036e-01 2.09518113e-01 1.36821304e-02 3.20490960e+02] [-2.09497952e-01 9.77804766e-01 -2.90661902e-03 -4.60190121e+01] [-1.39874416e-02 -2.45506111e-05 9.99902171e-01 -2.73074391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.52, Y:-46.02, Z:-2.73 [[ 9.77457863e-01 2.10673993e-01 1.38778496e-02 3.20523648e+02] [-2.10653331e-01 9.77556375e-01 -2.95078782e-03 -4.60233644e+01] [-1.41880346e-02 -3.91444797e-05 9.99899344e-01 -2.73123532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.56, Y:-46.03, Z:-2.73 [[ 9.77380388e-01 2.11017690e-01 1.41107051e-02 3.20555868e+02] [-2.10996326e-01 9.77482242e-01 -3.00293037e-03 -4.60304329e+01] [-1.44266351e-02 -4.23016968e-05 9.99895930e-01 -2.73080661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.59, Y:-46.04, Z:-2.73 [[ 9.77543953e-01 2.10232046e-01 1.45019430e-02 3.20587475e+02] [-2.10209354e-01 9.77651516e-01 -3.08891303e-03 -4.60403199e+01] [-1.48272351e-02 -2.88958253e-05 9.99890070e-01 -2.72970454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.62, Y:-46.05, Z:-2.73 [[ 9.77595362e-01 2.10029700e-01 1.39582548e-02 3.20618322e+02] [-2.10008620e-01 9.77695006e-01 -2.97572514e-03 -4.60483057e+01] [-1.42719067e-02 -2.22987283e-05 9.99898151e-01 -2.73188864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.65, Y:-46.06, Z:-2.73 [[ 9.77542705e-01 2.10303352e-01 1.35189018e-02 3.20649910e+02] [-2.10283571e-01 9.77636180e-01 -2.88443415e-03 -4.60561463e+01] [-1.38231737e-02 -2.31453850e-05 9.99904455e-01 -2.73386262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.68, Y:-46.06, Z:-2.73 [[ 9.77281696e-01 2.11481461e-01 1.40027877e-02 3.20681439e+02] [-2.11460322e-01 9.77382008e-01 -2.99032325e-03 -4.60645781e+01] [-1.43184707e-02 -3.86458288e-05 9.99897485e-01 -2.73373958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.71, Y:-46.07, Z:-2.73 [[ 9.76986968e-01 2.12817261e-01 1.43274906e-02 3.20713360e+02] [-2.12795230e-01 9.77092017e-01 -3.06260774e-03 -4.60703242e+01] [-1.46510524e-02 -5.66938025e-05 9.99892666e-01 -2.73308487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.74, Y:-46.07, Z:-2.73 [[ 9.76516595e-01 2.14980833e-01 1.40919140e-02 3.20744738e+02] [-2.14959722e-01 9.76618264e-01 -3.01395514e-03 -4.60736068e+01] [-1.44103632e-02 -8.60167012e-05 9.99896162e-01 -2.73341586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.78, Y:-46.08, Z:-2.74 [[ 9.75542868e-01 2.19400779e-01 1.33944602e-02 3.20776874e+02] [-2.19382095e-01 9.75634808e-01 -2.86673879e-03 -4.60771276e+01] [-1.36970663e-02 -1.41878163e-04 9.99906181e-01 -2.73531190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.81, Y:-46.08, Z:-2.74 [[ 9.74917334e-01 2.22160985e-01 1.34420137e-02 3.20808053e+02] [-2.22142400e-01 9.75009982e-01 -2.87911030e-03 -4.60829372e+01] [-1.37457235e-02 -1.79146654e-04 9.99905507e-01 -2.73618943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.87576923100005 meters Centerline goodness [0,1] 0.9999786953001832 Centerline is valid? [True, True] Translation: X:320.84, Y:-46.09, Z:-2.74 [[ 9.74696902e-01 2.23103147e-01 1.38179174e-02 3.20839254e+02] [-2.23083571e-01 9.74794823e-01 -2.96185172e-03 -4.60880374e+01] [-1.41304328e-02 -1.95642660e-04 9.99900141e-01 -2.73658902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.87, Y:-46.10, Z:-2.74 [[ 9.74501602e-01 2.23948653e-01 1.39150515e-02 3.20870074e+02] [-2.23928870e-01 9.74600922e-01 -2.98387770e-03 -4.60976442e+01] [-1.42298574e-02 -2.08188170e-04 9.99898729e-01 -2.73643561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.93576923100005 meters Centerline goodness [0,1] 0.9999788014330231 Centerline is valid? [True, True] Translation: X:320.90, Y:-46.10, Z:-2.74 [[ 9.74401849e-01 2.24387460e-01 1.38312646e-02 3.20902008e+02] [-2.24367926e-01 9.74499986e-01 -2.96829530e-03 -4.61024334e+01] [-1.41446154e-02 -2.10979715e-04 9.99899938e-01 -2.73717252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.965769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.93, Y:-46.11, Z:-2.74 [[ 9.74078282e-01 2.25837806e-01 1.29917733e-02 3.20933458e+02] [-2.25820669e-01 9.74164893e-01 -2.79043117e-03 -4.61056665e+01] [-1.32863143e-02 -2.15712558e-04 9.99911710e-01 -2.73848875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.97, Y:-46.11, Z:-2.74 [[ 9.73324836e-01 2.29084530e-01 1.26111443e-02 3.20966245e+02] [-2.29068628e-01 9.73406501e-01 -2.71075172e-03 -4.61076537e+01] [-1.28967611e-02 -2.50375547e-04 9.99916802e-01 -2.73846915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.025769231 meters Centerline goodness [0,1] 0.9998944724678669 Centerline is valid? [True, True] Translation: X:321.00, Y:-46.11, Z:-2.74 [[ 9.72666774e-01 2.31868128e-01 1.25107267e-02 3.20998714e+02] [-2.31852703e-01 9.72747187e-01 -2.68955358e-03 -4.61064402e+01] [-1.27933959e-02 -2.84606396e-04 9.99918121e-01 -2.73925247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.05576923100006 meters Centerline goodness [0,1] 0.999705523537083 Centerline is valid? [True, True] Translation: X:321.03, Y:-46.10, Z:-2.74 [[ 9.71884716e-01 2.35147658e-01 1.20697094e-02 3.21032563e+02] [-2.35133532e-01 9.71959608e-01 -2.59658677e-03 -4.60959417e+01] [-1.23418513e-02 -3.14410412e-04 9.99923787e-01 -2.74153054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08576923100003 meters Centerline goodness [0,1] 0.9987725906801541 Centerline is valid? [True, True] Translation: X:321.07, Y:-46.09, Z:-2.74 [[ 9.70550321e-01 2.40580650e-01 1.23703054e-02 3.21065462e+02] [-2.40566223e-01 9.70629073e-01 -2.66356456e-03 -4.60855033e+01] [-1.26477802e-02 -3.90754206e-04 9.99919937e-01 -2.74152177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.11576923100006 meters Centerline goodness [0,1] 0.999595219327212 Centerline is valid? [True, True] Translation: X:321.09, Y:-46.09, Z:-2.74 [[ 9.70100517e-01 2.42292551e-01 1.41175684e-02 3.21094143e+02] [-2.42273941e-01 9.70203122e-01 -3.03975542e-03 -4.60949197e+01] [-1.44334190e-02 -4.71450636e-04 9.99895722e-01 -2.73812888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14576923100003 meters Centerline goodness [0,1] 0.9997467285774588 Centerline is valid? [True, True] Translation: X:321.12, Y:-46.10, Z:-2.74 [[ 9.70211236e-01 2.41839960e-01 1.42685493e-02 3.21124731e+02] [-2.41820904e-01 9.70316038e-01 -3.07208337e-03 -4.61014395e+01] [-1.45879548e-02 -4.69863691e-04 9.99893480e-01 -2.73832571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.17576923100006 meters Centerline goodness [0,1] 0.999681886624393 Centerline is valid? [True, True] Translation: X:321.16, Y:-46.11, Z:-2.74 [[ 9.70484186e-01 2.40766820e-01 1.38486067e-02 3.21155446e+02] [-2.40748755e-01 9.70582889e-01 -2.98199154e-03 -4.61060624e+01] [-1.41591853e-02 -4.40059188e-04 9.99899657e-01 -2.73957103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20576923100003 meters Centerline goodness [0,1] 0.9998515407944688 Centerline is valid? [True, True] Translation: X:321.19, Y:-46.11, Z:-2.74 [[ 9.71244737e-01 2.37740378e-01 1.27739248e-02 3.21185688e+02] [-2.37724743e-01 9.71328667e-01 -2.75088482e-03 -4.61088588e+01] [-1.30616757e-02 -3.64895570e-04 9.99914626e-01 -2.74249750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.23576923100006 meters Centerline goodness [0,1] 0.9998306304780454 Centerline is valid? [True, True] Translation: X:321.22, Y:-46.11, Z:-2.74 [[ 9.71473949e-01 2.36791052e-01 1.29754975e-02 3.21215923e+02] [-2.36774832e-01 9.71560533e-01 -2.79447376e-03 -4.61140361e+01] [-1.32681877e-02 -3.57512800e-04 9.99911910e-01 -2.74262472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26576923100004 meters Centerline goodness [0,1] 0.9997880323038769 Centerline is valid? [True, True] Translation: X:321.25, Y:-46.11, Z:-2.74 [[ 9.71671112e-01 2.35843221e-01 1.52716964e-02 3.21245969e+02] [-2.35820635e-01 9.71791032e-01 -3.28900959e-03 -4.61145680e+01] [-1.56165882e-02 -4.05545535e-04 9.99877971e-01 -2.73781690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.29576923100007 meters Centerline goodness [0,1] 0.999915611814346 Centerline is valid? [True, True] Translation: X:321.28, Y:-46.12, Z:-2.74 [[ 9.71612345e-01 2.35994655e-01 1.66124743e-02 3.21275202e+02] [-2.35967947e-01 9.71754252e-01 -3.57802143e-03 -4.61162133e+01] [-1.69876365e-02 -4.43561660e-04 9.99855601e-01 -2.73585488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32576923100004 meters Centerline goodness [0,1] 0.9999577452885997 Centerline is valid? [True, True] Translation: X:321.31, Y:-46.12, Z:-2.74 [[ 9.71600341e-01 2.35999684e-01 1.72315321e-02 3.21305262e+02] [-2.35970956e-01 9.71753023e-01 -3.71093982e-03 -4.61210612e+01] [-1.76205741e-02 -4.60590705e-04 9.99844640e-01 -2.73572064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.35576923100007 meters Centerline goodness [0,1] 0.9998728436400627 Centerline is valid? [True, True] Translation: X:321.34, Y:-46.12, Z:-2.74 [[ 9.71994158e-01 2.34472533e-01 1.58109918e-02 3.21335307e+02] [-2.34448145e-01 9.72122664e-01 -3.40500056e-03 -4.61218422e+01] [-1.61686026e-02 -3.97217046e-04 9.99869201e-01 -2.73873079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38576923100004 meters Centerline goodness [0,1] 0.9999364083432254 Centerline is valid? [True, True] Translation: X:321.36, Y:-46.13, Z:-2.74 [[ 9.72434856e-01 2.32669007e-01 1.53487500e-02 3.21362970e+02] [-2.32645803e-01 9.72555914e-01 -3.30525380e-03 -4.61279573e+01] [-1.56965477e-02 -3.56678247e-04 9.99876738e-01 -2.74002359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.39, Y:-46.14, Z:-2.74 [[ 9.73209678e-01 2.29413619e-01 1.52418439e-02 3.21392425e+02] [-2.29390345e-01 9.73328978e-01 -3.28172032e-03 -4.61368790e+01] [-1.55881997e-02 -3.02529860e-04 9.99878451e-01 -2.74010198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.42, Y:-46.14, Z:-2.74 [[ 9.73214948e-01 2.29391260e-01 1.52418473e-02 3.21420950e+02] [-2.29367984e-01 9.73334248e-01 -3.28170462e-03 -4.61429749e+01] [-1.55882063e-02 -3.02187791e-04 9.99878451e-01 -2.74053643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.4757692310001 meters Centerline goodness [0,1] 0.999978770831122 Centerline is valid? [True, True] Translation: X:321.45, Y:-46.15, Z:-2.74 [[ 9.73406614e-01 2.28625362e-01 1.44916542e-02 3.21450452e+02] [-2.28604241e-01 9.73514441e-01 -3.11984862e-03 -4.61493046e+01] [-1.48211111e-02 -2.75972313e-04 9.99890123e-01 -2.74239864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.48, Y:-46.15, Z:-2.74 [[ 9.73567361e-01 2.27940075e-01 1.44884369e-02 3.21480658e+02] [-2.27918887e-01 9.73675126e-01 -3.11915598e-03 -4.61538999e+01] [-1.48180112e-02 -2.65479953e-04 9.99890172e-01 -2.74350797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5357692310001 meters Centerline goodness [0,1] 0.9999789730434417 Centerline is valid? [True, True] Translation: X:321.51, Y:-46.16, Z:-2.74 [[ 9.73625653e-01 2.27660702e-01 1.49563445e-02 3.21509470e+02] [-2.27638091e-01 9.73740485e-01 -3.21987942e-03 -4.61559952e+01] [-1.52966381e-02 -2.69676492e-04 9.99882963e-01 -2.74360818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56576923100005 meters Centerline goodness [0,1] 0.9999785780081832 Centerline is valid? [True, True] Translation: X:321.54, Y:-46.16, Z:-2.74 [[ 9.73661885e-01 2.27490251e-01 1.51894588e-02 3.21538394e+02] [-2.27466915e-01 9.73780320e-01 -3.26966122e-03 -4.61624294e+01] [-1.55350121e-02 -2.71554842e-04 9.99879288e-01 -2.74386974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5957692310001 meters Centerline goodness [0,1] 0.9999577068662903 Centerline is valid? [True, True] Translation: X:321.57, Y:-46.16, Z:-2.75 [[ 9.73203815e-01 2.29542130e-01 1.35921151e-02 3.21568043e+02] [-2.29523648e-01 9.73298688e-01 -2.92553711e-03 -4.61591690e+01] [-1.39007218e-02 -2.72567965e-04 9.99903343e-01 -2.74663765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62576923100005 meters Centerline goodness [0,1] 0.9999360109208029 Centerline is valid? [True, True] Translation: X:321.60, Y:-46.16, Z:-2.75 [[ 9.72795557e-01 2.31352357e-01 1.20370544e-02 3.21596740e+02] [-2.31338005e-01 9.72869990e-01 -2.59049664e-03 -4.61632839e+01] [-1.23098065e-02 -2.64604534e-04 9.99924196e-01 -2.74911658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6557692310001 meters Centerline goodness [0,1] 0.9998730508008379 Centerline is valid? [True, True] Translation: X:321.63, Y:-46.16, Z:-2.75 [[ 9.72186470e-01 2.33913119e-01 1.17524915e-02 3.21627089e+02] [-2.33899630e-01 9.72257460e-01 -2.52870342e-03 -4.61593756e+01] [-1.20179444e-02 -2.90532167e-04 9.99927740e-01 -2.74952730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68576923100005 meters Centerline goodness [0,1] 0.9997866530124595 Centerline is valid? [True, True] Translation: X:321.66, Y:-46.16, Z:-2.75 [[ 9.71978241e-01 2.34715137e-01 1.29268768e-02 3.21656209e+02] [-2.34698898e-01 9.72064141e-01 -2.78073367e-03 -4.61628175e+01] [-1.32184337e-02 -3.31111122e-04 9.99912578e-01 -2.74828072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.715769231 meters Centerline goodness [0,1] 0.9999148120540944 Centerline is valid? [True, True] Translation: X:321.68, Y:-46.16, Z:-2.75 [[ 9.71828776e-01 2.35272645e-01 1.39861536e-02 3.21684508e+02] [-2.35253703e-01 9.71929343e-01 -3.00786897e-03 -4.61633061e+01] [-1.43012224e-02 -3.67160817e-04 9.99897665e-01 -2.74723536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74576923100005 meters Centerline goodness [0,1] 0.9997669886459922 Centerline is valid? [True, True] Translation: X:321.71, Y:-46.17, Z:-2.74 [[ 9.71751171e-01 2.35492357e-01 1.55888138e-02 3.21713667e+02] [-2.35468871e-01 9.71876113e-01 -3.35151240e-03 -4.61661936e+01] [-1.59396513e-02 -4.13844282e-04 9.99872870e-01 -2.74461757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.775769231 meters Centerline goodness [0,1] 0.9998107175906452 Centerline is valid? [True, True] Translation: X:321.74, Y:-46.17, Z:-2.74 [[ 9.71878503e-01 2.34961749e-01 1.56573041e-02 3.21741124e+02] [-2.34937998e-01 9.72004532e-01 -3.36548960e-03 -4.61705127e+01] [-1.60097319e-02 -4.07648701e-04 9.99871753e-01 -2.74491511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80576923100006 meters Centerline goodness [0,1] 0.9998944836027519 Centerline is valid? [True, True] Translation: X:321.77, Y:-46.17, Z:-2.75 [[ 9.72448770e-01 2.32696955e-01 1.39827179e-02 3.21769570e+02] [-2.32677790e-01 9.72549236e-01 -3.00481308e-03 -4.61743395e+01] [-1.42980924e-02 -3.31441113e-04 9.99897722e-01 -2.74853932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.83576923100003 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:321.80, Y:-46.18, Z:-2.75 [[ 9.72744689e-01 2.31473298e-01 1.37069863e-02 3.21796821e+02] [-2.31454769e-01 9.72841209e-01 -2.94494217e-03 -4.61842264e+01] [-1.40163966e-02 -3.07870496e-04 9.99901718e-01 -2.75000080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.82, Y:-46.19, Z:-2.75 [[ 9.73027469e-01 2.30273597e-01 1.38425125e-02 3.21824441e+02] [-2.30254588e-01 9.73125883e-01 -2.97337178e-03 -4.61863849e+01] [-1.41551962e-02 -2.94129597e-04 9.99899767e-01 -2.75039243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.85, Y:-46.19, Z:-2.75 [[ 9.73646228e-01 2.27521540e-01 1.57153193e-02 3.21852118e+02] [-2.27496697e-01 9.73773005e-01 -3.37456882e-03 -4.61941707e+01] [-1.60709408e-02 -2.89547028e-04 9.99870812e-01 -2.74671206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.88, Y:-46.20, Z:-2.75 [[ 9.73904486e-01 2.26376216e-01 1.62438043e-02 3.21880898e+02] [-2.26349529e-01 9.74039902e-01 -3.48724989e-03 -4.62000377e+01] [-1.66115440e-02 -2.80529132e-04 9.99861979e-01 -2.74542306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.95576923100003 meters Centerline goodness [0,1] 0.9999358453445105 Centerline is valid? [True, True] Translation: X:321.91, Y:-46.20, Z:-2.75 [[ 9.74159454e-01 2.25310964e-01 1.57584302e-02 3.21909340e+02] [-2.25285718e-01 9.74286870e-01 -3.38245456e-03 -4.62001219e+01] [-1.61153357e-02 -2.55099170e-04 9.99870107e-01 -2.74617568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.94, Y:-46.21, Z:-2.75 [[ 9.74263002e-01 2.24932605e-01 1.47284394e-02 3.21937457e+02] [-2.24910521e-01 9.74374296e-01 -3.16052993e-03 -4.62077385e+01] [-1.50619190e-02 -2.33393597e-04 9.99886536e-01 -2.74931383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01576923100004 meters Centerline goodness [0,1] 0.9999788695192816 Centerline is valid? [True, True] Translation: X:321.97, Y:-46.21, Z:-2.75 [[ 9.74389776e-01 2.24430778e-01 1.39782148e-02 3.21965951e+02] [-2.24410843e-01 9.74490010e-01 -2.99889822e-03 -4.62088852e+01] [-1.42946757e-02 -2.14767200e-04 9.99897803e-01 -2.75149576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.99, Y:-46.22, Z:-2.75 [[ 9.74838346e-01 2.22490582e-01 1.37164242e-02 3.21993600e+02] [-2.22471207e-01 9.74934822e-01 -2.94190029e-03 -4.62155726e+01] [-1.40271647e-02 -1.83632226e-04 9.99901598e-01 -2.75160705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.02, Y:-46.22, Z:-2.75 [[ 9.75146004e-01 2.21161037e-01 1.33441641e-02 3.22021443e+02] [-2.21142584e-01 9.75237289e-01 -2.86142913e-03 -4.62210413e+01] [-1.36465631e-02 -1.60651748e-04 9.99906868e-01 -2.75325381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.05, Y:-46.23, Z:-2.76 [[ 9.75902857e-01 2.17845715e-01 1.25243439e-02 3.22048739e+02] [-2.17829193e-01 9.75983213e-01 -2.68507368e-03 -4.62293932e+01] [-1.28084812e-02 -1.07796655e-04 9.99917962e-01 -2.75524763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.08, Y:-46.24, Z:-2.76 [[ 9.76212920e-01 2.16453593e-01 1.24970813e-02 3.22075637e+02] [-2.16437037e-01 9.76292904e-01 -2.67864225e-03 -4.62361924e+01] [-1.27806136e-02 -8.99060889e-05 9.99918321e-01 -2.75552444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16576923100007 meters Centerline goodness [0,1] 0.9999788377703475 Centerline is valid? [True, True] Translation: X:322.10, Y:-46.24, Z:-2.76 [[ 9.76566472e-01 2.14884686e-01 1.19372405e-02 3.22103570e+02] [-2.14869472e-01 9.76639425e-01 -2.55790187e-03 -4.62407020e+01] [-1.22080336e-02 -6.69873561e-05 9.99925477e-01 -2.75625591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.13, Y:-46.24, Z:-2.76 [[ 9.76627373e-01 2.14611879e-01 1.18623588e-02 3.22131844e+02] [-2.14596844e-01 9.76699410e-01 -2.54110671e-03 -4.62442011e+01] [-1.21313106e-02 -6.39103991e-05 9.99926411e-01 -2.75662145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.16, Y:-46.25, Z:-2.76 [[ 9.76691766e-01 2.14299618e-01 1.22011544e-02 3.22159602e+02] [-2.14283695e-01 9.76767971e-01 -2.61309218e-03 -4.62467549e+01] [-1.24776814e-02 -6.23228118e-05 9.99922149e-01 -2.75667055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.19, Y:-46.25, Z:-2.75 [[ 9.76801636e-01 2.13682967e-01 1.40767310e-02 3.22188474e+02] [-2.13661722e-01 9.76903058e-01 -3.01378125e-03 -4.62496702e+01] [-1.43955952e-02 -6.37921252e-05 9.99896376e-01 -2.75480660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.22, Y:-46.25, Z:-2.75 [[ 9.76989323e-01 2.12777420e-01 1.47523438e-02 3.22216066e+02] [-2.12753996e-01 9.77100694e-01 -3.15767784e-03 -4.62547685e+01] [-1.50864079e-02 -5.36025582e-05 9.99886192e-01 -2.75371620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.24, Y:-46.27, Z:-2.75 [[ 9.77721689e-01 2.09400885e-01 1.45453672e-02 3.22242932e+02] [-2.09377752e-01 9.77829878e-01 -3.11251130e-03 -4.62654347e+01] [-1.48746573e-02 -2.30647334e-06 9.99889366e-01 -2.75407631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.27, Y:-46.28, Z:-2.76 [[ 9.78372486e-01 2.06364744e-01 1.41728861e-02 3.22269156e+02] [-2.06342471e-01 9.78475135e-01 -3.03215834e-03 -4.62756969e+01] [-1.44935472e-02 4.21119604e-05 9.99894962e-01 -2.75531440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.30, Y:-46.29, Z:-2.76 [[ 9.79140316e-01 2.02699047e-01 1.40476956e-02 3.22296359e+02] [-2.02676800e-01 9.79241077e-01 -3.00455149e-03 -4.62867033e+01] [-1.43651003e-02 9.47355087e-05 9.99896812e-01 -2.75595709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4057692310001 meters Centerline goodness [0,1] 0.9999359631147541 Centerline is valid? [True, True] Translation: X:322.32, Y:-46.31, Z:-2.76 [[ 9.80736208e-01 1.94753402e-01 1.50864950e-02 3.22322412e+02] [-1.94726813e-01 9.80852212e-01 -3.22598971e-03 -4.63081934e+01] [-1.54258945e-02 2.26099818e-04 9.99880988e-01 -2.75554421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.43576923100005 meters Centerline goodness [0,1] 0.9998726195783708 Centerline is valid? [True, True] Translation: X:322.35, Y:-46.32, Z:-2.76 [[ 9.81373616e-01 1.91485862e-01 1.54593474e-02 3.22351561e+02] [-1.91457522e-01 9.81495330e-01 -3.30665317e-03 -4.63209961e+01] [-1.58064546e-02 2.85253835e-04 9.99875030e-01 -2.75555059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.465769231 meters Centerline goodness [0,1] 0.9996621906933536 Centerline is valid? [True, True] Translation: X:322.38, Y:-46.34, Z:-2.76 [[ 9.82239907e-01 1.87008727e-01 1.52479552e-02 3.22377907e+02] [-1.86980612e-01 9.82358189e-01 -3.26179069e-03 -4.63409454e+01] [-1.55889370e-02 3.52788983e-04 9.99878423e-01 -2.75523055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.49576923100005 meters Centerline goodness [0,1] 0.9998482483524107 Centerline is valid? [True, True] Translation: X:322.41, Y:-46.35, Z:-2.76 [[ 9.82357773e-01 1.86462915e-01 1.43104063e-02 3.22408797e+02] [-1.86438094e-01 9.82461941e-01 -3.06118746e-03 -4.63483177e+01] [-1.46302275e-02 3.39176422e-04 9.99892915e-01 -2.75629983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.525769231 meters Centerline goodness [0,1] 0.9999362461747705 Centerline is valid? [True, True] Translation: X:322.44, Y:-46.36, Z:-2.76 [[ 9.82155279e-01 1.87664470e-01 1.23715550e-02 3.22437513e+02] [-1.87645990e-01 9.82233154e-01 -2.64833550e-03 -4.63649994e+01] [-1.26487499e-02 2.79603998e-04 9.99919962e-01 -2.75994003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.55576923100006 meters Centerline goodness [0,1] 0.999852888636698 Centerline is valid? [True, True] Translation: X:322.47, Y:-46.37, Z:-2.76 [[ 9.81698033e-01 1.90049273e-01 1.22574860e-02 3.22467393e+02] [-1.90031290e-01 9.81774522e-01 -2.62617301e-03 -4.63744208e+01] [-1.25331898e-02 2.48802997e-04 9.99921426e-01 -2.76092089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58576923100003 meters Centerline goodness [0,1] 0.9999789247402474 Centerline is valid? [True, True] Translation: X:322.50, Y:-46.37, Z:-2.76 [[ 9.79948688e-01 1.98813031e-01 1.31889047e-02 3.22498703e+02] [-1.98792970e-01 9.80037426e-01 -2.82821917e-03 -4.63705859e+01] [-1.34879071e-02 1.49648124e-04 9.99909023e-01 -2.76001806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.53, Y:-46.37, Z:-2.76 [[ 9.78819372e-01 2.04317374e-01 1.29246872e-02 3.22529342e+02] [-2.04298590e-01 9.78904697e-01 -2.77142051e-03 -4.63679991e+01] [-1.32182863e-02 7.22247221e-05 9.99912632e-01 -2.76027681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.56, Y:-46.37, Z:-2.76 [[ 9.77604540e-01 2.10091940e-01 1.22776032e-02 3.22560142e+02] [-2.10075448e-01 9.77681634e-01 -2.63238707e-03 -4.63660562e+01] [-1.25566304e-02 -5.78944468e-06 9.99921162e-01 -2.76179960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.67576923100006 meters Centerline goodness [0,1] 0.9999785752544188 Centerline is valid? [True, True] Translation: X:322.59, Y:-46.36, Z:-2.76 [[ 9.75189043e-01 2.21097852e-01 1.10485335e-02 3.22593093e+02] [-2.21085204e-01 9.75251620e-01 -2.36862537e-03 -4.63553475e+01] [-1.12987982e-02 -1.32809787e-04 9.99936158e-01 -2.76383459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.62, Y:-46.35, Z:-2.77 [[ 9.74241198e-01 2.25257050e-01 1.06465330e-02 3.22622236e+02] [-2.25245555e-01 9.74299354e-01 -2.28228323e-03 -4.63534260e+01] [-1.08870106e-02 -1.74589882e-04 9.99940720e-01 -2.76523234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.65, Y:-46.35, Z:-2.77 [[ 9.72870428e-01 2.31108236e-01 1.05883402e-02 3.22652970e+02] [-2.31097220e-01 9.72928017e-01 -2.26917417e-03 -4.63480941e+01] [-1.08261177e-02 -2.39323524e-04 9.99941367e-01 -2.76730100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76576923100004 meters Centerline goodness [0,1] 0.9998725411054935 Centerline is valid? [True, True] Translation: X:322.68, Y:-46.35, Z:-2.77 [[ 9.72532432e-01 2.32537026e-01 1.03537341e-02 3.22680919e+02] [-2.32526575e-01 9.72587512e-01 -2.21879998e-03 -4.63488907e+01] [-1.05858656e-02 -2.49663382e-04 9.99943937e-01 -2.76855107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.79576923100007 meters Centerline goodness [0,1] 0.9998525943396226 Centerline is valid? [True, True] Translation: X:322.71, Y:-46.35, Z:-2.77 [[ 9.72335696e-01 2.33324104e-01 1.10975923e-02 3.22710163e+02] [-2.33312157e-01 9.72398985e-01 -2.37743104e-03 -4.63521409e+01] [-1.13459994e-02 -2.77542129e-04 9.99935594e-01 -2.76812857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82576923100004 meters Centerline goodness [0,1] 0.9998516509134066 Centerline is valid? [True, True] Translation: X:322.74, Y:-46.35, Z:-2.76 [[ 9.72595718e-01 2.32091266e-01 1.38279769e-02 3.22739224e+02] [-2.32072604e-01 9.72693958e-01 -2.96153826e-03 -4.63511980e+01] [-1.41377367e-02 -3.28715160e-04 9.99900003e-01 -2.76352791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.85576923100007 meters Centerline goodness [0,1] 0.9999149099108682 Centerline is valid? [True, True] Translation: X:322.77, Y:-46.36, Z:-2.76 [[ 9.73006193e-01 2.30362587e-01 1.38573755e-02 3.22766908e+02] [-2.30343686e-01 9.73104817e-01 -2.96666469e-03 -4.63607378e+01] [-1.41680874e-02 -3.05375843e-04 9.99899581e-01 -2.76342576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.79, Y:-46.37, Z:-2.77 [[ 9.73846985e-01 2.26903960e-01 1.16894664e-02 3.22794189e+02] [-2.26890266e-01 9.73917115e-01 -2.50208559e-03 -4.63665203e+01] [-1.19523046e-02 -2.15577646e-04 9.99928545e-01 -2.76815871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.82, Y:-46.37, Z:-2.77 [[ 9.74302766e-01 2.24978456e-01 1.09002499e-02 3.22821799e+02] [-2.24966434e-01 9.74363722e-01 -2.33267248e-03 -4.63734844e+01] [-1.11456091e-02 -1.79461096e-04 9.99937870e-01 -2.77044206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.85, Y:-46.38, Z:-2.77 [[ 9.75233995e-01 2.20881760e-01 1.13975422e-02 3.22848787e+02] [-2.20868343e-01 9.75300584e-01 -2.43850657e-03 -4.63802245e+01] [-1.16546511e-02 -1.39241748e-04 9.99932073e-01 -2.77069544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.88, Y:-46.39, Z:-2.77 [[ 9.75683976e-01 2.18825457e-01 1.24979580e-02 3.22876836e+02] [-2.18809164e-01 9.75764010e-01 -2.67327221e-03 -4.63882939e+01] [-1.27800376e-02 -1.26398884e-04 9.99918324e-01 -2.76913871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.90, Y:-46.40, Z:-2.77 [[ 9.76196372e-01 2.16472975e-01 1.34199297e-02 3.22904107e+02] [-2.16453976e-01 9.76288605e-01 -2.86978656e-03 -4.63959362e+01] [-1.37229557e-02 -1.03321921e-04 9.99905830e-01 -2.76743992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.93, Y:-46.40, Z:-2.77 [[ 9.76706977e-01 2.14115787e-01 1.40680742e-02 3.22931053e+02] [-2.14094678e-01 9.76808284e-01 -3.00737367e-03 -4.64032013e+01] [-1.43857376e-02 -7.45769664e-05 9.99896517e-01 -2.76717637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.96, Y:-46.41, Z:-2.77 [[ 9.77443631e-01 2.10782770e-01 1.32125607e-02 3.22958293e+02] [-2.10763857e-01 9.77532927e-01 -2.82372578e-03 -4.64128037e+01] [-1.35109058e-02 -2.46974637e-05 9.99908723e-01 -2.76879067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.99, Y:-46.42, Z:-2.77 [[ 9.77795524e-01 2.09215965e-01 1.20247153e-02 3.22985180e+02] [-2.09200187e-01 9.77869460e-01 -2.56937065e-03 -4.64191158e+01] [-1.22961552e-02 -3.25357313e-06 9.99924399e-01 -2.77173873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.01, Y:-46.43, Z:-2.77 [[ 9.77952420e-01 2.08462639e-01 1.23447527e-02 3.23012319e+02] [-2.08445960e-01 9.78030331e-01 -2.63699461e-03 -4.64251588e+01] [-1.26232574e-02 5.64142693e-06 9.99920323e-01 -2.77090768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.04, Y:-46.43, Z:-2.77 [[ 9.78031197e-01 2.08055363e-01 1.29593295e-02 3.23039905e+02] [-2.08036958e-01 9.78117051e-01 -2.76735431e-03 -4.64302473e+01] [-1.32515041e-02 1.05393634e-05 9.99912195e-01 -2.76990282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.07, Y:-46.44, Z:-2.77 [[ 9.78129171e-01 2.07574553e-01 1.32714039e-02 3.23068469e+02] [-2.07555219e-01 9.78219201e-01 -2.83305129e-03 -4.64351618e+01] [-1.35704115e-02 1.65409589e-05 9.99907918e-01 -2.76916673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.215769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.10, Y:-46.44, Z:-2.77 [[ 9.78577173e-01 2.05420792e-01 1.37482482e-02 3.23095090e+02] [-2.05399842e-01 9.78673743e-01 -2.93415398e-03 -4.64416321e+01] [-1.40577858e-02 4.74080960e-05 9.99901183e-01 -2.76877269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.12, Y:-46.45, Z:-2.77 [[ 9.78982680e-01 2.03464122e-01 1.39736397e-02 3.23122717e+02] [-2.03442292e-01 9.79082400e-01 -2.98138230e-03 -4.64502456e+01] [-1.42879490e-02 7.58923504e-05 9.99897919e-01 -2.76875402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.275769231 meters Centerline goodness [0,1] 0.9999786739459597 Centerline is valid? [True, True] Translation: X:323.15, Y:-46.46, Z:-2.77 [[ 9.79686921e-01 2.00124457e-01 1.27960466e-02 3.23149370e+02] [-2.00105873e-01 9.79770478e-01 -2.72957524e-03 -4.64621361e+01] [-1.30834434e-02 1.13565081e-04 9.99914402e-01 -2.77092691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.18, Y:-46.47, Z:-2.77 [[ 9.80104949e-01 1.98097974e-01 1.23077842e-02 3.23175254e+02] [-1.98080629e-01 9.80182215e-01 -2.62487271e-03 -4.64720344e+01] [-1.25838531e-02 1.34717098e-04 9.99920811e-01 -2.77294412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.20, Y:-46.48, Z:-2.77 [[ 9.80113990e-01 1.98053230e-01 1.23079435e-02 3.23202982e+02] [-1.98035891e-01 9.80191257e-01 -2.62412537e-03 -4.64778513e+01] [-1.25838551e-02 1.34527436e-04 9.99920811e-01 -2.77336603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36576923100006 meters Centerline goodness [0,1] 0.9998501968840952 Centerline is valid? [True, True] Translation: X:323.23, Y:-46.49, Z:-2.77 [[ 9.80931716e-01 1.93945844e-01 1.25689607e-02 3.23230032e+02] [-1.93927432e-01 9.81012219e-01 -2.67913732e-03 -4.64917065e+01] [-1.28499116e-02 1.90584493e-04 9.99917418e-01 -2.76774949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.39576923100003 meters Centerline goodness [0,1] 0.9999363935121383 Centerline is valid? [True, True] Translation: X:323.26, Y:-46.50, Z:-2.77 [[ 9.81293656e-01 1.92062887e-01 1.32139498e-02 3.23258790e+02] [-1.92042374e-01 9.81382594e-01 -2.81610593e-03 -4.65000349e+01] [-1.35088098e-02 2.25788592e-04 9.99908726e-01 -2.77141553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42576923100006 meters Centerline goodness [0,1] 0.9998942358540455 Centerline is valid? [True, True] Translation: X:323.29, Y:-46.51, Z:-2.77 [[ 9.81635683e-01 1.90299402e-01 1.33237770e-02 3.23287513e+02] [-1.90278388e-01 9.81726069e-01 -2.83913590e-03 -4.65126433e+01] [-1.36205851e-02 2.51770300e-04 9.99907204e-01 -2.77202259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.45576923100003 meters Centerline goodness [0,1] 0.9997662161013346 Centerline is valid? [True, True] Translation: X:323.32, Y:-46.53, Z:-2.77 [[ 9.82087483e-01 1.87983200e-01 1.29031903e-02 3.23316454e+02] [-1.87963291e-01 9.82172205e-01 -2.74966629e-03 -4.65250339e+01] [-1.31900460e-02 2.75086726e-04 9.99912970e-01 -2.77265637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48576923100006 meters Centerline goodness [0,1] 0.9997869802317655 Centerline is valid? [True, True] Translation: X:323.35, Y:-46.53, Z:-2.77 [[ 9.82208205e-01 1.87338876e-01 1.30838381e-02 3.23346575e+02] [-1.87318345e-01 9.82295303e-01 -2.78830409e-03 -4.65333360e+01] [-1.33745504e-02 2.87852257e-04 9.99910515e-01 -2.77208948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51576923100004 meters Centerline goodness [0,1] 0.9997866211458445 Centerline is valid? [True, True] Translation: X:323.38, Y:-46.54, Z:-2.77 [[ 9.82206052e-01 1.87204132e-01 1.50294622e-02 3.23377198e+02] [-1.87177018e-01 9.82320977e-01 -3.20342932e-03 -4.65420071e+01] [-1.53634512e-02 3.33257738e-04 9.99881920e-01 -2.76865302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54576923100007 meters Centerline goodness [0,1] 0.9996213714766512 Centerline is valid? [True, True] Translation: X:323.41, Y:-46.55, Z:-2.77 [[ 9.82084536e-01 1.87711337e-01 1.65655850e-02 3.23407057e+02] [-1.87678418e-01 9.82224172e-01 -3.53385246e-03 -4.65511602e+01] [-1.69344622e-02 3.61539072e-04 9.99856536e-01 -2.76611475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57576923100004 meters Centerline goodness [0,1] 0.9997635425623388 Centerline is valid? [True, True] Translation: X:323.44, Y:-46.56, Z:-2.76 [[ 9.81911885e-01 1.88460757e-01 1.82096943e-02 3.23438959e+02] [-1.88421067e-01 9.82080646e-01 -3.88680873e-03 -4.65553371e+01] [-1.86158992e-02 3.85413671e-04 9.99826635e-01 -2.76358216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60576923100007 meters Centerline goodness [0,1] 0.9997445830317994 Centerline is valid? [True, True] Translation: X:323.47, Y:-46.56, Z:-2.76 [[ 9.81758555e-01 1.89300888e-01 1.77570582e-02 3.23468665e+02] [-1.89263228e-01 9.81919061e-01 -3.79326697e-03 -4.65647629e+01] [-1.81540628e-02 3.63314143e-04 9.99835135e-01 -2.76498116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63576923100004 meters Centerline goodness [0,1] 0.9997041232537989 Centerline is valid? [True, True] Translation: X:323.50, Y:-46.58, Z:-2.77 [[ 9.81678013e-01 1.89857880e-01 1.61945471e-02 3.23498039e+02] [-1.89826593e-01 9.81811530e-01 -3.46183813e-03 -4.65760354e+01] [-1.65572503e-02 3.24254677e-04 9.99862867e-01 -2.76859275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66576923100007 meters Centerline goodness [0,1] 0.9999788117637088 Centerline is valid? [True, True] Translation: X:323.53, Y:-46.58, Z:-2.78 [[ 9.81382265e-01 1.91654502e-01 1.25459968e-02 3.23529717e+02] [-1.91635862e-01 9.81462429e-01 -2.68267247e-03 -4.65830551e+01] [-1.28275707e-02 2.28464274e-04 9.99917697e-01 -2.77505389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.56, Y:-46.59, Z:-2.78 [[ 9.81162110e-01 1.92815824e-01 1.19571030e-02 3.23560898e+02] [-1.92798955e-01 9.81234944e-01 -2.55868866e-03 -4.65905636e+01] [-1.22260829e-02 2.05171409e-04 9.99925238e-01 -2.77659144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.59, Y:-46.60, Z:-2.77 [[ 9.80778716e-01 1.94677904e-01 1.31766183e-02 3.23590768e+02] [-1.94657552e-01 9.80867204e-01 -2.82221599e-03 -4.65988364e+01] [-1.34739358e-02 2.03041126e-04 9.99909202e-01 -2.77440029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.75576923100004 meters Centerline goodness [0,1] 0.9999788234297573 Centerline is valid? [True, True] Translation: X:323.62, Y:-46.60, Z:-2.77 [[ 9.80499476e-01 1.96030048e-01 1.38923913e-02 3.23621296e+02] [-1.96007526e-01 9.80597869e-01 -2.97797814e-03 -4.66047367e+01] [-1.42066225e-02 1.96892760e-04 9.99899061e-01 -2.77348128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.65, Y:-46.61, Z:-2.77 [[ 9.79907275e-01 1.98885514e-01 1.50427659e-02 3.23651907e+02] [-1.98859437e-01 9.80022716e-01 -3.22498722e-03 -4.66121661e+01] [-1.53836555e-02 1.68792473e-04 9.99881650e-01 -2.77316318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.68, Y:-46.62, Z:-2.77 [[ 9.79697145e-01 1.99854193e-01 1.58683939e-02 3.23682652e+02] [-1.99825288e-01 9.79825635e-01 -3.40283074e-03 -4.66200338e+01] [-1.62283292e-02 1.62837168e-04 9.99868299e-01 -2.77207884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.71, Y:-46.63, Z:-2.77 [[ 9.79417308e-01 2.01214003e-01 1.59581268e-02 3.23712753e+02] [-2.01184943e-01 9.79547296e-01 -3.42257211e-03 -4.66293188e+01] [-1.63204094e-02 1.41591524e-04 9.99866803e-01 -2.77229291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.74, Y:-46.64, Z:-2.78 [[ 9.79322800e-01 2.01812262e-01 1.40948512e-02 3.23744312e+02] [-2.01789637e-01 9.79424217e-01 -3.02413420e-03 -4.66375318e+01] [-1.44151460e-02 1.17408661e-04 9.99896089e-01 -2.77600908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.77, Y:-46.65, Z:-2.78 [[ 9.79225084e-01 2.02456779e-01 1.13792351e-02 3.23774447e+02] [-2.02442058e-01 9.79291195e-01 -2.44301651e-03 -4.66467078e+01] [-1.16381900e-02 8.86272777e-05 9.99932270e-01 -2.78124513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.80, Y:-46.65, Z:-2.78 [[ 9.78848511e-01 2.04392081e-01 8.91459153e-03 3.23804990e+02] [-2.04383111e-01 9.78889102e-01 -1.91557564e-03 -4.66523062e+01] [-9.11792499e-03 5.30664113e-05 9.99958429e-01 -2.78452117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.84, Y:-46.66, Z:-2.78 [[ 9.78520311e-01 2.05903323e-01 1.00907003e-02 3.23835031e+02] [-2.05891907e-01 9.78572337e-01 -2.16865566e-03 -4.66567284e+01] [-1.03210136e-02 4.44800711e-05 9.99946736e-01 -2.78358027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.86, Y:-46.66, Z:-2.78 [[ 9.77691833e-01 2.09585447e-01 1.38787568e-02 3.23864887e+02] [-2.09564217e-01 9.77790336e-01 -2.98304510e-03 -4.66560658e+01] [-1.41957171e-02 8.00803275e-06 9.99899236e-01 -2.77688989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.90, Y:-46.66, Z:-2.78 [[ 9.77193522e-01 2.11844836e-01 1.46487406e-02 3.23895075e+02] [-2.11821447e-01 9.77303313e-01 -3.14798695e-03 -4.66583882e+01] [-1.49831475e-02 -2.67249864e-05 9.99887746e-01 -2.77586886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.92, Y:-46.66, Z:-2.78 [[ 9.76718601e-01 2.14032425e-01 1.45222123e-02 3.23924719e+02] [-2.14009686e-01 9.76826554e-01 -3.12045261e-03 -4.66601262e+01] [-1.48535606e-02 -6.00899705e-05 9.99889678e-01 -2.77588777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.96, Y:-46.66, Z:-2.78 [[ 9.75982180e-01 2.17352893e-01 1.47140773e-02 3.23955222e+02] [-2.17329931e-01 9.76093083e-01 -3.16131582e-03 -4.66557822e+01] [-1.50494302e-02 -1.12421499e-04 9.99886745e-01 -2.77626556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.98, Y:-46.66, Z:-2.78 [[ 9.75835530e-01 2.18005991e-01 1.47785643e-02 3.23984987e+02] [-2.17982913e-01 9.75947423e-01 -3.17445549e-03 -4.66565858e+01] [-1.51151521e-02 -1.23728043e-04 9.99885752e-01 -2.77709209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.01, Y:-46.65, Z:-2.78 [[ 9.75707166e-01 2.18665206e-01 1.34556126e-02 3.24014543e+02] [-2.18646145e-01 9.75799935e-01 -2.88971494e-03 -4.66506959e+01] [-1.37618660e-02 -1.22502239e-04 9.99905294e-01 -2.78056193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.04, Y:-46.65, Z:-2.78 [[ 9.75842187e-01 2.18089522e-01 1.29994598e-02 3.24042203e+02] [-2.18071691e-01 9.75928762e-01 -2.79103159e-03 -4.66521632e+01] [-1.32952415e-02 -1.11207802e-04 9.99911608e-01 -2.78196987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.07, Y:-46.66, Z:-2.78 [[ 9.76128790e-01 2.16792280e-01 1.31792406e-02 3.24071352e+02] [-2.16773847e-01 9.76217751e-01 -2.82858418e-03 -4.66552844e+01] [-1.34790238e-02 -9.58522282e-05 9.99909149e-01 -2.78152840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.10, Y:-46.66, Z:-2.78 [[ 9.76900332e-01 2.13220948e-01 1.42326747e-02 3.24099925e+02] [-2.13199082e-01 9.77004004e-01 -3.05397792e-03 -4.66573060e+01] [-1.45565523e-02 -5.09611404e-05 9.99894046e-01 -2.77887451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.13, Y:-46.66, Z:-2.78 [[ 9.77360284e-01 2.11048662e-01 1.50112557e-02 3.24128553e+02] [-2.11024092e-01 9.77475556e-01 -3.22032741e-03 -4.66625511e+01] [-1.53527812e-02 -2.03164940e-05 9.99882139e-01 -2.77800813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.16, Y:-46.67, Z:-2.78 [[ 9.78442870e-01 2.05874200e-01 1.62899803e-02 3.24157099e+02] [-2.05844562e-01 9.78578464e-01 -3.49379332e-03 -4.66669342e+01] [-1.66603058e-02 6.52733075e-05 9.99861205e-01 -2.77733695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32576923100004 meters Centerline goodness [0,1] 0.99997891585317 Centerline is valid? [True, True] Translation: X:324.18, Y:-46.67, Z:-2.78 [[ 9.79006274e-01 2.03198012e-01 1.60400759e-02 3.24183767e+02] [-2.03168931e-01 9.79137659e-01 -3.43940600e-03 -4.66733087e+01] [-1.64043228e-02 1.08354977e-04 9.99865434e-01 -2.77844991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.21, Y:-46.68, Z:-2.78 [[ 9.79520928e-01 2.00771190e-01 1.51552140e-02 3.24212335e+02] [-2.00744952e-01 9.79638152e-01 -3.24880944e-03 -4.66766621e+01] [-1.54988932e-02 1.39944140e-04 9.99879875e-01 -2.78044914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38576923100004 meters Centerline goodness [0,1] 0.9999788543274619 Centerline is valid? [True, True] Translation: X:324.24, Y:-46.68, Z:-2.78 [[ 9.80359874e-01 1.96803127e-01 1.27689818e-02 3.24240324e+02] [-1.96784170e-01 9.80443012e-01 -2.73679005e-03 -4.66805281e+01] [-1.30578678e-02 1.70305664e-04 9.99914728e-01 -2.78484772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.27, Y:-46.69, Z:-2.79 [[ 9.80753626e-01 1.94870454e-01 1.21585493e-02 3.24268107e+02] [-1.94853127e-01 9.80828972e-01 -2.60525688e-03 -4.66859594e+01] [-1.24331449e-02 1.85983797e-04 9.99922688e-01 -2.78671295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44576923100004 meters Centerline goodness [0,1] 0.9999574947399741 Centerline is valid? [True, True] Translation: X:324.30, Y:-46.69, Z:-2.79 [[ 9.81514338e-01 1.91039108e-01 1.15612753e-02 3.24295650e+02] [-1.91023185e-01 9.81582401e-01 -2.47654854e-03 -4.66945137e+01] [-1.18214620e-02 2.22296277e-04 9.99930099e-01 -2.78879743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.4757692310001 meters Centerline goodness [0,1] 0.9998718222602008 Centerline is valid? [True, True] Translation: X:324.32, Y:-46.71, Z:-2.79 [[ 9.82015647e-01 1.88443372e-01 1.15915482e-02 3.24322050e+02] [-1.88427189e-01 9.82084024e-01 -2.48261132e-03 -4.67089048e+01] [-1.18517060e-02 2.53800322e-04 9.99929734e-01 -2.79000279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50576923100004 meters Centerline goodness [0,1] 0.9997830708490607 Centerline is valid? [True, True] Translation: X:324.35, Y:-46.71, Z:-2.79 [[ 9.82620962e-01 1.85221955e-01 1.22013334e-02 3.24351452e+02] [-1.85203782e-01 9.82696664e-01 -2.61275491e-03 -4.67119420e+01] [-1.24741492e-02 3.07614667e-04 9.99922147e-01 -2.78786704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5357692310001 meters Centerline goodness [0,1] 0.9984367973618279 Centerline is valid? [True, True] Translation: X:324.38, Y:-46.73, Z:-2.79 [[ 9.83662682e-01 1.79531838e-01 1.32682482e-02 3.24377759e+02] [-1.79509837e-01 9.83752077e-01 -2.84066493e-03 -4.67301424e+01] [-1.35626566e-02 4.12475008e-04 9.99907938e-01 -2.78693577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56576923100005 meters Centerline goodness [0,1] 0.9981941405171132 Centerline is valid? [True, True] Translation: X:324.41, Y:-46.74, Z:-2.79 [[ 9.84055022e-01 1.77347084e-01 1.35545283e-02 3.24407460e+02] [-1.77323918e-01 9.84148265e-01 -2.90180792e-03 -4.67385710e+01] [-1.38542927e-02 4.51996584e-04 9.99903923e-01 -2.78712668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5957692310001 meters Centerline goodness [0,1] 0.996746549854339 Centerline is valid? [True, True] Translation: X:324.43, Y:-46.76, Z:-2.79 [[ 9.84691578e-01 1.73805629e-01 1.31946554e-02 3.24434758e+02] [-1.73783358e-01 9.84779856e-01 -2.82491992e-03 -4.67556926e+01] [-1.34848179e-02 4.88663331e-04 9.99908956e-01 -2.78870501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62576923100005 meters Centerline goodness [0,1] 0.9951505870342011 Centerline is valid? [True, True] Translation: X:324.46, Y:-46.77, Z:-2.79 [[ 9.84895429e-01 1.72639282e-01 1.32918304e-02 3.24463616e+02] [-1.72616575e-01 9.84984985e-01 -2.84570317e-03 -4.67703778e+01] [-1.35835335e-02 5.08329801e-04 9.99907610e-01 -2.78867980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6557692310001 meters Centerline goodness [0,1] 0.9970428148973557 Centerline is valid? [True, True] Translation: X:324.50, Y:-46.78, Z:-2.79 [[ 9.84942615e-01 1.72356371e-01 1.34657273e-02 3.24495279e+02] [-1.72333010e-01 9.85034522e-01 -2.88504080e-03 -4.67754909e+01] [-1.37614614e-02 5.21010311e-04 9.99905171e-01 -2.78778034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68576923100005 meters Centerline goodness [0,1] 0.9969198742459002 Centerline is valid? [True, True] Translation: X:324.52, Y:-46.79, Z:-2.79 [[ 9.84730425e-01 1.73503816e-01 1.42272638e-02 3.24523726e+02] [-1.73477821e-01 9.84833051e-01 -3.05079348e-03 -4.67899758e+01] [-1.45408039e-02 5.36094448e-04 9.99894133e-01 -2.78587832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7157692310001 meters Centerline goodness [0,1] 0.9955397530033031 Centerline is valid? [True, True] Translation: X:324.55, Y:-46.80, Z:-2.78 [[ 9.84429798e-01 1.75145763e-01 1.48974856e-02 3.24552336e+02] [-1.75117411e-01 9.84542367e-01 -3.19693112e-03 -4.68011494e+01] [-1.52271347e-02 5.38345147e-04 9.99883916e-01 -2.78480789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74576923100005 meters Centerline goodness [0,1] 0.9976272191856277 Centerline is valid? [True, True] Translation: X:324.58, Y:-46.81, Z:-2.78 [[ 9.83607701e-01 1.79550608e-01 1.66573929e-02 3.24583145e+02] [-1.79515788e-01 9.83748597e-01 -3.57481894e-03 -4.68050537e+01] [-1.70285478e-02 5.25954429e-04 9.99854865e-01 -2.78192756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.775769231 meters Centerline goodness [0,1] 0.9937731117439538 Centerline is valid? [True, True] Translation: X:324.61, Y:-46.82, Z:-2.78 [[ 9.83187503e-01 1.81807816e-01 1.69779659e-02 3.24610448e+02] [-1.81771975e-01 9.83333957e-01 -3.64382026e-03 -4.68233236e+01] [-1.73574854e-02 4.96440134e-04 9.99849224e-01 -2.78084174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80576923100006 meters Centerline goodness [0,1] 0.9990723962378117 Centerline is valid? [True, True] Translation: X:324.65, Y:-46.82, Z:-2.78 [[ 9.82820140e-01 1.83800387e-01 1.67925442e-02 3.24645471e+02] [-1.83765611e-01 9.82963483e-01 -3.60433408e-03 -4.68153804e+01] [-1.71689357e-02 4.56519995e-04 9.99852499e-01 -2.78320992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.83576923100003 meters Centerline goodness [0,1] 0.9995948222549208 Centerline is valid? [True, True] Translation: X:324.67, Y:-46.83, Z:-2.79 [[ 9.82279455e-01 1.86882799e-01 1.42088659e-02 3.24674030e+02] [-1.86858213e-01 9.82382157e-01 -3.05051327e-03 -4.68251103e+01] [-1.45286247e-02 3.41413232e-04 9.99894396e-01 -2.78805178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86576923100006 meters Centerline goodness [0,1] 0.9996373333333334 Centerline is valid? [True, True] Translation: X:324.71, Y:-46.84, Z:-2.79 [[ 9.82045954e-01 1.88183337e-01 1.31443972e-02 3.24705078e+02] [-1.88162400e-01 9.82133872e-01 -2.82289680e-03 -4.68357244e+01] [-1.34407798e-02 2.98933070e-04 9.99909624e-01 -2.78985871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.89576923100003 meters Centerline goodness [0,1] 0.9993208251973852 Centerline is valid? [True, True] Translation: X:324.73, Y:-46.85, Z:-2.79 [[ 9.81909026e-01 1.88806848e-01 1.43749447e-02 3.24733729e+02] [-1.88781860e-01 9.82014192e-01 -3.08812286e-03 -4.68498480e+01] [-1.46994585e-02 3.18526902e-04 9.99891906e-01 -2.78785002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92576923100006 meters Centerline goodness [0,1] 0.9990701802582364 Centerline is valid? [True, True] Translation: X:324.76, Y:-46.86, Z:-2.79 [[ 9.81773730e-01 1.89403419e-01 1.57062944e-02 3.24762596e+02] [-1.89373624e-01 9.81899297e-01 -3.37668219e-03 -4.68582819e+01] [-1.60615546e-02 3.40779972e-04 9.99870947e-01 -2.78535072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.95576923100003 meters Centerline goodness [0,1] 0.9994490474878684 Centerline is valid? [True, True] Translation: X:324.79, Y:-46.87, Z:-2.79 [[ 9.81611830e-01 1.90333135e-01 1.45434571e-02 3.24793674e+02] [-1.90307688e-01 9.81719515e-01 -3.12683226e-03 -4.68650597e+01] [-1.48727354e-02 3.01603839e-04 9.99889349e-01 -2.78862626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98576923100006 meters Centerline goodness [0,1] 0.9997243543530808 Centerline is valid? [True, True] Translation: X:324.82, Y:-46.88, Z:-2.80 [[ 9.81455643e-01 1.91352018e-01 1.13677425e-02 3.24824532e+02] [-1.91336521e-01 9.81521449e-01 -2.44568551e-03 -4.68763727e+01] [-1.16256699e-02 2.25267544e-04 9.99932394e-01 -2.79511186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01576923100004 meters Centerline goodness [0,1] 0.9997217882594646 Centerline is valid? [True, True] Translation: X:324.85, Y:-46.89, Z:-2.80 [[ 9.81306024e-01 1.92123173e-01 1.12771273e-02 3.24853689e+02] [-1.92107963e-01 9.81370796e-01 -2.42702876e-03 -4.68874192e+01] [-1.15333319e-02 2.15231996e-04 9.99933466e-01 -2.79586905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04576923100007 meters Centerline goodness [0,1] 0.999744201909959 Centerline is valid? [True, True] Translation: X:324.89, Y:-46.90, Z:-2.79 [[ 9.81198974e-01 1.92628581e-01 1.19500569e-02 3.24885074e+02] [-1.92611514e-01 9.81271716e-01 -2.57388645e-03 -4.68961839e+01] [-1.22220569e-02 2.23776193e-04 9.99925283e-01 -2.79494740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07576923100004 meters Centerline goodness [0,1] 0.9995993589743589 Centerline is valid? [True, True] Translation: X:324.91, Y:-46.91, Z:-2.79 [[ 9.81005929e-01 1.93557394e-01 1.27633467e-02 3.24913263e+02] [-1.93537972e-01 9.81088927e-01 -2.75149713e-03 -4.69137582e+01] [-1.30545507e-02 2.29042761e-04 9.99914759e-01 -2.79328330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10576923100007 meters Centerline goodness [0,1] 0.999638351734848 Centerline is valid? [True, True] Translation: X:324.94, Y:-46.93, Z:-2.80 [[ 9.80970478e-01 1.93793962e-01 1.18667933e-02 3.24944087e+02] [-1.93777166e-01 9.81042229e-01 -2.56018860e-03 -4.69252376e+01] [-1.21379744e-02 2.11955861e-04 9.99926310e-01 -2.79548160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13576923100004 meters Centerline goodness [0,1] 0.9996989959364452 Centerline is valid? [True, True] Translation: X:324.98, Y:-46.94, Z:-2.80 [[ 9.80869046e-01 1.94375014e-01 1.06895967e-02 3.24975130e+02] [-1.94361417e-01 9.80927275e-01 -2.30652412e-03 -4.69398396e+01] [-1.09340476e-02 1.84752959e-04 9.99940204e-01 -2.79808002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16576923100007 meters Centerline goodness [0,1] 0.9997254719770241 Centerline is valid? [True, True] Translation: X:325.00, Y:-46.95, Z:-2.80 [[ 9.80633945e-01 1.95513995e-01 1.14605204e-02 3.25004001e+02] [-1.95498412e-01 9.80700894e-01 -2.47555919e-03 -4.69535931e+01] [-1.17233491e-02 1.87103837e-04 9.99931262e-01 -2.79793122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19576923100004 meters Centerline goodness [0,1] 0.9997672991897781 Centerline is valid? [True, True] Translation: X:325.04, Y:-46.96, Z:-2.79 [[ 9.80297457e-01 1.97112082e-01 1.27954028e-02 3.25035475e+02] [-1.97092761e-01 9.80380942e-01 -2.76629568e-03 -4.69611208e+01] [-1.30896394e-02 1.89911345e-04 9.99914309e-01 -2.79496625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2257692310001 meters Centerline goodness [0,1] 0.9997883508296648 Centerline is valid? [True, True] Translation: X:325.07, Y:-46.97, Z:-2.79 [[ 9.79268487e-01 2.02090911e-01 1.38742002e-02 3.25066540e+02] [-2.02068656e-01 9.79366757e-01 -3.00220369e-03 -4.69673259e+01] [-1.41946485e-02 1.36422477e-04 9.99899242e-01 -2.79298585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.25576923100004 meters Centerline goodness [0,1] 0.9997883508296648 Centerline is valid? [True, True] Translation: X:325.10, Y:-46.97, Z:-2.79 [[ 9.79230099e-01 2.02276849e-01 1.38740722e-02 3.25098249e+02] [-2.02254604e-01 9.79328371e-01 -3.00279512e-03 -4.69743915e+01] [-1.41946684e-02 1.34332383e-04 9.99899242e-01 -2.79346982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2857692310001 meters Centerline goodness [0,1] 0.9998083842534438 Centerline is valid? [True, True] Translation: X:325.13, Y:-46.98, Z:-2.80 [[ 9.78525821e-01 2.05698993e-01 1.32341102e-02 3.25129195e+02] [-2.05679031e-01 9.78615306e-01 -2.86683478e-03 -4.69798418e+01] [-1.35408078e-02 8.32928912e-05 9.99908316e-01 -2.79531621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.31576923100005 meters Centerline goodness [0,1] 0.9998523144436474 Centerline is valid? [True, True] Translation: X:325.16, Y:-46.98, Z:-2.80 [[ 9.77123399e-01 2.12301453e-01 1.25680195e-02 3.25161006e+02] [-2.12283972e-01 9.77204223e-01 -2.72442075e-03 -4.69825222e+01] [-1.28599202e-02 -5.89383320e-06 9.99917308e-01 -2.79735996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3457692310001 meters Centerline goodness [0,1] 0.9998725383978077 Centerline is valid? [True, True] Translation: X:325.19, Y:-46.99, Z:-2.80 [[ 9.76453615e-01 2.15304338e-01 1.35048141e-02 3.25193997e+02] [-2.15284405e-01 9.76546998e-01 -2.92998397e-03 -4.69865314e+01] [-1.38189240e-02 -4.63824382e-05 9.99904513e-01 -2.79573129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.37576923100005 meters Centerline goodness [0,1] 0.9999147721219611 Centerline is valid? [True, True] Translation: X:325.23, Y:-46.99, Z:-2.79 [[ 9.75811604e-01 2.18125987e-01 1.45865323e-02 3.25226108e+02] [-2.18103004e-01 9.75920614e-01 -3.16766194e-03 -4.69912104e+01] [-1.49262470e-02 -9.03252467e-05 9.99888593e-01 -2.79368188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4057692310001 meters Centerline goodness [0,1] 0.9999358974358974 Centerline is valid? [True, True] Translation: X:325.26, Y:-46.99, Z:-2.79 [[ 9.74549117e-01 2.23700609e-01 1.45621574e-02 3.25258841e+02] [-2.23678286e-01 9.74657893e-01 -3.16490754e-03 -4.69924145e+01] [-1.49011134e-02 -1.72880562e-04 9.99888957e-01 -2.79396723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.43576923100005 meters Centerline goodness [0,1] 0.9999572658703874 Centerline is valid? [True, True] Translation: X:325.29, Y:-47.00, Z:-2.80 [[ 9.74017105e-01 2.26058788e-01 1.37151040e-02 3.25289948e+02] [-2.26039189e-01 9.74113641e-01 -2.98306491e-03 -4.69953687e+01] [-1.40344180e-02 -1.94594750e-04 9.99901494e-01 -2.79589682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4657692310001 meters Centerline goodness [0,1] 0.9999572905099513 Centerline is valid? [True, True] Translation: X:325.32, Y:-47.00, Z:-2.80 [[ 9.73096867e-01 2.30040181e-01 1.28063576e-02 3.25321762e+02] [-2.30023413e-01 9.73181104e-01 -2.78730490e-03 -4.69973085e+01] [-1.31040973e-02 -2.33444411e-04 9.99914110e-01 -2.79816141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.49576923100005 meters Centerline goodness [0,1] 0.9999366380129681 Centerline is valid? [True, True] Translation: X:325.35, Y:-47.00, Z:-2.80 [[ 9.72576472e-01 2.32274492e-01 1.19819151e-02 3.25352672e+02] [-2.32259955e-01 9.72650246e-01 -2.61005681e-03 -4.69972358e+01] [-1.22604623e-02 -2.44439216e-04 9.99924808e-01 -2.80019973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.525769231 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:325.38, Y:-47.00, Z:-2.80 [[ 9.72222708e-01 2.33783974e-01 1.13163668e-02 3.25382964e+02] [-2.33771108e-01 9.72288533e-01 -2.46524938e-03 -4.70022384e+01] [-1.15791094e-02 -2.48668170e-04 9.99932929e-01 -2.80224837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.55576923100006 meters Centerline goodness [0,1] 0.9999360354789877 Centerline is valid? [True, True] Translation: X:325.41, Y:-47.01, Z:-2.80 [[ 9.72028284e-01 2.34557822e-01 1.19850925e-02 3.25413051e+02] [-2.34543449e-01 9.72102131e-01 -2.61093002e-03 -4.70065095e+01] [-1.22631480e-02 -2.73127092e-04 9.99924767e-01 -2.80250718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58576923100003 meters Centerline goodness [0,1] 0.9999154477044052 Centerline is valid? [True, True] Translation: X:325.44, Y:-47.01, Z:-2.80 [[ 9.72329111e-01 2.33287901e-01 1.23634402e-02 3.25441814e+02] [-2.33272503e-01 9.72407674e-01 -2.69337926e-03 -4.70120361e+01] [-1.26506370e-02 -2.65199587e-04 9.99919942e-01 -2.80229899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.61576923100006 meters Centerline goodness [0,1] 0.9999575146043548 Centerline is valid? [True, True] Translation: X:325.47, Y:-47.02, Z:-2.80 [[ 9.72879099e-01 2.31019376e-01 1.16750734e-02 3.25469366e+02] [-2.31005483e-01 9.72949124e-01 -2.54331738e-03 -4.70216158e+01] [-1.19468080e-02 -2.22665644e-04 9.99928610e-01 -2.80429294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64576923100003 meters Centerline goodness [0,1] 0.9999789380568251 Centerline is valid? [True, True] Translation: X:325.50, Y:-47.04, Z:-2.81 [[ 9.74234660e-01 2.25314304e-01 1.00145693e-02 3.25497609e+02] [-2.25303785e-01 9.74286122e-01 -2.18113319e-03 -4.70400623e+01] [-1.02484963e-02 -1.31384801e-04 9.99947474e-01 -2.80856375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.67576923100006 meters Centerline goodness [0,1] 0.9999153277873034 Centerline is valid? [True, True] Translation: X:325.53, Y:-47.05, Z:-2.81 [[ 9.74905550e-01 2.22384446e-01 1.02140976e-02 3.25527449e+02] [-2.22373345e-01 9.74959049e-01 -2.22438047e-03 -4.70537469e+01] [-1.04529945e-02 -1.02782187e-04 9.99945361e-01 -2.80839055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70576923100003 meters Centerline goodness [0,1] 0.9999146302422367 Centerline is valid? [True, True] Translation: X:325.56, Y:-47.07, Z:-2.81 [[ 9.75850183e-01 2.18119735e-01 1.18406513e-02 3.25556544e+02] [-2.18104473e-01 9.75922014e-01 -2.58102513e-03 -4.70691331e+01] [-1.21185248e-02 -6.38051792e-05 9.99926566e-01 -2.80566804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.73576923100006 meters Centerline goodness [0,1] 0.9998720354888244 Centerline is valid? [True, True] Translation: X:325.59, Y:-47.08, Z:-2.81 [[ 9.76030245e-01 2.17322721e-01 1.16531117e-02 3.25587696e+02] [-2.17307859e-01 9.76099807e-01 -2.54199235e-03 -4.70789637e+01] [-1.19270327e-02 -5.12513405e-05 9.99928869e-01 -2.80550162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76576923100004 meters Centerline goodness [0,1] 0.9998059592083136 Centerline is valid? [True, True] Translation: X:325.62, Y:-47.09, Z:-2.81 [[ 9.76160096e-01 2.16759634e-01 1.12573807e-02 3.25619717e+02] [-2.16745703e-01 9.76225004e-01 -2.45782666e-03 -4.70876798e+01] [-1.15224941e-02 -4.07565768e-05 9.99933613e-01 -2.80637367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.79576923100007 meters Centerline goodness [0,1] 0.9998523393663249 Centerline is valid? [True, True] Translation: X:325.65, Y:-47.10, Z:-2.81 [[ 9.76210106e-01 2.16519511e-01 1.15381888e-02 3.25651031e+02] [-2.16504830e-01 9.76278290e-01 -2.52157606e-03 -4.70961566e+01] [-1.18104537e-02 -3.64855786e-05 9.99930253e-01 -2.80655486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82576923100004 meters Centerline goodness [0,1] 0.9998296059637912 Centerline is valid? [True, True] Translation: X:325.68, Y:-47.11, Z:-2.80 [[ 9.76260765e-01 2.16209767e-01 1.29713227e-02 3.25682306e+02] [-2.16191148e-01 9.76346934e-01 -2.83753687e-03 -4.71055960e+01] [-1.32780143e-02 -3.41092340e-05 9.99911843e-01 -2.80463337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.85576923100007 meters Centerline goodness [0,1] 0.9997872114054687 Centerline is valid? [True, True] Translation: X:325.71, Y:-47.12, Z:-2.80 [[ 9.77051112e-01 2.12395862e-01 1.60972999e-02 3.25711953e+02] [-2.12366606e-01 9.77183707e-01 -3.52527480e-03 -4.71217451e+01] [-1.64787730e-02 2.58447043e-05 9.99864215e-01 -2.79883255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88576923100004 meters Centerline goodness [0,1] 0.999747309903346 Centerline is valid? [True, True] Translation: X:325.74, Y:-47.13, Z:-2.80 [[ 9.77634597e-01 2.09664494e-01 1.64740554e-02 3.25741567e+02] [-2.09633412e-01 9.77773386e-01 -3.61086429e-03 -4.71346298e+01] [-1.68649630e-02 7.65934107e-05 9.99857773e-01 -2.79805674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.91576923100007 meters Centerline goodness [0,1] 0.9997656333226803 Centerline is valid? [True, True] Translation: X:325.77, Y:-47.15, Z:-2.80 [[ 9.78268202e-01 2.06766896e-01 1.54523941e-02 3.25771859e+02] [-2.06739153e-01 9.78390227e-01 -3.38917642e-03 -4.71474015e+01] [-1.58192409e-02 1.20908649e-04 9.99874861e-01 -2.80044933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94576923100004 meters Centerline goodness [0,1] 0.9997428204029147 Centerline is valid? [True, True] Translation: X:325.80, Y:-47.16, Z:-2.81 [[ 9.78850235e-01 2.04242125e-01 1.17205644e-02 3.25801556e+02] [-2.04225967e-01 9.78920395e-01 -2.57203844e-03 -4.71605151e+01] [-1.19988181e-02 1.23996830e-04 9.99928004e-01 -2.80742007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.9757692310001 meters Centerline goodness [0,1] 0.9996998799519808 Centerline is valid? [True, True] Translation: X:325.83, Y:-47.17, Z:-2.81 [[ 9.78748694e-01 2.04783264e-01 1.07149240e-02 3.25833690e+02] [-2.04769776e-01 9.78807337e-01 -2.35285050e-03 -4.71675200e+01] [-1.09696706e-02 1.08756769e-04 9.99939825e-01 -2.80935793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00576923100004 meters Centerline goodness [0,1] 0.9997045291460892 Centerline is valid? [True, True] Translation: X:325.86, Y:-47.17, Z:-2.81 [[ 9.78212453e-01 2.07377615e-01 9.74272825e-03 3.25863622e+02] [-2.07366573e-01 9.78260967e-01 -2.14126999e-03 -4.71746207e+01] [-9.97498222e-03 7.43007977e-05 9.99950246e-01 -2.81158206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0357692310001 meters Centerline goodness [0,1] 0.9997218061202654 Centerline is valid? [True, True] Translation: X:325.90, Y:-47.18, Z:-2.81 [[ 9.77867166e-01 2.09032173e-01 9.01972737e-03 3.25895617e+02] [-2.09022768e-01 9.77908762e-01 -1.98365556e-03 -4.71796990e+01] [-9.23511826e-03 5.44232550e-05 9.99957354e-01 -2.81280191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06576923100005 meters Centerline goodness [0,1] 0.9998067964708155 Centerline is valid? [True, True] Translation: X:325.93, Y:-47.18, Z:-2.81 [[ 9.77103106e-01 2.12562088e-01 9.32092124e-03 3.25927217e+02] [-2.12552189e-01 9.77147562e-01 -2.05154336e-03 -4.71840782e+01] [-9.54399580e-03 2.33871827e-05 9.99954455e-01 -2.81214568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0957692310001 meters Centerline goodness [0,1] 0.9998314192392793 Centerline is valid? [True, True] Translation: X:325.96, Y:-47.19, Z:-2.81 [[ 9.76604655e-01 2.14812486e-01 9.94705690e-03 3.25957490e+02] [-2.14801308e-01 9.76655311e-01 -2.19131865e-03 -4.71897935e+01] [-1.01855686e-02 3.41115627e-06 9.99948126e-01 -2.81199934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12576923100005 meters Centerline goodness [0,1] 0.9998510353046328 Centerline is valid? [True, True] Translation: X:325.99, Y:-47.20, Z:-2.81 [[ 9.76128737e-01 2.16954342e-01 1.01735676e-02 3.25990409e+02] [-2.16942750e-01 9.76181752e-01 -2.24276505e-03 -4.71957398e+01] [-1.04178286e-02 -1.78543071e-05 9.99945733e-01 -2.81172561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1557692310001 meters Centerline goodness [0,1] 0.9998726601298866 Centerline is valid? [True, True] Translation: X:326.02, Y:-47.20, Z:-2.81 [[ 9.75157669e-01 2.21184809e-01 1.20333068e-02 3.26022646e+02] [-2.21168878e-01 9.75231908e-01 -2.65563574e-03 -4.71983086e+01] [-1.23226510e-02 -7.17294032e-05 9.99924071e-01 -2.80883958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18576923100005 meters Centerline goodness [0,1] 0.9999577702702702 Centerline is valid? [True, True] Translation: X:326.06, Y:-47.19, Z:-2.81 [[ 9.73589476e-01 2.27966009e-01 1.24511051e-02 3.26055810e+02] [-2.27949478e-01 9.73669078e-01 -2.75003794e-03 -4.71939728e+01] [-1.27501712e-02 -1.60814919e-04 9.99918700e-01 -2.80682006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2157692310001 meters Centerline goodness [0,1] 0.9999788632664708 Centerline is valid? [True, True] Translation: X:326.09, Y:-47.19, Z:-2.81 [[ 9.72602655e-01 2.32175628e-01 1.17709031e-02 3.26087306e+02] [-2.32161136e-01 9.72673860e-01 -2.60186576e-03 -4.71933574e+01] [-1.20533396e-02 -2.02164698e-04 9.99927335e-01 -2.80839756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24576923100005 meters Centerline goodness [0,1] 0.9999787820920857 Centerline is valid? [True, True] Translation: X:326.12, Y:-47.20, Z:-2.81 [[ 9.71559824e-01 2.36550406e-01 1.07431053e-02 3.26118610e+02] [-2.36538599e-01 9.71619190e-01 -2.37494460e-03 -4.71951461e+01] [-1.10000014e-02 -2.33758315e-04 9.99939471e-01 -2.81031793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.275769231 meters Centerline goodness [0,1] 0.9998732037193576 Centerline is valid? [True, True] Translation: X:326.15, Y:-47.19, Z:-2.81 [[ 9.69669454e-01 2.44222061e-01 9.83539373e-03 3.26150569e+02] [-2.44212557e-01 9.69719289e-01 -2.17440133e-03 -4.71860762e+01] [-1.00686078e-02 -2.93476103e-04 9.99949267e-01 -2.81227868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30576923100006 meters Centerline goodness [0,1] 0.999616319222407 Centerline is valid? [True, True] Translation: X:326.18, Y:-47.18, Z:-2.81 [[ 9.69057852e-01 2.46595559e-01 1.08401505e-02 3.26180352e+02] [-2.46584160e-01 9.69118418e-01 -2.39675715e-03 -4.71824693e+01] [-1.10964192e-02 -3.50413077e-04 9.99938371e-01 -2.81160885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.33576923100003 meters Centerline goodness [0,1] 0.9992612137203166 Centerline is valid? [True, True] Translation: X:326.21, Y:-47.18, Z:-2.81 [[ 9.68324954e-01 2.49386656e-01 1.23725436e-02 3.26210831e+02] [-2.49372038e-01 9.68403896e-01 -2.73523553e-03 -4.71823632e+01] [-1.26637507e-02 -4.36769590e-04 9.99919716e-01 -2.80836554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36576923100006 meters Centerline goodness [0,1] 0.999073118324872 Centerline is valid? [True, True] Translation: X:326.24, Y:-47.19, Z:-2.81 [[ 9.68235313e-01 2.49757096e-01 1.19067688e-02 3.26239751e+02] [-2.49743589e-01 9.68308428e-01 -2.63206102e-03 -4.71858617e+01] [-1.21868005e-02 -4.25184756e-04 9.99925648e-01 -2.81007371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.39576923100003 meters Centerline goodness [0,1] 0.999319930292855 Centerline is valid? [True, True] Translation: X:326.27, Y:-47.19, Z:-2.81 [[ 9.68413973e-01 2.49104536e-01 1.10139341e-02 3.26268180e+02] [-2.49092942e-01 9.68476526e-01 -2.43422560e-03 -4.71903916e+01] [-1.12731132e-02 -3.86155149e-04 9.99936382e-01 -2.81286581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42576923100006 meters Centerline goodness [0,1] 0.9998309132796483 Centerline is valid? [True, True] Translation: X:326.30, Y:-47.20, Z:-2.82 [[ 9.68870850e-01 2.47393746e-01 9.25260380e-03 3.26296969e+02] [-2.47385490e-01 9.68914980e-01 -2.04450114e-03 -4.71979048e+01] [-9.47078322e-03 -3.08102371e-04 9.99955104e-01 -2.81525498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.45576923100003 meters Centerline goodness [0,1] 0.999786370433668 Centerline is valid? [True, True] Translation: X:326.33, Y:-47.20, Z:-2.81 [[ 9.69038112e-01 2.46722111e-01 9.66114231e-03 3.26325475e+02] [-2.46713078e-01 9.69086219e-01 -2.13464088e-03 -4.72024548e+01] [-9.88914298e-03 -3.14981788e-04 9.99951052e-01 -2.81404117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48576923100006 meters Centerline goodness [0,1] 0.9996826135714437 Centerline is valid? [True, True] Translation: X:326.35, Y:-47.20, Z:-2.81 [[ 9.69139559e-01 2.46184228e-01 1.27216836e-02 3.26354085e+02] [-2.46168529e-01 9.69222967e-01 -2.81004108e-03 -4.72034668e+01] [-1.30219358e-02 -4.08356175e-04 9.99915128e-01 -2.80834437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51576923100004 meters Centerline goodness [0,1] 0.9996816570810076 Centerline is valid? [True, True] Translation: X:326.38, Y:-47.21, Z:-2.81 [[ 9.69241084e-01 2.45740135e-01 1.35464866e-02 3.26383408e+02] [-2.45722304e-01 9.69335650e-01 -2.99131841e-03 -4.72065807e+01] [-1.38661794e-02 -4.29365203e-04 9.99903768e-01 -2.80741939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54576923100007 meters Centerline goodness [0,1] 0.9997453905073094 Centerline is valid? [True, True] Translation: X:326.41, Y:-47.21, Z:-2.81 [[ 9.69278052e-01 2.45607512e-01 1.33044205e-02 3.26411893e+02] [-2.45590306e-01 9.69369266e-01 -2.93741771e-03 -4.72086718e+01] [-1.36183482e-02 -4.20262170e-04 9.99907178e-01 -2.80887006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57576923100004 meters Centerline goodness [0,1] 0.999808282208589 Centerline is valid? [True, True] Translation: X:326.44, Y:-47.21, Z:-2.81 [[ 9.69664223e-01 2.44164424e-01 1.16202162e-02 3.26440171e+02] [-2.44151202e-01 9.69733784e-01 -2.56497549e-03 -4.72109987e+01] [-1.18947920e-02 -3.49924796e-04 9.99929193e-01 -2.81261047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60576923100007 meters Centerline goodness [0,1] 0.9999157202755947 Centerline is valid? [True, True] Translation: X:326.47, Y:-47.22, Z:-2.81 [[ 9.69895797e-01 2.43257060e-01 1.13200946e-02 3.26467527e+02] [-2.43244458e-01 9.69961800e-01 -2.49806778e-03 -4.72155178e+01] [-1.15877319e-02 -3.30684823e-04 9.99932805e-01 -2.81302920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63576923100004 meters Centerline goodness [0,1] 0.999936353028535 Centerline is valid? [True, True] Translation: X:326.50, Y:-47.22, Z:-2.81 [[ 9.70380479e-01 2.41300543e-01 1.16521669e-02 3.26495879e+02] [-2.41287059e-01 9.70450384e-01 -2.57059209e-03 -4.72211372e+01] [-1.19281351e-02 -3.17064698e-04 9.99928807e-01 -2.81283764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66576923100007 meters Centerline goodness [0,1] 0.9999368314663523 Centerline is valid? [True, True] Translation: X:326.52, Y:-47.23, Z:-2.81 [[ 9.70624317e-01 2.40304163e-01 1.19308448e-02 3.26523565e+02] [-2.40289958e-01 9.70697590e-01 -2.63150634e-03 -4.72258463e+01] [-1.22136042e-02 -3.12658150e-04 9.99925362e-01 -2.81330758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69576923100004 meters Centerline goodness [0,1] 0.9999572640441035 Centerline is valid? [True, True] Translation: X:326.55, Y:-47.24, Z:-2.81 [[ 9.71025763e-01 2.38693249e-01 1.15974195e-02 3.26550843e+02] [-2.38679720e-01 9.71094976e-01 -2.55724272e-03 -4.72379163e+01] [-1.18725923e-02 -2.84920269e-04 9.99929478e-01 -2.81417894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7257692310001 meters Centerline goodness [0,1] 0.9999364393313418 Centerline is valid? [True, True] Translation: X:326.58, Y:-47.24, Z:-2.82 [[ 9.71808884e-01 2.35564867e-01 9.83288129e-03 3.26579200e+02] [-2.35554985e-01 9.71858606e-01 -2.16787484e-03 -4.72433948e+01] [-1.00668454e-02 -2.09424169e-04 9.99949306e-01 -2.81803222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.75576923100004 meters Centerline goodness [0,1] 0.9999574621945254 Centerline is valid? [True, True] Translation: X:326.61, Y:-47.25, Z:-2.82 [[ 9.72187969e-01 2.34007663e-01 9.53760421e-03 3.26607237e+02] [-2.33998293e-01 9.72234734e-01 -2.10248804e-03 -4.72503877e+01] [-9.76478841e-03 -1.87769521e-04 9.99952306e-01 -2.81874581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7857692310001 meters Centerline goodness [0,1] 0.9999788989470575 Centerline is valid? [True, True] Translation: X:326.63, Y:-47.26, Z:-2.82 [[ 9.73009399e-01 2.30507925e-01 1.08998450e-02 3.26634220e+02] [-2.30495474e-01 9.73070432e-01 -2.40212199e-03 -4.72624700e+01] [-1.11600251e-02 -1.75077681e-04 9.99937710e-01 -2.81573334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.81576923100005 meters Centerline goodness [0,1] 0.9999359152372205 Centerline is valid? [True, True] Translation: X:326.66, Y:-47.27, Z:-2.81 [[ 9.73496697e-01 2.28373995e-01 1.22269711e-02 3.26662013e+02] [-2.28358167e-01 9.73573464e-01 -2.69407210e-03 -4.72739020e+01] [-1.25191106e-02 -1.69458409e-04 9.99921619e-01 -2.81297096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.69, Y:-47.28, Z:-2.81 [[ 9.73935034e-01 2.26449797e-01 1.30781991e-02 3.26690671e+02] [-2.26431519e-01 9.74022826e-01 -2.88129004e-03 -4.72835865e+01] [-1.33909320e-02 -1.55127184e-04 9.99910325e-01 -2.81188788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.87576923100005 meters Centerline goodness [0,1] 0.9999155209191324 Centerline is valid? [True, True] Translation: X:326.72, Y:-47.30, Z:-2.81 [[ 9.75073868e-01 2.21477874e-01 1.33605345e-02 3.26719220e+02] [-2.21458336e-01 9.75165393e-01 -2.94310616e-03 -4.72978772e+01] [-1.36805638e-02 -8.90558342e-05 9.99906413e-01 -2.81373270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9057692310001 meters Centerline goodness [0,1] 0.9999363975576662 Centerline is valid? [True, True] Translation: X:326.75, Y:-47.31, Z:-2.82 [[ 9.76059711e-01 2.17249814e-01 1.04861805e-02 3.26747811e+02] [-2.17237538e-01 9.76116037e-01 -2.30957118e-03 -4.73140936e+01] [-1.07374828e-02 -2.37126560e-05 9.99942351e-01 -2.81940167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.93576923100005 meters Centerline goodness [0,1] 0.9998947013730941 Centerline is valid? [True, True] Translation: X:326.78, Y:-47.33, Z:-2.82 [[ 9.76380658e-01 2.15873779e-01 8.90630337e-03 3.26777680e+02] [-2.15864857e-01 9.76421278e-01 -1.96268195e-03 -4.73252803e+01] [-9.11999569e-03 -6.23320905e-06 9.99958412e-01 -2.82306691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9657692310001 meters Centerline goodness [0,1] 0.9998728894349935 Centerline is valid? [True, True] Translation: X:326.81, Y:-47.34, Z:-2.83 [[ 9.76637784e-01 2.14753253e-01 7.72518945e-03 3.26807332e+02] [-2.14746491e-01 9.76668337e-01 -1.70419229e-03 -4.73350213e+01] [-7.91092877e-03 5.42125625e-06 9.99968708e-01 -2.82510384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.99576923100005 meters Centerline goodness [0,1] 0.9998083638531641 Centerline is valid? [True, True] Translation: X:326.84, Y:-47.34, Z:-2.82 [[ 9.76601029e-01 2.14900090e-01 8.26930357e-03 3.26839076e+02] [-2.14892355e-01 9.76636038e-01 -1.82331234e-03 -4.73436056e+01] [-8.46792986e-03 3.63859351e-06 9.99964146e-01 -2.82258771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.025769231 meters Centerline goodness [0,1] 0.9998518957345972 Centerline is valid? [True, True] Translation: X:326.87, Y:-47.35, Z:-2.82 [[ 9.76382001e-01 2.15858297e-01 9.13151614e-03 3.26869796e+02] [-2.15848886e-01 9.76424700e-01 -2.01566733e-03 -4.73511668e+01] [-9.35133643e-03 -2.96628693e-06 9.99956275e-01 -2.82268380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.05576923100006 meters Centerline goodness [0,1] 0.9999360709186609 Centerline is valid? [True, True] Translation: X:326.90, Y:-47.36, Z:-2.82 [[ 9.75953028e-01 2.17764435e-01 9.71274145e-03 3.26898478e+02] [-2.17753853e-01 9.76001358e-01 -2.14685789e-03 -4.73599854e+01] [-9.94715814e-03 -1.97544094e-05 9.99950526e-01 -2.82241121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08576923100003 meters Centerline goodness [0,1] 0.9999573778876482 Centerline is valid? [True, True] Translation: X:326.93, Y:-47.37, Z:-2.82 [[ 9.75573565e-01 2.19444113e-01 1.00249774e-02 3.26930233e+02] [-2.19432936e-01 9.75625071e-01 -2.21513510e-03 -4.73682387e+01] [-1.02667177e-02 -3.87829847e-05 9.99947295e-01 -2.82139531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.11576923100006 meters Centerline goodness [0,1] 0.9999574884155933 Centerline is valid? [True, True] Translation: X:326.96, Y:-47.37, Z:-2.82 [[ 9.74978402e-01 2.22055933e-01 1.04057145e-02 3.26961448e+02] [-2.22044015e-01 9.75033927e-01 -2.30163995e-03 -4.73728940e+01] [-1.06570175e-02 -6.64773894e-05 9.99943210e-01 -2.82092297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14576923100003 meters Centerline goodness [0,1] 0.9999574884155933 Centerline is valid? [True, True] Translation: X:326.99, Y:-47.38, Z:-2.82 [[ 9.74936712e-01 2.22238915e-01 1.04053862e-02 3.26993127e+02] [-2.22226990e-01 9.74992236e-01 -2.30312315e-03 -4.73801076e+01] [-1.06570143e-02 -6.69583387e-05 9.99943210e-01 -2.82140718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.02, Y:-47.38, Z:-2.82 [[ 9.73168792e-01 2.29828299e-01 1.10206460e-02 3.27023839e+02] [-2.29815374e-01 9.73231179e-01 -2.44237949e-03 -4.73773746e+01] [-1.12869642e-02 -1.55866375e-04 9.99936288e-01 -2.82016582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20576923100003 meters Centerline goodness [0,1] 0.9999571477545424 Centerline is valid? [True, True] Translation: X:327.05, Y:-47.38, Z:-2.82 [[ 9.72126566e-01 2.34231332e-01 1.02773155e-02 3.27054560e+02] [-2.34220339e-01 9.72180871e-01 -2.27747786e-03 -4.73786541e+01] [-1.05248662e-02 -1.93159584e-04 9.99944593e-01 -2.82073428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.23576923100006 meters Centerline goodness [0,1] 0.9998502065010378 Centerline is valid? [True, True] Translation: X:327.09, Y:-47.37, Z:-2.82 [[ 9.70039256e-01 2.42763519e-01 9.47186393e-03 3.27086218e+02] [-2.42754587e-01 9.70085462e-01 -2.09905159e-03 -4.73702106e+01] [-9.69809066e-03 -2.63175972e-04 9.99952938e-01 -2.82319477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26576923100004 meters Centerline goodness [0,1] 0.999703433812782 Centerline is valid? [True, True] Translation: X:327.12, Y:-47.37, Z:-2.82 [[ 9.69027148e-01 2.46768232e-01 9.58258196e-03 3.27117301e+02] [-2.46759286e-01 9.69074479e-01 -2.12347065e-03 -4.73660448e+01] [-9.81024072e-03 -3.06890371e-04 9.99951831e-01 -2.82377877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.29576923100007 meters Centerline goodness [0,1] 0.9997244127872467 Centerline is valid? [True, True] Translation: X:327.15, Y:-47.37, Z:-2.82 [[ 9.67979989e-01 2.50807801e-01 1.04970445e-02 3.27147666e+02] [-2.50797305e-01 9.68036829e-01 -2.32594359e-03 -4.73688391e+01] [-1.07448904e-02 -3.81163617e-04 9.99942199e-01 -2.82143126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32576923100004 meters Centerline goodness [0,1] 0.9982065240325779 Centerline is valid? [True, True] Translation: X:327.18, Y:-47.36, Z:-2.82 [[ 9.66022524e-01 2.58162434e-01 1.23548081e-02 3.27180696e+02] [-2.58148496e-01 9.66101372e-01 -2.73740491e-03 -4.73589414e+01] [-1.26426921e-02 -5.44980312e-04 9.99919929e-01 -2.81815289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.35576923100007 meters Centerline goodness [0,1] 0.9952839126681685 Centerline is valid? [True, True] Translation: X:327.21, Y:-47.36, Z:-2.82 [[ 9.65315731e-01 2.60789802e-01 1.24185186e-02 3.27210690e+02] [-2.60775938e-01 9.65395432e-01 -2.75137154e-03 -4.73563705e+01] [-1.27063107e-02 -5.82508605e-04 9.99919102e-01 -2.81889764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38576923100004 meters Centerline goodness [0,1] 0.9930242881603145 Centerline is valid? [True, True] Translation: X:327.24, Y:-47.36, Z:-2.82 [[ 9.65001053e-01 2.61983285e-01 1.17356954e-02 3.27241198e+02] [-2.61970992e-01 9.65072245e-01 -2.60006379e-03 -4.73571215e+01] [-1.20069672e-02 -5.65347475e-04 9.99927754e-01 -2.82136125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.41576923100007 meters Centerline goodness [0,1] 0.9956849593061756 Centerline is valid? [True, True] Translation: X:327.27, Y:-47.36, Z:-2.82 [[ 9.64991182e-01 2.62070033e-01 1.05506370e-02 3.27269822e+02] [-2.62060104e-01 9.65048723e-01 -2.33739626e-03 -4.73629160e+01] [-1.07944402e-02 -5.09334232e-04 9.99941609e-01 -2.82327966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44576923100004 meters Centerline goodness [0,1] 0.9851454856202393 Centerline is valid? [True, True] Translation: X:327.30, Y:-47.35, Z:-2.82 [[ 9.65022227e-01 2.61951355e-01 1.06577799e-02 3.27300505e+02] [-2.61941221e-01 9.65080942e-01 -2.36065326e-03 -4.73522119e+01] [-1.09039965e-02 -5.13628999e-04 9.99940418e-01 -2.82464672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.4757692310001 meters Centerline goodness [0,1] 0.9907820461320536 Centerline is valid? [True, True] Translation: X:327.33, Y:-47.35, Z:-2.82 [[ 9.64981875e-01 2.62089858e-01 1.09035190e-02 3.27329035e+02] [-2.62079268e-01 9.65043330e-01 -2.41435549e-03 -4.73548988e+01] [-1.11551463e-02 -5.27776985e-04 9.99937640e-01 -2.82366053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50576923100004 meters Centerline goodness [0,1] 0.9933397968216499 Centerline is valid? [True, True] Translation: X:327.36, Y:-47.35, Z:-2.82 [[ 9.65078802e-01 2.61732036e-01 1.09200236e-02 3.27359430e+02] [-2.61721397e-01 9.65140439e-01 -2.41749930e-03 -4.73528757e+01] [-1.11720934e-02 -5.24926518e-04 9.99937452e-01 -2.82364958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5357692310001 meters Centerline goodness [0,1] 0.9939430259187124 Centerline is valid? [True, True] Translation: X:327.39, Y:-47.36, Z:-2.82 [[ 9.65394886e-01 2.60576885e-01 1.06019799e-02 3.27388624e+02] [-2.60566793e-01 9.65452971e-01 -2.34660911e-03 -4.73553607e+01] [-1.08471851e-02 -4.97119470e-04 9.99941044e-01 -2.82448949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56576923100005 meters Centerline goodness [0,1] 0.9989319206203405 Centerline is valid? [True, True] Translation: X:327.42, Y:-47.36, Z:-2.83 [[ 9.66091512e-01 2.57988439e-01 1.04477767e-02 3.27417306e+02] [-2.57978493e-01 9.66147894e-01 -2.31190334e-03 -4.73626720e+01] [-1.06905418e-02 -4.61791496e-04 9.99942748e-01 -2.82560529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5957692310001 meters Centerline goodness [0,1] 0.9984297748636662 Centerline is valid? [True, True] Translation: X:327.45, Y:-47.36, Z:-2.83 [[ 9.66453808e-01 2.56619299e-01 1.06570378e-02 3.27445772e+02] [-2.56608870e-01 9.66512456e-01 -2.35807995e-03 -4.73630185e+01] [-1.09052886e-02 -4.55715064e-04 9.99940432e-01 -2.82598461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62576923100005 meters Centerline goodness [0,1] 0.9991716403644783 Centerline is valid? [True, True] Translation: X:327.47, Y:-47.37, Z:-2.83 [[ 9.66846460e-01 2.55129034e-01 1.08212151e-02 3.27474026e+02] [-2.55118195e-01 9.66906912e-01 -2.39367347e-03 -4.73696634e+01] [-1.10738033e-02 -4.46374149e-04 9.99938584e-01 -2.82550307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6557692310001 meters Centerline goodness [0,1] 0.9994449781193298 Centerline is valid? [True, True] Translation: X:327.50, Y:-47.37, Z:-2.83 [[ 9.67265258e-01 2.53537445e-01 1.08021123e-02 3.27502998e+02] [-2.53526547e-01 9.67325478e-01 -2.38932986e-03 -4.73730886e+01] [-1.10549431e-02 -4.27506477e-04 9.99938801e-01 -2.82535971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68576923100005 meters Centerline goodness [0,1] 0.999786530045896 Centerline is valid? [True, True] Translation: X:327.53, Y:-47.38, Z:-2.82 [[ 9.67961506e-01 2.50864587e-01 1.08388745e-02 3.27532896e+02] [-2.50853472e-01 9.68022107e-01 -2.39518802e-03 -4.73766902e+01] [-1.10931380e-02 -4.00519501e-04 9.99938389e-01 -2.82459477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7157692310001 meters Centerline goodness [0,1] 0.9996186036656426 Centerline is valid? [True, True] Translation: X:327.56, Y:-47.38, Z:-2.82 [[ 9.68204505e-01 2.49900705e-01 1.13874844e-02 3.27561400e+02] [-2.49888371e-01 9.68271382e-01 -2.51638625e-03 -4.73786396e+01] [-1.16550220e-02 -4.09223433e-04 9.99931994e-01 -2.82449203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74576923100005 meters Centerline goodness [0,1] 0.9993894479767569 Centerline is valid? [True, True] Translation: X:327.59, Y:-47.38, Z:-2.82 [[ 9.68376035e-01 2.49203057e-01 1.20702637e-02 3.27589539e+02] [-2.49189153e-01 9.68451163e-01 -2.66665297e-03 -4.73783684e+01] [-1.23539990e-02 -4.25455942e-04 9.99923596e-01 -2.82405490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.775769231 meters Centerline goodness [0,1] 0.9997029303796126 Centerline is valid? [True, True] Translation: X:327.62, Y:-47.39, Z:-2.82 [[ 9.68745445e-01 2.47740547e-01 1.25253530e-02 3.27617546e+02] [-2.47725462e-01 9.68826322e-01 -2.76637460e-03 -4.73863286e+01] [-1.28202349e-02 -4.22936078e-04 9.99917728e-01 -2.82414439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80576923100006 meters Centerline goodness [0,1] 0.9996857322438718 Centerline is valid? [True, True] Translation: X:327.65, Y:-47.39, Z:-2.83 [[ 9.68975244e-01 2.46852502e-01 1.22807997e-02 3.27645394e+02] [-2.46837936e-01 9.69052981e-01 -2.71180484e-03 -4.73903758e+01] [-1.25701614e-02 -4.03695492e-04 9.99920911e-01 -2.82623013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.83576923100003 meters Centerline goodness [0,1] 0.999809877899362 Centerline is valid? [True, True] Translation: X:327.67, Y:-47.40, Z:-2.83 [[ 9.69791328e-01 2.43666186e-01 1.14704085e-02 3.27674533e+02] [-2.43653266e-01 9.69859100e-01 -2.53207073e-03 -4.73981606e+01] [-1.17416600e-02 -3.39222247e-04 9.99931007e-01 -2.82855147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86576923100006 meters Centerline goodness [0,1] 0.9999577041830563 Centerline is valid? [True, True] Translation: X:327.70, Y:-47.41, Z:-2.83 [[ 9.70327623e-01 2.41500493e-01 1.19086668e-02 3.27701803e+02] [-2.41486404e-01 9.70400642e-01 -2.62876184e-03 -4.74080992e+01] [-1.21910251e-02 -3.25020886e-04 9.99925634e-01 -2.82813893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.89576923100003 meters Centerline goodness [0,1] 0.999935824758808 Centerline is valid? [True, True] Translation: X:327.73, Y:-47.41, Z:-2.83 [[ 9.71023014e-01 2.38668527e-01 1.23142648e-02 3.27729833e+02] [-2.38653243e-01 9.71101047e-01 -2.71766792e-03 -4.74118800e+01] [-1.26070172e-02 -2.99921123e-04 9.99920483e-01 -2.82755444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92576923100006 meters Centerline goodness [0,1] 0.9999366607550038 Centerline is valid? [True, True] Translation: X:327.76, Y:-47.43, Z:-2.83 [[ 9.71679239e-01 2.35965163e-01 1.26450739e-02 3.27756604e+02] [-2.35948826e-01 9.71761477e-01 -2.79002074e-03 -4.74259921e+01] [-1.29463434e-02 -2.72585102e-04 9.99916155e-01 -2.82679289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.78, Y:-47.44, Z:-2.83 [[ 9.72896878e-01 2.30890288e-01 1.27019289e-02 3.27783377e+02] [-2.30873376e-01 9.72979770e-01 -2.80209988e-03 -4.74366847e+01] [-1.30056975e-02 -2.06382986e-04 9.99915401e-01 -2.82758326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98576923100006 meters Centerline goodness [0,1] 0.9999787306448868 Centerline is valid? [True, True] Translation: X:327.81, Y:-47.45, Z:-2.83 [[ 9.73513238e-01 2.28270863e-01 1.28213865e-02 3.27810732e+02] [-2.28253410e-01 9.73597650e-01 -2.82800311e-03 -4.74480822e+01] [-1.31284224e-02 -1.73426719e-04 9.99913804e-01 -2.82801299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.84, Y:-47.46, Z:-2.83 [[ 9.74144401e-01 2.25566784e-01 1.27401965e-02 3.27838211e+02] [-2.25549329e-01 9.74227698e-01 -2.80946716e-03 -4.74596692e+01] [-1.30455748e-02 -1.36716079e-04 9.99914894e-01 -2.82840051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.86, Y:-47.48, Z:-2.83 [[ 9.75497781e-01 2.19689452e-01 1.18585136e-02 3.27864045e+02] [-2.19673900e-01 9.75569855e-01 -2.61461810e-03 -4.74780001e+01] [-1.21432124e-02 -5.44517820e-05 9.99926267e-01 -2.82997659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.89, Y:-47.49, Z:-2.83 [[ 9.76174107e-01 2.16707675e-01 1.10406509e-02 3.27890293e+02] [-2.16694004e-01 9.76236541e-01 -2.43414233e-03 -4.74909903e+01] [-1.13057842e-02 -1.62961422e-05 9.99936087e-01 -2.83182945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.91, Y:-47.51, Z:-2.84 [[ 9.77363368e-01 2.11357887e-01 9.41753152e-03 3.27914148e+02] [-2.11347695e-01 9.77408739e-01 -2.07598962e-03 -4.75111074e+01] [-9.64355438e-03 3.86226289e-05 9.99953499e-01 -2.83643885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.94, Y:-47.52, Z:-2.84 [[ 9.77816617e-01 2.09243679e-01 9.57840506e-03 3.27940562e+02] [-2.09233041e-01 9.77863528e-01 -2.11076521e-03 -4.75239298e+01] [-9.80803724e-03 5.98224847e-05 9.99951898e-01 -2.83641367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.97, Y:-47.54, Z:-2.84 [[ 9.78150751e-01 2.07647676e-01 1.01759638e-02 3.27967721e+02] [-2.07635588e-01 9.78203678e-01 -2.24192254e-03 -4.75359354e+01] [-1.04196952e-02 8.00459960e-05 9.99945710e-01 -2.83533132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.99, Y:-47.55, Z:-2.83 [[ 9.78331266e-01 2.06756319e-01 1.09434519e-02 3.27993301e+02] [-2.06742291e-01 9.78392465e-01 -2.41035800e-03 -4.75513123e+01] [-1.12053476e-02 9.56542757e-05 9.99937214e-01 -2.83379730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2257692310001 meters Centerline goodness [0,1] 0.9999367168712822 Centerline is valid? [True, True] Translation: X:328.02, Y:-47.56, Z:-2.84 [[ 9.78251958e-01 2.07169535e-01 1.01926939e-02 3.28020963e+02] [-2.07157390e-01 9.78305053e-01 -2.24482264e-03 -4.75604195e+01] [-1.04366228e-02 8.45102642e-05 9.99945533e-01 -2.83561787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.25576923100004 meters Centerline goodness [0,1] 0.999936335469632 Centerline is valid? [True, True] Translation: X:328.05, Y:-47.57, Z:-2.84 [[ 9.78024584e-01 2.08314637e-01 8.53962612e-03 3.28048446e+02] [-2.08306158e-01 9.78061863e-01 -1.88046343e-03 -4.75684862e+01] [-8.74401069e-03 6.02827557e-05 9.99961769e-01 -2.83944355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2857692310001 meters Centerline goodness [0,1] 0.9999787563996346 Centerline is valid? [True, True] Translation: X:328.07, Y:-47.58, Z:-2.85 [[ 9.77256101e-01 2.11977223e-01 6.01419018e-03 3.28074809e+02] [-2.11973087e-01 9.77274606e-01 -1.32436717e-03 -4.75770592e+01] [-6.15825102e-03 1.93994425e-05 9.99981038e-01 -2.84517283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.31576923100005 meters Centerline goodness [0,1] 0.9999360013653043 Centerline is valid? [True, True] Translation: X:328.10, Y:-47.58, Z:-2.84 [[ 9.76699056e-01 2.14517998e-01 6.40181116e-03 3.28102906e+02] [-2.14513369e-01 9.76720036e-01 -1.40922186e-03 -4.75829113e+01] [-6.55508068e-03 3.11157876e-06 9.99978515e-01 -2.84227164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.13, Y:-47.59, Z:-2.84 [[ 9.75257992e-01 2.20861516e-01 9.59375407e-03 3.28131040e+02] [-2.20851435e-01 9.75305176e-01 -2.11108541e-03 -4.75855332e+01] [-9.82309552e-03 -5.99414365e-05 9.99951750e-01 -2.83599387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.16, Y:-47.59, Z:-2.83 [[ 9.74296206e-01 2.25010471e-01 1.08254791e-02 3.28159568e+02] [-2.24997900e-01 9.74356339e-01 -2.38130302e-03 -4.75894746e+01] [-1.10836923e-02 -1.15615570e-04 9.99938567e-01 -2.83399818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4057692310001 meters Centerline goodness [0,1] 0.9999576692700065 Centerline is valid? [True, True] Translation: X:328.19, Y:-47.59, Z:-2.83 [[ 9.73230132e-01 2.29564022e-01 1.11116804e-02 3.28188638e+02] [-2.29551081e-01 9.73293548e-01 -2.44365176e-03 -4.75927109e+01] [-1.13759013e-02 -1.72462716e-04 9.99935277e-01 -2.83401554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.43576923100005 meters Centerline goodness [0,1] 0.9998288037663171 Centerline is valid? [True, True] Translation: X:328.22, Y:-47.59, Z:-2.83 [[ 9.71219622e-01 2.37879560e-01 1.20731695e-02 3.28220253e+02] [-2.37864930e-01 9.71294615e-01 -2.65452492e-03 -4.75865359e+01] [-1.23580618e-02 -2.93656932e-04 9.99923593e-01 -2.83393041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4657692310001 meters Centerline goodness [0,1] 0.9999366366746927 Centerline is valid? [True, True] Translation: X:328.25, Y:-47.59, Z:-2.83 [[ 9.70396590e-01 2.41181931e-01 1.27174810e-02 3.28249485e+02] [-2.41165980e-01 9.70479856e-01 -2.79619324e-03 -4.75928669e+01] [-1.30164504e-02 -3.53607380e-04 9.99915220e-01 -2.83272152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.49576923100005 meters Centerline goodness [0,1] 0.9999155334065377 Centerline is valid? [True, True] Translation: X:328.28, Y:-47.60, Z:-2.83 [[ 9.69709599e-01 2.43893602e-01 1.33867014e-02 3.28278651e+02] [-2.43876191e-01 9.69801909e-01 -2.94299932e-03 -4.75974955e+01] [-1.37002273e-02 -4.10843054e-04 9.99906063e-01 -2.83237610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.525769231 meters Centerline goodness [0,1] 0.9998308918341895 Centerline is valid? [True, True] Translation: X:328.31, Y:-47.60, Z:-2.83 [[ 9.68712168e-01 2.47863885e-01 1.26581842e-02 3.28308376e+02] [-2.47848660e-01 9.68794766e-01 -2.78252691e-03 -4.75988782e+01] [-1.29528706e-02 -4.41846332e-04 9.99916010e-01 -2.83362628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.55576923100006 meters Centerline goodness [0,1] 0.9996207412401762 Centerline is valid? [True, True] Translation: X:328.34, Y:-47.60, Z:-2.84 [[ 9.68422465e-01 2.49059921e-01 1.12731802e-02 3.28336970e+02] [-2.49047926e-01 9.68487991e-01 -2.47809314e-03 -4.76029325e+01] [-1.15351333e-02 -4.07721074e-04 9.99933385e-01 -2.83658153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58576923100003 meters Centerline goodness [0,1] 0.9993968636911942 Centerline is valid? [True, True] Translation: X:328.37, Y:-47.60, Z:-2.84 [[ 9.67939480e-01 2.50938035e-01 1.11024763e-02 3.28367366e+02] [-2.50926531e-01 9.68003059e-01 -2.43997390e-03 -4.76036727e+01] [-1.13595133e-02 -4.24158809e-04 9.99935389e-01 -2.83749826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.61576923100006 meters Centerline goodness [0,1] 0.9984560720781693 Centerline is valid? [True, True] Translation: X:328.40, Y:-47.60, Z:-2.84 [[ 9.67714072e-01 2.51754758e-01 1.22072559e-02 3.28395575e+02] [-2.51740917e-01 9.67790946e-01 -2.68255771e-03 -4.76031687e+01] [-1.24894184e-02 -4.77116947e-04 9.99921890e-01 -2.83546531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64576923100003 meters Centerline goodness [0,1] 0.9988009078840306 Centerline is valid? [True, True] Translation: X:328.42, Y:-47.61, Z:-2.83 [[ 9.67315124e-01 2.53242979e-01 1.30170420e-02 3.28424616e+02] [-2.53227391e-01 9.67402560e-01 -2.85945775e-03 -4.76089109e+01] [-1.33168574e-02 -5.30274860e-04 9.99911186e-01 -2.83491076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.67576923100006 meters Centerline goodness [0,1] 0.9988790186125212 Centerline is valid? [True, True] Translation: X:328.45, Y:-47.61, Z:-2.84 [[ 9.66829747e-01 2.55105850e-01 1.26982295e-02 3.28453622e+02] [-2.55091179e-01 9.66912980e-01 -2.78915810e-03 -4.76137523e+01] [-1.29896135e-02 -5.42565315e-04 9.99915484e-01 -2.83600070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70576923100003 meters Centerline goodness [0,1] 0.9947765155536681 Centerline is valid? [True, True] Translation: X:328.48, Y:-47.61, Z:-2.84 [[ 9.65999058e-01 2.58353487e-01 9.96474166e-03 3.28484653e+02] [-2.58344629e-01 9.66050342e-01 -2.18840141e-03 -4.76113122e+01] [-1.01918232e-02 -4.60343784e-04 9.99947956e-01 -2.84150800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.73576923100006 meters Centerline goodness [0,1] 0.9950220881370542 Centerline is valid? [True, True] Translation: X:328.51, Y:-47.61, Z:-2.84 [[ 9.65737892e-01 2.59373094e-01 8.71330137e-03 3.28514188e+02] [-2.59366362e-01 9.65777111e-01 -1.91353739e-03 -4.76147983e+01] [-8.91142714e-03 -4.11961711e-04 9.99960208e-01 -2.84385195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76576923100004 meters Centerline goodness [0,1] 0.9840304987821666 Centerline is valid? [True, True] Translation: X:328.54, Y:-47.61, Z:-2.85 [[ 9.65611374e-01 2.59867963e-01 7.95714922e-03 3.28543706e+02] [-2.59862365e-01 9.65644084e-01 -1.74755488e-03 -4.76101164e+01] [-8.13790759e-03 -3.80304747e-04 9.99966814e-01 -2.84546706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.79576923100007 meters Centerline goodness [0,1] 0.9962316668450916 Centerline is valid? [True, True] Translation: X:328.57, Y:-47.62, Z:-2.84 [[ 9.65707883e-01 2.59475476e-01 8.98676800e-03 3.28571268e+02] [-2.59468326e-01 9.65749603e-01 -1.97295836e-03 -4.76182162e+01] [-9.19090194e-03 -4.26480212e-04 9.99957672e-01 -2.84366507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82576923100004 meters Centerline goodness [0,1] 0.9986602301001638 Centerline is valid? [True, True] Translation: X:328.60, Y:-47.62, Z:-2.84 [[ 9.66643792e-01 2.55857173e-01 1.16998565e-02 3.28600585e+02] [-2.55844799e-01 9.66714459e-01 -2.56771284e-03 -4.76233918e+01] [-1.19673882e-02 -5.11283753e-04 9.99928258e-01 -2.83999096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.85576923100007 meters Centerline goodness [0,1] 0.9995980537338692 Centerline is valid? [True, True] Translation: X:328.63, Y:-47.63, Z:-2.84 [[ 9.67409186e-01 2.52933003e-01 1.20151129e-02 3.28629123e+02] [-2.52919730e-01 9.67483673e-01 -2.63669770e-03 -4.76322986e+01] [-1.22913334e-02 -4.88093543e-04 9.99924340e-01 -2.83948741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88576923100004 meters Centerline goodness [0,1] 0.9997662161013346 Centerline is valid? [True, True] Translation: X:328.66, Y:-47.64, Z:-2.84 [[ 9.68167310e-01 2.50033189e-01 1.16389212e-02 3.28657688e+02] [-2.50020527e-01 9.68237168e-01 -2.55400915e-03 -4.76422312e+01] [-1.19078231e-02 -4.37261040e-04 9.99929004e-01 -2.84017694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91576923100007 meters Centerline goodness [0,1] 0.9997230566029697 Centerline is valid? [True, True] Translation: X:328.69, Y:-47.65, Z:-2.84 [[ 9.68825042e-01 2.47511805e-01 1.07677224e-02 3.28686652e+02] [-2.47500813e-01 9.68884805e-01 -2.36271789e-03 -4.76504818e+01] [-1.10174832e-02 -3.75959788e-04 9.99939235e-01 -2.84203406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94576923100004 meters Centerline goodness [0,1] 0.9997891407485503 Centerline is valid? [True, True] Translation: X:328.71, Y:-47.66, Z:-2.84 [[ 9.69860547e-01 2.43449877e-01 1.01329726e-02 3.28714443e+02] [-2.43439921e-01 9.69913430e-01 -2.22343092e-03 -4.76568714e+01] [-1.03694002e-02 -3.10352122e-04 9.99946188e-01 -2.84363924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.9757692310001 meters Centerline goodness [0,1] 0.9998729109741373 Centerline is valid? [True, True] Translation: X:328.74, Y:-47.67, Z:-2.84 [[ 9.70221882e-01 2.41948308e-01 1.14243576e-02 3.28742129e+02] [-2.41935554e-01 9.70289084e-01 -2.50634841e-03 -4.76666988e+01] [-1.16913362e-02 -3.32244210e-04 9.99931599e-01 -2.84142273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00576923100004 meters Centerline goodness [0,1] 0.9999362908534902 Centerline is valid? [True, True] Translation: X:328.77, Y:-47.68, Z:-2.84 [[ 9.70492299e-01 2.40781831e-01 1.29926042e-02 3.28769600e+02] [-2.40765240e-01 9.70579197e-01 -2.84968164e-03 -4.76757596e+01] [-1.32965030e-02 -3.62573403e-04 9.99911532e-01 -2.83874150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.80, Y:-47.68, Z:-2.84 [[ 9.70423673e-01 2.40965241e-01 1.46167156e-02 3.28798285e+02] [-2.40944276e-01 9.70533659e-01 -3.20509604e-03 -4.76807258e+01] [-1.49583312e-02 -4.11512869e-04 9.99888033e-01 -2.83575029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.83, Y:-47.69, Z:-2.84 [[ 9.70440653e-01 2.40896838e-01 1.46168666e-02 3.28825181e+02] [-2.40875875e-01 9.70550640e-01 -3.20440701e-03 -4.76864871e+01] [-1.49583408e-02 -4.11163712e-04 9.99888033e-01 -2.83615991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0957692310001 meters Centerline goodness [0,1] 0.9999361308041131 Centerline is valid? [True, True] Translation: X:328.85, Y:-47.69, Z:-2.84 [[ 9.70039922e-01 2.42508498e-01 1.45663578e-02 3.28854031e+02] [-2.42487877e-01 9.70149184e-01 -3.19226230e-03 -4.76885275e+01] [-1.49056908e-02 -4.35543296e-04 9.99888809e-01 -2.83716009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12576923100005 meters Centerline goodness [0,1] 0.9998501968840952 Centerline is valid? [True, True] Translation: X:328.89, Y:-47.69, Z:-2.84 [[ 9.69120275e-01 2.46196949e-01 1.38908103e-02 3.28885000e+02] [-2.46178584e-01 9.69219708e-01 -3.04353983e-03 -4.76868622e+01] [-1.42125573e-02 -4.70063862e-04 9.99898886e-01 -2.83998869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1557692310001 meters Centerline goodness [0,1] 0.9998303323365358 Centerline is valid? [True, True] Translation: X:328.91, Y:-47.69, Z:-2.84 [[ 9.69009494e-01 2.46623409e-01 1.40533189e-02 3.28913775e+02] [-2.46604659e-01 9.69111274e-01 -3.07898829e-03 -4.76911756e+01] [-1.43785804e-02 -4.82045043e-04 9.99896507e-01 -2.84071940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18576923100005 meters Centerline goodness [0,1] 0.9996815421850452 Centerline is valid? [True, True] Translation: X:328.94, Y:-47.70, Z:-2.84 [[ 9.69230382e-01 2.45727742e-01 1.45032219e-02 3.28940872e+02] [-2.45707684e-01 9.69338765e-01 -3.17682295e-03 -4.76962004e+01] [-1.48391687e-02 -4.84479742e-04 9.99889776e-01 -2.84061312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2157692310001 meters Centerline goodness [0,1] 0.9998732894069944 Centerline is valid? [True, True] Translation: X:328.97, Y:-47.71, Z:-2.84 [[ 9.70291897e-01 2.41566152e-01 1.33951166e-02 3.28968027e+02] [-2.41548656e-01 9.70384276e-01 -2.93330817e-03 -4.77108365e+01] [-1.37069985e-02 -3.89407255e-04 9.99905979e-01 -2.84319856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24576923100005 meters Centerline goodness [0,1] 0.9998933810986012 Centerline is valid? [True, True] Translation: X:328.99, Y:-47.72, Z:-2.84 [[ 9.70992391e-01 2.38775055e-01 1.26589871e-02 3.28994953e+02] [-2.38759195e-01 9.71074850e-01 -2.77186370e-03 -4.77214094e+01] [-1.29546759e-02 -3.30990999e-04 9.99916030e-01 -2.84484795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.275769231 meters Centerline goodness [0,1] 0.9999576504467877 Centerline is valid? [True, True] Translation: X:329.02, Y:-47.73, Z:-2.85 [[ 9.71645395e-01 2.36113426e-01 1.24770333e-02 3.29021645e+02] [-2.36097806e-01 9.71725458e-01 -2.73149560e-03 -4.77302515e+01] [-1.27691936e-02 -2.91755059e-04 9.99918428e-01 -2.84643672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30576923100006 meters Centerline goodness [0,1] 0.9999573869689351 Centerline is valid? [True, True] Translation: X:329.05, Y:-47.74, Z:-2.85 [[ 9.72275787e-01 2.33570266e-01 1.11680156e-02 3.29047717e+02] [-2.33557594e-01 9.72339898e-01 -2.44405292e-03 -4.77444899e+01] [-1.14299652e-02 -2.32081366e-04 9.99934649e-01 -2.84899103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.07, Y:-47.75, Z:-2.85 [[ 9.72317497e-01 2.33432572e-01 1.03884438e-02 3.29074207e+02] [-2.33421603e-01 9.72372968e-01 -2.27310153e-03 -4.77526987e+01] [-1.06320579e-02 -2.14710817e-04 9.99943455e-01 -2.85003347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36576923100006 meters Centerline goodness [0,1] 0.9999785545785975 Centerline is valid? [True, True] Translation: X:329.10, Y:-47.75, Z:-2.85 [[ 9.71574889e-01 2.36574566e-01 8.64350167e-03 3.29104037e+02] [-2.36567103e-01 9.71613314e-01 -1.89053872e-03 -4.77542501e+01] [-8.84539468e-03 -2.07968203e-04 9.99960857e-01 -2.85205480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.39576923100003 meters Centerline goodness [0,1] 0.9999360940695297 Centerline is valid? [True, True] Translation: X:329.13, Y:-47.75, Z:-2.85 [[ 9.70827575e-01 2.39634171e-01 8.32361859e-03 3.29133418e+02] [-2.39627364e-01 9.70863230e-01 -1.82045625e-03 -4.77547075e+01] [-8.51733876e-03 -2.27217658e-04 9.99963701e-01 -2.85303905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42576923100006 meters Centerline goodness [0,1] 0.9998513958178538 Centerline is valid? [True, True] Translation: X:329.16, Y:-47.76, Z:-2.85 [[ 9.70000358e-01 2.42948884e-01 8.66869529e-03 3.29163689e+02] [-2.42941636e-01 9.70039055e-01 -1.89551442e-03 -4.77564126e+01] [-8.86948610e-03 -2.67337354e-04 9.99960630e-01 -2.85332982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.45576923100003 meters Centerline goodness [0,1] 0.999366031994252 Centerline is valid? [True, True] Translation: X:329.19, Y:-47.75, Z:-2.85 [[ 9.69281040e-01 2.45773486e-01 9.46883485e-03 3.29193203e+02] [-2.45764974e-01 9.69327236e-01 -2.07033227e-03 -4.77528616e+01] [-9.68723230e-03 -3.20374139e-04 9.99953026e-01 -2.85335816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48576923100006 meters Centerline goodness [0,1] 0.9996178100515957 Centerline is valid? [True, True] Translation: X:329.22, Y:-47.75, Z:-2.85 [[ 9.68345150e-01 2.49404832e-01 1.02420585e-02 3.29224033e+02] [-2.49395084e-01 9.68399236e-01 -2.23868241e-03 -4.77541453e+01] [-1.04767399e-02 -3.86501792e-04 9.99945043e-01 -2.85251565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51576923100004 meters Centerline goodness [0,1] 0.9994697210732846 Centerline is valid? [True, True] Translation: X:329.25, Y:-47.75, Z:-2.85 [[ 9.68143821e-01 2.50177192e-01 1.04362106e-02 3.29251992e+02] [-2.50167113e-01 9.68199985e-01 -2.28137227e-03 -4.77542769e+01] [-1.06750862e-02 -4.02100202e-04 9.99942939e-01 -2.85321597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54576923100007 meters Centerline goodness [0,1] 0.9988698155453674 Centerline is valid? [True, True] Translation: X:329.28, Y:-47.76, Z:-2.85 [[ 9.68075027e-01 2.50450575e-01 1.02591837e-02 3.29281530e+02] [-2.50440858e-01 9.68129305e-01 -2.24189145e-03 -4.77553481e+01] [-1.04936994e-02 -3.98999657e-04 9.99944860e-01 -2.85422844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57576923100004 meters Centerline goodness [0,1] 0.9989985724330428 Centerline is valid? [True, True] Translation: X:329.31, Y:-47.76, Z:-2.85 [[ 9.68135980e-01 2.50216176e-01 1.02268665e-02 3.29309188e+02] [-2.50206531e-01 9.68189913e-01 -2.23265548e-03 -4.77584395e+01] [-1.04601955e-02 -3.97314692e-04 9.99945212e-01 -2.85445930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60576923100007 meters Centerline goodness [0,1] 0.9992346776079424 Centerline is valid? [True, True] Translation: X:329.34, Y:-47.76, Z:-2.86 [[ 9.68326789e-01 2.49487063e-01 9.97174092e-03 3.29337280e+02] [-2.49477860e-01 9.68378057e-01 -2.17638474e-03 -4.77598291e+01] [-1.01993949e-02 -3.80276941e-04 9.99947913e-01 -2.85533209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63576923100004 meters Centerline goodness [0,1] 0.9991443667244219 Centerline is valid? [True, True] Translation: X:329.37, Y:-47.76, Z:-2.86 [[ 9.68466748e-01 2.48939901e-01 1.00540810e-02 3.29366416e+02] [-2.48930518e-01 9.68518860e-01 -2.19417896e-03 -4.77639145e+01] [-1.02837858e-02 -3.77778232e-04 9.99947049e-01 -2.85617856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66576923100007 meters Centerline goodness [0,1] 0.9992693671430106 Centerline is valid? [True, True] Translation: X:329.39, Y:-47.77, Z:-2.86 [[ 9.68605940e-01 2.48389820e-01 1.02484698e-02 3.29393769e+02] [-2.48380059e-01 9.68660081e-01 -2.23470390e-03 -4.77673577e+01] [-1.04823613e-02 -3.80968055e-04 9.99944986e-01 -2.85631358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.69576923100004 meters Centerline goodness [0,1] 0.9992776255125672 Centerline is valid? [True, True] Translation: X:329.42, Y:-47.77, Z:-2.86 [[ 9.68790690e-01 2.47661866e-01 1.04018510e-02 3.29422450e+02] [-2.47651775e-01 9.68846457e-01 -2.26754352e-03 -4.77716171e+01] [-1.06393805e-02 -3.79261805e-04 9.99943328e-01 -2.85707397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7257692310001 meters Centerline goodness [0,1] 0.9994897633777664 Centerline is valid? [True, True] Translation: X:329.45, Y:-47.78, Z:-2.86 [[ 9.69320298e-01 2.45564884e-01 1.07725192e-02 3.29451442e+02] [-2.45553958e-01 9.69380085e-01 -2.34597256e-03 -4.77758394e+01] [-1.10187540e-02 -3.71235897e-04 9.99939223e-01 -2.85782558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.75576923100004 meters Centerline goodness [0,1] 0.999661683547248 Centerline is valid? [True, True] Translation: X:329.48, Y:-47.78, Z:-2.86 [[ 9.69799881e-01 2.43692383e-01 1.01100949e-02 3.29479723e+02] [-2.43682659e-01 9.69852522e-01 -2.20160202e-03 -4.77781901e+01] [-1.03418147e-02 -3.28541438e-04 9.99946468e-01 -2.86036850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7857692310001 meters Centerline goodness [0,1] 0.9997882118728424 Centerline is valid? [True, True] Translation: X:329.51, Y:-47.78, Z:-2.86 [[ 9.69996324e-01 2.42932195e-01 9.54358159e-03 3.29508343e+02] [-2.42923492e-01 9.70043224e-01 -2.07840962e-03 -4.77829809e+01] [-9.76259927e-03 -3.02310471e-04 9.99952299e-01 -2.86214302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.81576923100005 meters Centerline goodness [0,1] 0.9999572549103422 Centerline is valid? [True, True] Translation: X:329.54, Y:-47.79, Z:-2.86 [[ 9.70258900e-01 2.41892954e-01 9.24481886e-03 3.29535411e+02] [-2.41884759e-01 9.70302900e-01 -2.01133221e-03 -4.77944289e+01] [-9.45680164e-03 -2.84667802e-04 9.99955243e-01 -2.86243313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8457692310001 meters Centerline goodness [0,1] 0.9999148664467383 Centerline is valid? [True, True] Translation: X:329.56, Y:-47.80, Z:-2.86 [[ 9.70638204e-01 2.40379406e-01 8.90040407e-03 3.29563202e+02] [-2.40371750e-01 9.70678975e-01 -1.93605986e-03 -4.77961438e+01] [-9.10482402e-03 -2.60192042e-04 9.99958516e-01 -2.86397725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.87576923100005 meters Centerline goodness [0,1] 0.9999787338111137 Centerline is valid? [True, True] Translation: X:329.59, Y:-47.81, Z:-2.86 [[ 9.71632887e-01 2.36240982e-01 1.09421719e-02 3.29591202e+02] [-2.36229159e-01 9.71694460e-01 -2.37914845e-03 -4.78108129e+01] [-1.11945002e-02 -2.73201201e-04 9.99937302e-01 -2.86004147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9057692310001 meters Centerline goodness [0,1] 0.9999573306024919 Centerline is valid? [True, True] Translation: X:329.62, Y:-47.81, Z:-2.86 [[ 9.72146175e-01 2.34103611e-01 1.12833712e-02 3.29619177e+02] [-2.34090897e-01 9.72211620e-01 -2.45331142e-03 -4.78148863e+01] [-1.15441536e-02 -2.56357159e-04 9.99933331e-01 -2.86078843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.93576923100005 meters Centerline goodness [0,1] 0.9999788579039726 Centerline is valid? [True, True] Translation: X:329.65, Y:-47.83, Z:-2.86 [[ 9.72965115e-01 2.30745642e-01 9.76392627e-03 3.29645808e+02] [-2.30735956e-01 9.73014087e-01 -2.12256999e-03 -4.78287759e+01] [-9.99021159e-03 -1.87702305e-04 9.99950079e-01 -2.86382435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9657692310001 meters Centerline goodness [0,1] 0.9999786297388554 Centerline is valid? [True, True] Translation: X:329.67, Y:-47.84, Z:-2.87 [[ 9.73214719e-01 2.29708115e-01 9.34301874e-03 3.29673410e+02] [-2.29699202e-01 9.73259551e-01 -2.03065653e-03 -4.78366958e+01] [-9.55964050e-03 -1.69819128e-04 9.99954291e-01 -2.86507882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.70, Y:-47.85, Z:-2.86 [[ 9.73358766e-01 2.29101214e-01 9.23830295e-03 3.29700951e+02] [-2.29092476e-01 9.73402593e-01 -2.00747796e-03 -4.78452966e+01] [-9.45250368e-03 -1.62429422e-04 9.99955311e-01 -2.86454896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.73, Y:-47.85, Z:-2.86 [[ 9.73304408e-01 2.29262406e-01 1.08294859e-02 3.29729461e+02] [-2.29250416e-01 9.73364635e-01 -2.35262871e-03 -4.78471148e+01] [-1.10804079e-02 -1.92840263e-04 9.99938592e-01 -2.86330743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.05576923100006 meters Centerline goodness [0,1] 0.9999787333588533 Centerline is valid? [True, True] Translation: X:329.76, Y:-47.86, Z:-2.86 [[ 9.73354286e-01 2.29042332e-01 1.10020012e-02 3.29757055e+02] [-2.29029951e-01 9.73416444e-01 -2.38937572e-03 -4.78555177e+01] [-1.12567971e-02 -1.94078699e-04 9.99936621e-01 -2.86338484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08576923100003 meters Centerline goodness [0,1] 0.9999788364267423 Centerline is valid? [True, True] Translation: X:329.78, Y:-47.86, Z:-2.86 [[ 9.73482905e-01 2.28511927e-01 1.06457778e-02 3.29784698e+02] [-2.28500308e-01 9.73541096e-01 -2.31155872e-03 -4.78605061e+01] [-1.08923209e-02 -1.82300602e-04 9.99940660e-01 -2.86476268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.81, Y:-47.87, Z:-2.86 [[ 9.73887552e-01 2.26757825e-01 1.11322017e-02 3.29811365e+02] [-2.26745013e-01 9.73951159e-01 -2.41644730e-03 -4.78699926e+01] [-1.13901691e-02 -1.70823278e-04 9.99935115e-01 -2.86401721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.84, Y:-47.88, Z:-2.86 [[ 9.74170859e-01 2.25492031e-01 1.20199980e-02 3.29838886e+02] [-2.25477008e-01 9.74244998e-01 -2.60837217e-03 -4.78807612e+01] [-1.22985900e-02 -1.69233016e-04 9.99924355e-01 -2.86214671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.87, Y:-47.89, Z:-2.86 [[ 9.74702308e-01 2.23133493e-01 1.29172122e-02 3.29866101e+02] [-2.23115946e-01 9.74787885e-01 -2.80235639e-03 -4.78938110e+01] [-1.32168415e-02 -1.50572766e-04 9.99912642e-01 -2.86097378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.89, Y:-47.90, Z:-2.86 [[ 9.74976150e-01 2.21969011e-01 1.22989756e-02 3.29892980e+02] [-2.21953015e-01 9.75053712e-01 -2.66783038e-03 -4.79047444e+01] [-1.25843374e-02 -1.28723717e-04 9.99920806e-01 -2.86214690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.92, Y:-47.92, Z:-2.86 [[ 9.75214637e-01 2.20962788e-01 1.14829814e-02 3.29920433e+02] [-2.20948781e-01 9.75282233e-01 -2.49030708e-03 -4.79151929e+01] [-1.17494129e-02 -1.08566821e-04 9.99930967e-01 -2.86425124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.95, Y:-47.93, Z:-2.86 [[ 9.75376043e-01 2.20220710e-01 1.20172087e-02 3.29947853e+02] [-2.20205321e-01 9.75450064e-01 -2.60553454e-03 -4.79258202e+01] [-1.22959796e-02 -1.04877315e-04 9.99924396e-01 -2.86459248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.97, Y:-47.93, Z:-2.86 [[ 9.75376865e-01 2.20171249e-01 1.28293813e-02 3.29974550e+02] [-2.20153714e-01 9.75461229e-01 -2.78095483e-03 -4.79325219e+01] [-1.31268503e-02 -1.11956932e-04 9.99913833e-01 -2.86352039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.00, Y:-47.94, Z:-2.86 [[ 9.75437940e-01 2.19878385e-01 1.32030916e-02 3.30001106e+02] [-2.19859798e-01 9.75527285e-01 -2.86112931e-03 -4.79400332e+01] [-1.35090766e-02 -1.11974966e-04 9.99908742e-01 -2.86344472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.03, Y:-47.95, Z:-2.87 [[ 9.75758841e-01 2.18478572e-01 1.27200087e-02 3.30027152e+02] [-2.18461213e-01 9.75841742e-01 -2.75551530e-03 -4.79511139e+01] [-1.30147365e-02 -9.01101251e-05 9.99915301e-01 -2.86531251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.06, Y:-47.96, Z:-2.87 [[ 9.75954624e-01 2.17608537e-01 1.26133400e-02 3.30055109e+02] [-2.17591406e-01 9.76036126e-01 -2.73161530e-03 -4.79602284e+01] [-1.29054983e-02 -7.86217934e-05 9.99916717e-01 -2.86616308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41576923100007 meters Centerline goodness [0,1] 0.9999787478216517 Centerline is valid? [True, True] Translation: X:330.08, Y:-47.97, Z:-2.87 [[ 9.76062483e-01 2.17126419e-01 1.25757043e-02 3.30082465e+02] [-2.17109358e-01 9.76143490e-01 -2.72284424e-03 -4.79688060e+01] [-1.28668933e-02 -7.26369697e-05 9.99917215e-01 -2.86692327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.11, Y:-47.98, Z:-2.87 [[ 9.76074277e-01 2.17065561e-01 1.27101185e-02 3.30110556e+02] [-2.17048136e-01 9.76157025e-01 -2.75131374e-03 -4.79772031e+01] [-1.30042869e-02 -7.32209619e-05 9.99915438e-01 -2.86746862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.14, Y:-47.98, Z:-2.87 [[ 9.75983271e-01 2.17500953e-01 1.22470338e-02 3.30137186e+02] [-2.17484816e-01 9.76060106e-01 -2.65052474e-03 -4.79845536e+01] [-1.25303328e-02 -7.66760867e-05 9.99921489e-01 -2.86693049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.16, Y:-47.99, Z:-2.87 [[ 9.75938981e-01 2.17684809e-01 1.25071992e-02 3.30164976e+02] [-2.17668004e-01 9.76019117e-01 -2.70607218e-03 -4.79902612e+01] [-1.27963363e-02 -8.14557669e-05 9.99918120e-01 -2.86690326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.19, Y:-48.00, Z:-2.87 [[ 9.75846880e-01 2.18088871e-01 1.26534861e-02 3.30193027e+02] [-2.18071717e-01 9.75928909e-01 -2.73674424e-03 -4.79962077e+01] [-1.29457563e-02 -8.87241110e-05 9.99916196e-01 -2.86768362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.22, Y:-48.00, Z:-2.87 [[ 9.75832616e-01 2.18173918e-01 1.22819528e-02 3.30221523e+02] [-2.18157771e-01 9.75909900e-01 -2.65580454e-03 -4.80030283e+01] [-1.25655066e-02 -8.77827535e-05 9.99921047e-01 -2.86902263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.25, Y:-48.01, Z:-2.87 [[ 9.75824723e-01 2.18237036e-01 1.17773508e-02 3.30248905e+02] [-2.18222199e-01 9.75895788e-01 -2.54617520e-03 -4.80088102e+01] [-1.20491368e-02 -8.54586932e-05 9.99927403e-01 -2.87096303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.28, Y:-48.01, Z:-2.87 [[ 9.75709978e-01 2.18842692e-01 9.89519644e-03 3.30276873e+02] [-2.18832255e-01 9.75760150e-01 -2.13873863e-03 -4.80145314e+01] [-1.01233857e-02 -7.85995245e-05 9.99948754e-01 -2.87484039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.30, Y:-48.02, Z:-2.88 [[ 9.75723258e-01 2.18811933e-01 9.24454668e-03 3.30304766e+02] [-2.18802826e-01 9.75767048e-01 -1.99772712e-03 -4.80214715e+01] [-9.45765056e-03 -7.35041185e-05 9.99955273e-01 -2.87554065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.33, Y:-48.03, Z:-2.88 [[ 9.75783879e-01 2.18532895e-01 9.44433846e-03 3.30333206e+02] [-2.18523382e-01 9.75829580e-01 -2.04041969e-03 -4.80277560e+01] [-9.66196365e-03 -7.28001384e-05 9.99953319e-01 -2.87556142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.36, Y:-48.04, Z:-2.87 [[ 9.76132327e-01 2.16905762e-01 1.08430402e-02 3.30359802e+02] [-2.16893128e-01 9.76192546e-01 -2.34200854e-03 -4.80368101e+01] [-1.10928902e-02 -6.56706580e-05 9.99938470e-01 -2.87353744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.39, Y:-48.05, Z:-2.87 [[ 9.76455571e-01 2.15396264e-01 1.17884759e-02 3.30386496e+02] [-2.15381230e-01 9.76526726e-01 -2.54541197e-03 -4.80455269e+01] [-1.20600340e-02 -5.35347368e-05 9.99927274e-01 -2.87304270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.41, Y:-48.06, Z:-2.87 [[ 9.76836901e-01 2.13629831e-01 1.23273305e-02 3.30413396e+02] [-2.13613261e-01 9.76914681e-01 -2.66095426e-03 -4.80558580e+01] [-1.26112093e-02 -3.39629424e-05 9.99920475e-01 -2.87254071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.44, Y:-48.07, Z:-2.87 [[ 9.77538934e-01 2.10368737e-01 1.27524974e-02 3.30439115e+02] [-2.10350734e-01 9.77622112e-01 -2.75213925e-03 -4.80697470e+01] [-1.30460875e-02 7.82607662e-06 9.99914896e-01 -2.87318083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.83576923100003 meters Centerline goodness [0,1] 0.9999788418001396 Centerline is valid? [True, True] Translation: X:330.47, Y:-48.08, Z:-2.87 [[ 9.77787632e-01 2.09171049e-01 1.33723090e-02 3.30466464e+02] [-2.09151153e-01 9.77879068e-01 -2.88508164e-03 -4.80797352e+01] [-1.36799766e-02 2.41632969e-05 9.99906424e-01 -2.87252806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.49, Y:-48.09, Z:-2.87 [[ 9.78067926e-01 2.07798907e-01 1.42388909e-02 3.30494583e+02] [-2.07776213e-01 9.78171566e-01 -3.07133582e-03 -4.80898871e+01] [-1.45662985e-02 4.54722222e-05 9.99893905e-01 -2.87070517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.52, Y:-48.10, Z:-2.87 [[ 9.78498910e-01 2.05788178e-01 1.38242325e-02 3.30523490e+02] [-2.05766591e-01 9.78596556e-01 -2.98153128e-03 -4.81035372e+01] [-1.41419102e-02 7.28599075e-05 9.99899996e-01 -2.87096779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.55, Y:-48.11, Z:-2.87 [[ 9.78636715e-01 2.05214795e-01 1.25326919e-02 3.30551819e+02] [-2.05197004e-01 9.78716957e-01 -2.70318302e-03 -4.81135162e+01] [-1.28206912e-02 7.37633194e-05 9.99917809e-01 -2.87425866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.58, Y:-48.12, Z:-2.87 [[ 9.78636714e-01 2.05214808e-01 1.25325047e-02 3.30581141e+02] [-2.05197006e-01 9.78716954e-01 -2.70405057e-03 -4.81198426e+01] [-1.28206861e-02 7.46507302e-05 9.99917809e-01 -2.87470554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.61, Y:-48.13, Z:-2.88 [[ 9.78854013e-01 2.04310826e-01 1.00949342e-02 3.30609009e+02] [-2.04299228e-01 9.78906064e-01 -2.17805988e-03 -4.81343659e+01] [-1.03269935e-02 6.96153948e-05 9.99946673e-01 -2.88123457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.64, Y:-48.14, Z:-2.88 [[ 9.78810322e-01 2.04519174e-01 1.01124155e-02 3.30638378e+02] [-2.04507545e-01 9.78862556e-01 -2.18200551e-03 -4.81424274e+01] [-1.03449269e-02 6.77042405e-05 9.99946488e-01 -2.88023874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.67, Y:-48.15, Z:-2.88 [[ 9.78680036e-01 2.05079393e-01 1.13062117e-02 3.30667049e+02] [-2.05064893e-01 9.78745339e-01 -2.43963536e-03 -4.81514155e+01] [-1.15662209e-02 6.91153293e-05 9.99933107e-01 -2.87837083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.70, Y:-48.15, Z:-2.87 [[ 9.77928084e-01 2.08495427e-01 1.36498870e-02 3.30696226e+02] [-2.08474627e-01 9.78023341e-01 -2.94518128e-03 -4.81547765e+01] [-1.39639649e-02 3.45203818e-05 9.99902498e-01 -2.87436576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.73, Y:-48.16, Z:-2.87 [[ 9.77385023e-01 2.11029760e-01 1.35998722e-02 3.30726302e+02] [-2.11009366e-01 9.77479637e-01 -2.93376862e-03 -4.81578494e+01] [-1.39127106e-02 -2.27888549e-06 9.99903214e-01 -2.87454878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.76, Y:-48.16, Z:-2.88 [[ 9.76195690e-01 2.16558470e-01 1.20167993e-02 3.30756243e+02] [-2.16542969e-01 9.76269647e-01 -2.59203588e-03 -4.81575672e+01] [-1.22929638e-02 -7.18191621e-05 9.99924436e-01 -2.87724912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.79, Y:-48.16, Z:-2.88 [[ 9.75633526e-01 2.19095814e-01 1.16724718e-02 3.30785746e+02] [-2.19081374e-01 9.75703343e-01 -2.51749309e-03 -4.81603957e+01] [-1.19404420e-02 -1.01070503e-04 9.99928705e-01 -2.87833804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.82, Y:-48.16, Z:-2.88 [[ 9.75069120e-01 2.21588888e-01 1.17718390e-02 3.30815685e+02] [-2.21574385e-01 9.75140168e-01 -2.53863391e-03 -4.81633940e+01] [-1.20417261e-02 -1.32994451e-04 9.99927487e-01 -2.87856848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.84, Y:-48.17, Z:-2.88 [[ 9.74491777e-01 2.24118186e-01 1.16968108e-02 3.30844102e+02] [-2.24104052e-01 9.74561959e-01 -2.52223685e-03 -4.81653437e+01] [-1.19645459e-02 -1.63403610e-04 9.99928409e-01 -2.87979622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.87, Y:-48.16, Z:-2.88 [[ 9.73725073e-01 2.27495073e-01 1.02700941e-02 3.30873104e+02] [-2.27484369e-01 9.73779215e-01 -2.21416750e-03 -4.81644874e+01] [-1.05045164e-02 -1.80295483e-04 9.99944810e-01 -2.88258216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.90, Y:-48.17, Z:-2.88 [[ 9.73450365e-01 2.28686527e-01 9.84173683e-03 3.30901763e+02] [-2.28676763e-01 9.73500096e-01 -2.12136919e-03 -4.81678520e+01] [-1.00660603e-02 -1.85528912e-04 9.99949319e-01 -2.88398771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.31576923100005 meters Centerline goodness [0,1] 0.9998731527874675 Centerline is valid? [True, True] Translation: X:330.93, Y:-48.16, Z:-2.89 [[ 9.73242243e-01 2.29579526e-01 9.63210864e-03 3.30931473e+02] [-2.29570221e-01 9.73289887e-01 -2.07578809e-03 -4.81630239e+01] [-9.85139238e-03 -1.91000653e-04 9.99951456e-01 -2.88665630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.96, Y:-48.17, Z:-2.88 [[ 9.73220374e-01 2.29578379e-01 1.16563671e-02 3.30958267e+02] [-2.29564763e-01 9.73290149e-01 -2.51110459e-03 -4.81747104e+01] [-1.19215226e-02 -2.32032988e-04 9.99928909e-01 -2.88222851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.37576923100005 meters Centerline goodness [0,1] 0.9999787342633549 Centerline is valid? [True, True] Translation: X:330.99, Y:-48.18, Z:-2.88 [[ 9.73290735e-01 2.29222191e-01 1.27409992e-02 3.30985912e+02] [-2.29205901e-01 9.73374093e-01 -2.74408838e-03 -4.81820883e+01] [-1.30307645e-02 -2.49516413e-04 9.99915065e-01 -2.87988502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4057692310001 meters Centerline goodness [0,1] 0.9999576010684531 Centerline is valid? [True, True] Translation: X:331.01, Y:-48.19, Z:-2.88 [[ 9.73428935e-01 2.28580299e-01 1.36804586e-02 3.31013867e+02] [-2.28561465e-01 9.73525028e-01 -2.94571135e-03 -4.81886463e+01] [-1.39916004e-02 -2.59384997e-04 9.99902079e-01 -2.87838362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.43576923100005 meters Centerline goodness [0,1] 0.9998515187510606 Centerline is valid? [True, True] Translation: X:331.04, Y:-48.19, Z:-2.88 [[ 9.73291684e-01 2.29126389e-01 1.42966775e-02 3.31042571e+02] [-2.29105889e-01 9.73396640e-01 -3.07767441e-03 -4.81904599e+01] [-1.46215143e-02 -2.79978109e-04 9.99893061e-01 -2.87723420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4657692310001 meters Centerline goodness [0,1] 0.9998087750982684 Centerline is valid? [True, True] Translation: X:331.07, Y:-48.19, Z:-2.88 [[ 9.73025839e-01 2.30266048e-01 1.40806423e-02 3.31071079e+02] [-2.30246292e-01 9.73127670e-01 -3.03050106e-03 -4.81916508e+01] [-1.44000841e-02 -2.93259833e-04 9.99896270e-01 -2.87825577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.49576923100005 meters Centerline goodness [0,1] 0.9997244536764238 Centerline is valid? [True, True] Translation: X:331.10, Y:-48.18, Z:-2.88 [[ 9.72102408e-01 2.34169548e-01 1.34733348e-02 3.31101912e+02] [-2.34151845e-01 9.72195716e-01 -2.89898840e-03 -4.81846153e+01] [-1.37775732e-02 -3.36692604e-04 9.99905028e-01 -2.87992824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.525769231 meters Centerline goodness [0,1] 0.9997038917089679 Centerline is valid? [True, True] Translation: X:331.13, Y:-48.19, Z:-2.88 [[ 9.71496390e-01 2.36657198e-01 1.37162597e-02 3.31131345e+02] [-2.36639105e-01 9.71593139e-01 -2.95074759e-03 -4.81878642e+01] [-1.40249395e-02 -3.79162796e-04 9.99901574e-01 -2.87958399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.55576923100006 meters Centerline goodness [0,1] 0.9997026274984601 Centerline is valid? [True, True] Translation: X:331.16, Y:-48.19, Z:-2.88 [[ 9.70873520e-01 2.39200653e-01 1.36987606e-02 3.31161554e+02] [-2.39182865e-01 9.70970069e-01 -2.94664594e-03 -4.81877319e+01] [-1.40059261e-02 -4.15688281e-04 9.99901826e-01 -2.87958956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58576923100003 meters Centerline goodness [0,1] 0.9995111063875013 Centerline is valid? [True, True] Translation: X:331.19, Y:-48.18, Z:-2.88 [[ 9.70075195e-01 2.42375340e-01 1.44329774e-02 3.31193015e+02] [-2.42355949e-01 9.70182435e-01 -3.10420207e-03 -4.81820853e+01] [-1.47550032e-02 -4.86608509e-04 9.99891021e-01 -2.87949244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.61576923100006 meters Centerline goodness [0,1] 0.9991333023295143 Centerline is valid? [True, True] Translation: X:331.22, Y:-48.18, Z:-2.88 [[ 9.70129855e-01 2.42125879e-01 1.49373171e-02 3.31220587e+02] [-2.42105086e-01 9.70244716e-01 -3.21225332e-03 -4.81802266e+01] [-1.52706227e-02 -5.00097610e-04 9.99883272e-01 -2.87906160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64576923100003 meters Centerline goodness [0,1] 0.9991764159310723 Centerline is valid? [True, True] Translation: X:331.25, Y:-48.19, Z:-2.88 [[ 9.70400238e-01 2.41058438e-01 1.46358448e-02 3.31248174e+02] [-2.41038383e-01 9.70510486e-01 -3.14554981e-03 -4.81871524e+01] [-1.49625022e-02 -4.75358072e-04 9.99887943e-01 -2.88011299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.67576923100006 meters Centerline goodness [0,1] 0.9998509909104455 Centerline is valid? [True, True] Translation: X:331.28, Y:-48.20, Z:-2.88 [[ 9.71534326e-01 2.36536428e-01 1.30985046e-02 3.31276759e+02] [-2.36519962e-01 9.71622553e-01 -2.81453011e-03 -4.81962555e+01] [-1.33925413e-02 -3.63645184e-04 9.99910250e-01 -2.88461877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70576923100003 meters Centerline goodness [0,1] 0.9997479521109011 Centerline is valid? [True, True] Translation: X:331.30, Y:-48.20, Z:-2.89 [[ 9.72133804e-01 2.34115211e-01 1.20803774e-02 3.31304377e+02] [-2.34101019e-01 9.72208813e-01 -2.59571771e-03 -4.82015353e+01] [-1.23523464e-02 -3.04643722e-04 9.99923660e-01 -2.88716071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.73576923100006 meters Centerline goodness [0,1] 0.9998081023454157 Centerline is valid? [True, True] Translation: X:331.33, Y:-48.21, Z:-2.89 [[ 9.72615615e-01 2.32132148e-01 1.15555850e-02 3.31331313e+02] [-2.32119028e-01 9.72684221e-01 -2.48245391e-03 -4.82086342e+01] [-1.18161925e-02 -2.67797705e-04 9.99930150e-01 -2.88879728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76576923100004 meters Centerline goodness [0,1] 0.999957163357536 Centerline is valid? [True, True] Translation: X:331.36, Y:-48.22, Z:-2.89 [[ 9.73164207e-01 2.29791330e-01 1.21396633e-02 3.31358496e+02] [-2.29776678e-01 9.73239889e-01 -2.60713915e-03 -4.82189028e+01] [-1.24139025e-02 -2.52236994e-04 9.99922913e-01 -2.88824965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.79576923100007 meters Centerline goodness [0,1] 0.9998943498288467 Centerline is valid? [True, True] Translation: X:331.39, Y:-48.23, Z:-2.89 [[ 9.73340605e-01 2.29057604e-01 1.18608871e-02 3.31386115e+02] [-2.29043570e-01 9.73412840e-01 -2.54670862e-03 -4.82252745e+01] [-1.21288827e-02 -2.37845002e-04 9.99926414e-01 -2.88862371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82576923100004 meters Centerline goodness [0,1] 0.9999575857827544 Centerline is valid? [True, True] Translation: X:331.41, Y:-48.23, Z:-2.89 [[ 9.73511849e-01 2.28352717e-01 1.13893006e-02 3.31413710e+02] [-2.28339734e-01 9.73578445e-01 -2.44496869e-03 -4.82313944e+01] [-1.16466928e-02 -2.20423891e-04 9.99932151e-01 -2.88981022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.85576923100007 meters Centerline goodness [0,1] 0.9999358110276655 Centerline is valid? [True, True] Translation: X:331.44, Y:-48.25, Z:-2.89 [[ 9.74085015e-01 2.25884451e-01 1.16016729e-02 3.31439944e+02] [-2.25870813e-01 9.74154083e-01 -2.48982207e-03 -4.82467257e+01] [-1.18642291e-02 -1.95180906e-04 9.99929599e-01 -2.89024638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.47, Y:-48.26, Z:-2.89 [[ 9.74606375e-01 2.23555743e-01 1.28546793e-02 3.31467023e+02] [-2.23538806e-01 9.74691128e-01 -2.75799390e-03 -4.82578749e+01] [-1.31459073e-02 -1.85561238e-04 9.99913572e-01 -2.89010482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.49, Y:-48.28, Z:-2.89 [[ 9.76002405e-01 2.17309146e-01 1.40014760e-02 3.31493064e+02] [-2.17288421e-01 9.76102824e-01 -3.00324975e-03 -4.82763486e+01] [-1.43195139e-02 -1.11179632e-04 9.99897464e-01 -2.88882054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94576923100004 meters Centerline goodness [0,1] 0.9999572476005216 Centerline is valid? [True, True] Translation: X:331.52, Y:-48.29, Z:-2.89 [[ 9.76686987e-01 2.14266707e-01 1.31266394e-02 3.31519366e+02] [-2.14248220e-01 9.76775191e-01 -2.81532914e-03 -4.82892682e+01] [-1.34250070e-02 -6.26637795e-05 9.99909879e-01 -2.89084701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.9757692310001 meters Centerline goodness [0,1] 0.9999577479666208 Centerline is valid? [True, True] Translation: X:331.55, Y:-48.30, Z:-2.89 [[ 9.77285014e-01 2.11605309e-01 1.17129971e-02 3.31545950e+02] [-2.11590404e-01 9.77355203e-01 -2.51159312e-03 -4.83021696e+01] [-1.19792251e-02 -2.38154726e-05 9.99928246e-01 -2.89375793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00576923100004 meters Centerline goodness [0,1] 0.9999785990968819 Centerline is valid? [True, True] Translation: X:331.57, Y:-48.32, Z:-2.89 [[ 9.77755266e-01 2.09462975e-01 1.09499249e-02 3.31573867e+02] [-2.09449820e-01 9.77816579e-01 -2.34754750e-03 -4.83150490e+01] [-1.11987424e-02 1.86713484e-06 9.99937292e-01 -2.89416041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0357692310001 meters Centerline goodness [0,1] 0.9999573996762375 Centerline is valid? [True, True] Translation: X:331.60, Y:-48.33, Z:-2.89 [[ 9.78078353e-01 2.07888403e-01 1.20477318e-02 3.31601527e+02] [-2.07872362e-01 9.78152550e-01 -2.58257078e-03 -4.83288273e+01] [-1.23214061e-02 2.15661209e-05 9.99924088e-01 -2.89139552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06576923100005 meters Centerline goodness [0,1] 0.9999364689439021 Centerline is valid? [True, True] Translation: X:331.63, Y:-48.34, Z:-2.89 [[ 9.78009753e-01 2.08137532e-01 1.32548614e-02 3.31629595e+02] [-2.08118143e-01 9.78099569e-01 -2.84094640e-03 -4.83366873e+01] [-1.35558818e-02 1.98961408e-05 9.99908115e-01 -2.88942055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0957692310001 meters Centerline goodness [0,1] 0.9999357422837193 Centerline is valid? [True, True] Translation: X:331.66, Y:-48.35, Z:-2.89 [[ 9.77555287e-01 2.10140317e-01 1.50567969e-02 3.31658989e+02] [-2.10115539e-01 9.77671237e-01 -3.22695287e-03 -4.83465834e+01] [-1.53987101e-02 -9.14214768e-06 9.99881433e-01 -2.88756071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12576923100005 meters Centerline goodness [0,1] 0.9998933833720707 Centerline is valid? [True, True] Translation: X:331.69, Y:-48.36, Z:-2.89 [[ 9.77362089e-01 2.11033989e-01 1.50997274e-02 3.31688596e+02] [-2.11009176e-01 9.77478723e-01 -3.23616038e-03 -4.83551608e+01] [-1.54426021e-02 -2.32805780e-05 9.99880756e-01 -2.88829497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.72, Y:-48.36, Z:-2.89 [[ 9.76868345e-01 2.13323150e-01 1.48818613e-02 3.31718263e+02] [-2.13299310e-01 9.76981694e-01 -3.18965373e-03 -4.83642480e+01] [-1.52197330e-02 -5.84189823e-05 9.99884171e-01 -2.88909522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.75, Y:-48.37, Z:-2.89 [[ 9.76364261e-01 2.15643684e-01 1.45131130e-02 3.31747941e+02] [-2.15621263e-01 9.76472116e-01 -3.11097187e-03 -4.83698803e+01] [-1.48425116e-02 -9.18940092e-05 9.99889840e-01 -2.88912576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2157692310001 meters Centerline goodness [0,1] 0.9999789020633782 Centerline is valid? [True, True] Translation: X:331.78, Y:-48.37, Z:-2.89 [[ 9.75807622e-01 2.18187886e-01 1.39115332e-02 3.31776340e+02] [-2.18167543e-01 9.75906774e-01 -2.98204076e-03 -4.83730307e+01] [-1.42270047e-02 -1.25146913e-04 9.99898783e-01 -2.89025451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.81, Y:-48.37, Z:-2.89 [[ 9.74360601e-01 2.24630194e-01 1.27551915e-02 3.31806151e+02] [-2.24613648e-01 9.74444065e-01 -2.73380356e-03 -4.83722690e+01] [-1.30433155e-02 -2.01279624e-04 9.99914912e-01 -2.89231856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.275769231 meters Centerline goodness [0,1] 0.9999364299033735 Centerline is valid? [True, True] Translation: X:331.84, Y:-48.37, Z:-2.89 [[ 9.73681957e-01 2.27587813e-01 1.21340378e-02 3.31835581e+02] [-2.27573074e-01 9.73757534e-01 -2.60025009e-03 -4.83747567e+01] [-1.24073959e-02 -2.29563671e-04 9.99922999e-01 -2.89450263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30576923100006 meters Centerline goodness [0,1] 0.9998103506405934 Centerline is valid? [True, True] Translation: X:331.86, Y:-48.37, Z:-2.90 [[ 9.72594241e-01 2.32240602e-01 1.11689616e-02 3.31864478e+02] [-2.32228425e-01 9.72658333e-01 -2.39311116e-03 -4.83746585e+01] [-1.14193612e-02 -2.66224236e-04 9.99934762e-01 -2.89744177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.33576923100003 meters Centerline goodness [0,1] 0.9997047036490192 Centerline is valid? [True, True] Translation: X:331.89, Y:-48.38, Z:-2.90 [[ 9.72206739e-01 2.33819337e-01 1.19404625e-02 3.31892495e+02] [-2.33805545e-01 9.72280013e-01 -2.55781793e-03 -4.83793131e+01] [-1.22075404e-02 -3.05018521e-04 9.99925439e-01 -2.89609961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36576923100006 meters Centerline goodness [0,1] 0.9996998156010121 Centerline is valid? [True, True] Translation: X:331.92, Y:-48.38, Z:-2.89 [[ 9.71852720e-01 2.35227728e-01 1.30463099e-02 3.31920555e+02] [-2.35211402e-01 9.71940220e-01 -2.79382474e-03 -4.83846203e+01] [-1.33374184e-02 -3.53454678e-04 9.99910990e-01 -2.89430541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.39576923100003 meters Centerline goodness [0,1] 0.9996844961403362 Centerline is valid? [True, True] Translation: X:331.95, Y:-48.39, Z:-2.89 [[ 9.71455325e-01 2.36798064e-01 1.41854932e-02 3.31948209e+02] [-2.36778940e-01 9.71558804e-01 -3.03702924e-03 -4.83857535e+01] [-1.45012034e-02 -4.08487816e-04 9.99894769e-01 -2.89216339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42576923100006 meters Centerline goodness [0,1] 0.9995993589743589 Centerline is valid? [True, True] Translation: X:331.98, Y:-48.39, Z:-2.89 [[ 9.70540242e-01 2.40515392e-01 1.42823162e-02 3.31979267e+02] [-2.40496421e-01 9.70645212e-01 -3.05686177e-03 -4.83860589e+01] [-1.45982841e-02 -4.68038574e-04 9.99893330e-01 -2.89148864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.45576923100003 meters Centerline goodness [0,1] 0.9994696198234895 Centerline is valid? [True, True] Translation: X:332.01, Y:-48.39, Z:-2.89 [[ 9.70058305e-01 2.42497077e-01 1.34926978e-02 3.32008415e+02] [-2.42480337e-01 9.70152022e-01 -2.88789719e-03 -4.83865729e+01] [-1.37902747e-02 -4.70285256e-04 9.99904799e-01 -2.89387731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48576923100006 meters Centerline goodness [0,1] 0.9980863860032805 Centerline is valid? [True, True] Translation: X:332.04, Y:-48.38, Z:-2.90 [[ 9.69382595e-01 2.45262725e-01 1.19824633e-02 3.32040268e+02] [-2.45249739e-01 9.69456544e-01 -2.56422454e-03 -4.83793378e+01] [-1.22453861e-02 -4.52981342e-04 9.99924920e-01 -2.89976360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51576923100004 meters Centerline goodness [0,1] 0.9993815839979528 Centerline is valid? [True, True] Translation: X:332.07, Y:-48.39, Z:-2.90 [[ 9.69257715e-01 2.45750063e-01 1.20990965e-02 3.32067377e+02] [-2.45736862e-01 9.69333117e-01 -2.58911074e-03 -4.83887279e+01] [-1.23643290e-02 -4.63678439e-04 9.99923451e-01 -2.89941052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54576923100007 meters Centerline goodness [0,1] 0.9991712354966212 Centerline is valid? [True, True] Translation: X:332.10, Y:-48.39, Z:-2.90 [[ 9.69124262e-01 2.46235664e-01 1.28904229e-02 3.32095184e+02] [-2.46220731e-01 9.69209857e-01 -2.75780460e-03 -4.83909621e+01] [-1.31725948e-02 -5.01234003e-04 9.99913112e-01 -2.89830393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57576923100004 meters Centerline goodness [0,1] 0.9990108377773955 Centerline is valid? [True, True] Translation: X:332.13, Y:-48.39, Z:-2.90 [[ 9.68767680e-01 2.47601873e-01 1.35090679e-02 3.32125097e+02] [-2.47585616e-01 9.68861711e-01 -2.88928480e-03 -4.83914016e+01] [-1.38038110e-02 -5.45605165e-04 9.99904574e-01 -2.89618240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60576923100007 meters Centerline goodness [0,1] 0.9982271748765353 Centerline is valid? [True, True] Translation: X:332.15, Y:-48.39, Z:-2.90 [[ 9.68680742e-01 2.47949338e-01 1.33695831e-02 3.32153454e+02] [-2.47933454e-01 9.68772847e-01 -2.85901831e-03 -4.83896674e+01] [-1.36609808e-02 -5.45290928e-04 9.99906536e-01 -2.89689998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63576923100004 meters Centerline goodness [0,1] 0.9985466953115127 Centerline is valid? [True, True] Translation: X:332.18, Y:-48.39, Z:-2.90 [[ 9.69137250e-01 2.46177459e-01 1.30249548e-02 3.32182234e+02] [-2.46162236e-01 9.69224639e-01 -2.78437291e-03 -4.83930906e+01] [-1.33095570e-02 -5.07812498e-04 9.99911295e-01 -2.89910619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66576923100007 meters Centerline goodness [0,1] 0.9992127157052578 Centerline is valid? [True, True] Translation: X:332.21, Y:-48.40, Z:-2.90 [[ 9.69730962e-01 2.43835638e-01 1.28857449e-02 3.32211691e+02] [-2.43820541e-01 9.69816457e-01 -2.75396426e-03 -4.84004395e+01] [-1.31683221e-02 -4.71204882e-04 9.99913183e-01 -2.89968480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.69576923100004 meters Centerline goodness [0,1] 0.9991852661821145 Centerline is valid? [True, True] Translation: X:332.24, Y:-48.41, Z:-2.90 [[ 9.70455228e-01 2.40933448e-01 1.29508433e-02 3.32239765e+02] [-2.40917941e-01 9.70541542e-01 -2.76772702e-03 -4.84128261e+01] [-1.32361694e-02 -4.34135345e-04 9.99912304e-01 -2.89981130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7257692310001 meters Centerline goodness [0,1] 0.9993634492562965 Centerline is valid? [True, True] Translation: X:332.27, Y:-48.42, Z:-2.90 [[ 9.71169312e-01 2.37996927e-01 1.36977728e-02 3.32268460e+02] [-2.37979291e-01 9.71265818e-01 -2.92719788e-03 -4.84158801e+01] [-1.40008426e-02 -4.16981496e-04 9.99901896e-01 -2.89946083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.75576923100004 meters Centerline goodness [0,1] 0.999701244104906 Centerline is valid? [True, True] Translation: X:332.30, Y:-48.43, Z:-2.90 [[ 9.72819131e-01 2.31105795e-01 1.45962088e-02 3.32295976e+02] [-2.31085001e-01 9.72928567e-01 -3.11862963e-03 -4.84346293e+01] [-1.49218019e-02 -3.39102366e-04 9.99888606e-01 -2.89743971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7857692310001 meters Centerline goodness [0,1] 0.9997678737233054 Centerline is valid? [True, True] Translation: X:332.32, Y:-48.44, Z:-2.90 [[ 9.73656792e-01 2.27556664e-01 1.45057194e-02 3.32323438e+02] [-2.27535734e-01 9.73764799e-01 -3.09926637e-03 -4.84416722e+01] [-1.48304176e-02 -2.82947750e-04 9.99889983e-01 -2.89805281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.81576923100005 meters Centerline goodness [0,1] 0.9999578805492376 Centerline is valid? [True, True] Translation: X:332.35, Y:-48.45, Z:-2.90 [[ 9.74903696e-01 2.22251294e-01 1.29284871e-02 3.32351572e+02] [-2.22234209e-01 9.74989400e-01 -2.76166489e-03 -4.84546660e+01] [-1.32189215e-02 -1.80794799e-04 9.99912610e-01 -2.90110477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8457692310001 meters Centerline goodness [0,1] 0.9999577292133407 Centerline is valid? [True, True] Translation: X:332.38, Y:-48.46, Z:-2.90 [[ 9.75317066e-01 2.20425134e-01 1.30146481e-02 3.32379735e+02] [-2.20407658e-01 9.75403883e-01 -2.78001473e-03 -4.84634623e+01] [-1.33073234e-02 -1.57132296e-04 9.99911441e-01 -2.90118230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.87576923100005 meters Centerline goodness [0,1] 0.9999577292133407 Centerline is valid? [True, True] Translation: X:332.41, Y:-48.47, Z:-2.90 [[ 9.75332077e-01 2.20358694e-01 1.30148423e-02 3.32406656e+02] [-2.20341224e-01 9.75418895e-01 -2.77910500e-03 -4.84690688e+01] [-1.33073231e-02 -1.57156049e-04 9.99911441e-01 -2.90159178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.43, Y:-48.47, Z:-2.90 [[ 9.75626995e-01 2.18999485e-01 1.38272230e-02 3.32433669e+02] [-2.18979645e-01 9.75724963e-01 -2.95152271e-03 -4.84746025e+01] [-1.41379486e-02 -1.48295143e-04 9.99900043e-01 -2.90100709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.93576923100005 meters Centerline goodness [0,1] 0.9999789118515394 Centerline is valid? [True, True] Translation: X:332.46, Y:-48.48, Z:-2.90 [[ 9.75678778e-01 2.18722477e-01 1.45395786e-02 3.32461657e+02] [-2.18700524e-01 9.75787095e-01 -3.10255898e-03 -4.84814697e+01] [-1.48661326e-02 -1.52712515e-04 9.99889481e-01 -2.89951987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9657692310001 meters Centerline goodness [0,1] 0.9999788431430626 Centerline is valid? [True, True] Translation: X:332.49, Y:-48.49, Z:-2.90 [[ 9.75449004e-01 2.19748721e-01 1.44823721e-02 3.32490617e+02] [-2.19727064e-01 9.75556493e-01 -3.08967077e-03 -4.84853367e+01] [-1.48073233e-02 -1.68352826e-04 9.99890351e-01 -2.90012120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.52, Y:-48.49, Z:-2.90 [[ 9.75271489e-01 2.20596267e-01 1.35206908e-02 3.32518900e+02] [-2.20577481e-01 9.75365192e-01 -2.88390096e-03 -4.84893234e+01] [-1.38237890e-02 -1.69773548e-04 9.99904432e-01 -2.90212347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.025769231 meters Centerline goodness [0,1] 0.9999576683740422 Centerline is valid? [True, True] Translation: X:332.55, Y:-48.49, Z:-2.91 [[ 9.75176243e-01 2.21113546e-01 1.18361497e-02 3.32547467e+02] [-2.21099193e-01 9.75248059e-01 -2.52410686e-03 -4.84932169e+01] [-1.21012962e-02 -1.55514108e-04 9.99926765e-01 -2.90605619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.05576923100006 meters Centerline goodness [0,1] 0.99997891140682 Centerline is valid? [True, True] Translation: X:332.58, Y:-48.50, Z:-2.91 [[ 9.75218246e-01 2.20927841e-01 1.18432467e-02 3.32575319e+02] [-2.20913464e-01 9.75290144e-01 -2.52507804e-03 -4.84973974e+01] [-1.21084618e-02 -1.53830470e-04 9.99926678e-01 -2.90655449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08576923100003 meters Centerline goodness [0,1] 0.9999366727882971 Centerline is valid? [True, True] Translation: X:332.60, Y:-48.50, Z:-2.90 [[ 9.75053052e-01 2.21571410e-01 1.33287298e-02 3.32602895e+02] [-2.21553274e-01 9.75144131e-01 -2.84077306e-03 -4.85045340e+01] [-1.36268668e-02 -1.83119293e-04 9.99907133e-01 -2.90273580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.11576923100006 meters Centerline goodness [0,1] 0.9999155423238529 Centerline is valid? [True, True] Translation: X:332.63, Y:-48.51, Z:-2.90 [[ 9.74750386e-01 2.22847699e-01 1.41629338e-02 3.32631571e+02] [-2.22827367e-01 9.74853249e-01 -3.01782406e-03 -4.85075308e+01] [-1.44792972e-02 -2.14264085e-04 9.99895147e-01 -2.90183134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14576923100003 meters Centerline goodness [0,1] 0.9998316852514202 Centerline is valid? [True, True] Translation: X:332.66, Y:-48.51, Z:-2.90 [[ 9.74274350e-01 2.24921855e-01 1.41297407e-02 3.32659769e+02] [-2.24901847e-01 9.74376775e-01 -3.01006513e-03 -4.85070273e+01] [-1.44447206e-02 -2.45175538e-04 9.99895640e-01 -2.90260081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.17576923100006 meters Centerline goodness [0,1] 0.9998310204254061 Centerline is valid? [True, True] Translation: X:332.69, Y:-48.50, Z:-2.91 [[ 9.73157600e-01 2.29827899e-01 1.19758707e-02 3.32689567e+02] [-2.29813907e-01 9.73231249e-01 -2.55042598e-03 -4.85019632e+01] [-1.22414506e-02 -2.70255199e-04 9.99925034e-01 -2.90749773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20576923100003 meters Centerline goodness [0,1] 0.9996626820989606 Centerline is valid? [True, True] Translation: X:332.72, Y:-48.50, Z:-2.91 [[ 9.72533212e-01 2.32483815e-01 1.14204655e-02 3.32718698e+02] [-2.32471279e-01 9.72600222e-01 -2.43160119e-03 -4.85017991e+01] [-1.16728552e-02 -2.90117307e-04 9.99931828e-01 -2.90944271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.23576923100006 meters Centerline goodness [0,1] 0.9997666327223353 Centerline is valid? [True, True] Translation: X:332.75, Y:-48.51, Z:-2.91 [[ 9.71966034e-01 2.34840018e-01 1.14976203e-02 3.32747539e+02] [-2.34827481e-01 9.72033982e-01 -2.44766248e-03 -4.85060783e+01] [-1.17508868e-02 -3.20912433e-04 9.99930904e-01 -2.90912627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26576923100004 meters Centerline goodness [0,1] 0.9995090505464481 Centerline is valid? [True, True] Translation: X:332.78, Y:-48.50, Z:-2.91 [[ 9.70798505e-01 2.39590883e-01 1.21025605e-02 3.32779245e+02] [-2.39577370e-01 9.70873859e-01 -2.57572885e-03 -4.84994943e+01] [-1.23671807e-02 -3.98985891e-04 9.99923444e-01 -2.90844491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.29576923100007 meters Centerline goodness [0,1] 0.9995701420680465 Centerline is valid? [True, True] Translation: X:332.81, Y:-48.50, Z:-2.91 [[ 9.70198031e-01 2.42008311e-01 1.21555617e-02 3.32809618e+02] [-2.41994871e-01 9.70274080e-01 -2.58682645e-03 -4.85003000e+01] [-1.24202599e-02 -4.31849657e-04 9.99922772e-01 -2.90870230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32576923100004 meters Centerline goodness [0,1] 0.9990040684861841 Centerline is valid? [True, True] Translation: X:332.84, Y:-48.50, Z:-2.91 [[ 9.69113202e-01 2.46272137e-01 1.30244643e-02 3.32840277e+02] [-2.46257095e-01 9.69200579e-01 -2.77138889e-03 -4.84950023e+01] [-1.33058342e-02 -5.21577185e-04 9.99911337e-01 -2.90747668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.35576923100007 meters Centerline goodness [0,1] 0.9983795955302089 Centerline is valid? [True, True] Translation: X:332.87, Y:-48.50, Z:-2.91 [[ 9.68741572e-01 2.47698044e-01 1.36178599e-02 3.32870916e+02] [-2.47681745e-01 9.68837117e-01 -2.89736758e-03 -4.84951821e+01] [-1.39111604e-02 -5.66094875e-04 9.99903075e-01 -2.90670063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38576923100004 meters Centerline goodness [0,1] 0.9979396771452846 Centerline is valid? [True, True] Translation: X:332.90, Y:-48.49, Z:-2.91 [[ 9.68464824e-01 2.48781950e-01 1.35435162e-02 3.32900715e+02] [-2.48765936e-01 9.68559346e-01 -2.88137414e-03 -4.84941450e+01] [-1.38345331e-02 -5.78655987e-04 9.99904131e-01 -2.90734607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41576923100007 meters Centerline goodness [0,1] 0.9974654426955762 Centerline is valid? [True, True] Translation: X:332.93, Y:-48.49, Z:-2.91 [[ 9.68122358e-01 2.50134347e-01 1.31114219e-02 3.32931161e+02] [-2.50119494e-01 9.68210964e-01 -2.78713316e-03 -4.84946725e+01] [-1.33917802e-02 -5.81136275e-04 9.99910157e-01 -2.90894528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44576923100004 meters Centerline goodness [0,1] 0.9954827900663796 Centerline is valid? [True, True] Translation: X:332.96, Y:-48.49, Z:-2.91 [[ 9.67551932e-01 2.52367302e-01 1.24097954e-02 3.32961756e+02] [-2.52354183e-01 9.67631339e-01 -2.63768422e-03 -4.84919185e+01] [-1.26737722e-02 -5.79567315e-04 9.99919517e-01 -2.91155924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.4757692310001 meters Centerline goodness [0,1] 0.995420878262888 Centerline is valid? [True, True] Translation: X:332.99, Y:-48.50, Z:-2.91 [[ 9.67621702e-01 2.52057698e-01 1.32347904e-02 3.32990528e+02] [-2.52042747e-01 9.67712013e-01 -2.81307095e-03 -4.84968042e+01] [-1.35165219e-02 -6.13744437e-04 9.99908459e-01 -2.90958037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50576923100004 meters Centerline goodness [0,1] 0.9977508063147174 Centerline is valid? [True, True] Translation: X:333.02, Y:-48.50, Z:-2.91 [[ 9.68616234e-01 2.48113524e-01 1.49087092e-02 3.33019419e+02] [-2.48094127e-01 9.68730757e-01 -3.16616319e-03 -4.85041886e+01] [-1.52280930e-02 -6.31966119e-04 9.99883846e-01 -2.90718929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5357692310001 meters Centerline goodness [0,1] 0.9983342821599511 Centerline is valid? [True, True] Translation: X:333.05, Y:-48.51, Z:-2.91 [[ 9.69315582e-01 2.45375385e-01 1.47723412e-02 3.33048051e+02] [-2.45356027e-01 9.69427965e-01 -3.13695603e-03 -4.85137059e+01] [-1.50904525e-02 -5.83782585e-04 9.99885962e-01 -2.90834443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56576923100005 meters Centerline goodness [0,1] 0.9988047723731671 Centerline is valid? [True, True] Translation: X:333.08, Y:-48.52, Z:-2.91 [[ 9.69913575e-01 2.43026793e-01 1.43399983e-02 3.33076544e+02] [-2.43008298e-01 9.70019430e-01 -3.04498754e-03 -4.85227782e+01] [-1.46500905e-02 -5.31363824e-04 9.99892540e-01 -2.90932130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5957692310001 meters Centerline goodness [0,1] 0.999426398419409 Centerline is valid? [True, True] Translation: X:333.10, Y:-48.53, Z:-2.91 [[ 9.70762600e-01 2.39616397e-01 1.42813073e-02 3.33104833e+02] [-2.39597689e-01 9.70867526e-01 -3.03219267e-03 -4.85334835e+01] [-1.45918206e-02 -4.78228982e-04 9.99893419e-01 -2.90941594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62576923100005 meters Centerline goodness [0,1] 0.999491288312349 Centerline is valid? [True, True] Translation: X:333.13, Y:-48.54, Z:-2.91 [[ 9.71057925e-01 2.38445986e-01 1.37847014e-02 3.33132316e+02] [-2.38428440e-01 9.71155659e-01 -2.92663608e-03 -4.85394181e+01] [-1.40849354e-02 -4.44731688e-04 9.99900703e-01 -2.91081016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6557692310001 meters Centerline goodness [0,1] 0.999358316221766 Centerline is valid? [True, True] Translation: X:333.16, Y:-48.55, Z:-2.91 [[ 9.71286215e-01 2.37542230e-01 1.32957737e-02 3.33160494e+02] [-2.37525829e-01 9.71377123e-01 -2.82222616e-03 -4.85453893e+01] [-1.35856083e-02 -4.16900301e-04 9.99907624e-01 -2.91281226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68576923100005 meters Centerline goodness [0,1] 0.9993639755766621 Centerline is valid? [True, True] Translation: X:333.19, Y:-48.55, Z:-2.91 [[ 9.71444163e-01 2.36893585e-01 1.33292314e-02 3.33187896e+02] [-2.36877072e-01 9.71535517e-01 -2.82705365e-03 -4.85511062e+01] [-1.36195326e-02 -4.11064553e-04 9.99907165e-01 -2.91398427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7157692310001 meters Centerline goodness [0,1] 0.999575587810882 Centerline is valid? [True, True] Translation: X:333.22, Y:-48.56, Z:-2.91 [[ 9.71742031e-01 2.35630886e-01 1.39824999e-02 3.33215533e+02] [-2.35612595e-01 9.71842536e-01 -2.96482962e-03 -4.85589249e+01] [-1.42873936e-02 -4.13403536e-04 9.99897845e-01 -2.91280904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74576923100005 meters Centerline goodness [0,1] 0.9998519082677498 Centerline is valid? [True, True] Translation: X:333.24, Y:-48.58, Z:-2.91 [[ 9.72835207e-01 2.31029189e-01 1.47368430e-02 3.33241843e+02] [-2.31008380e-01 9.72946750e-01 -3.12234139e-03 -4.85790192e+01] [-1.50595155e-02 -3.66810595e-04 9.99886532e-01 -2.91140010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.775769231 meters Centerline goodness [0,1] 0.9997875730217738 Centerline is valid? [True, True] Translation: X:333.27, Y:-48.59, Z:-2.91 [[ 9.73536368e-01 2.28101073e-01 1.40300121e-02 3.33269272e+02] [-2.28081911e-01 9.73637410e-01 -2.97243905e-03 -4.85852515e+01] [-1.43381612e-02 -3.06214458e-04 9.99897156e-01 -2.91348201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80576923100006 meters Centerline goodness [0,1] 0.99995783348443 Centerline is valid? [True, True] Translation: X:333.30, Y:-48.60, Z:-2.92 [[ 9.74200864e-01 2.25287806e-01 1.33447156e-02 3.33295992e+02] [-2.25270214e-01 9.74292226e-01 -2.82662785e-03 -4.85980711e+01] [-1.36384574e-02 -2.52463647e-04 9.99906960e-01 -2.91648511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.83576923100003 meters Centerline goodness [0,1] 0.9999788283615269 Centerline is valid? [True, True] Translation: X:333.32, Y:-48.62, Z:-2.92 [[ 9.75379480e-01 2.20099070e-01 1.38300321e-02 3.33321094e+02] [-2.20079663e-01 9.75477506e-01 -2.92875682e-03 -4.86219074e+01] [-1.41355018e-02 -1.87059496e-04 9.99900071e-01 -2.91647451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.35, Y:-48.63, Z:-2.91 [[ 9.75832511e-01 2.18012336e-01 1.48839773e-02 3.33348457e+02] [-2.17989618e-01 9.75945999e-01 -3.15174084e-03 -4.86338014e+01] [-1.52130764e-02 -1.68981346e-04 9.99884260e-01 -2.91422019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.89576923100003 meters Centerline goodness [0,1] 0.9999787649706957 Centerline is valid? [True, True] Translation: X:333.37, Y:-48.64, Z:-2.91 [[ 9.76182951e-01 2.16399472e-01 1.54309645e-02 3.33374865e+02] [-2.16374865e-01 9.76304894e-01 -3.26676763e-03 -4.86444137e+01] [-1.57722529e-02 -1.49909982e-04 9.99875599e-01 -2.91273008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.40, Y:-48.66, Z:-2.91 [[ 9.76462819e-01 2.15145120e-01 1.52623745e-02 3.33401728e+02] [-2.15120909e-01 9.76582081e-01 -3.23015910e-03 -4.86559550e+01] [-1.55999144e-02 -1.29125608e-04 9.99878306e-01 -2.91296542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.43, Y:-48.67, Z:-2.92 [[ 9.76603397e-01 2.14560278e-01 1.44807388e-02 3.33427621e+02] [-2.14538430e-01 9.76710742e-01 -3.06404059e-03 -4.86685297e+01] [-1.48009146e-02 -1.14322518e-04 9.99890454e-01 -2.91540925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.46, Y:-48.68, Z:-2.92 [[ 9.76417751e-01 2.15433364e-01 1.40300041e-02 3.33455465e+02] [-2.15412958e-01 9.76518535e-01 -2.96775032e-03 -4.86760500e+01] [-1.43399115e-02 -1.24480579e-04 9.99897170e-01 -2.91689355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01576923100004 meters Centerline goodness [0,1] 0.9999576531368439 Centerline is valid? [True, True] Translation: X:333.48, Y:-48.68, Z:-2.92 [[ 9.75626254e-01 2.19000449e-01 1.38641955e-02 3.33483226e+02] [-2.18980892e-01 9.75724742e-01 -2.93199922e-03 -4.86788446e+01] [-1.41697477e-02 -1.75458471e-04 9.99899589e-01 -2.91753030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04576923100007 meters Centerline goodness [0,1] 0.9999359986346376 Centerline is valid? [True, True] Translation: X:333.51, Y:-48.68, Z:-2.92 [[ 9.75120833e-01 2.21218431e-01 1.42044331e-02 3.33511312e+02] [-2.21198151e-01 9.75224261e-01 -3.00303958e-03 -4.86848695e+01] [-1.45168355e-02 -2.13667866e-04 9.99894602e-01 -2.91702889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07576923100004 meters Centerline goodness [0,1] 0.9998105781575569 Centerline is valid? [True, True] Translation: X:333.54, Y:-48.69, Z:-2.92 [[ 9.74529096e-01 2.23819163e-01 1.40720836e-02 3.33538360e+02] [-2.23799539e-01 9.74630658e-01 -2.97437554e-03 -4.86886062e+01] [-1.43808064e-02 -2.50710321e-04 9.99896559e-01 -2.91786995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10576923100007 meters Centerline goodness [0,1] 0.9998101426039997 Centerline is valid? [True, True] Translation: X:333.57, Y:-48.69, Z:-2.92 [[ 9.73579369e-01 2.28020968e-01 1.22331955e-02 3.33566676e+02] [-2.28006479e-01 9.73656184e-01 -2.58486738e-03 -4.86896356e+01] [-1.25003304e-02 -2.72674272e-04 9.99921831e-01 -2.92230047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13576923100004 meters Centerline goodness [0,1] 0.9998513358535446 Centerline is valid? [True, True] Translation: X:333.60, Y:-48.69, Z:-2.92 [[ 9.73087156e-01 2.30129560e-01 1.19068350e-02 3.33595671e+02] [-2.30115999e-01 9.73159956e-01 -2.51534839e-03 -4.86935678e+01] [-1.21661110e-02 -2.92300020e-04 9.99925947e-01 -2.92378496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16576923100007 meters Centerline goodness [0,1] 0.9995780857751619 Centerline is valid? [True, True] Translation: X:333.63, Y:-48.69, Z:-2.92 [[ 9.72022236e-01 2.34516179e-01 1.32262983e-02 3.33626632e+02] [-2.34499862e-01 9.72112140e-01 -2.79330332e-03 -4.86893340e+01] [-1.35125200e-02 -3.86412181e-04 9.99908627e-01 -2.92237085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.19576923100004 meters Centerline goodness [0,1] 0.999828082692225 Centerline is valid? [True, True] Translation: X:333.66, Y:-48.69, Z:-2.92 [[ 9.71469326e-01 2.36790201e-01 1.33322337e-02 3.33655474e+02] [-2.36773837e-01 9.71560715e-01 -2.81551093e-03 -4.86932521e+01] [-1.36197599e-02 -4.21541615e-04 9.99907158e-01 -2.92105028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2257692310001 meters Centerline goodness [0,1] 0.9994642321374995 Centerline is valid? [True, True] Translation: X:333.68, Y:-48.69, Z:-2.92 [[ 9.70982860e-01 2.38760987e-01 1.36189925e-02 3.33684513e+02] [-2.38744112e-01 9.71078256e-01 -2.87555363e-03 -4.86936306e+01] [-1.39116775e-02 -4.59340980e-04 9.99903122e-01 -2.92061055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.25576923100004 meters Centerline goodness [0,1] 0.9993668214436471 Centerline is valid? [True, True] Translation: X:333.71, Y:-48.69, Z:-2.92 [[ 9.70544004e-01 2.40490703e-01 1.44415425e-02 3.33713730e+02] [-2.40471928e-01 9.70651306e-01 -3.04866793e-03 -4.86920619e+01] [-1.47508784e-02 -5.13919177e-04 9.99891068e-01 -2.92016705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2857692310001 meters Centerline goodness [0,1] 0.9988582061149406 Centerline is valid? [True, True] Translation: X:333.74, Y:-48.69, Z:-2.92 [[ 9.70599497e-01 2.40214684e-01 1.52814413e-02 3.33742493e+02] [-2.40193640e-01 9.70719637e-01 -3.22516393e-03 -4.86899630e+01] [-1.56087268e-02 -5.40162508e-04 9.99878030e-01 -2.91913982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.31576923100005 meters Centerline goodness [0,1] 0.9990543635866939 Centerline is valid? [True, True] Translation: X:333.77, Y:-48.70, Z:-2.92 [[ 9.71237237e-01 2.37562568e-01 1.61943293e-02 3.33770960e+02] [-2.37538581e-01 9.71372095e-01 -3.41689195e-03 -4.87014130e+01] [-1.65424453e-02 -5.28165326e-04 9.99863025e-01 -2.91877717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3457692310001 meters Centerline goodness [0,1] 0.9993876301285977 Centerline is valid? [True, True] Translation: X:333.80, Y:-48.71, Z:-2.92 [[ 9.71712845e-01 2.35632260e-01 1.58614248e-02 3.33798992e+02] [-2.35608996e-01 9.71842169e-01 -3.34642173e-03 -4.87085989e+01] [-1.62033264e-02 -4.85333394e-04 9.99868600e-01 -2.91976804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.37576923100005 meters Centerline goodness [0,1] 0.9995134025853132 Centerline is valid? [True, True] Translation: X:333.83, Y:-48.71, Z:-2.92 [[ 9.72231396e-01 2.33517660e-01 1.53497377e-02 3.33826143e+02] [-2.33495621e-01 9.72352463e-01 -3.23773189e-03 -4.87142625e+01] [-1.56814229e-02 -4.36271946e-04 9.99876944e-01 -2.92094818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4057692310001 meters Centerline goodness [0,1] 0.9995781302733716 Centerline is valid? [True, True] Translation: X:333.85, Y:-48.72, Z:-2.92 [[ 9.73018667e-01 2.30185816e-01 1.57849391e-02 3.33854841e+02] [-2.30162091e-01 9.73146615e-01 -3.32826392e-03 -4.87238801e+01] [-1.61271792e-02 -3.94631677e-04 9.99869871e-01 -2.92027222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.43576923100005 meters Centerline goodness [0,1] 0.9994700807596922 Centerline is valid? [True, True] Translation: X:333.88, Y:-48.73, Z:-2.92 [[ 9.73346800e-01 2.28713056e-01 1.69217509e-02 3.33883073e+02] [-2.28685574e-01 9.73493801e-01 -3.56766475e-03 -4.87308485e+01] [-1.72891911e-02 -3.97185242e-04 9.99850452e-01 -2.91783086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4657692310001 meters Centerline goodness [0,1] 0.9993892679639458 Centerline is valid? [True, True] Translation: X:333.91, Y:-48.74, Z:-2.92 [[ 9.73968324e-01 2.25929856e-01 1.84771118e-02 3.33910896e+02] [-2.25896604e-01 9.74143498e-01 -3.89469443e-03 -4.87408626e+01] [-1.88792861e-02 -3.80607818e-04 9.99821698e-01 -2.91556797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.49576923100005 meters Centerline goodness [0,1] 0.9993066207215346 Centerline is valid? [True, True] Translation: X:333.94, Y:-48.75, Z:-2.92 [[ 9.74275102e-01 2.24657308e-01 1.78078348e-02 3.33938322e+02] [-2.24626222e-01 9.74437774e-01 -3.75292134e-03 -4.87450331e+01] [-1.81957481e-02 -3.43728829e-04 9.99834385e-01 -2.91742337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.525769231 meters Centerline goodness [0,1] 0.9995745042975066 Centerline is valid? [True, True] Translation: X:333.97, Y:-48.75, Z:-2.92 [[ 9.74526945e-01 2.23672033e-01 1.63723730e-02 3.33965662e+02] [-2.23645633e-01 9.74664420e-01 -3.44951664e-03 -4.87542442e+01] [-1.67291299e-02 -2.99962809e-04 9.99860013e-01 -2.92168995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.55576923100006 meters Centerline goodness [0,1] 0.9998293187685349 Centerline is valid? [True, True] Translation: X:333.99, Y:-48.76, Z:-2.93 [[ 9.74708805e-01 2.23049957e-01 1.38369723e-02 3.33993973e+02] [-2.23031046e-01 9.74806984e-01 -2.91477898e-03 -4.87600946e+01] [-1.41385185e-02 -2.45013659e-04 9.99900016e-01 -2.92663816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58576923100003 meters Centerline goodness [0,1] 0.9996401202421779 Centerline is valid? [True, True] Translation: X:334.02, Y:-48.76, Z:-2.93 [[ 9.74657015e-01 2.23302015e-01 1.34131630e-02 3.34022055e+02] [-2.23284277e-01 9.74749276e-01 -2.82489347e-03 -4.87626246e+01] [-1.37052753e-02 -2.41646159e-04 9.99906049e-01 -2.92745830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.61576923100006 meters Centerline goodness [0,1] 0.9997253095550015 Centerline is valid? [True, True] Translation: X:334.05, Y:-48.77, Z:-2.93 [[ 9.74533615e-01 2.23832002e-01 1.35450486e-02 3.34050183e+02] [-2.23813975e-01 9.74627709e-01 -2.85184122e-03 -4.87678890e+01] [-1.38397130e-02 -2.52356038e-04 9.99904195e-01 -2.92810447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64576923100003 meters Centerline goodness [0,1] 0.9997460908571549 Centerline is valid? [True, True] Translation: X:334.08, Y:-48.77, Z:-2.93 [[ 9.74249813e-01 2.25041323e-01 1.39177685e-02 3.34078211e+02] [-2.25022424e-01 9.74349181e-01 -2.92964399e-03 -4.87720865e+01] [-1.42200573e-02 -2.77604897e-04 9.99898851e-01 -2.92750769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.67576923100006 meters Centerline goodness [0,1] 0.9996600157242728 Centerline is valid? [True, True] Translation: X:334.11, Y:-48.78, Z:-2.93 [[ 9.74161365e-01 2.25404847e-01 1.42228423e-02 3.34107173e+02] [-2.25385162e-01 9.74265144e-01 -2.99297268e-03 -4.87762112e+01] [-1.45314500e-02 -2.89979248e-04 9.99894371e-01 -2.92749666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70576923100003 meters Centerline goodness [0,1] 0.9994918161221336 Centerline is valid? [True, True] Translation: X:334.14, Y:-48.77, Z:-2.93 [[ 9.73887676e-01 2.26596586e-01 1.40278770e-02 3.34137215e+02] [-2.26577570e-01 9.73988652e-01 -2.95128774e-03 -4.87701896e+01] [-1.43317447e-02 -3.04179525e-04 9.99897249e-01 -2.92875900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.73576923100006 meters Centerline goodness [0,1] 0.9995929036681522 Centerline is valid? [True, True] Translation: X:334.16, Y:-48.77, Z:-2.93 [[ 9.73917023e-01 2.26493744e-01 1.36461420e-02 3.34164893e+02] [-2.26475756e-01 9.74012575e-01 -2.86974365e-03 -4.87738456e+01] [-1.39414929e-02 -2.95628138e-04 9.99902769e-01 -2.92985376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76576923100004 meters Centerline goodness [0,1] 0.9995929036681522 Centerline is valid? [True, True] Translation: X:334.19, Y:-48.78, Z:-2.93 [[ 9.73931693e-01 2.26430640e-01 1.36463278e-02 3.34191832e+02] [-2.26412658e-01 9.74027247e-01 -2.86886015e-03 -4.87793623e+01] [-1.39414929e-02 -2.95627529e-04 9.99902769e-01 -2.93026330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.79576923100007 meters Centerline goodness [0,1] 0.9998720163819032 Centerline is valid? [True, True] Translation: X:334.22, Y:-48.79, Z:-2.93 [[ 9.74158677e-01 2.25439019e-01 1.38607930e-02 3.34218620e+02] [-2.25420381e-01 9.74257238e-01 -2.91298094e-03 -4.87909892e+01] [-1.41606775e-02 -2.86799570e-04 9.99899691e-01 -2.93041605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82576923100004 meters Centerline goodness [0,1] 0.9999575028685563 Centerline is valid? [True, True] Translation: X:334.25, Y:-48.80, Z:-2.93 [[ 9.75154205e-01 2.21070587e-01 1.42151882e-02 3.34247248e+02] [-2.21050530e-01 9.75257783e-01 -2.98672991e-03 -4.87998880e+01] [-1.45237511e-02 -2.29752657e-04 9.99894498e-01 -2.92947385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.85576923100007 meters Centerline goodness [0,1] 0.999893917212993 Centerline is valid? [True, True] Translation: X:334.27, Y:-48.81, Z:-2.93 [[ 9.75824752e-01 2.18050295e-01 1.48364955e-02 3.34274808e+02] [-2.18028103e-01 9.75937514e-01 -3.11688601e-03 -4.88068179e+01] [-1.51591305e-02 -1.93238453e-04 9.99885075e-01 -2.92887995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88576923100004 meters Centerline goodness [0,1] 0.9999157504528413 Centerline is valid? [True, True] Translation: X:334.30, Y:-48.81, Z:-2.93 [[ 9.76427135e-01 2.15296171e-01 1.54145414e-02 3.34301296e+02] [-2.15271885e-01 9.76548787e-01 -3.23753212e-03 -4.88145733e+01] [-1.57500800e-02 -1.57103164e-04 9.99875947e-01 -2.92774905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91576923100007 meters Centerline goodness [0,1] 0.9999786657564056 Centerline is valid? [True, True] Translation: X:334.33, Y:-48.83, Z:-2.93 [[ 9.77167205e-01 2.11832947e-01 1.64637658e-02 3.34328217e+02] [-2.11804767e-01 9.77305884e-01 -3.45690723e-03 -4.88274453e+01] [-1.68224220e-02 -1.09127701e-04 9.99858487e-01 -2.92618607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94576923100004 meters Centerline goodness [0,1] 0.9999789087381098 Centerline is valid? [True, True] Translation: X:334.36, Y:-48.83, Z:-2.93 [[ 9.77224541e-01 2.11531817e-01 1.69259018e-02 3.34355207e+02] [-2.11502002e-01 9.77371106e-01 -3.55307477e-03 -4.88340358e+01] [-1.72944757e-02 -1.07710232e-04 9.99850434e-01 -2.92571704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.9757692310001 meters Centerline goodness [0,1] 0.9998734737774404 Centerline is valid? [True, True] Translation: X:334.38, Y:-48.84, Z:-2.92 [[ 9.77030058e-01 2.12380091e-01 1.75203480e-02 3.34382685e+02] [-2.12348306e-01 9.77187127e-01 -3.67650522e-03 -4.88372401e+01] [-1.79014751e-02 -1.28360108e-04 9.99839748e-01 -2.92494438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00576923100004 meters Centerline goodness [0,1] 0.9999154995035596 Centerline is valid? [True, True] Translation: X:334.41, Y:-48.84, Z:-2.92 [[ 9.76878152e-01 2.13060224e-01 1.77318032e-02 3.34411006e+02] [-2.13027805e-01 9.77039058e-01 -3.71941347e-03 -4.88400898e+01] [-1.81171233e-02 -1.43953351e-04 9.99835861e-01 -2.92395078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0357692310001 meters Centerline goodness [0,1] 0.9998929129810884 Centerline is valid? [True, True] Translation: X:334.44, Y:-48.85, Z:-2.93 [[ 9.76487501e-01 2.14901827e-01 1.70107243e-02 3.34439258e+02] [-2.14872287e-01 9.76635641e-01 -3.56720360e-03 -4.88470041e+01] [-1.73798782e-02 -1.71803517e-04 9.99848944e-01 -2.92693882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06576923100005 meters Centerline goodness [0,1] 0.9997873607212724 Centerline is valid? [True, True] Translation: X:334.47, Y:-48.85, Z:-2.93 [[ 9.76363463e-01 2.15547842e-01 1.59221658e-02 3.34467545e+02] [-2.15522061e-01 9.76493266e-01 -3.33817712e-03 -4.88514102e+01] [-1.62674245e-02 -1.72303802e-04 9.99867662e-01 -2.92875381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0957692310001 meters Centerline goodness [0,1] 0.9998945525866251 Centerline is valid? [True, True] Translation: X:334.49, Y:-48.85, Z:-2.93 [[ 9.76393552e-01 2.15464921e-01 1.51821900e-02 3.34494468e+02] [-2.15441482e-01 9.76511567e-01 -3.18229168e-03 -4.88548918e+01] [-1.55112564e-02 -1.63704444e-04 9.99879680e-01 -2.93071334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12576923100005 meters Centerline goodness [0,1] 0.9999362190662471 Centerline is valid? [True, True] Translation: X:334.52, Y:-48.86, Z:-2.93 [[ 9.76587235e-01 2.14640604e-01 1.43799527e-02 3.34522263e+02] [-2.14619505e-01 9.76693089e-01 -3.01294518e-03 -4.88629892e+01] [-1.46915008e-02 -1.43814523e-04 9.99892064e-01 -2.93266566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1557692310001 meters Centerline goodness [0,1] 0.999957163357536 Centerline is valid? [True, True] Translation: X:334.55, Y:-48.87, Z:-2.93 [[ 9.77001690e-01 2.12733939e-01 1.45591550e-02 3.34549753e+02] [-2.12712109e-01 9.77110156e-01 -3.04976726e-03 -4.88710876e+01] [-1.48746872e-02 -1.17280813e-04 9.99889359e-01 -2.93290567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.58, Y:-48.88, Z:-2.93 [[ 9.77263472e-01 2.11464426e-01 1.54564518e-02 3.34577314e+02] [-2.11439678e-01 9.77385689e-01 -3.23687476e-03 -4.88774549e+01] [-1.57913987e-02 -1.04827722e-04 9.99875303e-01 -2.93236160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2157692310001 meters Centerline goodness [0,1] 0.9999788605855617 Centerline is valid? [True, True] Translation: X:334.60, Y:-48.89, Z:-2.93 [[ 9.77894503e-01 2.08442045e-01 1.65606281e-02 3.34604505e+02] [-2.08413221e-01 9.78034718e-01 -3.46687114e-03 -4.88894998e+01] [-1.69195109e-02 -6.12196049e-05 9.99856853e-01 -2.93189270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.63, Y:-48.90, Z:-2.93 [[ 9.78311744e-01 2.06473046e-01 1.65834963e-02 3.34632299e+02] [-2.06443873e-01 9.78452288e-01 -3.47084100e-03 -4.88997392e+01] [-1.69427951e-02 -2.79967005e-05 9.99856460e-01 -2.93167844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.275769231 meters Centerline goodness [0,1] 0.999957960230378 Centerline is valid? [True, True] Translation: X:334.66, Y:-48.91, Z:-2.93 [[ 9.78642632e-01 2.04892845e-01 1.66589693e-02 3.34658843e+02] [-2.04863191e-01 9.78784410e-01 -3.48578860e-03 -4.89094918e+01] [-1.70197526e-02 -1.46827537e-06 9.99855154e-01 -2.93123918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.69, Y:-48.92, Z:-2.93 [[ 9.79057137e-01 2.02881001e-01 1.69240084e-02 3.34685151e+02] [-2.02850114e-01 9.79203400e-01 -3.54019107e-03 -4.89219785e+01] [-1.72902841e-02 3.30122969e-05 9.99850511e-01 -2.93289265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.71, Y:-48.93, Z:-2.93 [[ 9.79159692e-01 2.02359644e-01 1.72299975e-02 3.34712201e+02] [-2.02327568e-01 9.79311275e-01 -3.60313301e-03 -4.89311851e+01] [-1.76026595e-02 4.19391111e-05 9.99845060e-01 -2.93307275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.74, Y:-48.94, Z:-2.93 [[ 9.79277473e-01 2.01759530e-01 1.75704897e-02 3.34738299e+02] [-2.01726095e-01 9.79435087e-01 -3.67336778e-03 -4.89418151e+01] [-1.79502910e-02 5.28200555e-05 9.99838879e-01 -2.93225430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.77, Y:-48.95, Z:-2.93 [[ 9.79254914e-01 2.01904491e-01 1.71577806e-02 3.34765087e+02] [-2.01872650e-01 9.79405214e-01 -3.58597631e-03 -4.89532998e+01] [-1.75284445e-02 4.78983003e-05 9.99846364e-01 -2.93318918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.79, Y:-48.96, Z:-2.93 [[ 9.79030438e-01 2.03066280e-01 1.62323102e-02 3.34792207e+02] [-2.03037954e-01 9.79164994e-01 -3.39176345e-03 -4.89599180e+01] [-1.65828627e-02 2.48645979e-05 9.99862495e-01 -2.93443104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.82, Y:-48.97, Z:-2.94 [[ 9.78732460e-01 2.04554697e-01 1.54967115e-02 3.34819789e+02] [-2.04529081e-01 9.78855135e-01 -3.23713852e-03 -4.89662325e+01] [-1.58312075e-02 -1.23562583e-06 9.99874679e-01 -2.93678121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.85, Y:-48.98, Z:-2.94 [[ 9.78488111e-01 2.05780064e-01 1.46826987e-02 3.34846773e+02] [-2.05757220e-01 9.78598265e-01 -3.06624501e-03 -4.89760400e+01] [-1.49994356e-02 -2.07869871e-05 9.99887502e-01 -2.93967041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51576923100004 meters Centerline goodness [0,1] 0.9999787834425986 Centerline is valid? [True, True] Translation: X:334.87, Y:-48.99, Z:-2.94 [[ 9.78558577e-01 2.05419164e-01 1.50359070e-02 3.34873005e+02] [-2.05395176e-01 9.78674086e-01 -3.13924315e-03 -4.89851585e+01] [-1.53601132e-02 -1.63694553e-05 9.99882026e-01 -2.93971978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.90, Y:-49.00, Z:-2.94 [[ 9.79049494e-01 2.03003182e-01 1.58681220e-02 3.34900218e+02] [-2.02976164e-01 9.79178078e-01 -3.31201780e-03 -4.90009424e+01] [-1.62100674e-02 2.17788179e-05 9.99868608e-01 -2.93814270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.93, Y:-49.01, Z:-2.94 [[ 9.79399203e-01 2.01267907e-01 1.63838614e-02 3.34928738e+02] [-2.01238867e-01 9.79536230e-01 -3.41929131e-03 -4.90129381e+01] [-1.67367794e-02 5.17814830e-05 9.99859929e-01 -2.93771614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.96, Y:-49.03, Z:-2.94 [[ 9.80027747e-01 1.98065797e-01 1.77638944e-02 3.34955952e+02] [-1.98031131e-01 9.80188720e-01 -3.70734195e-03 -4.90298214e+01] [-1.81462665e-02 1.15493889e-04 9.99835336e-01 -2.93568890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.98, Y:-49.04, Z:-2.93 [[ 9.80130300e-01 1.97519526e-01 1.81832872e-02 3.34984447e+02] [-1.97483102e-01 9.80298944e-01 -3.79525596e-03 -4.90399967e+01] [-1.85746944e-02 1.28953386e-04 9.99827467e-01 -2.93422567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.02, Y:-49.05, Z:-2.94 [[ 9.80034632e-01 1.98012054e-01 1.79818622e-02 3.35015330e+02] [-1.97976500e-01 9.80199578e-01 -3.75410317e-03 -4.90472168e+01] [-1.83691714e-02 1.19164979e-04 9.99831265e-01 -2.93525107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.69576923100004 meters Centerline goodness [0,1] 0.9999151067532578 Centerline is valid? [True, True] Translation: X:335.05, Y:-49.05, Z:-2.94 [[ 9.79291745e-01 2.01788327e-01 1.64057898e-02 3.35045121e+02] [-2.01759255e-01 9.79429155e-01 -3.42551248e-03 -4.90507020e+01] [-1.67595373e-02 4.45561626e-05 9.99859548e-01 -2.93787284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7257692310001 meters Centerline goodness [0,1] 0.999978728835191 Centerline is valid? [True, True] Translation: X:335.07, Y:-49.05, Z:-2.94 [[ 9.78758605e-01 2.04411174e-01 1.57373852e-02 3.35074165e+02] [-2.04384747e-01 9.78885117e-01 -3.28684329e-03 -4.90532868e+01] [-1.60769596e-02 5.44669741e-07 9.99870757e-01 -2.93977358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.10, Y:-49.06, Z:-2.94 [[ 9.78292775e-01 2.06672930e-01 1.51507895e-02 3.35103540e+02] [-2.06648713e-01 9.78410087e-01 -3.16395049e-03 -4.90567385e+01] [-1.54775882e-02 -3.56212587e-05 9.99880214e-01 -2.94140413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7857692310001 meters Centerline goodness [0,1] 0.9999575920782002 Centerline is valid? [True, True] Translation: X:335.13, Y:-49.06, Z:-2.94 [[ 9.78067331e-01 2.07766861e-01 1.47386530e-02 3.35132488e+02] [-2.07744073e-01 9.78178373e-01 -3.07754715e-03 -4.90642642e+01] [-1.50564439e-02 -5.18194771e-05 9.99886644e-01 -2.94350433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.81576923100005 meters Centerline goodness [0,1] 0.9999364366379219 Centerline is valid? [True, True] Translation: X:335.16, Y:-49.07, Z:-2.94 [[ 9.78247629e-01 2.06866037e-01 1.54278670e-02 3.35161912e+02] [-2.06840962e-01 9.78369276e-01 -3.22108982e-03 -4.90734606e+01] [-1.57604852e-02 -4.00913801e-05 9.99875795e-01 -2.94312519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8457692310001 meters Centerline goodness [0,1] 0.9998947855729978 Centerline is valid? [True, True] Translation: X:335.19, Y:-49.09, Z:-2.94 [[ 9.78658759e-01 2.04723850e-01 1.77532605e-02 3.35190851e+02] [-2.04690289e-01 9.78819772e-01 -3.70677380e-03 -4.90858589e+01] [-1.81361074e-02 -6.25338235e-06 9.99835527e-01 -2.93906354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.87576923100005 meters Centerline goodness [0,1] 0.9998938496486424 Centerline is valid? [True, True] Translation: X:335.22, Y:-49.09, Z:-2.94 [[ 9.78744284e-01 2.04202437e-01 1.89997574e-02 3.35221010e+02] [-2.04163881e-01 9.78928682e-01 -3.96802415e-03 -4.90944495e+01] [-1.94096877e-02 4.61674346e-06 9.99811614e-01 -2.93774424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9057692310001 meters Centerline goodness [0,1] 0.9998731205988708 Centerline is valid? [True, True] Translation: X:335.25, Y:-49.10, Z:-2.94 [[ 9.78766964e-01 2.04058620e-01 1.93728900e-02 3.35250661e+02] [-2.04018484e-01 9.78958671e-01 -4.04707336e-03 -4.91025533e+01] [-1.97910989e-02 8.71405407e-06 9.99804137e-01 -2.93773662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.93576923100005 meters Centerline goodness [0,1] 0.9998516320474777 Centerline is valid? [True, True] Translation: X:335.28, Y:-49.11, Z:-2.94 [[ 9.78616842e-01 2.04788808e-01 1.92515080e-02 3.35280922e+02] [-2.04749267e-01 9.78806183e-01 -4.02411940e-03 -4.91105273e+01] [-1.96675896e-02 -3.66112381e-06 9.99806574e-01 -2.93886346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9657692310001 meters Centerline goodness [0,1] 0.999830852503383 Centerline is valid? [True, True] Translation: X:335.31, Y:-49.12, Z:-2.94 [[ 9.78493149e-01 2.05351816e-01 1.95394070e-02 3.35311978e+02] [-2.05311172e-01 9.78688220e-01 -4.08549237e-03 -4.91169822e+01] [-1.99619507e-02 -1.40322434e-05 9.99800740e-01 -2.93902992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.99576923100005 meters Centerline goodness [0,1] 0.999852885544954 Centerline is valid? [True, True] Translation: X:335.34, Y:-49.12, Z:-2.94 [[ 9.78334393e-01 2.06058047e-01 2.00473450e-02 3.35343006e+02] [-2.06015356e-01 9.78539770e-01 -4.19435098e-03 -4.91230931e+01] [-2.04814041e-02 -2.65830914e-05 9.99790234e-01 -2.93832513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.025769231 meters Centerline goodness [0,1] 0.9998733268589284 Centerline is valid? [True, True] Translation: X:335.37, Y:-49.13, Z:-2.94 [[ 9.78288629e-01 2.06183341e-01 2.09711307e-02 3.35373047e+02] [-2.06136632e-01 9.78513377e-01 -4.38860247e-03 -4.91303359e+01] [-2.14253887e-02 -2.95983696e-05 9.99770450e-01 -2.93675400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.05576923100006 meters Centerline goodness [0,1] 0.9998317984945966 Centerline is valid? [True, True] Translation: X:335.40, Y:-49.14, Z:-2.93 [[ 9.78492504e-01 2.05064439e-01 2.23829356e-02 3.35402246e+02] [-2.05010875e-01 9.78748474e-01 -4.68672945e-03 -4.91433037e+01] [-2.28683456e-02 -2.81557379e-06 9.99738485e-01 -2.93490286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08576923100003 meters Centerline goodness [0,1] 0.9997886237291002 Centerline is valid? [True, True] Translation: X:335.43, Y:-49.16, Z:-2.94 [[ 9.78808107e-01 2.03562754e-01 2.22911520e-02 3.35433869e+02] [-2.03509154e-01 9.79061900e-01 -4.67119709e-03 -4.91554599e+01] [-2.27752994e-02 3.57520871e-05 9.99740609e-01 -2.93632592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.11576923100006 meters Centerline goodness [0,1] 0.9996806472216309 Centerline is valid? [True, True] Translation: X:335.46, Y:-49.18, Z:-2.94 [[ 9.79689970e-01 1.99434215e-01 2.08220098e-02 3.35461835e+02] [-1.99386439e-01 9.79911209e-01 -4.36694247e-03 -4.91753174e+01] [-2.12746385e-02 1.26623356e-04 9.99773661e-01 -2.93995400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14576923100003 meters Centerline goodness [0,1] 0.9997882163581685 Centerline is valid? [True, True] Translation: X:335.49, Y:-49.19, Z:-2.94 [[ 9.80049065e-01 1.97778627e-01 1.96836094e-02 3.35491482e+02] [-1.97735535e-01 9.80246699e-01 -4.13136435e-03 -4.91889525e+01] [-2.01118887e-02 1.56790731e-04 9.99797723e-01 -2.94211428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.17576923100006 meters Centerline goodness [0,1] 0.9997046288872948 Centerline is valid? [True, True] Translation: X:335.52, Y:-49.20, Z:-2.94 [[ 9.80342012e-01 1.96432782e-01 1.85391961e-02 3.35521398e+02] [-1.96394256e-01 9.80517277e-01 -3.89422614e-03 -4.92019847e+01] [-1.89429558e-02 1.76681856e-04 9.99820551e-01 -2.94454258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20576923100003 meters Centerline goodness [0,1] 0.9996795967190704 Centerline is valid? [True, True] Translation: X:335.55, Y:-49.22, Z:-2.95 [[ 9.80412140e-01 1.96253162e-01 1.66352847e-02 3.35551185e+02] [-1.96222075e-01 9.80553247e-01 -3.49679690e-03 -4.92160625e+01] [-1.69980399e-02 1.64092045e-04 9.99855509e-01 -2.94856302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.23576923100006 meters Centerline goodness [0,1] 0.9997876722508865 Centerline is valid? [True, True] Translation: X:335.58, Y:-49.22, Z:-2.95 [[ 9.80088816e-01 1.97905320e-01 1.61058373e-02 3.35582317e+02] [-1.97876359e-01 9.80221131e-01 -3.38821061e-03 -4.92232203e+01] [-1.64578270e-02 1.33782871e-04 9.99864552e-01 -2.95011490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26576923100004 meters Centerline goodness [0,1] 0.9997447731671523 Centerline is valid? [True, True] Translation: X:335.61, Y:-49.23, Z:-2.95 [[ 9.79638140e-01 2.00133482e-01 1.59907614e-02 3.35613076e+02] [-2.00105189e-01 9.79768636e-01 -3.36655580e-03 -4.92292439e+01] [-1.63410070e-02 9.81721335e-05 9.99866472e-01 -2.95096914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.29576923100007 meters Centerline goodness [0,1] 0.9997459779847587 Centerline is valid? [True, True] Translation: X:335.64, Y:-49.23, Z:-2.95 [[ 9.79116178e-01 2.02672555e-01 1.59795123e-02 3.35644942e+02] [-2.02644601e-01 9.79246563e-01 -3.36658361e-03 -4.92346724e+01] [-1.63301966e-02 5.81145927e-05 9.99866652e-01 -2.95159251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32576923100004 meters Centerline goodness [0,1] 0.9998511714929625 Centerline is valid? [True, True] Translation: X:335.68, Y:-49.24, Z:-2.95 [[ 9.78225475e-01 2.06999806e-01 1.50333231e-02 3.35675455e+02] [-2.06975541e-01 9.78340984e-01 -3.16947883e-03 -4.92387879e+01] [-1.53637977e-02 -1.10652562e-05 9.99881970e-01 -2.95417987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.35576923100007 meters Centerline goodness [0,1] 0.9999361199241956 Centerline is valid? [True, True] Translation: X:335.71, Y:-49.25, Z:-2.96 [[ 9.77831554e-01 2.08870378e-01 1.47856989e-02 3.35707981e+02] [-2.08847098e-01 9.77943334e-01 -3.11860964e-03 -4.92451819e+01] [-1.51109608e-02 -3.84754011e-05 9.99885822e-01 -2.95612518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.74, Y:-49.25, Z:-2.96 [[ 9.77340347e-01 2.11199575e-01 1.41627881e-02 3.35739818e+02] [-2.11178421e-01 9.77442957e-01 -2.98992674e-03 -4.92544916e+01] [-1.44747887e-02 -6.86991917e-05 9.99895232e-01 -2.95828702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.77, Y:-49.26, Z:-2.96 [[ 9.77116337e-01 2.12255944e-01 1.38230881e-02 3.35771058e+02] [-2.12235860e-01 9.77214105e-01 -2.92096576e-03 -4.92611043e+01] [-1.41281090e-02 -7.96316138e-05 9.99900190e-01 -2.95964777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44576923100004 meters Centerline goodness [0,1] 0.9999786657564056 Centerline is valid? [True, True] Translation: X:335.80, Y:-49.27, Z:-2.96 [[ 9.76964079e-01 2.12952068e-01 1.38781877e-02 3.35802099e+02] [-2.12931856e-01 9.77062643e-01 -2.93527040e-03 -4.92692207e+01] [-1.41849306e-02 -8.74545117e-05 9.99899385e-01 -2.96007517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.4757692310001 meters Centerline goodness [0,1] 0.9999368021908573 Centerline is valid? [True, True] Translation: X:335.83, Y:-49.28, Z:-2.96 [[ 9.76928978e-01 2.13019000e-01 1.52537662e-02 3.35832580e+02] [-2.12994546e-01 9.77048052e-01 -3.22900140e-03 -4.92798035e+01] [-1.55915012e-02 -9.44639670e-05 9.99878441e-01 -2.95905478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50576923100004 meters Centerline goodness [0,1] 0.9999157291534994 Centerline is valid? [True, True] Translation: X:335.86, Y:-49.29, Z:-2.96 [[ 9.76950942e-01 2.12816093e-01 1.66182625e-02 3.35862806e+02] [-2.12786989e-01 9.77092268e-01 -3.52081369e-03 -4.92893369e+01] [-1.69868617e-02 -9.64877972e-05 9.99855708e-01 -2.95697725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5357692310001 meters Centerline goodness [0,1] 0.9998929473729286 Centerline is valid? [True, True] Translation: X:335.89, Y:-49.30, Z:-2.96 [[ 9.76968808e-01 2.12596249e-01 1.82971023e-02 3.35893438e+02] [-2.12560866e-01 9.77140126e-01 -3.87986644e-03 -4.93036402e+01] [-1.87036779e-02 -9.87394083e-05 9.99825066e-01 -2.95509391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56576923100005 meters Centerline goodness [0,1] 0.9999361253646177 Centerline is valid? [True, True] Translation: X:335.92, Y:-49.31, Z:-2.96 [[ 9.76932310e-01 2.12801011e-01 1.78603177e-02 3.35924379e+02] [-2.12767268e-01 9.77095553e-01 -3.79065547e-03 -4.93112870e+01] [-1.82578923e-02 -9.68772041e-05 9.99833306e-01 -2.95529338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5957692310001 meters Centerline goodness [0,1] 0.9999150743099787 Centerline is valid? [True, True] Translation: X:335.95, Y:-49.32, Z:-2.96 [[ 9.76821780e-01 2.13363883e-01 1.71774228e-02 3.35954999e+02] [-2.13332706e-01 9.76972796e-01 -3.64872548e-03 -4.93198473e+01] [-1.75603810e-02 -1.00351578e-04 9.99845800e-01 -2.95708004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62576923100005 meters Centerline goodness [0,1] 0.9998722643276846 Centerline is valid? [True, True] Translation: X:335.99, Y:-49.33, Z:-2.96 [[ 9.76584639e-01 2.14457191e-01 1.70456840e-02 3.35987132e+02] [-2.14426608e-01 9.76733382e-01 -3.62352292e-03 -4.93274367e+01] [-1.74261791e-02 -1.16371383e-04 9.99848146e-01 -2.95813366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6557692310001 meters Centerline goodness [0,1] 0.999893687142523 Centerline is valid? [True, True] Translation: X:336.02, Y:-49.33, Z:-2.96 [[ 9.75861972e-01 2.17684109e-01 1.75225667e-02 3.36018531e+02] [-2.17652255e-01 9.76019261e-01 -3.72800548e-03 -4.93340036e+01] [-1.79138902e-02 -1.75807369e-04 9.99839518e-01 -2.95935849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68576923100005 meters Centerline goodness [0,1] 0.999893687142523 Centerline is valid? [True, True] Translation: X:336.05, Y:-49.34, Z:-2.96 [[ 9.75820791e-01 2.17868691e-01 1.75219343e-02 3.36050264e+02] [-2.17836814e-01 9.75978075e-01 -3.73097576e-03 -4.93409490e+01] [-1.79138865e-02 -1.76158615e-04 9.99839518e-01 -2.95984272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7157692310001 meters Centerline goodness [0,1] 0.999978840904763 Centerline is valid? [True, True] Translation: X:336.08, Y:-49.34, Z:-2.96 [[ 9.75492001e-01 2.19297424e-01 1.79999094e-02 3.36081088e+02] [-2.19263962e-01 9.75658033e-01 -3.83625857e-03 -4.93438077e+01] [-1.84030378e-02 -2.04491908e-04 9.99830629e-01 -2.95924610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74576923100005 meters Centerline goodness [0,1] 0.9999357326478149 Centerline is valid? [True, True] Translation: X:336.11, Y:-49.35, Z:-2.96 [[ 9.74963441e-01 2.21507303e-01 1.95141699e-02 3.36112618e+02] [-2.21468349e-01 9.75158677e-01 -4.16230766e-03 -4.93475857e+01] [-1.99513936e-02 -2.63673203e-04 9.99800916e-01 -2.95773552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.775769231 meters Centerline goodness [0,1] 0.9998516194675259 Centerline is valid? [True, True] Translation: X:336.14, Y:-49.35, Z:-2.96 [[ 9.74789711e-01 2.22270167e-01 1.95189939e-02 3.36144939e+02] [-2.22231285e-01 9.74985075e-01 -4.16647996e-03 -4.93463886e+01] [-1.99568119e-02 -2.76289305e-04 9.99800805e-01 -2.95547865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80576923100006 meters Centerline goodness [0,1] 0.9998721908616466 Centerline is valid? [True, True] Translation: X:336.18, Y:-49.35, Z:-2.96 [[ 9.74705430e-01 2.22671526e-01 1.91498631e-02 3.36176701e+02] [-2.22634120e-01 9.74893489e-01 -4.09066368e-03 -4.93519255e+01] [-1.95799511e-02 -2.76220800e-04 9.99808256e-01 -2.95704865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.83576923100003 meters Centerline goodness [0,1] 0.9998101626273492 Centerline is valid? [True, True] Translation: X:336.21, Y:-49.36, Z:-2.96 [[ 9.74672241e-01 2.22902532e-01 1.81241005e-02 3.36208030e+02] [-2.22869018e-01 9.74840701e-01 -3.87416550e-03 -4.93576425e+01] [-1.85316722e-02 -2.63258913e-04 9.99828239e-01 -2.96017988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86576923100006 meters Centerline goodness [0,1] 0.9999362502390616 Centerline is valid? [True, True] Translation: X:336.24, Y:-49.37, Z:-2.97 [[ 9.74588357e-01 2.23422154e-01 1.61268541e-02 3.36239345e+02] [-2.23395653e-01 9.74721747e-01 -3.44950291e-03 -4.93699275e+01] [-1.64898908e-02 -2.40823727e-04 9.99864004e-01 -2.96703054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.89576923100003 meters Centerline goodness [0,1] 0.9999357780489371 Centerline is valid? [True, True] Translation: X:336.27, Y:-49.38, Z:-2.97 [[ 9.74518156e-01 2.23738308e-01 1.59853706e-02 3.36272125e+02] [-2.23712262e-01 9.74649225e-01 -3.42236239e-03 -4.93755743e+01] [-1.63458426e-02 -2.40969130e-04 9.99866369e-01 -2.96734740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92576923100006 meters Centerline goodness [0,1] 0.9999150670969934 Centerline is valid? [True, True] Translation: X:336.30, Y:-49.38, Z:-2.97 [[ 9.74344843e-01 2.24442780e-01 1.66603244e-02 3.36303819e+02] [-2.24414533e-01 9.74487235e-01 -3.57019697e-03 -4.93803353e+01] [-1.70365784e-02 -2.60215929e-04 9.99854833e-01 -2.96684474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.95576923100003 meters Centerline goodness [0,1] 0.9998730454285775 Centerline is valid? [True, True] Translation: X:336.34, Y:-49.38, Z:-2.97 [[ 9.74030648e-01 2.25752600e-01 1.73222350e-02 3.36335212e+02] [-2.25722218e-01 9.74184623e-01 -3.71506928e-03 -4.93809675e+01] [-1.77137415e-02 -2.91421957e-04 9.99843057e-01 -2.96630520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98576923100006 meters Centerline goodness [0,1] 0.999830852503383 Centerline is valid? [True, True] Translation: X:336.37, Y:-49.38, Z:-2.97 [[ 9.73957236e-01 2.26133026e-01 1.64668449e-02 3.36366747e+02] [-2.26105584e-01 9.74096389e-01 -3.53403335e-03 -4.93848626e+01] [-1.68394558e-02 -2.81248232e-04 9.99858167e-01 -2.96914534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01576923100004 meters Centerline goodness [0,1] 0.9998088238417911 Centerline is valid? [True, True] Translation: X:336.40, Y:-49.38, Z:-2.97 [[ 9.73904690e-01 2.26452900e-01 1.51241433e-02 3.36399609e+02] [-2.26429764e-01 9.74022082e-01 -3.24753970e-03 -4.93819881e+01] [-1.54666643e-02 -2.61762047e-04 9.99880350e-01 -2.97211388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04576923100007 meters Centerline goodness [0,1] 0.9998720273008425 Centerline is valid? [True, True] Translation: X:336.43, Y:-49.39, Z:-2.98 [[ 9.73932212e-01 2.26434562e-01 1.35438659e-02 3.36430601e+02] [-2.26415988e-01 9.74026352e-01 -2.90955460e-03 -4.93945795e+01] [-1.38509060e-02 -2.32838821e-04 9.99904044e-01 -2.97600754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.46, Y:-49.40, Z:-2.98 [[ 9.73982921e-01 2.26203234e-01 1.37610162e-02 3.36462043e+02] [-2.26183999e-01 9.74080101e-01 -2.95888971e-03 -4.93999496e+01] [-1.40736425e-02 -2.30613638e-04 9.99900935e-01 -2.97635678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10576923100007 meters Centerline goodness [0,1] 0.999957483897026 Centerline is valid? [True, True] Translation: X:336.49, Y:-49.41, Z:-2.98 [[ 9.74127215e-01 2.25526761e-01 1.46236059e-02 3.36492963e+02] [-2.25504924e-01 9.74236946e-01 -3.14695019e-03 -4.94081929e+01] [-1.49565787e-02 -2.32165313e-04 9.99888117e-01 -2.97556946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.52, Y:-49.41, Z:-2.97 [[ 9.74409284e-01 2.24265447e-01 1.52169952e-02 3.36523353e+02] [-2.24241605e-01 9.74528071e-01 -3.27739319e-03 -4.94146332e+01] [-1.55643951e-02 -2.18761082e-04 9.99878844e-01 -2.97443749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16576923100007 meters Centerline goodness [0,1] 0.9999787649706957 Centerline is valid? [True, True] Translation: X:336.55, Y:-49.42, Z:-2.97 [[ 9.75104488e-01 2.21166411e-01 1.60204624e-02 3.36553251e+02] [-2.21139522e-01 9.75236068e-01 -3.45313961e-03 -4.94227145e+01] [-1.63874513e-02 -1.75585460e-04 9.99865701e-01 -2.97375085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.19576923100004 meters Centerline goodness [0,1] 0.9999574341293151 Centerline is valid? [True, True] Translation: X:336.58, Y:-49.43, Z:-2.98 [[ 9.75312868e-01 2.20290939e-01 1.53854487e-02 3.36583628e+02] [-2.20265993e-01 9.75434200e-01 -3.31858145e-03 -4.94296299e+01] [-1.57385462e-02 -1.52235943e-04 9.99876130e-01 -2.97625677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2257692310001 meters Centerline goodness [0,1] 0.9999574938366063 Centerline is valid? [True, True] Translation: X:336.62, Y:-49.44, Z:-2.98 [[ 9.75402848e-01 2.19962060e-01 1.43519028e-02 3.36615698e+02] [-2.19940289e-01 9.75508418e-01 -3.09767439e-03 -4.94377211e+01] [-1.46817729e-02 -1.35081232e-04 9.99892208e-01 -2.97933246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.25576923100004 meters Centerline goodness [0,1] 0.9999140542747255 Centerline is valid? [True, True] Translation: X:336.65, Y:-49.44, Z:-2.98 [[ 9.75227517e-01 2.20821357e-01 1.30084277e-02 3.36648399e+02] [-2.20803518e-01 9.75314263e-01 -2.80991781e-03 -4.94442390e+01] [-1.33077950e-02 -1.31997442e-04 9.99911439e-01 -2.98254847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2857692310001 meters Centerline goodness [0,1] 0.99997886237291 Centerline is valid? [True, True] Translation: X:336.68, Y:-49.45, Z:-2.98 [[ 9.75038661e-01 2.21635345e-01 1.33185100e-02 3.36680687e+02] [-2.21616684e-01 9.75129608e-01 -2.87969239e-03 -4.94479117e+01] [-1.36255150e-02 -1.43792598e-04 9.99907158e-01 -2.98268764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.31576923100005 meters Centerline goodness [0,1] 0.9999369191303251 Centerline is valid? [True, True] Translation: X:336.71, Y:-49.45, Z:-2.98 [[ 9.74863399e-01 2.22374923e-01 1.38111408e-02 3.36712119e+02] [-2.22354890e-01 9.74961214e-01 -2.98893827e-03 -4.94529919e+01] [-1.41299915e-02 -1.57168179e-04 9.99900154e-01 -2.98194377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3457692310001 meters Centerline goodness [0,1] 0.9999361837906828 Centerline is valid? [True, True] Translation: X:336.74, Y:-49.46, Z:-2.98 [[ 9.74714518e-01 2.22992600e-01 1.43495341e-02 3.36743391e+02] [-2.22971004e-01 9.74820123e-01 -3.10809561e-03 -4.94597016e+01] [-1.46812969e-02 -1.70024103e-04 9.99892209e-01 -2.98141145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.37576923100005 meters Centerline goodness [0,1] 0.9999786589269708 Centerline is valid? [True, True] Translation: X:336.77, Y:-49.46, Z:-2.98 [[ 9.74396889e-01 2.24393406e-01 1.40819420e-02 3.36774505e+02] [-2.24372720e-01 9.74498622e-01 -3.05245403e-03 -4.94629917e+01] [-1.44077837e-02 -1.85301929e-04 9.99896185e-01 -2.98220384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4057692310001 meters Centerline goodness [0,1] 0.9999360286591606 Centerline is valid? [True, True] Translation: X:336.81, Y:-49.47, Z:-2.98 [[ 9.74117147e-01 2.25632426e-01 1.36305815e-02 3.36805728e+02] [-2.25613137e-01 9.74212487e-01 -2.95665287e-03 -4.94684441e+01] [-1.39461995e-02 -1.95112001e-04 9.99902728e-01 -2.98326994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.43576923100005 meters Centerline goodness [0,1] 0.999957720277355 Centerline is valid? [True, True] Translation: X:336.84, Y:-49.47, Z:-2.98 [[ 9.73798790e-01 2.27011763e-01 1.34749840e-02 3.36837540e+02] [-2.26993015e-01 9.73891994e-01 -2.92504613e-03 -4.94694002e+01] [-1.37871989e-02 -2.10320874e-04 9.99904930e-01 -2.98413403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4657692310001 meters Centerline goodness [0,1] 0.9999576064607754 Centerline is valid? [True, True] Translation: X:336.87, Y:-49.47, Z:-2.98 [[ 9.73515793e-01 2.28201340e-01 1.38257086e-02 3.36868311e+02] [-2.28181689e-01 9.73613935e-01 -3.00356256e-03 -4.94729962e+01] [-1.41463196e-02 -2.30757964e-04 9.99899909e-01 -2.98419042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.49576923100005 meters Centerline goodness [0,1] 0.9999787016527517 Centerline is valid? [True, True] Translation: X:336.90, Y:-49.48, Z:-2.98 [[ 9.73373662e-01 2.28794117e-01 1.40344577e-02 3.36899324e+02] [-2.28773930e-01 9.73474804e-01 -3.04889956e-03 -4.94780660e+01] [-1.43597612e-02 -2.42999515e-04 9.99896864e-01 -2.98383743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.525769231 meters Centerline goodness [0,1] 0.9999578023461896 Centerline is valid? [True, True] Translation: X:336.93, Y:-49.48, Z:-2.98 [[ 9.73289656e-01 2.29160871e-01 1.38758859e-02 3.36929148e+02] [-2.29141171e-01 9.73388532e-01 -3.01479353e-03 -4.94814357e+01] [-1.41975009e-02 -2.45269366e-04 9.99899180e-01 -2.98436300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.55576923100006 meters Centerline goodness [0,1] 0.99995766747804 Centerline is valid? [True, True] Translation: X:336.96, Y:-49.48, Z:-2.98 [[ 9.72997996e-01 2.30394138e-01 1.39083150e-02 3.36959681e+02] [-2.30374469e-01 9.73097360e-01 -3.02203204e-03 -4.94800033e+01] [-1.42304031e-02 -2.63689557e-04 9.99898708e-01 -2.98368338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58576923100003 meters Centerline goodness [0,1] 0.9998721418373218 Centerline is valid? [True, True] Translation: X:336.99, Y:-49.48, Z:-2.98 [[ 9.72734607e-01 2.31471646e-01 1.44313032e-02 3.36988819e+02] [-2.31450593e-01 9.72841607e-01 -3.13530993e-03 -4.94805530e+01] [-1.47651076e-02 -2.90309218e-04 9.99890948e-01 -2.98326581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.61576923100006 meters Centerline goodness [0,1] 0.9999362895005097 Centerline is valid? [True, True] Translation: X:337.02, Y:-49.48, Z:-2.98 [[ 9.72557771e-01 2.32184916e-01 1.48844369e-02 3.37018201e+02] [-2.32162615e-01 9.72671614e-01 -3.23302024e-03 -4.94819964e+01] [-1.52283277e-02 -3.11310823e-04 9.99883994e-01 -2.98276306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64576923100003 meters Centerline goodness [0,1] 0.9999153672005586 Centerline is valid? [True, True] Translation: X:337.05, Y:-49.48, Z:-2.98 [[ 9.72486831e-01 2.32429992e-01 1.56736026e-02 3.37046189e+02] [-2.32405307e-01 9.72613072e-01 -3.40362948e-03 -4.94835293e+01] [-1.60354564e-02 -3.32643587e-04 9.99871368e-01 -2.98266827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.67576923100006 meters Centerline goodness [0,1] 0.9999366219499314 Centerline is valid? [True, True] Translation: X:337.07, Y:-49.48, Z:-2.98 [[ 9.72815231e-01 2.30941237e-01 1.72241621e-02 3.37074921e+02] [-2.30911213e-01 9.72967641e-01 -3.73926155e-03 -4.94846809e+01] [-1.76221020e-02 -3.39641566e-04 9.99844661e-01 -2.98158788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70576923100003 meters Centerline goodness [0,1] 0.9999157202755947 Centerline is valid? [True, True] Translation: X:337.10, Y:-49.49, Z:-2.98 [[ 9.73172361e-01 2.29420531e-01 1.73716812e-02 3.37103712e+02] [-2.29389762e-01 9.73327345e-01 -3.77049044e-03 -4.94903153e+01] [-1.77733602e-02 -3.15548723e-04 9.99841992e-01 -2.98165326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.73576923100006 meters Centerline goodness [0,1] 0.9999146010802963 Centerline is valid? [True, True] Translation: X:337.13, Y:-49.50, Z:-2.98 [[ 9.73536780e-01 2.27902869e-01 1.69239524e-02 3.37132515e+02] [-2.27873447e-01 9.73683831e-01 -3.67272918e-03 -4.94958854e+01] [-1.73156043e-02 -2.80982428e-04 9.99850034e-01 -2.98318412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76576923100004 meters Centerline goodness [0,1] 0.9999574504297507 Centerline is valid? [True, True] Translation: X:337.16, Y:-49.50, Z:-2.98 [[ 9.73824836e-01 2.26722493e-01 1.61895355e-02 3.37160602e+02] [-2.26695415e-01 9.73959367e-01 -3.51278567e-03 -4.95012478e+01] [-1.65643772e-02 -2.49255535e-04 9.99862770e-01 -2.98438184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.79576923100007 meters Centerline goodness [0,1] 0.9999575263336731 Centerline is valid? [True, True] Translation: X:337.19, Y:-49.51, Z:-2.99 [[ 9.74343748e-01 2.24591916e-01 1.45853351e-02 3.37187512e+02] [-2.24569709e-01 9.74452890e-01 -3.16409473e-03 -4.95069619e+01] [-1.49233520e-02 -1.92508537e-04 9.99888622e-01 -2.98721370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82576923100004 meters Centerline goodness [0,1] 0.9999574603849836 Centerline is valid? [True, True] Translation: X:337.21, Y:-49.51, Z:-2.99 [[ 9.74560060e-01 2.23711136e-01 1.36388428e-02 3.37214320e+02] [-2.23691642e-01 9.74655477e-01 -2.95799154e-03 -4.95125429e+01] [-1.39549085e-02 -1.68154744e-04 9.99902611e-01 -2.98951147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.24, Y:-49.52, Z:-2.99 [[ 9.74757474e-01 2.22843102e-01 1.37411150e-02 3.37242389e+02] [-2.22823241e-01 9.74854311e-01 -2.97936209e-03 -4.95188663e+01] [-1.40595155e-02 -1.57684307e-04 9.99901148e-01 -2.99017377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88576923100004 meters Centerline goodness [0,1] 0.9999576342992713 Centerline is valid? [True, True] Translation: X:337.27, Y:-49.52, Z:-2.99 [[ 9.74875391e-01 2.22245745e-01 1.49933386e-02 3.37269537e+02] [-2.22222039e-01 9.74990668e-01 -3.25011304e-03 -4.95249522e+01] [-1.53406890e-02 -1.63395048e-04 9.99882311e-01 -2.98841399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91576923100007 meters Centerline goodness [0,1] 0.9999573415237608 Centerline is valid? [True, True] Translation: X:337.30, Y:-49.53, Z:-2.99 [[ 9.74889465e-01 2.22099620e-01 1.61953347e-02 3.37297651e+02] [-2.22071957e-01 9.75023963e-01 -3.50969030e-03 -4.95309574e+01] [-1.65703403e-02 -1.74969564e-04 9.99862687e-01 -2.98637564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.33, Y:-49.54, Z:-2.99 [[ 9.74675033e-01 2.23077191e-01 1.56571444e-02 3.37325991e+02] [-2.23051473e-01 9.74800765e-01 -3.39235811e-03 -4.95371421e+01] [-1.60193540e-02 -1.85902352e-04 9.99871665e-01 -2.98786629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.9757692310001 meters Centerline goodness [0,1] 0.9999574938366063 Centerline is valid? [True, True] Translation: X:337.35, Y:-49.54, Z:-2.99 [[ 9.74538116e-01 2.23779535e-01 1.40776667e-02 3.37353562e+02] [-2.23758826e-01 9.74639773e-01 -3.04953357e-03 -4.95386732e+01] [-1.44030771e-02 -1.78115478e-04 9.99896254e-01 -2.99219315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00576923100004 meters Centerline goodness [0,1] 0.9999786921224777 Centerline is valid? [True, True] Translation: X:337.38, Y:-49.54, Z:-3.00 [[ 9.74464983e-01 2.24169880e-01 1.28787018e-02 3.37381705e+02] [-2.24152595e-01 9.74550069e-01 -2.78891243e-03 -4.95431357e+01] [-1.31761299e-02 -1.69096920e-04 9.99913177e-01 -2.99547950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.41, Y:-49.55, Z:-2.99 [[ 9.74373724e-01 2.24520111e-01 1.36588994e-02 3.37410177e+02] [-2.24500711e-01 9.74469438e-01 -2.95720988e-03 -4.95495177e+01] [-1.39741331e-02 -1.85005024e-04 9.99902340e-01 -2.99428059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06576923100005 meters Centerline goodness [0,1] 0.9999785541186815 Centerline is valid? [True, True] Translation: X:337.44, Y:-49.55, Z:-2.99 [[ 9.74474922e-01 2.24052134e-01 1.41162304e-02 3.37437832e+02] [-2.24031374e-01 9.74577143e-01 -3.05554725e-03 -4.95540750e+01] [-1.44419574e-02 -1.84924315e-04 9.99895692e-01 -2.99321064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.47, Y:-49.56, Z:-2.99 [[ 9.74585470e-01 2.23600023e-01 1.36452205e-02 3.37465618e+02] [-2.23580592e-01 9.74680973e-01 -2.95282039e-03 -4.95603012e+01] [-1.39599875e-02 -1.73030632e-04 9.99902540e-01 -2.99455703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.49, Y:-49.57, Z:-3.00 [[ 9.74723459e-01 2.23053831e-01 1.26951131e-02 3.37492997e+02] [-2.23036972e-01 9.74806116e-01 -2.74670810e-03 -4.95708034e+01] [-1.29879376e-02 -1.54198766e-04 9.99915641e-01 -2.99699374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.52, Y:-49.58, Z:-3.00 [[ 9.75103489e-01 2.21432166e-01 1.18735636e-02 3.37519186e+02] [-2.21417304e-01 9.75175769e-01 -2.56842162e-03 -4.95802049e+01] [-1.21475427e-02 -1.24535561e-04 9.99926208e-01 -3.00068733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18576923100005 meters Centerline goodness [0,1] 0.9999788726442999 Centerline is valid? [True, True] Translation: X:337.55, Y:-49.59, Z:-3.00 [[ 9.75393859e-01 2.20111698e-01 1.25562507e-02 3.37546185e+02] [-2.20094977e-01 9.75474668e-01 -2.71546945e-03 -4.95864344e+01] [-1.28460111e-02 -1.14915493e-04 9.99917480e-01 -2.99984579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2157692310001 meters Centerline goodness [0,1] 0.9999574060270472 Centerline is valid? [True, True] Translation: X:337.57, Y:-49.60, Z:-3.00 [[ 9.75814330e-01 2.18218715e-01 1.29223038e-02 3.37574082e+02] [-2.18200851e-01 9.75899884e-01 -2.79378556e-03 -4.95986818e+01] [-1.32205311e-02 -9.34417036e-05 9.99912601e-01 -2.99872713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24576923100005 meters Centerline goodness [0,1] 0.99997877128179 Centerline is valid? [True, True] Translation: X:337.60, Y:-49.61, Z:-3.00 [[ 9.76225463e-01 2.16386834e-01 1.26721359e-02 3.37602555e+02] [-2.16369504e-01 9.76307704e-01 -2.73937212e-03 -4.96082901e+01] [-1.29646680e-02 -6.76189554e-05 9.99915953e-01 -2.99977190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.275769231 meters Centerline goodness [0,1] 0.999957203689042 Centerline is valid? [True, True] Translation: X:337.63, Y:-49.62, Z:-3.00 [[ 9.76799045e-01 2.13802997e-01 1.23249078e-02 3.37630659e+02] [-2.13786401e-01 9.76876797e-01 -2.66413869e-03 -4.96228053e+01] [-1.26095173e-02 -3.25695492e-05 9.99920496e-01 -3.00097551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.66, Y:-49.63, Z:-3.00 [[ 9.76809735e-01 2.13703880e-01 1.31678941e-02 3.37661034e+02] [-2.13684926e-01 9.76898485e-01 -2.84632352e-03 -4.96313312e+01] [-1.34719661e-02 -3.34639534e-05 9.99909248e-01 -2.99985901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.33576923100003 meters Centerline goodness [0,1] 0.9999787360721273 Centerline is valid? [True, True] Translation: X:337.69, Y:-49.64, Z:-3.00 [[ 9.76632667e-01 2.14489621e-01 1.35216764e-02 3.37691006e+02] [-2.14469707e-01 9.76726267e-01 -2.92310504e-03 -4.96359594e+01] [-1.38339522e-02 -4.51901114e-05 9.99904305e-01 -2.99953895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36576923100006 meters Centerline goodness [0,1] 0.999957720277355 Centerline is valid? [True, True] Translation: X:337.72, Y:-49.64, Z:-3.00 [[ 9.76519267e-01 2.15052900e-01 1.27425267e-02 3.37719170e+02] [-2.15035252e-01 9.76602400e-01 -2.75549550e-03 -4.96403312e+01] [-1.30369594e-02 -4.92979884e-05 9.99915014e-01 -3.00207363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.39576923100003 meters Centerline goodness [0,1] 0.9999360750053271 Centerline is valid? [True, True] Translation: X:337.75, Y:-49.65, Z:-3.00 [[ 9.76487875e-01 2.15258065e-01 1.16359782e-02 3.37749989e+02] [-2.15243369e-01 9.76557199e-01 -2.51578305e-03 -4.96475171e+01] [-1.19047409e-02 -4.79355019e-05 9.99929135e-01 -3.00455999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.78, Y:-49.65, Z:-3.01 [[ 9.76572435e-01 2.14908297e-01 1.09864838e-02 3.37779795e+02] [-2.14895170e-01 9.76634232e-01 -2.37565680e-03 -4.96542150e+01] [-1.12403245e-02 -4.09413465e-05 9.99936825e-01 -3.00746143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.81, Y:-49.66, Z:-3.01 [[ 9.76880862e-01 2.13519485e-01 1.06400194e-02 3.37810433e+02] [-2.13507090e-01 9.76938805e-01 -2.30081622e-03 -4.96630256e+01] [-1.08859170e-02 -2.40962461e-05 9.99940746e-01 -3.00843767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48576923100006 meters Centerline goodness [0,1] 0.9999365173413463 Centerline is valid? [True, True] Translation: X:337.84, Y:-49.67, Z:-3.01 [[ 9.77807030e-01 2.09243405e-01 1.05171296e-02 3.37840259e+02] [-2.09231050e-01 9.77863588e-01 -2.27394601e-03 -4.96741141e+01] [-1.07601263e-02 2.29703368e-05 9.99942108e-01 -3.00969934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51576923100004 meters Centerline goodness [0,1] 0.9998515187510606 Centerline is valid? [True, True] Translation: X:337.87, Y:-49.68, Z:-3.01 [[ 9.78302859e-01 2.06870739e-01 1.13142929e-02 3.37871268e+02] [-2.06856258e-01 9.78368282e-01 -2.44829385e-03 -4.96837942e+01] [-1.15760256e-02 5.47405891e-05 9.99932994e-01 -3.00772572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54576923100007 meters Centerline goodness [0,1] 0.9998720736855571 Centerline is valid? [True, True] Translation: X:337.90, Y:-49.69, Z:-3.01 [[ 9.78888093e-01 2.04029078e-01 1.22571126e-02 3.37901915e+02] [-2.04011831e-01 9.78964824e-01 -2.65462811e-03 -4.96944205e+01] [-1.25409034e-02 9.79878700e-05 9.99921355e-01 -3.00640719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57576923100004 meters Centerline goodness [0,1] 0.9998720736855571 Centerline is valid? [True, True] Translation: X:337.93, Y:-49.70, Z:-3.01 [[ 9.78849175e-01 2.04215734e-01 1.22566810e-02 3.37933628e+02] [-2.04198477e-01 9.78925903e-01 -2.65661902e-03 -4.97014957e+01] [-1.25409059e-02 9.76337416e-05 9.99921355e-01 -3.00689143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60576923100007 meters Centerline goodness [0,1] 0.9998517640083012 Centerline is valid? [True, True] Translation: X:337.96, Y:-49.71, Z:-3.01 [[ 9.79451390e-01 2.01277352e-01 1.27437181e-02 3.37962495e+02] [-2.01258410e-01 9.79534281e-01 -2.76504749e-03 -4.97130836e+01] [-1.30394501e-02 1.43449177e-04 9.99914972e-01 -3.00679141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63576923100004 meters Centerline goodness [0,1] 0.9998517137651993 Centerline is valid? [True, True] Translation: X:337.99, Y:-49.73, Z:-3.01 [[ 9.80089512e-01 1.98167149e-01 1.24229529e-02 3.37992689e+02] [-1.98148888e-01 9.80168224e-01 -2.69631435e-03 -4.97252179e+01] [-1.27109046e-02 1.81035123e-04 9.99919197e-01 -3.00834758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66576923100007 meters Centerline goodness [0,1] 0.9997873200195666 Centerline is valid? [True, True] Translation: X:338.02, Y:-49.74, Z:-3.01 [[ 9.81184670e-01 1.92671149e-01 1.24286749e-02 3.38019687e+02] [-1.92652398e-01 9.81263351e-01 -2.70007560e-03 -4.97422202e+01] [-1.27160298e-02 2.54858770e-04 9.99919116e-01 -3.00940876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.69576923100004 meters Centerline goodness [0,1] 0.9997464985106788 Centerline is valid? [True, True] Translation: X:338.05, Y:-49.76, Z:-3.01 [[ 9.81479928e-01 1.91139719e-01 1.27576950e-02 3.38048877e+02] [-1.91119835e-01 9.81562799e-01 -2.77127010e-03 -4.97550800e+01] [-1.30521786e-02 2.81697418e-04 9.99914777e-01 -3.00953372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7257692310001 meters Centerline goodness [0,1] 0.999787374285046 Centerline is valid? [True, True] Translation: X:338.08, Y:-49.76, Z:-3.01 [[ 9.81633575e-01 1.90332196e-01 1.30069370e-02 3.38079440e+02] [-1.90311430e-01 9.81719698e-01 -2.82749309e-03 -4.97647989e+01] [-1.33073293e-02 3.00193361e-04 9.99911409e-01 -3.00895526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.75576923100004 meters Centerline goodness [0,1] 0.999808620579667 Centerline is valid? [True, True] Translation: X:338.11, Y:-49.77, Z:-3.01 [[ 9.81722580e-01 1.89904906e-01 1.25260852e-02 3.38108672e+02] [-1.89885585e-01 9.81802444e-01 -2.72507692e-03 -4.97746875e+01] [-1.28156465e-02 2.96746532e-04 9.99917832e-01 -3.01047868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7857692310001 meters Centerline goodness [0,1] 0.999808085977482 Centerline is valid? [True, True] Translation: X:338.14, Y:-49.78, Z:-3.01 [[ 9.81530594e-01 1.91015116e-01 1.05317773e-02 3.38139502e+02] [-1.91001507e-01 9.81587066e-01 -2.29259966e-03 -4.97838439e+01] [-1.07757775e-02 2.38671377e-04 9.99941911e-01 -3.01493149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.81576923100005 meters Centerline goodness [0,1] 0.9998296821443018 Centerline is valid? [True, True] Translation: X:338.17, Y:-49.79, Z:-3.02 [[ 9.81239716e-01 1.92533045e-01 9.98227619e-03 3.38168744e+02] [-1.92520897e-01 9.81290468e-01 -2.17304577e-03 -4.97942229e+01] [-1.02138956e-02 2.10482056e-04 9.99947815e-01 -3.01649838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8457692310001 meters Centerline goodness [0,1] 0.9998499592746602 Centerline is valid? [True, True] Translation: X:338.20, Y:-49.80, Z:-3.02 [[ 9.80846027e-01 1.94526312e-01 1.00292565e-02 3.38200651e+02] [-1.94514135e-01 9.80897282e-01 -2.18503061e-03 -4.97994490e+01] [-1.02627164e-02 1.92346428e-04 9.99947318e-01 -3.01673652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.87576923100005 meters Centerline goodness [0,1] 0.9998300223095719 Centerline is valid? [True, True] Translation: X:338.23, Y:-49.81, Z:-3.02 [[ 9.80468935e-01 1.96410752e-01 1.01726778e-02 3.38230112e+02] [-1.96398306e-01 9.80521690e-01 -2.21819115e-03 -4.98098601e+01] [-1.04102078e-02 1.76970834e-04 9.99945797e-01 -3.01781897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9057692310001 meters Centerline goodness [0,1] 0.9997866348041308 Centerline is valid? [True, True] Translation: X:338.26, Y:-49.82, Z:-3.02 [[ 9.79593349e-01 2.00731203e-01 1.01909130e-02 3.38260244e+02] [-2.00718921e-01 9.79646348e-01 -2.22445821e-03 -4.98165669e+01] [-1.04300089e-02 1.33555395e-04 9.99945597e-01 -3.01845951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.93576923100005 meters Centerline goodness [0,1] 0.9998723431416353 Centerline is valid? [True, True] Translation: X:338.29, Y:-49.82, Z:-3.02 [[ 9.79038623e-01 2.03392718e-01 1.07133860e-02 3.38291692e+02] [-2.03379308e-01 9.79097232e-01 -2.33820784e-03 -4.98216707e+01] [-1.09650210e-02 1.10314761e-04 9.99939876e-01 -3.01733582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9657692310001 meters Centerline goodness [0,1] 0.9998940004239983 Centerline is valid? [True, True] Translation: X:338.32, Y:-49.83, Z:-3.02 [[ 9.78511558e-01 2.05893321e-01 1.10937686e-02 3.38322108e+02] [-2.05879079e-01 9.78574439e-01 -2.42326505e-03 -4.98279760e+01] [-1.13550125e-02 8.72179893e-05 9.99935526e-01 -3.01674575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.99576923100005 meters Centerline goodness [0,1] 0.9999154190983676 Centerline is valid? [True, True] Translation: X:338.35, Y:-49.83, Z:-3.02 [[ 9.77831765e-01 2.09037086e-01 1.21875461e-02 3.38354358e+02] [-2.09020114e-01 9.77907712e-01 -2.66430789e-03 -4.98327247e+01] [-1.24752344e-02 5.78026183e-05 9.99922180e-01 -3.01576636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.025769231 meters Centerline goodness [0,1] 0.9999359631147541 Centerline is valid? [True, True] Translation: X:338.39, Y:-49.84, Z:-3.02 [[ 9.77648986e-01 2.09863727e-01 1.26362864e-02 3.38385067e+02] [-2.09845523e-01 9.77730645e-01 -2.76460481e-03 -4.98397635e+01] [-1.29350747e-02 5.11449706e-05 9.99916337e-01 -3.01573944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.05576923100006 meters Centerline goodness [0,1] 0.9999357656731758 Centerline is valid? [True, True] Translation: X:338.42, Y:-49.85, Z:-3.02 [[ 9.77589857e-01 2.10128282e-01 1.28131514e-02 3.38417207e+02] [-2.10109557e-01 9.77673822e-01 -2.80560082e-03 -4.98479180e+01] [-1.31166188e-02 5.05613293e-05 9.99913972e-01 -3.01550342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08576923100003 meters Centerline goodness [0,1] 0.9999354561101549 Centerline is valid? [True, True] Translation: X:338.45, Y:-49.86, Z:-3.01 [[ 9.77521094e-01 2.10420274e-01 1.32596610e-02 3.38449599e+02] [-2.10400211e-01 9.77611020e-01 -2.90609128e-03 -4.98562377e+01] [-1.35742913e-02 5.09300419e-05 9.99907864e-01 -3.01461597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.11576923100006 meters Centerline goodness [0,1] 0.9999578468153268 Centerline is valid? [True, True] Translation: X:338.48, Y:-49.87, Z:-3.01 [[ 9.77528439e-01 2.10300581e-01 1.45539280e-02 3.38480230e+02] [-2.10276347e-01 9.77636774e-01 -3.19310859e-03 -4.98660973e+01] [-1.48999678e-02 6.10076374e-05 9.99888987e-01 -3.01279220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14576923100003 meters Centerline goodness [0,1] 0.9999789033986625 Centerline is valid? [True, True] Translation: X:338.51, Y:-49.88, Z:-3.01 [[ 9.77696540e-01 2.09483509e-01 1.50378109e-02 3.38511017e+02] [-2.09457494e-01 9.77812177e-01 -3.30230737e-03 -4.98752064e+01] [-1.53959335e-02 7.88723124e-05 9.99881472e-01 -3.01258930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.54, Y:-49.88, Z:-3.01 [[ 9.77966998e-01 2.08200094e-01 1.52732184e-02 3.38541954e+02] [-2.08173057e-01 9.78086249e-01 -3.35681467e-03 -4.98848996e+01] [-1.56374140e-02 1.03381398e-04 9.99877723e-01 -3.01280520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20576923100003 meters Centerline goodness [0,1] 0.99993608453885 Centerline is valid? [True, True] Translation: X:338.57, Y:-49.89, Z:-3.01 [[ 9.78222178e-01 2.07007518e-01 1.51412543e-02 3.38573128e+02] [-2.06980763e-01 9.78339344e-01 -3.33040670e-03 -4.98948702e+01] [-1.55027041e-02 1.23929327e-04 9.99879818e-01 -3.01338723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.23576923100006 meters Centerline goodness [0,1] 0.9999787888429313 Centerline is valid? [True, True] Translation: X:338.60, Y:-49.91, Z:-3.02 [[ 9.78793455e-01 2.04400879e-01 1.35519029e-02 3.38601967e+02] [-2.04379167e-01 9.78887255e-01 -2.98292621e-03 -4.99080542e+01] [-1.38754977e-02 1.49942038e-04 9.99903719e-01 -3.01690393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26576923100004 meters Centerline goodness [0,1] 0.9999571578518947 Centerline is valid? [True, True] Translation: X:338.63, Y:-49.92, Z:-3.02 [[ 9.79087459e-01 2.03048512e-01 1.26114977e-02 3.38632346e+02] [-2.03029573e-01 9.79168666e-01 -2.77776181e-03 -4.99175640e+01] [-1.29128038e-02 1.59164749e-04 9.99916614e-01 -3.01949922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.29576923100007 meters Centerline goodness [0,1] 0.9999150255985384 Centerline is valid? [True, True] Translation: X:338.66, Y:-49.93, Z:-3.02 [[ 9.79403213e-01 2.01590970e-01 1.14204607e-02 3.38660824e+02] [-2.01575317e-01 9.79469782e-01 -2.51746217e-03 -4.99328717e+01] [-1.16934938e-02 1.63527544e-04 9.99931615e-01 -3.02313164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32576923100004 meters Centerline goodness [0,1] 0.99991480479649 Centerline is valid? [True, True] Translation: X:338.69, Y:-49.95, Z:-3.02 [[ 9.80153391e-01 1.97975778e-01 1.02431443e-02 3.38690331e+02] [-1.97962978e-01 9.80206895e-01 -2.25896648e-03 -4.99489752e+01] [-1.04876213e-02 1.86370308e-04 9.99944986e-01 -3.02394863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.35576923100007 meters Centerline goodness [0,1] 0.9999141354513256 Centerline is valid? [True, True] Translation: X:338.72, Y:-49.96, Z:-3.02 [[ 9.80486963e-01 1.96279736e-01 1.09352984e-02 3.38719818e+02] [-1.96265037e-01 9.80547917e-01 -2.41205652e-03 -4.99626062e+01] [-1.11960219e-02 2.18773221e-04 9.99937299e-01 -3.02315971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38576923100004 meters Centerline goodness [0,1] 0.9998510099397655 Centerline is valid? [True, True] Translation: X:338.75, Y:-49.98, Z:-3.02 [[ 9.80715591e-01 1.95063917e-01 1.21242691e-02 3.38749546e+02] [-1.95045742e-01 9.80790498e-01 -2.67538260e-03 -4.99758365e+01] [-1.24132386e-02 2.59002364e-04 9.99922919e-01 -3.02194588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41576923100007 meters Centerline goodness [0,1] 0.9998279939797893 Centerline is valid? [True, True] Translation: X:338.78, Y:-49.99, Z:-3.02 [[ 9.80884071e-01 1.94109454e-01 1.37098456e-02 3.38779326e+02] [-1.94086082e-01 9.80979829e-01 -3.02799229e-03 -4.99917580e+01] [-1.40368440e-02 3.09219179e-04 9.99901431e-01 -3.02090078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44576923100004 meters Centerline goodness [0,1] 0.9997667465383065 Centerline is valid? [True, True] Translation: X:338.81, Y:-50.00, Z:-3.02 [[ 9.80754937e-01 1.94787359e-01 1.33281335e-02 3.38808441e+02] [-1.94765301e-01 9.80845451e-01 -2.94601730e-03 -5.00036407e+01] [-1.36466860e-02 2.93463084e-04 9.99906837e-01 -3.02230716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.4757692310001 meters Centerline goodness [0,1] 0.9998299138939087 Centerline is valid? [True, True] Translation: X:338.84, Y:-50.01, Z:-3.02 [[ 9.80472366e-01 1.96233890e-01 1.28918767e-02 3.38837998e+02] [-1.96213350e-01 9.80557081e-01 -2.85164864e-03 -5.00131734e+01] [-1.32008111e-02 2.66404380e-04 9.99912830e-01 -3.02417342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50576923100004 meters Centerline goodness [0,1] 0.9999785821375027 Centerline is valid? [True, True] Translation: X:338.87, Y:-50.02, Z:-3.03 [[ 9.79656302e-01 2.00303510e-01 1.23302371e-02 3.38868319e+02] [-2.00285015e-01 9.79733873e-01 -2.72955886e-03 -5.00227583e+01] [-1.26270912e-02 2.04467805e-04 9.99920254e-01 -3.02563899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5357692310001 meters Centerline goodness [0,1] 0.9999361457579499 Centerline is valid? [True, True] Translation: X:338.90, Y:-50.03, Z:-3.03 [[ 9.79067554e-01 2.03159998e-01 1.23588381e-02 3.38899478e+02] [-2.03141643e-01 9.79145539e-01 -2.73605267e-03 -5.00299649e+01] [-1.26569577e-02 1.68185712e-04 9.99919883e-01 -3.02637648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56576923100005 meters Centerline goodness [0,1] 0.9999574829931973 Centerline is valid? [True, True] Translation: X:338.93, Y:-50.04, Z:-3.03 [[ 9.78428518e-01 2.06253429e-01 1.17114865e-02 3.38931511e+02] [-2.06237142e-01 9.78498599e-01 -2.59490288e-03 -5.00359223e+01] [-1.19948808e-02 1.23583468e-04 9.99928051e-01 -3.02836224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5957692310001 meters Centerline goodness [0,1] 0.9999363692281588 Centerline is valid? [True, True] Translation: X:338.96, Y:-50.04, Z:-3.03 [[ 9.77753640e-01 2.09491279e-01 1.05462923e-02 3.38963327e+02] [-2.09478259e-01 9.77810512e-01 -2.33684537e-03 -5.00406899e+01] [-1.08018242e-02 7.56401173e-05 9.99941656e-01 -3.03158668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62576923100005 meters Centerline goodness [0,1] 0.999957184449392 Centerline is valid? [True, True] Translation: X:338.99, Y:-50.05, Z:-3.04 [[ 9.77019540e-01 2.12940847e-01 9.43476792e-03 3.38993808e+02] [-2.12930574e-01 9.77065092e-01 -2.09196654e-03 -5.00453849e+01] [-9.66384752e-03 3.49416392e-05 9.99953303e-01 -3.03512341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.03, Y:-50.05, Z:-3.04 [[ 9.75623627e-01 2.19310032e-01 7.85166095e-03 3.39026886e+02] [-2.19303119e-01 9.75655220e-01 -1.74155585e-03 -5.00476863e+01] [-8.04245466e-03 -2.27906924e-05 9.99967659e-01 -3.03765418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.06, Y:-50.05, Z:-3.04 [[ 9.74965219e-01 2.22209386e-01 8.11241035e-03 3.39058348e+02] [-2.22202091e-01 9.74998967e-01 -1.80120136e-03 -5.00525433e+01] [-8.30983556e-03 -4.64858648e-05 9.99965472e-01 -3.03639083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.09, Y:-50.06, Z:-3.04 [[ 9.74299557e-01 2.25065161e-01 9.27611137e-03 3.39089204e+02] [-2.25055732e-01 9.74343711e-01 -2.06158397e-03 -5.00562319e+01] [-9.50211150e-03 -7.90416852e-05 9.99954851e-01 -3.03536152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.12, Y:-50.06, Z:-3.03 [[ 9.73692985e-01 2.27632457e-01 1.02681423e-02 3.39120655e+02] [-2.27621028e-01 9.73747119e-01 -2.28393263e-03 -5.00600339e+01] [-1.05184711e-02 -1.13395917e-04 9.99944673e-01 -3.03398315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.15, Y:-50.07, Z:-3.03 [[ 9.73222132e-01 2.29627098e-01 1.04917911e-02 3.39152311e+02] [-2.29615263e-01 9.73278674e-01 -2.33525339e-03 -5.00653143e+01] [-1.07476740e-02 -1.36355095e-04 9.99942233e-01 -3.03438590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.18, Y:-50.06, Z:-3.04 [[ 9.72434820e-01 2.32969660e-01 9.78056376e-03 3.39184034e+02] [-2.32959529e-01 9.72483991e-01 -2.17846361e-03 -5.00645538e+01] [-1.00189576e-02 -1.60061662e-04 9.99949796e-01 -3.03753301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.21, Y:-50.07, Z:-3.04 [[ 9.71984461e-01 2.34849529e-01 9.58678159e-03 3.39214932e+02] [-2.34839869e-01 9.72031722e-01 -2.13708298e-03 -5.00667783e+01] [-9.82054875e-03 -1.74147086e-04 9.99951762e-01 -3.03863138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86576923100006 meters Centerline goodness [0,1] 0.9999363705777552 Centerline is valid? [True, True] Translation: X:339.25, Y:-50.07, Z:-3.04 [[ 9.71508319e-01 2.36784894e-01 1.02225527e-02 3.39246385e+02] [-2.36774012e-01 9.71562078e-01 -2.27940675e-03 -5.00695428e+01] [-1.04715737e-02 -2.05972204e-04 9.99945150e-01 -3.03733862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.89576923100003 meters Centerline goodness [0,1] 0.9999577631356648 Centerline is valid? [True, True] Translation: X:339.28, Y:-50.07, Z:-3.03 [[ 9.71111536e-01 2.38335087e-01 1.17801207e-02 3.39278003e+02] [-2.38320725e-01 9.71182950e-01 -2.62876485e-03 -5.00737863e+01] [-1.20671793e-02 -2.54623045e-04 9.99927157e-01 -3.03450348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92576923100006 meters Centerline goodness [0,1] 0.9999788247750132 Centerline is valid? [True, True] Translation: X:339.31, Y:-50.08, Z:-3.03 [[ 9.70664460e-01 2.40042497e-01 1.37879001e-02 3.39308709e+02] [-2.40022960e-01 9.70762328e-01 -3.07926758e-03 -5.00774128e+01] [-1.41239291e-02 -3.20476998e-04 9.99900201e-01 -3.03087668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.95576923100003 meters Centerline goodness [0,1] 0.9999142440614013 Centerline is valid? [True, True] Translation: X:339.34, Y:-50.09, Z:-3.03 [[ 9.70635788e-01 2.40208298e-01 1.28895116e-02 3.39340113e+02] [-2.40191239e-01 9.70721321e-01 -2.87863323e-03 -5.00856526e+01] [-1.32035953e-02 -3.01843336e-04 9.99912783e-01 -3.03386206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98576923100006 meters Centerline goodness [0,1] 0.9998496595863491 Centerline is valid? [True, True] Translation: X:339.37, Y:-50.09, Z:-3.04 [[ 9.70558190e-01 2.40630000e-01 1.06771925e-02 3.39370200e+02] [-2.40618299e-01 9.70616886e-01 -2.38644910e-03 -5.00913428e+01] [-1.09377146e-02 -2.52940180e-04 9.99940149e-01 -3.04052688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01576923100004 meters Centerline goodness [0,1] 0.9999573815206273 Centerline is valid? [True, True] Translation: X:339.40, Y:-50.10, Z:-3.04 [[ 9.70488707e-01 2.40922574e-01 1.03915183e-02 3.39402227e+02] [-2.40911503e-01 9.70544307e-01 -2.32302664e-03 -5.00955110e+01] [-1.06450985e-02 -2.48965185e-04 9.99943308e-01 -3.04168927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04576923100007 meters Centerline goodness [0,1] 0.9999145061662428 Centerline is valid? [True, True] Translation: X:339.43, Y:-50.10, Z:-3.04 [[ 9.70395278e-01 2.41284095e-01 1.07233828e-02 3.39433460e+02] [-2.41272306e-01 9.70454491e-01 -2.39912120e-03 -5.01048457e+01] [-1.09854248e-02 -2.59159416e-04 9.99939625e-01 -3.04022608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07576923100004 meters Centerline goodness [0,1] 0.9998719808824784 Centerline is valid? [True, True] Translation: X:339.46, Y:-50.11, Z:-3.04 [[ 9.70308357e-01 2.41603328e-01 1.13808578e-02 3.39464706e+02] [-2.41590047e-01 9.70375059e-01 -2.54831155e-03 -5.01098244e+01] [-1.16593812e-02 -2.76853988e-04 9.99931989e-01 -3.03861899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10576923100007 meters Centerline goodness [0,1] 0.9999365361426668 Centerline is valid? [True, True] Translation: X:339.50, Y:-50.12, Z:-3.04 [[ 9.70328737e-01 2.41513732e-01 1.15438198e-02 3.39495775e+02] [-2.41500038e-01 9.70397362e-01 -2.58683504e-03 -5.01173454e+01] [-1.18268485e-02 -2.77752546e-04 9.99930022e-01 -3.03773308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13576923100004 meters Centerline goodness [0,1] 0.999891936285634 Centerline is valid? [True, True] Translation: X:339.53, Y:-50.13, Z:-3.04 [[ 9.70569094e-01 2.40515743e-01 1.21577923e-02 3.39526918e+02] [-2.40500450e-01 9.70645198e-01 -2.72644046e-03 -5.01260746e+01] [-1.24566545e-02 -2.77755659e-04 9.99922374e-01 -3.03718953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.56, Y:-50.13, Z:-3.04 [[ 9.70677085e-01 2.40052143e-01 1.26871908e-02 3.39557168e+02] [-2.40035420e-01 9.70759955e-01 -2.84735804e-03 -5.01342251e+01] [-1.29997312e-02 -2.81509979e-04 9.99915460e-01 -3.03713956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.59, Y:-50.14, Z:-3.04 [[ 9.70722574e-01 2.39815728e-01 1.36418917e-02 3.39588522e+02] [-2.39796354e-01 9.70818380e-01 -3.06286604e-03 -5.01424222e+01] [-1.39783227e-02 -2.98082677e-04 9.99902254e-01 -3.03657146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2257692310001 meters Centerline goodness [0,1] 0.9999574096552312 Centerline is valid? [True, True] Translation: X:339.62, Y:-50.15, Z:-3.04 [[ 9.70773134e-01 2.39573586e-01 1.42835038e-02 3.39619186e+02] [-2.39552285e-01 9.70878161e-01 -3.20924021e-03 -5.01489659e+01] [-1.46363911e-02 -3.06201809e-04 9.99892835e-01 -3.03543736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.25576923100004 meters Centerline goodness [0,1] 0.999936768890294 Centerline is valid? [True, True] Translation: X:339.65, Y:-50.16, Z:-3.04 [[ 9.70969063e-01 2.38766059e-01 1.44861189e-02 3.39650884e+02] [-2.38744042e-01 9.71077073e-01 -3.25603949e-03 -5.01566016e+01] [-1.48445697e-02 -2.96960965e-04 9.99889769e-01 -3.03578268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.68, Y:-50.16, Z:-3.04 [[ 9.71085973e-01 2.38327539e-01 1.38570427e-02 3.39681619e+02] [-2.38307338e-01 9.71184796e-01 -3.11530696e-03 -5.01633186e+01] [-1.42002126e-02 -2.77004060e-04 9.99899134e-01 -3.03743936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.71, Y:-50.17, Z:-3.04 [[ 9.71102907e-01 2.38274384e-01 1.35816908e-02 3.39713417e+02] [-2.38254948e-01 9.71197841e-01 -3.05524632e-03 -5.01717398e+01] [-1.39184957e-02 -2.68946435e-04 9.99903097e-01 -3.03857028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3457692310001 meters Centerline goodness [0,1] 0.9999788672865596 Centerline is valid? [True, True] Translation: X:339.74, Y:-50.18, Z:-3.04 [[ 9.71386042e-01 2.37129424e-01 1.33713730e-02 3.39743902e+02] [-2.37110445e-01 9.71478036e-01 -3.01023877e-03 -5.01817967e+01] [-1.37038113e-02 -2.46388267e-04 9.99906068e-01 -3.04014870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.77, Y:-50.19, Z:-3.04 [[ 9.71626989e-01 2.36143979e-01 1.33046859e-02 3.39773988e+02] [-2.36125069e-01 9.71718050e-01 -2.99721230e-03 -5.01947201e+01] [-1.36361771e-02 -2.29397527e-04 9.99906997e-01 -3.04047449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.81, Y:-50.20, Z:-3.04 [[ 9.71857172e-01 2.35209299e-01 1.30469153e-02 3.39805300e+02] [-2.35191002e-01 9.71944721e-01 -2.94125733e-03 -5.01980791e+01] [-1.33726916e-02 -2.10035066e-04 9.99910560e-01 -3.04207493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.43576923100005 meters Centerline goodness [0,1] 0.999978681220287 Centerline is valid? [True, True] Translation: X:339.83, Y:-50.21, Z:-3.04 [[ 9.72107793e-01 2.34203639e-01 1.24537217e-02 3.39834935e+02] [-2.34186863e-01 9.72187544e-01 -2.80928584e-03 -5.02132153e+01] [-1.27652981e-02 -1.85569368e-04 9.99918503e-01 -3.04267526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.86, Y:-50.23, Z:-3.04 [[ 9.72691910e-01 2.31812799e-01 1.15444963e-02 3.39863801e+02] [-2.31798193e-01 9.72760405e-01 -2.60601753e-03 -5.02251654e+01] [-1.18341372e-02 -1.41141220e-04 9.99929964e-01 -3.04488222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.90, Y:-50.23, Z:-3.05 [[ 9.72650591e-01 2.31986121e-01 1.15441229e-02 3.39895439e+02] [-2.31971508e-01 9.72719086e-01 -2.60767049e-03 -5.02325128e+01] [-1.18341321e-02 -1.41555354e-04 9.99929964e-01 -3.04536644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.93, Y:-50.24, Z:-3.04 [[ 9.72685509e-01 2.31792640e-01 1.24528328e-02 3.39925893e+02] [-2.31775587e-01 9.72765208e-01 -2.81550414e-03 -5.02437047e+01] [-1.27662956e-02 -1.47662551e-04 9.99918497e-01 -3.04327589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.96, Y:-50.25, Z:-3.04 [[ 9.72521427e-01 2.32397266e-01 1.39134993e-02 3.39958158e+02] [-2.32376000e-01 9.72620934e-01 -3.14854837e-03 -5.02483509e+01] [-1.42642748e-02 -1.71132573e-04 9.99898245e-01 -3.04068557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.99, Y:-50.25, Z:-3.04 [[ 9.71728342e-01 2.35587993e-01 1.55668483e-02 3.39990228e+02] [-2.35561747e-01 9.71852993e-01 -3.52483169e-03 -5.02470858e+01] [-1.59590961e-02 -2.41775111e-04 9.99872616e-01 -3.03680989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.02, Y:-50.25, Z:-3.04 [[ 9.71213669e-01 2.37753178e-01 1.47456971e-02 3.40021621e+02] [-2.37729859e-01 9.71325567e-01 -3.34010990e-03 -5.02513311e+01] [-1.51169944e-02 -2.61532103e-04 9.99885698e-01 -3.03851140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64576923100003 meters Centerline goodness [0,1] 0.9999788072733438 Centerline is valid? [True, True] Translation: X:340.05, Y:-50.25, Z:-3.04 [[ 9.70716839e-01 2.39879174e-01 1.29151371e-02 3.40053263e+02] [-2.39861449e-01 9.70802717e-01 -2.92726139e-03 -5.02517157e+01] [-1.32402392e-02 -2.56301570e-04 9.99912311e-01 -3.04181133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.09, Y:-50.26, Z:-3.04 [[ 9.70265942e-01 2.41753427e-01 1.18018043e-02 3.40085171e+02] [-2.41738745e-01 9.70337681e-01 -2.67659075e-03 -5.02558052e+01] [-1.20988104e-02 -2.55948521e-04 9.99926774e-01 -3.04425660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70576923100003 meters Centerline goodness [0,1] 0.9999364393313418 Centerline is valid? [True, True] Translation: X:340.12, Y:-50.25, Z:-3.05 [[ 9.69728755e-01 2.43914125e-01 1.14909569e-02 3.40118551e+02] [-2.43900335e-01 9.69796796e-01 -2.60805768e-03 -5.02500582e+01] [-1.17800353e-02 -2.73539722e-04 9.99930576e-01 -3.04646328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.73576923100006 meters Centerline goodness [0,1] 0.9999788090697181 Centerline is valid? [True, True] Translation: X:340.15, Y:-50.26, Z:-3.05 [[ 9.69730546e-01 2.43895394e-01 1.17347606e-02 3.40150636e+02] [-2.43880984e-01 9.69801506e-01 -2.66560687e-03 -5.02562987e+01] [-1.20305177e-02 -2.76964553e-04 9.99927592e-01 -3.04634984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76576923100004 meters Centerline goodness [0,1] 0.9998510416445002 Centerline is valid? [True, True] Translation: X:340.18, Y:-50.26, Z:-3.05 [[ 9.69996621e-01 2.42817672e-01 1.20885464e-02 3.40181713e+02] [-2.42802291e-01 9.70071907e-01 -2.74646375e-03 -5.02624673e+01] [-1.23936492e-02 -2.71066205e-04 9.99923159e-01 -3.04619055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.21, Y:-50.27, Z:-3.05 [[ 9.70469305e-01 2.40886638e-01 1.27653996e-02 3.40212518e+02] [-2.40869289e-01 9.70553224e-01 -2.90252220e-03 -5.02712723e+01] [-1.30886786e-02 -2.57984035e-04 9.99914306e-01 -3.04542332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.24, Y:-50.28, Z:-3.04 [[ 9.71445289e-01 2.36893845e-01 1.32422543e-02 3.40242190e+02] [-2.36874770e-01 9.71535518e-01 -3.01342160e-03 -5.02797058e+01] [-1.35791814e-02 -2.09381722e-04 9.99907777e-01 -3.04474659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.27, Y:-50.29, Z:-3.05 [[ 9.71772265e-01 2.35562276e-01 1.30030449e-02 3.40272916e+02] [-2.35543764e-01 9.71859238e-01 -2.95907317e-03 -5.02895820e+01] [-1.33341753e-02 -1.87240905e-04 9.99911078e-01 -3.04513504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.30, Y:-50.30, Z:-3.05 [[ 9.72145720e-01 2.34077937e-01 1.18413954e-02 3.40303417e+02] [-2.34062454e-01 9.72217824e-01 -2.69650833e-03 -5.02977015e+01] [-1.21436088e-02 -1.50227045e-04 9.99926252e-01 -3.04834743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.33, Y:-50.31, Z:-3.05 [[ 9.72359753e-01 2.33253447e-01 1.04565923e-02 3.40333963e+02] [-2.33241311e-01 9.72415968e-01 -2.38246240e-03 -5.03064001e+01] [-1.07238749e-02 -1.22298757e-04 9.99942490e-01 -3.05120338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.37, Y:-50.31, Z:-3.05 [[ 9.72435438e-01 2.32973284e-01 9.63163315e-03 3.40365517e+02] [-2.32962961e-01 9.72483129e-01 -2.19585839e-03 -5.03135012e+01] [-9.87817708e-03 -1.08483267e-04 9.99951204e-01 -3.05401926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.40, Y:-50.32, Z:-3.05 [[ 9.72414150e-01 2.33002140e-01 1.09873849e-02 3.40397027e+02] [-2.32988681e-01 9.72476214e-01 -2.50732960e-03 -5.03215610e+01] [-1.12691837e-02 -1.21773540e-04 9.99936493e-01 -3.05280505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.43, Y:-50.33, Z:-3.05 [[ 9.72375390e-01 2.33075825e-01 1.27185148e-02 3.40427365e+02] [-2.33057765e-01 9.72458554e-01 -2.90484378e-03 -5.03315305e+01] [-1.30452774e-02 -1.39550033e-04 9.99914897e-01 -3.04952972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.46, Y:-50.34, Z:-3.05 [[ 9.72230825e-01 2.33586424e-01 1.43040033e-02 3.40458847e+02] [-2.33563594e-01 9.72336031e-01 -3.26976986e-03 -5.03380327e+01] [-1.46720717e-02 -1.61923367e-04 9.99892346e-01 -3.04683479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.49, Y:-50.35, Z:-3.05 [[ 9.71878511e-01 2.34992897e-01 1.51821904e-02 3.40489470e+02] [-2.34967303e-01 9.71997069e-01 -3.47344217e-03 -5.03463515e+01] [-1.55732788e-02 -1.91554537e-04 9.99878711e-01 -3.04502238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.52, Y:-50.35, Z:-3.05 [[ 9.70685124e-01 2.39961154e-01 1.37490165e-02 3.40521014e+02] [-2.39940645e-01 9.70782460e-01 -3.14669616e-03 -5.03478693e+01] [-1.41023889e-02 -2.44496750e-04 9.99900526e-01 -3.04634938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12576923100005 meters Centerline goodness [0,1] 0.9999571945294609 Centerline is valid? [True, True] Translation: X:340.55, Y:-50.35, Z:-3.05 [[ 9.69822012e-01 2.43528763e-01 1.17901333e-02 3.40552925e+02] [-2.43513924e-01 9.69893643e-01 -2.70016514e-03 -5.03500869e+01] [-1.20927432e-02 -2.52382028e-04 9.99926848e-01 -3.05055736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1557692310001 meters Centerline goodness [0,1] 0.9999357202545478 Centerline is valid? [True, True] Translation: X:340.58, Y:-50.35, Z:-3.05 [[ 9.68858055e-01 2.47423184e-01 9.78969133e-03 3.40584758e+02] [-2.47413143e-01 9.68907481e-01 -2.24290871e-03 -5.03504977e+01] [-1.00402528e-02 -2.49038130e-04 9.99949564e-01 -3.05415745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18576923100005 meters Centerline goodness [0,1] 0.9999353434341257 Centerline is valid? [True, True] Translation: X:340.62, Y:-50.35, Z:-3.06 [[ 9.67735665e-01 2.51798905e-01 9.21924020e-03 3.40616005e+02] [-2.51790196e-01 9.67779538e-01 -2.11248570e-03 -5.03528566e+01] [-9.45411361e-03 -2.76986546e-04 9.99955271e-01 -3.05532432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2157692310001 meters Centerline goodness [0,1] 0.9975566745278008 Centerline is valid? [True, True] Translation: X:340.65, Y:-50.34, Z:-3.06 [[ 9.66568483e-01 2.56229753e-01 9.57507676e-03 3.40649222e+02] [-2.56220573e-01 9.66615851e-01 -2.19421546e-03 -5.03404387e+01] [-9.81764426e-03 -3.32472152e-04 9.99951750e-01 -3.05674190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24576923100005 meters Centerline goodness [0,1] 0.9929904568870872 Centerline is valid? [True, True] Translation: X:340.68, Y:-50.34, Z:-3.05 [[ 9.65468601e-01 2.60304106e-01 1.05901918e-02 3.40680151e+02] [-2.60293121e-01 9.65526593e-01 -2.42687449e-03 -5.03394460e+01] [-1.08568372e-02 -4.13482944e-04 9.99940977e-01 -3.05452587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.275769231 meters Centerline goodness [0,1] 0.9975085178875639 Centerline is valid? [True, True] Translation: X:340.71, Y:-50.34, Z:-3.05 [[ 9.63834886e-01 2.66255443e-01 1.14171758e-02 3.40710338e+02] [-2.66243092e-01 9.63902366e-01 -2.61627961e-03 -5.03420838e+01] [-1.17016415e-02 -5.18082633e-04 9.99931399e-01 -3.05206452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30576923100006 meters Centerline goodness [0,1] 0.990629725067615 Centerline is valid? [True, True] Translation: X:340.74, Y:-50.34, Z:-3.05 [[ 9.63009271e-01 2.69274835e-01 1.02082224e-02 3.40742740e+02] [-2.69265132e-01 9.63063247e-01 -2.33914679e-03 -5.03370363e+01] [-1.04610372e-02 -4.96098304e-04 9.99945159e-01 -3.05439892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.33576923100003 meters Centerline goodness [0,1] 0.986783106290302 Centerline is valid? [True, True] Translation: X:340.77, Y:-50.34, Z:-3.06 [[ 9.62882853e-01 2.69754544e-01 9.43912956e-03 3.40770803e+02] [-2.69746270e-01 9.62929006e-01 -2.16306039e-03 -5.03384672e+01] [-9.67270702e-03 -4.63396229e-04 9.99953111e-01 -3.05570286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36576923100006 meters Centerline goodness [0,1] 0.9870451392594174 Centerline is valid? [True, True] Translation: X:340.80, Y:-50.34, Z:-3.06 [[ 9.62874190e-01 2.69790597e-01 9.29129525e-03 3.40800111e+02] [-2.69782587e-01 9.62918909e-01 -2.12856307e-03 -5.03399604e+01] [-9.52103018e-03 -4.57091233e-04 9.99954569e-01 -3.05660485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.39576923100003 meters Centerline goodness [0,1] 0.9887959937189662 Centerline is valid? [True, True] Translation: X:340.83, Y:-50.34, Z:-3.06 [[ 9.62868299e-01 2.69790786e-01 9.87779749e-03 3.40828450e+02] [-2.69781738e-01 9.62918841e-01 -2.26251369e-03 -5.03411019e+01] [-1.01219227e-02 -4.86346663e-04 9.99948654e-01 -3.05625074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42576923100006 meters Centerline goodness [0,1] 0.9626783754116356 Centerline is valid? [True, True] Translation: X:340.86, Y:-50.33, Z:-3.06 [[ 9.62834476e-01 2.69872569e-01 1.08889508e-02 3.40859059e+02] [-2.69861588e-01 9.62895896e-01 -2.49316232e-03 -5.03337097e+01] [-1.11577622e-02 -5.38006926e-04 9.99937605e-01 -3.05536304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.45576923100003 meters Centerline goodness [0,1] 0.9937206313083423 Centerline is valid? [True, True] Translation: X:340.89, Y:-50.34, Z:-3.05 [[ 9.63329592e-01 2.68033649e-01 1.24120652e-02 3.40888719e+02] [-2.68019242e-01 9.63409370e-01 -2.84094235e-03 -5.03376764e+01] [-1.27193681e-02 -5.89908469e-04 9.99918932e-01 -3.05359374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48576923100006 meters Centerline goodness [0,1] 0.9967465934298088 Centerline is valid? [True, True] Translation: X:340.92, Y:-50.34, Z:-3.05 [[ 9.63949459e-01 2.65787729e-01 1.25826392e-02 3.40917964e+02] [-2.65772736e-01 9.64031410e-01 -2.87965519e-03 -5.03439757e+01] [-1.28954364e-02 -5.68280374e-04 9.99916689e-01 -3.05374778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51576923100004 meters Centerline goodness [0,1] 0.997330055941685 Centerline is valid? [True, True] Translation: X:340.95, Y:-50.35, Z:-3.05 [[ 9.64825061e-01 2.62600779e-01 1.23867864e-02 3.40946327e+02] [-2.62585989e-01 9.64904432e-01 -2.83471210e-03 -5.03495979e+01] [-1.26964627e-02 -5.17595281e-04 9.99919263e-01 -3.05405575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54576923100007 meters Centerline goodness [0,1] 0.9996801978509295 Centerline is valid? [True, True] Translation: X:340.97, Y:-50.36, Z:-3.05 [[ 9.65810727e-01 2.58975093e-01 1.18971129e-02 3.40973877e+02] [-2.58961177e-01 9.65883894e-01 -2.72237975e-03 -5.03627985e+01] [-1.21962583e-02 -4.51586802e-04 9.99925521e-01 -3.05446554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57576923100004 meters Centerline goodness [0,1] 0.9997474534893509 Centerline is valid? [True, True] Translation: X:341.00, Y:-50.37, Z:-3.06 [[ 9.68006377e-01 2.50700366e-01 1.06292672e-02 3.41001599e+02] [-2.50688761e-01 9.68064683e-01 -2.43203680e-03 -5.03734848e+01] [-1.08995307e-02 -3.10410706e-04 9.99940550e-01 -3.05734889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60576923100007 meters Centerline goodness [0,1] 0.9999572987168265 Centerline is valid? [True, True] Translation: X:341.03, Y:-50.38, Z:-3.06 [[ 9.69007762e-01 2.46812819e-01 1.03628558e-02 3.41030184e+02] [-2.46801569e-01 9.69063138e-01 -2.37083295e-03 -5.03843131e+01] [-1.06274136e-02 -2.60213555e-04 9.99943494e-01 -3.05792569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.06, Y:-50.39, Z:-3.06 [[ 9.69803422e-01 2.43650540e-01 1.07581497e-02 3.41058189e+02] [-2.43638222e-01 9.69863062e-01 -2.46117679e-03 -5.03919752e+01] [-1.10335991e-02 -2.34238797e-04 9.99939101e-01 -3.05776697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66576923100007 meters Centerline goodness [0,1] 0.9999571293835205 Centerline is valid? [True, True] Translation: X:341.09, Y:-50.40, Z:-3.06 [[ 9.70920995e-01 2.39124622e-01 1.14820311e-02 3.41086970e+02] [-2.39110277e-01 9.70988865e-01 -2.62648930e-03 -5.04013681e+01] [-1.17769826e-02 -1.95358022e-04 9.99930630e-01 -3.05718675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.69576923100004 meters Centerline goodness [0,1] 0.9999153439153439 Centerline is valid? [True, True] Translation: X:341.11, Y:-50.41, Z:-3.06 [[ 9.71207740e-01 2.37971806e-01 1.11779330e-02 3.41114757e+02] [-2.37958136e-01 9.71272047e-01 -2.55673188e-03 -5.04064650e+01] [-1.14652439e-02 -1.76762305e-04 9.99934256e-01 -3.05818523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.14, Y:-50.41, Z:-3.06 [[ 9.71321293e-01 2.37498981e-01 1.13657763e-02 3.41142711e+02] [-2.37484824e-01 9.71387772e-01 -2.59899180e-03 -5.04107587e+01] [-1.16578340e-02 -1.74743303e-04 9.99932030e-01 -3.05840227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.17, Y:-50.42, Z:-3.06 [[ 9.71186735e-01 2.38019751e-01 1.19551237e-02 3.41171632e+02] [-2.38004137e-01 9.71260296e-01 -2.73292120e-03 -5.04183421e+01] [-1.22620262e-02 -1.91192076e-04 9.99924800e-01 -3.05656655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.20, Y:-50.42, Z:-3.05 [[ 9.71020260e-01 2.38647424e-01 1.29252129e-02 3.41200272e+02] [-2.38629234e-01 9.71106256e-01 -2.95438195e-03 -5.04167760e+01] [-1.32568107e-02 -2.15568923e-04 9.99912101e-01 -3.05499153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.81576923100005 meters Centerline goodness [0,1] 0.9999786137428088 Centerline is valid? [True, True] Translation: X:341.23, Y:-50.42, Z:-3.06 [[ 9.70920307e-01 2.39055715e-01 1.28888557e-02 3.41228026e+02] [-2.39037673e-01 9.71005827e-01 -2.94525251e-03 -5.04225275e+01] [-1.32192334e-02 -2.21316601e-04 9.99912598e-01 -3.05569244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8457692310001 meters Centerline goodness [0,1] 0.9999787897427196 Centerline is valid? [True, True] Translation: X:341.26, Y:-50.42, Z:-3.06 [[ 9.70773378e-01 2.39669985e-01 1.25437561e-02 3.41256402e+02] [-2.39652958e-01 9.70854391e-01 -2.86562509e-03 -5.04235961e+01] [-1.28649650e-02 -2.24275718e-04 9.99917218e-01 -3.05709341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.29, Y:-50.42, Z:-3.06 [[ 9.70374500e-01 2.41352793e-01 1.10525080e-02 3.41286104e+02] [-2.41339690e-01 9.70437418e-01 -2.52431588e-03 -5.04226903e+01] [-1.13350180e-02 -2.17877108e-04 9.99935733e-01 -3.05989431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9057692310001 meters Centerline goodness [0,1] 0.9999786219723368 Centerline is valid? [True, True] Translation: X:341.32, Y:-50.43, Z:-3.06 [[ 9.70140966e-01 2.42337229e-01 9.95861639e-03 3.41315522e+02] [-2.42326647e-01 9.70192056e-01 -2.27405463e-03 -5.04252592e+01] [-1.02128586e-02 -2.07084560e-04 9.99947826e-01 -3.06116437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.93576923100005 meters Centerline goodness [0,1] 0.9999788507497409 Centerline is valid? [True, True] Translation: X:341.34, Y:-50.42, Z:-3.06 [[ 9.69839273e-01 2.43562266e-01 9.44491833e-03 3.41344477e+02] [-2.43552810e-01 9.69885240e-01 -2.15637329e-03 -5.04238871e+01] [-9.68569804e-03 -2.09000896e-04 9.99953071e-01 -3.06287955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.38, Y:-50.42, Z:-3.06 [[ 9.68787980e-01 2.47763323e-01 7.94893259e-03 3.41375443e+02] [-2.47756770e-01 9.68820567e-01 -1.81431311e-03 -5.04193743e+01] [-8.15060963e-03 -2.11717129e-04 9.99966761e-01 -3.06414908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.99576923100005 meters Centerline goodness [0,1] 0.9999353002070394 Centerline is valid? [True, True] Translation: X:341.40, Y:-50.42, Z:-3.07 [[ 9.68232269e-01 2.49944529e-01 7.34879071e-03 3.41404712e+02] [-2.49938993e-01 9.68260134e-01 -1.67717868e-03 -5.04170587e+01] [-7.53474271e-03 -2.12850827e-04 9.99971591e-01 -3.06574998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.025769231 meters Centerline goodness [0,1] 0.9996190879272034 Centerline is valid? [True, True] Translation: X:341.43, Y:-50.41, Z:-3.07 [[ 9.67841093e-01 2.51450460e-01 7.50232793e-03 3.41434396e+02] [-2.51444738e-01 9.67870143e-01 -1.71191575e-03 -5.04105381e+01] [-7.69174121e-03 -2.29558465e-04 9.99970392e-01 -3.06794754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.05576923100006 meters Centerline goodness [0,1] 0.9998720709579753 Centerline is valid? [True, True] Translation: X:341.46, Y:-50.41, Z:-3.07 [[ 9.67700905e-01 2.51973176e-01 8.02968685e-03 3.41462819e+02] [-2.51966644e-01 9.67734186e-01 -1.83157931e-03 -5.04142603e+01] [-8.23211132e-03 -2.50792295e-04 9.99966084e-01 -3.06620025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08576923100003 meters Centerline goodness [0,1] 0.9999156598562 Centerline is valid? [True, True] Translation: X:341.49, Y:-50.41, Z:-3.06 [[ 9.67998601e-01 2.50777106e-01 9.46321591e-03 3.41492863e+02] [-2.50767981e-01 9.68044814e-01 -2.15804126e-03 -5.04086660e+01] [-9.70200443e-03 -2.84090624e-04 9.99952894e-01 -3.06306403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.11576923100006 meters Centerline goodness [0,1] 0.9998941843731483 Centerline is valid? [True, True] Translation: X:341.52, Y:-50.41, Z:-3.06 [[ 9.68268862e-01 2.49723649e-01 9.67004388e-03 3.41522061e+02] [-2.49714075e-01 9.68317107e-01 -2.20454153e-03 -5.04115849e+01] [-9.91419507e-03 -2.80157145e-04 9.99950814e-01 -3.06348326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14576923100003 meters Centerline goodness [0,1] 0.9998302567366858 Centerline is valid? [True, True] Translation: X:341.55, Y:-50.42, Z:-3.06 [[ 9.68624299e-01 2.48349788e-01 9.45254626e-03 3.41551032e+02] [-2.48340579e-01 9.68670385e-01 -2.15451719e-03 -5.04153247e+01] [-9.69147552e-03 -2.60533101e-04 9.99953003e-01 -3.06494644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.17576923100006 meters Centerline goodness [0,1] 0.9998722752043597 Centerline is valid? [True, True] Translation: X:341.58, Y:-50.42, Z:-3.07 [[ 9.69045458e-01 2.46696987e-01 9.56540133e-03 3.41579204e+02] [-2.46687481e-01 9.69092635e-01 -2.17977254e-03 -5.04201708e+01] [-9.80750330e-03 -2.47366077e-04 9.99951875e-01 -3.06573408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20576923100003 meters Centerline goodness [0,1] 0.9999785214141501 Centerline is valid? [True, True] Translation: X:341.61, Y:-50.42, Z:-3.06 [[ 9.69733566e-01 2.43957233e-01 1.00835996e-02 3.41608350e+02] [-2.43946521e-01 9.69785963e-01 -2.29783861e-03 -5.04241264e+01] [-1.03395078e-02 -2.31567817e-04 9.99946519e-01 -3.06446150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.64, Y:-50.43, Z:-3.06 [[ 9.69913104e-01 2.43226764e-01 1.04552499e-02 3.41636330e+02] [-2.43215229e-01 9.69969425e-01 -2.38032599e-03 -5.04252615e+01] [-1.07202318e-02 -2.34166641e-04 9.99942509e-01 -3.06421413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.66, Y:-50.43, Z:-3.06 [[ 9.70014269e-01 2.42806720e-01 1.08265955e-02 3.41664826e+02] [-2.42794333e-01 9.70074657e-01 -2.46415705e-03 -5.04270173e+01] [-1.11009198e-02 -2.38368534e-04 9.99938354e-01 -3.06417023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.29576923100007 meters Centerline goodness [0,1] 0.999936784878943 Centerline is valid? [True, True] Translation: X:341.69, Y:-50.43, Z:-3.06 [[ 9.70151064e-01 2.42256703e-01 1.08904631e-02 3.41692561e+02] [-2.42244143e-01 9.70212160e-01 -2.47798076e-03 -5.04332166e+01] [-1.11663672e-02 -2.34135237e-04 9.99937627e-01 -3.06464202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32576923100004 meters Centerline goodness [0,1] 0.9999576091564222 Centerline is valid? [True, True] Translation: X:341.72, Y:-50.43, Z:-3.07 [[ 9.70275268e-01 2.41766208e-01 1.07240064e-02 3.41722088e+02] [-2.41754005e-01 9.70334504e-01 -2.43958898e-03 -5.04330409e+01] [-1.09956837e-02 -2.25498649e-04 9.99939520e-01 -3.06561216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.75, Y:-50.43, Z:-3.07 [[ 9.70128801e-01 2.42379374e-01 1.01167331e-02 3.41750529e+02] [-2.42368551e-01 9.70181525e-01 -2.30103635e-03 -5.04339776e+01] [-1.03727913e-02 -2.19676315e-04 9.99946177e-01 -3.06692160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.78, Y:-50.44, Z:-3.07 [[ 9.70145729e-01 2.42311606e-01 1.01168558e-02 3.41777373e+02] [-2.42300785e-01 9.70198453e-01 -2.30049690e-03 -5.04399407e+01] [-1.03727949e-02 -2.19504855e-04 9.99946177e-01 -3.06733114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41576923100007 meters Centerline goodness [0,1] 0.9998940386123296 Centerline is valid? [True, True] Translation: X:341.81, Y:-50.44, Z:-3.07 [[ 9.69866033e-01 2.43438927e-01 9.86749527e-03 3.41805959e+02] [-2.43428696e-01 9.69916201e-01 -2.24325048e-03 -5.04377306e+01] [-1.01167380e-02 -2.26379064e-04 9.99948799e-01 -3.06825431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44576923100004 meters Centerline goodness [0,1] 0.999893678099815 Centerline is valid? [True, True] Translation: X:341.84, Y:-50.43, Z:-3.07 [[ 9.69241433e-01 2.45944585e-01 9.07227896e-03 3.41836865e+02] [-2.45936058e-01 9.69283863e-01 -2.06117167e-03 -5.04346717e+01] [-9.30054760e-03 -2.33427541e-04 9.99956722e-01 -3.06935915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.4757692310001 meters Centerline goodness [0,1] 0.9999574422810937 Centerline is valid? [True, True] Translation: X:341.87, Y:-50.44, Z:-3.07 [[ 9.69159629e-01 2.46292421e-01 8.34611084e-03 3.41865281e+02] [-2.46285211e-01 9.69195541e-01 -1.89691748e-03 -5.04391947e+01] [-8.55620980e-03 -2.17107831e-04 9.99963371e-01 -3.07148887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50576923100004 meters Centerline goodness [0,1] 0.9998936192846961 Centerline is valid? [True, True] Translation: X:341.89, Y:-50.44, Z:-3.07 [[ 9.69221877e-01 2.46050510e-01 8.25226708e-03 3.41892497e+02] [-2.46043470e-01 9.69256984e-01 -1.87353939e-03 -5.04430366e+01] [-8.45955282e-03 -2.14541066e-04 9.99964194e-01 -3.07365904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5357692310001 meters Centerline goodness [0,1] 0.9999786693969839 Centerline is valid? [True, True] Translation: X:341.92, Y:-50.45, Z:-3.07 [[ 9.69404472e-01 2.45315427e-01 8.67813060e-03 3.41920602e+02] [-2.45307612e-01 9.69443290e-01 -1.97029256e-03 -5.04496165e+01] [-8.89629864e-03 -2.18801080e-04 9.99960403e-01 -3.07334409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.95, Y:-50.46, Z:-3.07 [[ 9.70106263e-01 2.42503651e-01 9.26374566e-03 3.41948574e+02] [-2.42494640e-01 9.70150471e-01 -2.10090046e-03 -5.04577332e+01] [-9.49670324e-03 -2.08311971e-04 9.99954884e-01 -3.07155046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5957692310001 meters Centerline goodness [0,1] 0.9999786753102743 Centerline is valid? [True, True] Translation: X:341.98, Y:-50.46, Z:-3.07 [[ 9.70547984e-01 2.40759463e-01 8.45528807e-03 3.41975911e+02] [-2.40751892e-01 9.70584798e-01 -1.91728068e-03 -5.04639427e+01] [-8.66817753e-03 -1.74813696e-04 9.99962415e-01 -3.07285994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62576923100005 meters Centerline goodness [0,1] 0.9999576495500264 Centerline is valid? [True, True] Translation: X:342.00, Y:-50.47, Z:-3.07 [[ 9.70816061e-01 2.39670224e-01 8.62316311e-03 3.42003704e+02] [-2.39662306e-01 9.70854343e-01 -1.95543648e-03 -5.04693938e+01] [-8.84049526e-03 -1.68278016e-04 9.99960908e-01 -3.07304533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6557692310001 meters Centerline goodness [0,1] 0.9999576880765 Centerline is valid? [True, True] Translation: X:342.03, Y:-50.47, Z:-3.07 [[ 9.70920062e-01 2.39219122e-01 9.40453385e-03 3.42032034e+02] [-2.39209700e-01 9.70965591e-01 -2.13085358e-03 -5.04747988e+01] [-9.64121970e-03 -1.80767230e-04 9.99953506e-01 -3.07284527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68576923100005 meters Centerline goodness [0,1] 0.999978840904763 Centerline is valid? [True, True] Translation: X:342.06, Y:-50.48, Z:-3.07 [[ 9.70968239e-01 2.39006260e-01 9.83293360e-03 3.42059896e+02] [-2.38995965e-01 9.71018008e-01 -2.22629672e-03 -5.04798940e+01] [-1.00800545e-02 -1.88368052e-04 9.99949177e-01 -3.07307634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7157692310001 meters Centerline goodness [0,1] 0.9999788458283974 Centerline is valid? [True, True] Translation: X:342.09, Y:-50.48, Z:-3.08 [[ 9.71060824e-01 2.38695977e-01 8.06889392e-03 3.42088360e+02] [-2.38689044e-01 9.71094335e-01 -1.82570904e-03 -5.04841874e+01] [-8.27144658e-03 -1.53082045e-04 9.99965779e-01 -3.07754642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.12, Y:-50.49, Z:-3.08 [[ 9.71273018e-01 2.37898543e-01 5.74522406e-03 3.42116464e+02] [-2.37895016e-01 9.71290004e-01 -1.29968916e-03 -5.04892383e+01] [-5.88947286e-03 -1.04407156e-04 9.99982651e-01 -3.08216516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.14, Y:-50.50, Z:-3.09 [[ 9.71705583e-01 2.36157717e-01 4.21803822e-03 3.42144427e+02] [-2.36155800e-01 9.71714736e-01 -9.54145036e-04 -5.04955926e+01] [-4.32405861e-03 -6.89661311e-05 9.99990649e-01 -3.08571187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.17, Y:-50.51, Z:-3.08 [[ 9.72728485e-01 2.31881790e-01 5.48905354e-03 3.42171883e+02] [-2.31878488e-01 9.72743970e-01 -1.23930270e-03 -5.05073764e+01] [-5.62681546e-03 -6.72884003e-05 9.99984167e-01 -3.08382777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.20, Y:-50.52, Z:-3.08 [[ 9.73214629e-01 2.29786530e-01 7.17188945e-03 3.42197778e+02] [-2.29780842e-01 9.73241052e-01 -1.61834568e-03 -5.05181017e+01] [-7.35185127e-03 -7.29651068e-05 9.99972972e-01 -3.08147752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.22, Y:-50.53, Z:-3.08 [[ 9.73732654e-01 2.27549726e-01 8.11426335e-03 3.42224047e+02] [-2.27542376e-01 9.73766460e-01 -1.82996339e-03 -5.05285198e+01] [-8.31780516e-03 -6.44436560e-05 9.99965404e-01 -3.07953984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.25, Y:-50.54, Z:-3.08 [[ 9.74620721e-01 2.23761481e-01 6.72686004e-03 3.42250780e+02] [-2.23756336e-01 9.74643934e-01 -1.51762744e-03 -5.05404635e+01] [-6.89587990e-03 -2.60664011e-05 9.99976223e-01 -3.08298020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.28, Y:-50.55, Z:-3.09 [[ 9.74938682e-01 2.22419210e-01 4.92549337e-03 3.42278588e+02] [-2.22416435e-01 9.74951124e-01 -1.11105539e-03 -5.05489125e+01] [-5.04923536e-03 -1.22997963e-05 9.99987252e-01 -3.08780007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.31, Y:-50.56, Z:-3.09 [[ 9.75278444e-01 2.20951733e-01 3.50559544e-03 3.42306192e+02] [-2.20950317e-01 9.75284744e-01 -7.90861623e-04 -5.05582893e+01] [-3.59369600e-03 -3.25213294e-06 9.99993543e-01 -3.09152261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.33, Y:-50.57, Z:-3.09 [[ 9.76128428e-01 2.17179297e-01 2.53881080e-03 3.42330786e+02] [-2.17178544e-01 9.76131729e-01 -5.71764862e-04 -5.05736937e+01] [-2.60238927e-03 6.74070175e-06 9.99996614e-01 -3.09439544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.36, Y:-50.58, Z:-3.09 [[ 9.76655151e-01 2.14790746e-01 3.10661679e-03 3.42357328e+02] [-2.14789608e-01 9.76660092e-01 -6.99402500e-04 -5.05847805e+01] [-3.18433383e-03 1.58060507e-05 9.99994930e-01 -3.09362510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.38, Y:-50.59, Z:-3.09 [[ 9.77171040e-01 2.12409874e-01 4.33632790e-03 3.42383783e+02] [-2.12407636e-01 9.77180661e-01 -9.75646176e-04 -5.05940508e+01] [-4.44461265e-03 3.23040310e-05 9.99990122e-01 -3.08830133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.41, Y:-50.61, Z:-3.08 [[ 9.78010960e-01 2.08432586e-01 7.10069517e-03 3.42408541e+02] [-2.08426488e-01 9.78036733e-01 -1.59650261e-03 -5.06100405e+01] [-7.27750387e-03 8.14240961e-05 9.99973515e-01 -3.08385994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.44, Y:-50.62, Z:-3.08 [[ 9.78319709e-01 2.06955647e-01 7.73999648e-03 3.42436144e+02] [-2.06948363e-01 9.78350321e-01 -1.73919533e-03 -5.06195841e+01] [-7.93236433e-03 9.97094646e-05 9.99968533e-01 -3.08251035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.46, Y:-50.63, Z:-3.08 [[ 9.78508115e-01 2.06052713e-01 8.00926304e-03 3.42461738e+02] [-2.06044886e-01 9.78540887e-01 -1.79935569e-03 -5.06333774e+01] [-8.20815348e-03 1.10416453e-04 9.99966306e-01 -3.08487380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.49, Y:-50.64, Z:-3.09 [[ 9.78593900e-01 2.05663198e-01 7.52515107e-03 3.42489177e+02] [-2.05656281e-01 9.78622827e-01 -1.69005558e-03 -5.06414550e+01] [-7.71186685e-03 1.06283494e-04 9.99970257e-01 -3.08651309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.52, Y:-50.64, Z:-3.09 [[ 9.78544644e-01 2.05934458e-01 6.43270678e-03 3.42518815e+02] [-2.05929410e-01 9.78565783e-01 -1.44456676e-03 -5.06427600e+01] [-6.59231282e-03 8.88895561e-05 9.99978267e-01 -3.08572953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.55, Y:-50.65, Z:-3.10 [[ 9.78050059e-01 2.08336749e-01 3.72566623e-03 3.42545615e+02] [-2.08335072e-01 9.78057154e-01 -8.36909594e-04 -5.06515077e+01] [-3.81827353e-03 4.23525357e-05 9.99992709e-01 -3.09502243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.57, Y:-50.65, Z:-3.09 [[ 9.77732126e-01 2.09841659e-01 2.52339717e-03 3.42574105e+02] [-2.09840894e-01 9.77735382e-01 -5.67111789e-04 -5.06513928e+01] [-2.58621838e-03 2.49714952e-05 9.99996655e-01 -3.09288078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.60, Y:-50.66, Z:-3.10 [[ 9.77317198e-01 2.11766135e-01 2.48954183e-03 3.42601100e+02] [-2.11765398e-01 9.77320369e-01 -5.59183978e-04 -5.06572233e+01] [-2.55149617e-03 1.93013025e-05 9.99996745e-01 -3.09816356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.63, Y:-50.66, Z:-3.09 [[ 9.76858562e-01 2.13854746e-01 3.67394239e-03 3.42630615e+02] [-2.13853158e-01 9.76865470e-01 -8.24461797e-04 -5.06570615e+01] [-3.76526253e-03 1.96983836e-05 9.99992911e-01 -3.08992352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.66, Y:-50.66, Z:-3.08 [[ 9.75994272e-01 2.17653478e-01 7.88320428e-03 3.42659007e+02] [-2.17646299e-01 9.76026108e-01 -1.76780148e-03 -5.06610650e+01] [-8.07898133e-03 9.61388635e-06 9.99967364e-01 -3.08298532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.69, Y:-50.67, Z:-3.08 [[ 9.75645539e-01 2.19133962e-01 9.80247112e-03 3.42686143e+02] [-2.19122942e-01 9.75694781e-01 -2.19771483e-03 -5.06667630e+01] [-1.00458139e-02 -3.75564123e-06 9.99949540e-01 -3.08069009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.71, Y:-50.67, Z:-3.08 [[ 9.75399372e-01 2.20195570e-01 1.04869109e-02 3.42712503e+02] [-2.20183028e-01 9.75455745e-01 -2.35025367e-03 -5.06721152e+01] [-1.07470329e-02 -1.66038335e-05 9.99942249e-01 -3.08081413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.74, Y:-50.68, Z:-3.08 [[ 9.75206375e-01 2.21058809e-01 1.02727403e-02 3.42740353e+02] [-2.21046840e-01 9.75260479e-01 -2.30053870e-03 -5.06778907e+01] [-1.05271520e-02 -2.72567795e-05 9.99944588e-01 -3.08082113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.77, Y:-50.68, Z:-3.09 [[ 9.74649223e-01 2.23609257e-01 7.60217490e-03 3.42767900e+02] [-2.23602779e-01 9.74678869e-01 -1.70258273e-03 -5.06811657e+01] [-7.79039250e-03 -4.04465001e-05 9.99969654e-01 -3.08649682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.80, Y:-50.69, Z:-3.09 [[ 9.74359362e-01 2.24919853e-01 5.90712206e-03 3.42796535e+02] [-2.24915970e-01 9.74377267e-01 -1.32233245e-03 -5.06865267e+01] [-6.05318427e-03 -4.01790848e-05 9.99981679e-01 -3.08992972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.82, Y:-50.69, Z:-3.09 [[ 9.74013762e-01 2.26442205e-01 4.59552445e-03 3.42824802e+02] [-2.26439872e-01 9.74024602e-01 -1.02865670e-03 -5.06914942e+01] [-4.70908517e-03 -3.86841885e-05 9.99988911e-01 -3.09218403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.85, Y:-50.69, Z:-3.09 [[ 9.73584895e-01 2.28279134e-01 4.59228764e-03 3.42852106e+02] [-2.28276824e-01 9.73595725e-01 -1.02794557e-03 -5.06945069e+01] [-4.70569014e-03 -4.75205580e-05 9.99988927e-01 -3.09255155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.88, Y:-50.69, Z:-3.09 [[ 9.72475136e-01 2.32933226e-01 5.84992511e-03 3.42881792e+02] [-2.32929567e-01 9.72492727e-01 -1.30861568e-03 -5.06920201e+01] [-5.99382970e-03 -9.00243075e-05 9.99982033e-01 -3.09038369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.61576923100006 meters Centerline goodness [0,1] 0.999978696207925 Centerline is valid? [True, True] Translation: X:342.91, Y:-50.70, Z:-3.09 [[ 9.72080586e-01 2.34566143e-01 6.16926593e-03 3.42910209e+02] [-2.34562109e-01 9.72100156e-01 -1.37962369e-03 -5.06951109e+01] [-6.32075738e-03 -1.05970624e-04 9.99980018e-01 -3.09035873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64576923100003 meters Centerline goodness [0,1] 0.9999786498142533 Centerline is valid? [True, True] Translation: X:342.94, Y:-50.70, Z:-3.09 [[ 9.71972423e-01 2.35012070e-01 6.23985522e-03 3.42938829e+02] [-2.35007956e-01 9.71992446e-01 -1.39491139e-03 -5.07003395e+01] [-6.39291315e-03 -1.10600217e-04 9.99979559e-01 -3.09092336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.96, Y:-50.71, Z:-3.09 [[ 9.72761789e-01 2.31723368e-01 6.22761718e-03 3.42964506e+02] [-2.31719203e-01 9.72781719e-01 -1.39215235e-03 -5.07114046e+01] [-6.38070638e-03 -8.88258802e-05 9.99979639e-01 -3.09263659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.99, Y:-50.72, Z:-3.09 [[ 9.73594999e-01 2.28180438e-01 6.81658486e-03 3.42991004e+02] [-2.28175368e-01 9.73618859e-01 -1.52285917e-03 -5.07236069e+01] [-6.98424224e-03 -7.27286838e-05 9.99975607e-01 -3.09215799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.02, Y:-50.74, Z:-3.09 [[ 9.74497145e-01 2.24269089e-01 7.66093028e-03 3.43018208e+02] [-2.24262568e-01 9.74527256e-01 -1.71094048e-03 -5.07367970e+01] [-7.84949643e-03 -5.07532821e-05 9.99969191e-01 -3.09174084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.04, Y:-50.75, Z:-3.09 [[ 9.75324849e-01 2.20628781e-01 8.02375562e-03 3.43044649e+02] [-2.20621506e-01 9.75357853e-01 -1.79173124e-03 -5.07498464e+01] [-8.22134053e-03 -2.26930538e-05 9.99966204e-01 -3.09098099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.07, Y:-50.77, Z:-3.09 [[ 9.76517853e-01 2.15335722e-01 6.58864254e-03 3.43069335e+02] [-2.15330697e-01 9.76540079e-01 -1.47116523e-03 -5.07677027e+01] [-6.75086793e-03 1.78821241e-05 9.99977212e-01 -3.09379372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.10, Y:-50.78, Z:-3.10 [[ 9.76929262e-01 2.13489964e-01 5.59040600e-03 3.43095501e+02] [-2.13486318e-01 9.76945257e-01 -1.24795096e-03 -5.07785980e+01] [-5.72794563e-03 2.56846216e-05 9.99983595e-01 -3.09633256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.12, Y:-50.79, Z:-3.10 [[ 9.77171839e-01 2.12387085e-01 5.18867671e-03 3.43123050e+02] [-2.12383929e-01 9.77185615e-01 -1.15808265e-03 -5.07884145e+01] [-5.31626204e-03 2.96542080e-05 9.99985868e-01 -3.09742974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.15, Y:-50.80, Z:-3.10 [[ 9.77463149e-01 2.11049092e-01 4.90648264e-03 3.43148657e+02] [-2.11046254e-01 9.77475462e-01 -1.09500949e-03 -5.08028126e+01] [-5.02706715e-03 3.48366472e-05 9.99987364e-01 -3.09929943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.18, Y:-50.81, Z:-3.10 [[ 9.77713911e-01 2.09893636e-01 4.49118661e-03 3.43176119e+02] [-2.09891247e-01 9.77724225e-01 -1.00200071e-03 -5.08137096e+01] [-4.60145552e-03 3.70092755e-05 9.99989413e-01 -3.10002983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.20, Y:-50.82, Z:-3.10 [[ 9.77864928e-01 2.09200625e-01 3.90907890e-03 3.43204068e+02] [-2.09198810e-01 9.77872741e-01 -8.72066312e-04 -5.08224706e+01] [-4.00501852e-03 3.49884064e-05 9.99991979e-01 -3.09906658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.23, Y:-50.83, Z:-3.10 [[ 9.77934045e-01 2.08880548e-01 3.73102462e-03 3.43230429e+02] [-2.08878893e-01 9.77941162e-01 -8.32321786e-04 -5.08327856e+01] [-3.82257838e-03 3.46235205e-05 9.99992693e-01 -3.10169785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.26, Y:-50.84, Z:-3.10 [[ 9.77757407e-01 2.09701608e-01 3.96092938e-03 3.43256682e+02] [-2.09699750e-01 9.77765429e-01 -8.83355117e-04 -5.08427503e+01] [-4.05810080e-03 3.31011102e-05 9.99991765e-01 -3.10211195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.29, Y:-50.85, Z:-3.10 [[ 9.77524500e-01 2.10781049e-01 4.14740315e-03 3.43285350e+02] [-2.10779023e-01 9.77533298e-01 -9.24759086e-04 -5.08482716e+01] [-4.24914637e-03 2.97890791e-05 9.99990972e-01 -3.10099073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.31, Y:-50.85, Z:-3.10 [[ 9.77167677e-01 2.12432207e-01 3.98596193e-03 3.43312632e+02] [-2.12430350e-01 9.77175807e-01 -8.88383597e-04 -5.08531364e+01] [-4.08370686e-03 2.13604463e-05 9.99991661e-01 -3.10212443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.34, Y:-50.86, Z:-3.10 [[ 9.76697168e-01 2.14595986e-01 3.34747560e-03 3.43340700e+02] [-2.14594689e-01 9.76702904e-01 -7.46036584e-04 -5.08569480e+01] [-3.42958559e-03 1.03013331e-05 9.99994119e-01 -3.10381878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.37, Y:-50.86, Z:-3.10 [[ 9.75732215e-01 2.18938967e-01 3.51758453e-03 3.43368274e+02] [-2.18937563e-01 9.75738555e-01 -7.84129331e-04 -5.08582724e+01] [-3.60391931e-03 -5.03113655e-06 9.99993506e-01 -3.10241633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.40, Y:-50.86, Z:-3.10 [[ 9.75323017e-01 2.20739626e-01 4.36231932e-03 3.43396972e+02] [-2.20737491e-01 9.75332773e-01 -9.70782073e-04 -5.08624147e+01] [-4.46900307e-03 -1.61013238e-05 9.99990014e-01 -3.10018843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18576923100005 meters Centerline goodness [0,1] 0.999978928292981 Centerline is valid? [True, True] Translation: X:343.43, Y:-50.86, Z:-3.09 [[ 9.73930841e-01 2.26741973e-01 6.84069708e-03 3.43426891e+02] [-2.26736877e-01 9.73954862e-01 -1.52167261e-03 -5.08583808e+01] [-7.00755723e-03 -6.90344100e-05 9.99975444e-01 -3.09489063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.46, Y:-50.86, Z:-3.09 [[ 9.73087144e-01 2.30262046e-01 8.98895729e-03 3.43456446e+02] [-2.30253406e-01 9.73128653e-01 -1.99865367e-03 -5.08569496e+01] [-9.20762598e-03 -1.24873840e-04 9.99957601e-01 -3.09229912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.49, Y:-50.85, Z:-3.09 [[ 9.72145489e-01 2.34182263e-01 9.58207467e-03 3.43487458e+02] [-2.34172641e-01 9.72192696e-01 -2.12990872e-03 -5.08546467e+01] [-9.81440984e-03 -1.73278573e-04 9.99951823e-01 -3.09181478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.275769231 meters Centerline goodness [0,1] 0.9998721554589619 Centerline is valid? [True, True] Translation: X:343.52, Y:-50.85, Z:-3.09 [[ 9.71206476e-01 2.38087441e-01 8.50592737e-03 3.43517882e+02] [-2.38080009e-01 9.71243705e-01 -1.89060952e-03 -5.08522090e+01] [-8.71145880e-03 -1.88919058e-04 9.99962037e-01 -3.09463361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30576923100006 meters Centerline goodness [0,1] 0.9998721554589619 Centerline is valid? [True, True] Translation: X:343.54, Y:-50.86, Z:-3.10 [[ 9.71222501e-01 2.38022064e-01 8.50594651e-03 3.43544757e+02] [-2.38014630e-01 9.71259729e-01 -1.89052343e-03 -5.08580385e+01] [-8.71146960e-03 -1.88420820e-04 9.99962037e-01 -3.09504318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.33576923100003 meters Centerline goodness [0,1] 0.9996607510124462 Centerline is valid? [True, True] Translation: X:343.58, Y:-50.85, Z:-3.10 [[ 9.69564316e-01 2.44801090e-01 4.17902821e-03 3.43577136e+02] [-2.44799360e-01 9.69573314e-01 -9.28448105e-04 -5.08475906e+01] [-4.27915934e-03 -1.22833281e-04 9.99990837e-01 -3.10394107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36576923100006 meters Centerline goodness [0,1] 0.9990221712050678 Centerline is valid? [True, True] Translation: X:343.61, Y:-50.85, Z:-3.10 [[ 9.68914598e-01 2.47358528e-01 4.27316540e-03 3.43606897e+02] [-2.47356743e-01 9.68924011e-01 -9.49694376e-04 -5.08456501e+01] [-4.37528756e-03 -1.36823530e-04 9.99990419e-01 -3.10400646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.39576923100003 meters Centerline goodness [0,1] 0.9989667460936676 Centerline is valid? [True, True] Translation: X:343.64, Y:-50.85, Z:-3.10 [[ 9.68502173e-01 2.48933523e-01 5.97002594e-03 3.43635322e+02] [-2.48930071e-01 9.68520552e-01 -1.32629789e-03 -5.08455993e+01] [-6.11225282e-03 -2.01596596e-04 9.99981300e-01 -3.10058463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42576923100006 meters Centerline goodness [0,1] 0.9993015873015872 Centerline is valid? [True, True] Translation: X:343.66, Y:-50.85, Z:-3.10 [[ 9.68416212e-01 2.49207430e-01 8.10531592e-03 3.43663768e+02] [-2.49201077e-01 9.68450092e-01 -1.80071679e-03 -5.08484154e+01] [-8.29834595e-03 -2.76010128e-04 9.99965530e-01 -3.09700458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.45576923100003 meters Centerline goodness [0,1] 0.9993584397254122 Centerline is valid? [True, True] Translation: X:343.69, Y:-50.86, Z:-3.09 [[ 9.69051394e-01 2.46666955e-01 9.73697685e-03 3.43691576e+02] [-2.46657690e-01 9.69100262e-01 -2.16009532e-03 -5.08564161e+01] [-9.96893095e-03 -3.08456832e-04 9.99950261e-01 -3.09465556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48576923100006 meters Centerline goodness [0,1] 0.999409979770735 Centerline is valid? [True, True] Translation: X:343.72, Y:-50.86, Z:-3.10 [[ 9.69660101e-01 2.44298940e-01 8.79302492e-03 3.43718735e+02] [-2.44291285e-01 9.69699934e-01 -1.95084448e-03 -5.08612973e+01] [-9.00318492e-03 -2.56403308e-04 9.99959438e-01 -3.09827823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51576923100004 meters Centerline goodness [0,1] 0.9997019247146993 Centerline is valid? [True, True] Translation: X:343.75, Y:-50.87, Z:-3.10 [[ 9.70329761e-01 2.41670721e-01 7.44433135e-03 3.43745482e+02] [-2.41665162e-01 9.70358297e-01 -1.65095612e-03 -5.08746940e+01] [-7.62265644e-03 -1.97063680e-04 9.99970928e-01 -3.10104692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54576923100007 meters Centerline goodness [0,1] 0.9997884761824182 Centerline is valid? [True, True] Translation: X:343.77, Y:-50.88, Z:-3.10 [[ 9.70932905e-01 2.39258586e-01 6.68003290e-03 3.43773571e+02] [-2.39254054e-01 9.70955871e-01 -1.48121594e-03 -5.08784924e+01] [-6.84041079e-03 -1.60063662e-04 9.99976591e-01 -3.10490614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57576923100004 meters Centerline goodness [0,1] 0.9998308167322252 Centerline is valid? [True, True] Translation: X:343.80, Y:-50.89, Z:-3.10 [[ 9.71394935e-01 2.37376319e-01 6.66058595e-03 3.43800782e+02] [-2.37371766e-01 9.71417759e-01 -1.47748903e-03 -5.08896304e+01] [-6.82093238e-03 -1.45809692e-04 9.99976727e-01 -3.10396838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60576923100007 meters Centerline goodness [0,1] 0.9999148174964863 Centerline is valid? [True, True] Translation: X:343.83, Y:-50.90, Z:-3.10 [[ 9.71705509e-01 2.36084322e-01 7.25239380e-03 3.43828847e+02] [-2.36078898e-01 9.71732561e-01 -1.60733853e-03 -5.08983108e+01] [-7.42685463e-03 -1.50277433e-04 9.99972409e-01 -3.10251714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63576923100004 meters Centerline goodness [0,1] 0.9998942962242612 Centerline is valid? [True, True] Translation: X:343.86, Y:-50.90, Z:-3.10 [[ 9.71630306e-01 2.36398120e-01 7.10468433e-03 3.43855593e+02] [-2.36392933e-01 9.71656270e-01 -1.57325168e-03 -5.09038299e+01] [-7.27522481e-03 -1.50878152e-04 9.99973524e-01 -3.10266267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66576923100007 meters Centerline goodness [0,1] 0.9998516603445718 Centerline is valid? [True, True] Translation: X:343.88, Y:-50.91, Z:-3.10 [[ 9.71357536e-01 2.37526477e-01 6.76096971e-03 3.43884384e+02] [-2.37521808e-01 9.71381053e-01 -1.49698861e-03 -5.09072334e+01] [-6.92305230e-03 -1.51766583e-04 9.99976024e-01 -3.10322448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.69576923100004 meters Centerline goodness [0,1] 0.999746144570667 Centerline is valid? [True, True] Translation: X:343.91, Y:-50.91, Z:-3.10 [[ 9.70956863e-01 2.39176915e-01 6.09704453e-03 3.43913453e+02] [-2.39173156e-01 9.70975994e-01 -1.34924817e-03 -5.09084311e+01] [-6.24279289e-03 -1.48187606e-04 9.99980503e-01 -3.10479858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7257692310001 meters Centerline goodness [0,1] 0.9995561661206805 Centerline is valid? [True, True] Translation: X:343.94, Y:-50.91, Z:-3.11 [[ 9.70516470e-01 2.40978344e-01 5.21725072e-03 3.43943574e+02] [-2.40975626e-01 9.70530483e-01 -1.15282188e-03 -5.09096278e+01] [-5.34130597e-03 -1.38397637e-04 9.99985726e-01 -3.10711984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.75576923100004 meters Centerline goodness [0,1] 0.9995371831282213 Centerline is valid? [True, True] Translation: X:343.97, Y:-50.91, Z:-3.11 [[ 9.69916887e-01 2.43375223e-01 5.45271000e-03 3.43973838e+02] [-2.43372293e-01 9.69932201e-01 -1.20472304e-03 -5.09115417e+01] [-5.58195875e-03 -1.58557318e-04 9.99984408e-01 -3.10607411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7857692310001 meters Centerline goodness [0,1] 0.9997039104963729 Centerline is valid? [True, True] Translation: X:344.00, Y:-50.92, Z:-3.10 [[ 9.69726477e-01 2.44107275e-01 6.49599143e-03 3.44002726e+02] [-2.44103126e-01 9.69748215e-01 -1.43613734e-03 -5.09157852e+01] [-6.65004767e-03 -1.93031409e-04 9.99977870e-01 -3.10392331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.81576923100005 meters Centerline goodness [0,1] 0.99970138429708 Centerline is valid? [True, True] Translation: X:344.03, Y:-50.92, Z:-3.10 [[ 9.69657622e-01 2.44361738e-01 7.17200259e-03 3.44030480e+02] [-2.44356705e-01 9.69684121e-01 -1.58339991e-03 -5.09177249e+01] [-7.34149938e-03 -2.17171127e-04 9.99973027e-01 -3.10348083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8457692310001 meters Centerline goodness [0,1] 0.999724091092387 Centerline is valid? [True, True] Translation: X:344.06, Y:-50.93, Z:-3.11 [[ 9.70001208e-01 2.43030230e-01 5.82790527e-03 3.44058511e+02] [-2.43026878e-01 9.70018701e-01 -1.28741427e-03 -5.09257985e+01] [-5.96605768e-03 -1.67544219e-04 9.99982189e-01 -3.10622699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.87576923100005 meters Centerline goodness [0,1] 0.9995979601768975 Centerline is valid? [True, True] Translation: X:344.09, Y:-50.93, Z:-3.11 [[ 9.70454017e-01 2.41231476e-01 5.13582523e-03 3.44086489e+02] [-2.41228851e-01 9.70467596e-01 -1.13395836e-03 -5.09305816e+01] [-5.25769841e-03 -1.38454772e-04 9.99986169e-01 -3.10970428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9057692310001 meters Centerline goodness [0,1] 0.9998300800747648 Centerline is valid? [True, True] Translation: X:344.11, Y:-50.94, Z:-3.11 [[ 9.71058037e-01 2.38788099e-01 5.15099479e-03 3.44113891e+02] [-2.38785434e-01 9.71071690e-01 -1.13533339e-03 -5.09397243e+01] [-5.27308932e-03 -1.27507916e-04 9.99986089e-01 -3.11028212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.14, Y:-50.96, Z:-3.11 [[ 9.72368885e-01 2.33377194e-01 5.81699357e-03 3.44140372e+02] [-2.33373702e-01 9.72386278e-01 -1.28149093e-03 -5.09585335e+01] [-5.95543549e-03 -1.11451419e-04 9.99982260e-01 -3.10755569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.17, Y:-50.96, Z:-3.11 [[ 9.72897773e-01 2.31146745e-01 6.41128564e-03 3.44167765e+02] [-2.31142452e-01 9.72918892e-01 -1.41294056e-03 -5.09628655e+01] [-6.56425754e-03 -1.07273557e-04 9.99978449e-01 -3.10838116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.19, Y:-50.98, Z:-3.10 [[ 9.73308117e-01 2.29392682e-01 7.09271508e-03 3.44194452e+02] [-2.29387389e-01 9.73333954e-01 -1.56205522e-03 -5.09751000e+01] [-7.26190445e-03 -1.06618369e-04 9.99973626e-01 -3.10407308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.025769231 meters Centerline goodness [0,1] 0.9999789078483896 Centerline is valid? [True, True] Translation: X:344.22, Y:-50.98, Z:-3.10 [[ 9.73699446e-01 2.27693705e-01 8.06007628e-03 3.44222202e+02] [-2.27686815e-01 9.73732800e-01 -1.77460544e-03 -5.09828922e+01] [-8.25242713e-03 -1.07240758e-04 9.99965942e-01 -3.10240213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.25, Y:-51.00, Z:-3.10 [[ 9.74943394e-01 2.22291852e-01 8.46820766e-03 3.44248336e+02] [-2.22284046e-01 9.74980168e-01 -1.86401479e-03 -5.09976264e+01] [-8.67068983e-03 -6.50385518e-05 9.99962407e-01 -3.10176076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.27, Y:-51.01, Z:-3.10 [[ 9.75666740e-01 2.19125301e-01 7.64945438e-03 3.44274742e+02] [-2.19118837e-01 9.75696726e-01 -1.68348583e-03 -5.10096900e+01] [-7.83244194e-03 -3.36184111e-05 9.99969325e-01 -3.10375026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.30, Y:-51.02, Z:-3.11 [[ 9.76424594e-01 2.15741843e-01 7.10421305e-03 3.44300043e+02] [-2.15736176e-01 9.76450438e-01 -1.56379941e-03 -5.10219159e+01] [-7.27428891e-03 -5.70355082e-06 9.99973542e-01 -3.10596736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.33, Y:-51.04, Z:-3.11 [[ 9.77247206e-01 2.11999767e-01 6.63302764e-03 3.44326710e+02] [-2.11994749e-01 9.77269716e-01 -1.45868115e-03 -5.10350298e+01] [-6.79149710e-03 1.93250447e-05 9.99976937e-01 -3.10740060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.35, Y:-51.05, Z:-3.11 [[ 9.78567944e-01 2.05825336e-01 6.38039493e-03 3.44351817e+02] [-2.05820564e-01 9.78588743e-01 -1.40283896e-03 -5.10534294e+01] [-6.53252246e-03 5.95567543e-05 9.99978661e-01 -3.10766968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.38, Y:-51.06, Z:-3.11 [[ 9.78991868e-01 2.03804635e-01 6.21229594e-03 3.44378422e+02] [-2.03800073e-01 9.79011576e-01 -1.36558841e-03 -5.10646947e+01] [-6.36022289e-03 7.08335872e-05 9.99979771e-01 -3.10815203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.40, Y:-51.08, Z:-3.11 [[ 9.79425723e-01 2.01732652e-01 5.40285932e-03 3.44403748e+02] [-2.01729170e-01 9.79440622e-01 -1.18759568e-03 -5.10779955e+01] [-5.53135672e-03 7.32474303e-05 9.99984699e-01 -3.11059017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.43, Y:-51.10, Z:-3.11 [[ 9.80314363e-01 1.97384026e-01 4.82664224e-03 3.44429966e+02] [-1.97381197e-01 9.80326241e-01 -1.06037595e-03 -5.10973579e+01] [-4.94098532e-03 8.68133516e-05 9.99987789e-01 -3.11019495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.29576923100007 meters Centerline goodness [0,1] 0.9999151589708783 Centerline is valid? [True, True] Translation: X:344.46, Y:-51.11, Z:-3.11 [[ 9.80698051e-01 1.95459764e-01 5.17815128e-03 3.44455906e+02] [-1.95456482e-01 9.80711716e-01 -1.13727343e-03 -5.11107732e+01] [-5.30056482e-03 1.03218605e-04 9.99985947e-01 -3.10921621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32576923100004 meters Centerline goodness [0,1] 0.9998928602039941 Centerline is valid? [True, True] Translation: X:344.48, Y:-51.12, Z:-3.11 [[ 9.81018813e-01 1.93819543e-01 6.00611944e-03 3.44482515e+02] [-1.93815095e-01 9.81037190e-01 -1.31943387e-03 -5.11228058e+01] [-6.14795861e-03 1.30312840e-04 9.99981093e-01 -3.10761787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.35576923100007 meters Centerline goodness [0,1] 0.9998087060023806 Centerline is valid? [True, True] Translation: X:344.51, Y:-51.14, Z:-3.11 [[ 9.81128022e-01 1.93233347e-01 6.97695036e-03 3.44509146e+02] [-1.93227335e-01 9.81152817e-01 -1.53215719e-03 -5.11352494e+01] [-7.14151836e-03 1.55104827e-04 9.99974487e-01 -3.10686552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38576923100004 meters Centerline goodness [0,1] 0.9998714267346677 Centerline is valid? [True, True] Translation: X:344.54, Y:-51.15, Z:-3.10 [[ 9.80801025e-01 1.94829345e-01 8.41875189e-03 3.44537945e+02] [-1.94820654e-01 9.80837141e-01 -1.84834236e-03 -5.11452880e+01] [-8.61753586e-03 1.72709337e-04 9.99962853e-01 -3.10416402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41576923100007 meters Centerline goodness [0,1] 0.99978816700913 Centerline is valid? [True, True] Translation: X:344.57, Y:-51.15, Z:-3.11 [[ 9.80461558e-01 1.96561735e-01 7.65619779e-03 3.44565591e+02] [-1.96554602e-01 9.80491440e-01 -1.68065425e-03 -5.11549740e+01] [-7.83718871e-03 1.42955978e-04 9.99969279e-01 -3.10659644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44576923100004 meters Centerline goodness [0,1] 0.9999150292087096 Centerline is valid? [True, True] Translation: X:344.59, Y:-51.16, Z:-3.11 [[ 9.80034242e-01 1.98771254e-01 4.78258788e-03 3.44592966e+02] [-1.98768496e-01 9.80045908e-01 -1.05008960e-03 -5.11610063e+01] [-4.89588331e-03 7.84959673e-05 9.99988012e-01 -3.11190723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.4757692310001 meters Centerline goodness [0,1] 0.9999784259578874 Centerline is valid? [True, True] Translation: X:344.62, Y:-51.16, Z:-3.12 [[ 9.79514761e-01 2.01363256e-01 1.91615124e-03 3.44622181e+02] [-2.01362817e-01 9.79516635e-01 -4.21072089e-04 -5.11636594e+01] [-1.96169046e-03 2.66047137e-05 9.99998076e-01 -3.11577858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.65, Y:-51.17, Z:-3.12 [[ 9.78490765e-01 2.06290228e-01 -4.06468808e-04 3.44649101e+02] [-2.06290209e-01 9.78490849e-01 8.82183368e-05 -5.11689131e+01] [ 4.15924590e-04 -2.47029251e-06 9.99999914e-01 -3.12483648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.68, Y:-51.17, Z:-3.12 [[ 9.77961100e-01 2.08787178e-01 -2.27982261e-05 3.44678504e+02] [-2.08787178e-01 9.77961101e-01 4.26099603e-06 -5.11714717e+01] [ 2.31854197e-05 5.92888927e-07 1.00000000e+00 -3.11973414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.71, Y:-51.18, Z:-3.12 [[ 9.77522639e-01 2.10826929e-01 1.22333614e-03 3.44705347e+02] [-2.10826757e-01 9.77523404e-01 -2.69065716e-04 -5.11773098e+01] [-1.25256601e-03 5.10583603e-06 9.99999216e-01 -3.11953876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.73, Y:-51.18, Z:-3.11 [[ 9.77151770e-01 2.12518118e-01 3.23530247e-03 3.44733906e+02] [-2.12516933e-01 9.77157126e-01 -7.09728382e-04 -5.11824903e+01] [-3.31222901e-03 5.95578491e-06 9.99994515e-01 -3.11486923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.76, Y:-51.19, Z:-3.11 [[ 9.76825263e-01 2.13970067e-01 5.40526503e-03 3.44761771e+02] [-2.13966786e-01 9.76840217e-01 -1.18499131e-03 -5.11888917e+01] [-5.53363293e-03 9.82262187e-07 9.99984689e-01 -3.10985171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.79, Y:-51.19, Z:-3.11 [[ 9.76730733e-01 2.14417361e-01 4.71920881e-03 3.44788827e+02] [-2.14414865e-01 9.76742134e-01 -1.03456278e-03 -5.11949673e+01] [-4.83127830e-03 -1.37925491e-06 9.99988329e-01 -3.11341913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.82, Y:-51.20, Z:-3.12 [[ 9.76652692e-01 2.14783838e-01 4.17390071e-03 3.44815821e+02] [-2.14781889e-01 9.76661611e-01 -9.14818466e-04 -5.12014548e+01] [-4.27297681e-03 -3.01836301e-06 9.99990871e-01 -3.11581962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.84, Y:-51.21, Z:-3.11 [[ 9.76573217e-01 2.15142884e-01 4.27694546e-03 3.44843885e+02] [-2.15140843e-01 9.76582582e-01 -9.37052566e-04 -5.12086295e+01] [-4.37839063e-03 -5.04521507e-06 9.99990415e-01 -3.11336356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.87, Y:-51.21, Z:-3.11 [[ 9.76469232e-01 2.15604050e-01 4.76788597e-03 3.44871335e+02] [-2.15601521e-01 9.76480872e-01 -1.04441347e-03 -5.12144510e+01] [-4.88092923e-03 -8.12585156e-06 9.99988088e-01 -3.11257077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.90, Y:-51.22, Z:-3.11 [[ 9.76291823e-01 2.16370891e-01 6.15745634e-03 3.44899477e+02] [-2.16366692e-01 9.76311240e-01 -1.34806721e-03 -5.12195904e+01] [-6.30327633e-03 -1.61614626e-05 9.99980134e-01 -3.10962669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.93, Y:-51.23, Z:-3.11 [[ 9.76320912e-01 2.16244914e-01 5.96765828e-03 3.44926240e+02] [-2.16240969e-01 9.76339151e-01 -1.30633754e-03 -5.12256748e+01] [-6.10894726e-03 -1.50475535e-05 9.99981340e-01 -3.11177474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.95, Y:-51.23, Z:-3.11 [[ 9.76353610e-01 2.16109555e-01 5.50340818e-03 3.44954424e+02] [-2.16106200e-01 9.76369121e-01 -1.20431716e-03 -5.12334983e+01] [-5.63362225e-03 -1.34812232e-05 9.99984131e-01 -3.11193412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.98, Y:-51.24, Z:-3.11 [[ 9.76353760e-01 2.16136821e-01 4.26727528e-03 3.44982370e+02] [-2.16134804e-01 9.76363085e-01 -9.33767952e-04 -5.12409697e+01] [-4.36823169e-03 -1.06188549e-05 9.99990459e-01 -3.11417224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.01, Y:-51.25, Z:-3.12 [[ 9.76368521e-01 2.16076039e-01 3.95683744e-03 3.45009208e+02] [-2.16074304e-01 9.76376539e-01 -8.65953447e-04 -5.12460791e+01] [-4.05047503e-03 -9.48120762e-06 9.99991797e-01 -3.11619221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.04, Y:-51.25, Z:-3.12 [[ 9.76375593e-01 2.16050081e-01 3.61432270e-03 3.45037762e+02] [-2.16048635e-01 9.76382283e-01 -7.90531978e-04 -5.12521734e+01] [-3.69975514e-03 -9.01335503e-06 9.99993156e-01 -3.11718593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.07, Y:-51.26, Z:-3.12 [[ 9.76392785e-01 2.15983417e-01 2.87988349e-03 3.45065762e+02] [-2.15982498e-01 9.76397032e-01 -6.29911664e-04 -5.12583431e+01] [-2.94796016e-03 -6.96322585e-06 9.99995655e-01 -3.11840123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.09, Y:-51.26, Z:-3.12 [[ 9.76358094e-01 2.16131191e-01 3.49019387e-03 3.45093577e+02] [-2.16129844e-01 9.76364332e-01 -7.63204857e-04 -5.12628675e+01] [-3.57265318e-03 -9.17381573e-06 9.99993618e-01 -3.11896618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.12, Y:-51.27, Z:-3.12 [[ 9.76255172e-01 2.16572367e-01 4.71685335e-03 3.45121478e+02] [-2.16569915e-01 9.76266567e-01 -1.03082344e-03 -5.12665064e+01] [-4.82815409e-03 -1.51818106e-05 9.99988344e-01 -3.11727684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.15, Y:-51.27, Z:-3.11 [[ 9.75897719e-01 2.18157772e-01 5.55232734e-03 3.45150106e+02] [-2.18154403e-01 9.75913513e-01 -1.21275070e-03 -5.12690256e+01] [-5.68316227e-03 -2.77440091e-05 9.99983850e-01 -3.11459108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.18, Y:-51.27, Z:-3.12 [[ 9.75553401e-01 2.19688008e-01 5.72201013e-03 3.45178526e+02] [-2.19684458e-01 9.75570181e-01 -1.24961512e-03 -5.12702615e+01] [-5.85674792e-03 -3.79704090e-05 9.99982848e-01 -3.11532185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.21, Y:-51.27, Z:-3.12 [[ 9.75149939e-01 2.21479470e-01 5.42599028e-03 3.45208280e+02] [-2.21476307e-01 9.75165033e-01 -1.18457227e-03 -5.12709165e+01] [-5.55359443e-03 -4.65927135e-05 9.99984578e-01 -3.11615095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.24, Y:-51.28, Z:-3.12 [[ 9.75083967e-01 2.21780140e-01 4.98274891e-03 3.45236335e+02] [-2.21777477e-01 9.75096697e-01 -1.08763180e-03 -5.12754215e+01] [-5.09987714e-03 -4.45291589e-05 9.99986995e-01 -3.11708441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.26, Y:-51.28, Z:-3.12 [[ 9.75156118e-01 2.21473622e-01 4.47000902e-03 3.45263771e+02] [-2.21471476e-01 9.75166362e-01 -9.75791303e-04 -5.12797208e+01] [-4.57511446e-03 -3.84306362e-05 9.99989533e-01 -3.12023216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.29, Y:-51.29, Z:-3.12 [[ 9.75171315e-01 2.21406694e-01 4.47007795e-03 3.45290668e+02] [-2.21404549e-01 9.75181560e-01 -9.75475300e-04 -5.12854432e+01] [-4.57511435e-03 -3.84400588e-05 9.99989533e-01 -3.12064165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.32, Y:-51.29, Z:-3.12 [[ 9.75395093e-01 2.20438501e-01 3.35867337e-03 3.45318544e+02] [-2.20437285e-01 9.75400875e-01 -7.32693784e-04 -5.12914848e+01] [-3.43756686e-03 -2.57109161e-05 9.99994091e-01 -3.12278804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.35, Y:-51.30, Z:-3.12 [[ 9.75525360e-01 2.19874080e-01 2.37940947e-03 3.45346706e+02] [-2.19873468e-01 9.75528261e-01 -5.19172793e-04 -5.12975588e+01] [-2.43533382e-03 -1.67027865e-05 9.99997034e-01 -3.12365622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.37, Y:-51.30, Z:-3.13 [[ 9.75596087e-01 2.19565752e-01 1.77628748e-03 3.45374958e+02] [-2.19565410e-01 9.75597704e-01 -3.87670605e-04 -5.13026129e+01] [-1.81806117e-03 -1.18013629e-05 9.99998347e-01 -3.12577476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.40, Y:-51.31, Z:-3.13 [[ 9.75879709e-01 2.18305932e-01 1.14637681e-03 3.45402723e+02] [-2.18305789e-01 9.75880382e-01 -2.50552636e-04 -5.13074057e+01] [-1.17342377e-03 -5.75146104e-06 9.99999312e-01 -3.12960177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.43, Y:-51.31, Z:-3.13 [[ 9.76155004e-01 2.17070692e-01 1.31277327e-03 3.45431083e+02] [-2.17070503e-01 9.76155886e-01 -2.86542133e-04 -5.13146711e+01] [-1.34367125e-03 -5.25481554e-06 9.99999097e-01 -3.12849335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.46, Y:-51.32, Z:-3.13 [[ 9.76438995e-01 2.15785260e-01 1.90028577e-03 3.45458039e+02] [-2.15784862e-01 9.76440844e-01 -4.14521493e-04 -5.13211717e+01] [-1.94496427e-03 -5.29795159e-06 9.99998109e-01 -3.12849057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.49, Y:-51.33, Z:-3.13 [[ 9.76639845e-01 2.14863909e-01 2.84852486e-03 3.45486290e+02] [-2.14863013e-01 9.76643999e-01 -6.20609969e-04 -5.13283070e+01] [-2.91534139e-03 -5.93020995e-06 9.99995750e-01 -3.12628687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.51, Y:-51.34, Z:-3.12 [[ 9.77415568e-01 2.11264553e-01 5.10846008e-03 3.45512397e+02] [-2.11261625e-01 9.77428917e-01 -1.11228711e-03 -5.13403191e+01] [-5.22814345e-03 7.94516068e-06 9.99986333e-01 -3.12307475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.54, Y:-51.35, Z:-3.12 [[ 9.77975980e-01 2.08641440e-01 5.63311661e-03 3.45539731e+02] [-2.08637840e-01 9.77992203e-01 -1.22598353e-03 -5.13519579e+01] [-5.76493509e-03 2.37011631e-05 9.99983382e-01 -3.12233363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.57, Y:-51.36, Z:-3.12 [[ 9.78598002e-01 2.05702414e-01 5.69799484e-03 3.45566788e+02] [-2.05698682e-01 9.78614590e-01 -1.23982160e-03 -5.13639929e+01] [-5.83117518e-03 4.12169161e-05 9.99982998e-01 -3.12235429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.59, Y:-51.38, Z:-3.12 [[ 9.79273399e-01 2.02466130e-01 5.57454050e-03 3.45593004e+02] [-2.02462507e-01 9.79289264e-01 -1.21259731e-03 -5.13768340e+01] [-5.70459755e-03 5.88288434e-05 9.99983727e-01 -3.12329309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.55576923100006 meters Centerline goodness [0,1] 0.9999356167911408 Centerline is valid? [True, True] Translation: X:345.62, Y:-51.39, Z:-3.13 [[ 9.80220864e-01 1.97860832e-01 4.26009413e-03 3.45620520e+02] [-1.97858674e-01 9.80230119e-01 -9.26274367e-04 -5.13946116e+01] [-4.35914600e-03 6.50568833e-05 9.99990497e-01 -3.12697262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58576923100003 meters Centerline goodness [0,1] 0.9999788252233939 Centerline is valid? [True, True] Translation: X:345.65, Y:-51.41, Z:-3.13 [[ 9.80489593e-01 1.96534659e-01 3.77954425e-03 3.45647900e+02] [-1.96532950e-01 9.80496876e-01 -8.21916389e-04 -5.14062985e+01] [-3.86736638e-03 6.30754840e-05 9.99992520e-01 -3.12869042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.61576923100006 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:345.68, Y:-51.42, Z:-3.13 [[ 9.80488789e-01 1.96560017e-01 2.42773264e-03 3.45677845e+02] [-1.96559314e-01 9.80491794e-01 -5.27535103e-04 -5.14163633e+01] [-2.48406424e-03 4.00487922e-05 9.99996914e-01 -3.12905445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64576923100003 meters Centerline goodness [0,1] 0.9999785061794734 Centerline is valid? [True, True] Translation: X:345.71, Y:-51.43, Z:-3.13 [[ 9.80338871e-01 1.97311044e-01 2.01272192e-03 3.45708141e+02] [-1.97310561e-01 9.80340936e-01 -4.37343583e-04 -5.14251649e+01] [-2.05944641e-03 3.16136214e-05 9.99997879e-01 -3.13033939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.74, Y:-51.44, Z:-3.13 [[ 9.80160177e-01 1.98195808e-01 2.10923617e-03 3.45736735e+02] [-1.98195280e-01 9.80162446e-01 -4.58538811e-04 -5.14354475e+01] [-2.15827456e-03 3.14008297e-05 9.99997670e-01 -3.13207723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.77, Y:-51.44, Z:-3.13 [[ 9.79973153e-01 1.99104637e-01 3.15629186e-03 3.45766237e+02] [-1.99103459e-01 9.79978235e-01 -6.86430900e-04 -5.14417926e+01] [-3.22976890e-03 4.42552286e-05 9.99994783e-01 -3.12933545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.80, Y:-51.45, Z:-3.13 [[ 9.79704632e-01 2.00394929e-01 4.55052412e-03 3.45795061e+02] [-2.00392493e-01 9.79715198e-01 -9.89648775e-04 -5.14508202e+01] [-4.65653824e-03 5.76726133e-05 9.99989157e-01 -3.12785901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.83, Y:-51.46, Z:-3.12 [[ 9.78976826e-01 2.03789489e-01 8.61505856e-03 3.45825777e+02] [-2.03780892e-01 9.79014728e-01 -1.87352951e-03 -5.14551875e+01] [-8.81607484e-03 7.85576587e-05 9.99961135e-01 -3.11803237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.86, Y:-51.46, Z:-3.12 [[ 9.78557666e-01 2.05733715e-01 9.92634645e-03 3.45855601e+02] [-2.05722407e-01 9.78608008e-01 -2.15815550e-03 -5.14638525e+01] [-1.01580075e-02 6.98077215e-05 9.99948404e-01 -3.11765643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.88, Y:-51.47, Z:-3.12 [[ 9.78206957e-01 2.07406205e-01 9.68578074e-03 3.45883443e+02] [-2.07395497e-01 9.78254907e-01 -2.10827822e-03 -5.14696224e+01] [-9.91243252e-03 5.35451150e-05 9.99950869e-01 -3.11901214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.91, Y:-51.48, Z:-3.12 [[ 9.77864242e-01 2.09074454e-01 8.33042574e-03 3.45911865e+02] [-2.09066594e-01 9.77899725e-01 -1.81312622e-03 -5.14757280e+01] [-8.52539941e-03 3.13775605e-05 9.99963658e-01 -3.12222863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.94, Y:-51.48, Z:-3.13 [[ 9.77272752e-01 2.11896844e-01 6.13975805e-03 3.45940195e+02] [-2.11892630e-01 9.77292038e-01 -1.33634299e-03 -5.14825129e+01] [-6.28350352e-03 5.00211259e-06 9.99980259e-01 -3.12703834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.97, Y:-51.49, Z:-3.12 [[ 9.76934739e-01 2.13456653e-01 5.89681474e-03 3.45970872e+02] [-2.13452798e-01 9.76952536e-01 -1.28276903e-03 -5.14889598e+01] [-6.03472370e-03 -5.50998214e-06 9.99981791e-01 -3.12430113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.00, Y:-51.49, Z:-3.12 [[ 9.76572566e-01 2.15095255e-01 6.32883034e-03 3.46000337e+02] [-2.15090850e-01 9.76593073e-01 -1.37665819e-03 -5.14941330e+01] [-6.47680452e-03 -1.68668776e-05 9.99979025e-01 -3.12468483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.03, Y:-51.50, Z:-3.12 [[ 9.76113724e-01 2.17145705e-01 7.05273495e-03 3.46031666e+02] [-2.17140283e-01 9.76139202e-01 -1.53489155e-03 -5.14998015e+01] [-7.21774617e-03 -3.32041611e-05 9.99973951e-01 -3.12295844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.06, Y:-51.50, Z:-3.12 [[ 9.75750708e-01 2.18754297e-01 7.55733065e-03 3.46061292e+02] [-2.18748117e-01 9.75779973e-01 -1.64501520e-03 -5.15043405e+01] [-7.73414604e-03 -4.80270984e-05 9.99970090e-01 -3.12411157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.09, Y:-51.51, Z:-3.13 [[ 9.75353112e-01 2.20541916e-01 6.89709366e-03 3.46090637e+02] [-2.20536812e-01 9.75377496e-01 -1.50146869e-03 -5.15119466e+01] [-7.05840672e-03 -5.66008836e-05 9.99975088e-01 -3.12644899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.12, Y:-51.52, Z:-3.13 [[ 9.75361148e-01 2.20520591e-01 6.42654702e-03 3.46120059e+02] [-2.20516160e-01 9.75382318e-01 -1.39893161e-03 -5.15194506e+01] [-6.57683356e-03 -5.26939288e-05 9.99978371e-01 -3.12767030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.15, Y:-51.53, Z:-3.13 [[ 9.75375286e-01 2.20463566e-01 6.23438631e-03 3.46149909e+02] [-2.20459394e-01 9.75395209e-01 -1.35727758e-03 -5.15275621e+01] [-6.38022079e-03 -5.05740183e-05 9.99979645e-01 -3.12806807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.18, Y:-51.54, Z:-3.13 [[ 9.75219181e-01 2.21158919e-01 6.02341793e-03 3.46179145e+02] [-2.21155037e-01 9.75237781e-01 -1.31134802e-03 -5.15356619e+01] [-6.16428105e-03 -5.32574791e-05 9.99980999e-01 -3.12888118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.21, Y:-51.54, Z:-3.13 [[ 9.75112390e-01 2.21636462e-01 5.75372213e-03 3.46207618e+02] [-2.21632929e-01 9.75129364e-01 -1.25255198e-03 -5.15420640e+01] [-5.88823459e-03 -5.38353349e-05 9.99982663e-01 -3.13006842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.24, Y:-51.55, Z:-3.13 [[ 9.75012153e-01 2.22088621e-01 5.28637172e-03 3.46237140e+02] [-2.22085645e-01 9.75026483e-01 -1.15093564e-03 -5.15482810e+01] [-5.40996214e-03 -5.18510396e-05 9.99985365e-01 -3.13072123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.27, Y:-51.55, Z:-3.13 [[ 9.74960640e-01 2.22315228e-01 5.26212060e-03 3.46266373e+02] [-2.22312282e-01 9.74974839e-01 -1.14576999e-03 -5.15540692e+01] [-5.38515730e-03 -5.27533942e-05 9.99985499e-01 -3.13191371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.30, Y:-51.56, Z:-3.13 [[ 9.74945409e-01 2.22377239e-01 5.46007379e-03 3.46295901e+02] [-2.22374069e-01 9.74960697e-01 -1.18868646e-03 -5.15603576e+01] [-5.58769416e-03 -5.52744219e-05 9.99984387e-01 -3.13211402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.275769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.32, Y:-51.57, Z:-3.13 [[ 9.75101606e-01 2.21640667e-01 7.23003364e-03 3.46324443e+02] [-2.21635088e-01 9.75128407e-01 -1.57410488e-03 -5.15672689e+01] [-7.39909684e-03 -6.75169495e-05 9.99972624e-01 -3.12922570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.35, Y:-51.57, Z:-3.13 [[ 9.75279114e-01 2.20817628e-01 8.38007640e-03 3.46354246e+02] [-2.20810103e-01 9.75315113e-01 -1.82428439e-03 -5.15748325e+01] [-8.57604932e-03 -7.12190768e-05 9.99963222e-01 -3.12710504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.38, Y:-51.59, Z:-3.13 [[ 9.75970044e-01 2.17694727e-01 9.56447531e-03 3.46384784e+02] [-2.17684784e-01 9.76016907e-01 -2.08126059e-03 -5.15853577e+01] [-9.78816906e-03 -5.07927518e-05 9.99952093e-01 -3.12525197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.42, Y:-51.59, Z:-3.13 [[ 9.76350506e-01 2.16017285e-01 8.73053917e-03 3.46415579e+02] [-2.16008921e-01 9.76389539e-01 -1.90108253e-03 -5.15947732e+01] [-8.93507380e-03 -2.97514596e-05 9.99960081e-01 -3.12779763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.45, Y:-51.60, Z:-3.13 [[ 9.76599723e-01 2.14929875e-01 7.62434809e-03 3.46446759e+02] [-2.14923456e-01 9.76629484e-01 -1.66119257e-03 -5.16046297e+01] [-7.80320305e-03 -1.63310379e-05 9.99969554e-01 -3.13046217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.48, Y:-51.61, Z:-3.13 [[ 9.76798708e-01 2.14038776e-01 7.18932424e-03 3.46477622e+02] [-2.14033034e-01 9.76825165e-01 -1.56787639e-03 -5.16142558e+01] [-7.35829918e-03 -7.25325107e-06 9.99972927e-01 -3.13239892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.51, Y:-51.62, Z:-3.13 [[ 9.77047111e-01 2.12937220e-01 6.05661140e-03 3.46508278e+02] [-2.12933123e-01 9.77065883e-01 -1.32088035e-03 -5.16245015e+01] [-6.19897296e-03 9.09154817e-07 9.99980786e-01 -3.13418607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.54, Y:-51.63, Z:-3.14 [[ 9.77160497e-01 2.12441103e-01 5.11275761e-03 3.46538297e+02] [-2.12438170e-01 9.77173873e-01 -1.11628049e-03 -5.16328225e+01] [-5.23319701e-03 4.64032923e-06 9.99986307e-01 -3.13723854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.57, Y:-51.64, Z:-3.14 [[ 9.77297848e-01 2.11822714e-01 4.47809348e-03 3.46567831e+02] [-2.11820460e-01 9.77308108e-01 -9.77351694e-04 -5.16414294e+01] [-4.58350235e-03 6.61188908e-06 9.99989496e-01 -3.13874845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.60, Y:-51.65, Z:-3.14 [[ 9.77317095e-01 2.11747972e-01 3.75381720e-03 3.46598480e+02] [-2.11746387e-01 9.77324305e-01 -8.19507522e-04 -5.16492198e+01] [-3.84222584e-03 6.06148251e-06 9.99992619e-01 -3.14082440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.63, Y:-51.66, Z:-3.14 [[ 9.77275180e-01 2.11927274e-01 4.47796745e-03 3.46630227e+02] [-2.11925015e-01 9.77285440e-01 -9.78568693e-04 -5.16559370e+01] [-4.58363778e-03 7.33757693e-06 9.99989495e-01 -3.13900072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.66, Y:-51.66, Z:-3.14 [[ 9.77155293e-01 2.12450125e-01 5.69899207e-03 3.46660997e+02] [-2.12446462e-01 9.77171911e-01 -1.24769711e-03 -5.16623662e+01] [-5.83396838e-03 8.46313355e-06 9.99982982e-01 -3.13851932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.69, Y:-51.67, Z:-3.13 [[ 9.76967628e-01 2.13261108e-01 7.34527198e-03 3.46693108e+02] [-2.13255037e-01 9.76995240e-01 -1.60927514e-03 -5.16688916e+01] [-7.51949157e-03 5.79347504e-06 9.99971728e-01 -3.13422826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.72, Y:-51.67, Z:-3.13 [[ 9.76467101e-01 2.15414320e-01 1.04245756e-02 3.46724212e+02] [-2.15402199e-01 9.76522745e-01 -2.28516896e-03 -5.16745516e+01] [-1.06720933e-02 -1.40842011e-05 9.99943051e-01 -3.12856441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.76, Y:-51.68, Z:-3.13 [[ 9.76089252e-01 2.17052532e-01 1.17460739e-02 3.46757214e+02] [-2.17037238e-01 9.76159924e-01 -2.57683191e-03 -5.16793294e+01] [-1.20253545e-02 -3.41175037e-05 9.99927692e-01 -3.12580411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.79, Y:-51.68, Z:-3.13 [[ 9.75666792e-01 2.18933684e-01 1.19312039e-02 3.46790140e+02] [-2.18918015e-01 9.75739739e-01 -2.61988446e-03 -5.16823931e+01] [-1.22153307e-02 -5.58212105e-05 9.99925389e-01 -3.12569708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.82, Y:-51.68, Z:-3.13 [[ 9.75008155e-01 2.21939253e-01 1.01028022e-02 3.46821556e+02] [-2.21928154e-01 9.75060492e-01 -2.22081192e-03 -5.16804850e+01] [-1.03437287e-02 -7.67865256e-05 9.99946499e-01 -3.13132621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.85, Y:-51.68, Z:-3.13 [[ 9.74748495e-01 2.23109850e-01 9.34704139e-03 3.46852978e+02] [-2.23100404e-01 9.74793305e-01 -2.05471706e-03 -5.16843929e+01] [-9.56986099e-03 -8.24963511e-05 9.99954204e-01 -3.13308481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.88, Y:-51.69, Z:-3.13 [[ 9.74648579e-01 2.23545345e-01 9.36093741e-03 3.46883706e+02] [-2.23535888e-01 9.74693527e-01 -2.05800333e-03 -5.16891675e+01] [-9.58410217e-03 -8.66754420e-05 9.99954068e-01 -3.13275133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.91, Y:-51.69, Z:-3.13 [[ 9.74658112e-01 2.23493518e-01 9.60272558e-03 3.46914283e+02] [-2.23483561e-01 9.74705412e-01 -2.11147674e-03 -5.16933005e+01] [-9.83172995e-03 -8.80833722e-05 9.99951663e-01 -3.13306353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.94, Y:-51.70, Z:-3.13 [[ 9.74974497e-01 2.22026230e-01 1.13615169e-02 3.46943744e+02] [-2.22012189e-01 9.75040689e-01 -2.49846113e-03 -5.16973559e+01] [-1.16326651e-02 -8.64593458e-05 9.99932335e-01 -3.13192235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.97, Y:-51.70, Z:-3.13 [[ 9.75174256e-01 2.21139369e-01 1.15130318e-02 3.46972605e+02] [-2.21124890e-01 9.75242213e-01 -2.53167184e-03 -5.17040275e+01] [-1.17878470e-02 -7.69966960e-05 9.99930518e-01 -3.13146100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.00, Y:-51.71, Z:-3.13 [[ 9.75337207e-01 2.20399658e-01 1.18879314e-02 3.47002047e+02] [-2.20384170e-01 9.75409650e-01 -2.61375554e-03 -5.17105501e+01] [-1.21716739e-02 -7.06188761e-05 9.99925920e-01 -3.13085423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.03, Y:-51.71, Z:-3.13 [[ 9.75372876e-01 2.20257956e-01 1.15838341e-02 3.47030830e+02] [-2.20243240e-01 9.75441658e-01 -2.54693080e-03 -5.17146974e+01] [-1.18603361e-02 -6.70539390e-05 9.99929661e-01 -3.13152612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.06, Y:-51.72, Z:-3.13 [[ 9.74943955e-01 2.22221928e-01 1.00846005e-02 3.47061563e+02] [-2.22210881e-01 9.74996107e-01 -2.21714114e-03 -5.17157422e+01] [-1.03251436e-02 -7.93196020e-05 9.99946691e-01 -3.13388840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.09, Y:-51.72, Z:-3.14 [[ 9.74537854e-01 2.24030064e-01 9.30062009e-03 3.47091147e+02] [-2.24020749e-01 9.74582230e-01 -2.04491295e-03 -5.17175294e+01] [-9.52234104e-03 -9.06868059e-05 9.99954657e-01 -3.13529639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.12, Y:-51.72, Z:-3.14 [[ 9.74135335e-01 2.25788875e-01 8.92935305e-03 3.47120803e+02] [-2.25780365e-01 9.74176254e-01 -1.96314118e-03 -5.17179207e+01] [-9.14201914e-03 -1.03707399e-04 9.99958205e-01 -3.13697021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.15, Y:-51.71, Z:-3.14 [[ 9.73476747e-01 2.28609846e-01 8.97556881e-03 3.47149493e+02] [-2.28601369e-01 9.73518115e-01 -1.97307127e-03 -5.17148932e+01] [-9.18894235e-03 -1.31088317e-04 9.99957772e-01 -3.13740471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.18, Y:-51.72, Z:-3.14 [[ 9.73487335e-01 2.28564750e-01 8.97568901e-03 3.47177186e+02] [-2.28556276e-01 9.73528704e-01 -1.97252428e-03 -5.17208854e+01] [-9.18894041e-03 -1.31222650e-04 9.99957772e-01 -3.13782663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.20, Y:-51.72, Z:-3.14 [[ 9.73256363e-01 2.29550216e-01 8.87417316e-03 3.47204764e+02] [-2.29541976e-01 9.73296809e-01 -1.94985908e-03 -5.17229392e+01] [-9.08479499e-03 -1.39282490e-04 9.99958723e-01 -3.13912128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.23, Y:-51.73, Z:-3.14 [[ 9.73100854e-01 2.30212145e-01 8.78044591e-03 3.47232510e+02] [-2.30204111e-01 9.73140456e-01 -1.92868027e-03 -5.17303085e+01] [-8.98861276e-03 -1.44494326e-04 9.99959591e-01 -3.13934564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.26, Y:-51.74, Z:-3.14 [[ 9.73112252e-01 2.30184878e-01 8.21384460e-03 3.47260548e+02] [-2.30177850e-01 9.73146907e-01 -1.80386624e-03 -5.17361534e+01] [-8.40850021e-03 -1.35280754e-04 9.99964639e-01 -3.14079910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.29, Y:-51.74, Z:-3.14 [[ 9.73606915e-01 2.28106687e-01 7.54412347e-03 3.47288099e+02] [-2.28100698e-01 9.73636137e-01 -1.65655547e-03 -5.17419363e+01] [-7.72310262e-03 -1.07985965e-04 9.99970171e-01 -3.14333288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.32, Y:-51.75, Z:-3.14 [[ 9.73915205e-01 2.26768103e-01 8.08710578e-03 3.47316478e+02] [-2.26761179e-01 9.73948775e-01 -1.77513905e-03 -5.17490635e+01] [-8.27897168e-03 -1.05006732e-04 9.99965723e-01 -3.14328874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.34, Y:-51.76, Z:-3.14 [[ 9.74247543e-01 2.25329978e-01 8.25380023e-03 3.47343093e+02] [-2.25322717e-01 9.74282501e-01 -1.81138496e-03 -5.17561517e+01] [-8.44969246e-03 -9.50313427e-05 9.99964296e-01 -3.14352168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.37, Y:-51.77, Z:-3.14 [[ 9.74701612e-01 2.23351772e-01 8.41148884e-03 3.47369983e+02] [-2.23344163e-01 9.74737903e-01 -1.84537978e-03 -5.17661295e+01] [-8.61116583e-03 -7.99622877e-05 9.99962920e-01 -3.14381991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.40, Y:-51.78, Z:-3.14 [[ 9.75729682e-01 2.18840719e-01 7.76700498e-03 3.47398311e+02] [-2.18834093e-01 9.75760595e-01 -1.70333411e-03 -5.17809960e+01] [-7.95149626e-03 -3.76918426e-05 9.99968386e-01 -3.14498698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.43, Y:-51.79, Z:-3.15 [[ 9.76259819e-01 2.16466177e-01 7.69156906e-03 3.47426523e+02] [-2.16459605e-01 9.76290118e-01 -1.68687812e-03 -5.17903749e+01] [-7.87435492e-03 -1.80826706e-05 9.99968997e-01 -3.14595907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.45, Y:-51.81, Z:-3.15 [[ 9.77303588e-01 2.11669813e-01 8.57829260e-03 3.47453952e+02] [-2.11661456e-01 9.77341235e-01 -1.88106840e-03 -5.18060570e+01] [-8.78208448e-03 2.26809973e-05 9.99961436e-01 -3.14508250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.48, Y:-51.82, Z:-3.14 [[ 9.77788546e-01 2.09381805e-01 9.42442063e-03 3.47482648e+02] [-2.09371616e-01 9.77833962e-01 -2.06610477e-03 -5.18183958e+01] [-9.64812331e-03 4.70073992e-05 9.99953455e-01 -3.14423650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.51, Y:-51.83, Z:-3.14 [[ 9.78175203e-01 2.07536883e-01 1.00853674e-02 3.47512959e+02] [-2.07525103e-01 9.78227191e-01 -2.21236963e-03 -5.18296107e+01] [-1.03249290e-02 7.11181905e-05 9.99946694e-01 -3.14369948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.54, Y:-51.84, Z:-3.14 [[ 9.78444695e-01 2.06233419e-01 1.06656120e-02 3.47543560e+02] [-2.06220145e-01 9.78502820e-01 -2.34164169e-03 -5.18396180e+01] [-1.09192562e-02 9.17028362e-05 9.99940379e-01 -3.14302391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.57, Y:-51.85, Z:-3.14 [[ 9.78615590e-01 2.05403278e-01 1.10008872e-02 3.47574991e+02] [-2.05389082e-01 9.78677415e-01 -2.41716998e-03 -5.18489755e+01] [-1.12628145e-02 1.06018096e-04 9.99936567e-01 -3.14214289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.60, Y:-51.86, Z:-3.15 [[ 9.78707573e-01 2.05065641e-01 8.92018951e-03 3.47603218e+02] [-2.05056279e-01 9.78748218e-01 -1.96152574e-03 -5.18640250e+01] [-9.13286112e-03 9.06192271e-05 9.99958290e-01 -3.14603970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.63, Y:-51.87, Z:-3.15 [[ 9.78784528e-01 2.04760322e-01 7.35242822e-03 3.47633517e+02] [-2.04753947e-01 9.78812140e-01 -1.61756988e-03 -5.18740220e+01] [-7.52786013e-03 7.78136701e-05 9.99971662e-01 -3.14931089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.66, Y:-51.88, Z:-3.15 [[ 9.78819699e-01 2.04638791e-01 5.91291593e-03 3.47664116e+02] [-2.04634663e-01 9.78837556e-01 -1.30129862e-03 -5.18825685e+01] [-6.05408035e-03 6.37491662e-05 9.99981672e-01 -3.15095820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.69, Y:-51.90, Z:-3.15 [[ 9.78866835e-01 2.04377042e-01 7.05291342e-03 3.47693314e+02] [-2.04371150e-01 9.78892240e-01 -1.55393183e-03 -5.18987096e+01] [-7.22163021e-03 7.96803028e-05 9.99973921e-01 -3.15160225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.72, Y:-51.91, Z:-3.15 [[ 9.78761180e-01 2.04829641e-01 8.44814016e-03 3.47723745e+02] [-2.04821183e-01 9.78797635e-01 -1.86373355e-03 -5.19081449e+01] [-8.65076748e-03 9.37919858e-05 9.99962577e-01 -3.14872903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.75, Y:-51.92, Z:-3.15 [[ 9.78612496e-01 2.05483421e-01 9.70291049e-03 3.47754426e+02] [-2.05472275e-01 9.78660591e-01 -2.14261834e-03 -5.19173839e+01] [-9.93612866e-03 1.03113985e-04 9.99950630e-01 -3.14647864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.79, Y:-51.93, Z:-3.14 [[ 9.78141755e-01 2.07643614e-01 1.10831789e-02 3.47785396e+02] [-2.07629184e-01 9.78204539e-01 -2.44974933e-03 -5.19273093e+01] [-1.13502907e-02 9.50107139e-05 9.99935579e-01 -3.14480903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.82, Y:-51.93, Z:-3.15 [[ 9.77909792e-01 2.08737565e-01 1.10030998e-02 3.47816392e+02] [-2.08723391e-01 9.77971688e-01 -2.43396885e-03 -5.19343435e+01] [-1.12687808e-02 8.35976815e-05 9.99936502e-01 -3.14582891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.85, Y:-51.94, Z:-3.15 [[ 9.77642009e-01 2.10021178e-01 1.03540725e-02 3.47846583e+02] [-2.10008677e-01 9.77696835e-01 -2.29242976e-03 -5.19417311e+01] [-1.06046027e-02 6.67305655e-05 9.99943767e-01 -3.14865104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.88, Y:-51.95, Z:-3.15 [[ 9.77341810e-01 2.11450440e-01 9.57590446e-03 3.47876646e+02] [-2.11439807e-01 9.77388720e-01 -2.12100701e-03 -5.19482946e+01] [-9.80786886e-03 4.82214343e-05 9.99951901e-01 -3.15114539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.91, Y:-51.95, Z:-3.15 [[ 9.76801059e-01 2.14008720e-01 7.74324638e-03 3.47908885e+02] [-2.14001850e-01 9.76831750e-01 -1.71486451e-03 -5.19546261e+01] [-7.93084487e-03 1.80124231e-05 9.99968550e-01 -3.15323967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.94, Y:-51.96, Z:-3.16 [[ 9.76456132e-01 2.15604399e-01 6.94008149e-03 3.47940163e+02] [-2.15598912e-01 9.76480795e-01 -1.53818729e-03 -5.19603611e+01] [-7.10849623e-03 5.69839546e-06 9.99974734e-01 -3.15507314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.97, Y:-51.97, Z:-3.16 [[ 9.76036365e-01 2.17480889e-01 7.42141853e-03 3.47972393e+02] [-2.17474658e-01 9.76064579e-01 -1.64637657e-03 -5.19658886e+01] [-7.60183919e-03 -7.04704686e-06 9.99971106e-01 -3.15508803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.00, Y:-51.97, Z:-3.15 [[ 9.75497455e-01 2.19835735e-01 8.77292566e-03 3.48004778e+02] [-2.19827102e-01 9.75536903e-01 -1.94845967e-03 -5.19723655e+01] [-8.98665379e-03 -2.78093743e-05 9.99959619e-01 -3.15278175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.04, Y:-51.98, Z:-3.15 [[ 9.75348494e-01 2.20466210e-01 9.48501822e-03 3.48035863e+02] [-2.20456126e-01 9.75394612e-01 -2.10885610e-03 -5.19792532e+01] [-9.71656718e-03 -3.41607531e-05 9.99952792e-01 -3.15220541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.07, Y:-51.99, Z:-3.15 [[ 9.75407736e-01 2.20174184e-01 1.01527330e-02 3.48066881e+02] [-2.20162593e-01 9.75460572e-01 -2.25944006e-03 -5.19870517e+01] [-1.04010611e-02 -3.13766981e-05 9.99945907e-01 -3.15236110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.10, Y:-52.00, Z:-3.15 [[ 9.75594365e-01 2.19347023e-01 1.01251711e-02 3.48098929e+02] [-2.19335431e-01 9.75646905e-01 -2.25512645e-03 -5.19964331e+01] [-1.03732471e-02 -2.07201148e-05 9.99946196e-01 -3.15212819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07576923100004 meters Centerline goodness [0,1] 0.9999569809210385 Centerline is valid? [True, True] Translation: X:348.13, Y:-52.01, Z:-3.15 [[ 9.75801526e-01 2.18452771e-01 9.47464884e-03 3.48129657e+02] [-2.18442561e-01 9.75847522e-01 -2.11199653e-03 -5.20053933e+01] [-9.70718409e-03 -8.77712260e-06 9.99952884e-01 -3.15077952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.16, Y:-52.01, Z:-3.16 [[ 9.75961131e-01 2.17829320e-01 7.08926662e-03 3.48160355e+02] [-2.17823577e-01 9.75986879e-01 -1.58182390e-03 -5.20139142e+01] [-7.26359883e-03 -4.10766737e-07 9.99973620e-01 -3.15711897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.19, Y:-52.02, Z:-3.16 [[ 9.75999648e-01 2.17672280e-01 6.59288851e-03 3.48190982e+02] [-2.17667313e-01 9.76021915e-01 -1.47042692e-03 -5.20216588e+01] [-6.75487484e-03 7.98287979e-08 9.99977186e-01 -3.15872661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.22, Y:-52.03, Z:-3.16 [[ 9.76080674e-01 2.17287936e-01 7.24364303e-03 3.48222786e+02] [-2.17281918e-01 9.76107552e-01 -1.61710220e-03 -5.20299740e+01] [-7.42195146e-03 4.50955641e-06 9.99972457e-01 -3.15738179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.25, Y:-52.04, Z:-3.15 [[ 9.76327041e-01 2.16027680e-01 1.08420485e-02 3.48252410e+02] [-2.16014079e-01 9.76387239e-01 -2.42413156e-03 -5.20391291e+01] [-1.11097173e-02 2.47100691e-05 9.99938285e-01 -3.15205967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.28, Y:-52.05, Z:-3.15 [[ 9.76478612e-01 2.15263637e-01 1.22917218e-02 3.48283336e+02] [-2.15246066e-01 9.76555971e-01 -2.75061329e-03 -5.20482589e+01] [-1.25956613e-02 4.01702916e-05 9.99920671e-01 -3.14944332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.25576923100004 meters Centerline goodness [0,1] 0.9999572311442807 Centerline is valid? [True, True] Translation: X:348.32, Y:-52.06, Z:-3.15 [[ 9.76603168e-01 2.14649970e-01 1.31012329e-02 3.48315686e+02] [-2.14629932e-01 9.76691040e-01 -2.93336701e-03 -5.20570889e+01] [-1.34255039e-02 5.28187976e-05 9.99909872e-01 -3.14852228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.35, Y:-52.07, Z:-3.15 [[ 9.76532269e-01 2.15025933e-01 1.21891513e-02 3.48347702e+02] [-2.15008591e-01 9.76608338e-01 -2.73132804e-03 -5.20653058e+01] [-1.24913331e-02 4.64577270e-05 9.99921979e-01 -3.15148706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.38, Y:-52.07, Z:-3.16 [[ 9.76392441e-01 2.15732533e-01 1.08293336e-02 3.48378733e+02] [-2.15718865e-01 9.76452494e-01 -2.42867482e-03 -5.20725734e+01] [-1.10982740e-02 3.52481860e-05 9.99938412e-01 -3.15512773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.41, Y:-52.08, Z:-3.16 [[ 9.76244639e-01 2.16480119e-01 9.09743326e-03 3.48410777e+02] [-2.16470502e-01 9.76287026e-01 -2.04069400e-03 -5.20794946e+01] [-9.32347574e-03 2.28906356e-05 9.99956535e-01 -3.15778318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.44, Y:-52.09, Z:-3.16 [[ 9.76179706e-01 2.16837495e-01 7.39474787e-03 3.48441972e+02] [-2.16831143e-01 9.76207714e-01 -1.65977232e-03 -5.20865947e+01] [-7.57871079e-03 1.68244228e-05 9.99971281e-01 -3.16032179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.47, Y:-52.09, Z:-3.16 [[ 9.76094032e-01 2.17200008e-01 8.03722066e-03 3.48472997e+02] [-2.17192504e-01 9.76127121e-01 -1.80552622e-03 -5.20949878e+01] [-8.23750937e-03 1.67392878e-05 9.99966071e-01 -3.16115261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.50, Y:-52.10, Z:-3.16 [[ 9.76007940e-01 2.17476266e-01 1.06100850e-02 3.48504271e+02] [-2.17463174e-01 9.76065609e-01 -2.38641221e-03 -5.21022591e+01] [-1.08751271e-02 2.18545091e-05 9.99940864e-01 -3.15597763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.54, Y:-52.11, Z:-3.15 [[ 9.75783699e-01 2.18331747e-01 1.33199674e-02 3.48535076e+02] [-2.18311152e-01 9.75874607e-01 -2.99882980e-03 -5.21083272e+01] [-1.36533577e-02 1.83118090e-05 9.99906788e-01 -3.15126563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.57, Y:-52.11, Z:-3.15 [[ 9.74996687e-01 2.21804692e-01 1.35698087e-02 3.48568746e+02] [-2.21783623e-01 9.75091113e-01 -3.05721106e-03 -5.21097876e+01] [-1.39099036e-02 -2.87906760e-05 9.99903252e-01 -3.15116743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.525769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.60, Y:-52.11, Z:-3.16 [[ 9.74697359e-01 2.23192752e-01 1.22496531e-02 3.48600645e+02] [-2.23175666e-01 9.74774330e-01 -2.76198497e-03 -5.21147546e+01] [-1.25571024e-02 -4.17250199e-05 9.99921156e-01 -3.15505940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.63, Y:-52.12, Z:-3.16 [[ 9.74573955e-01 2.23758835e-01 1.17298453e-02 3.48632184e+02] [-2.23743184e-01 9.74644541e-01 -2.64684310e-03 -5.21225888e+01] [-1.20246842e-02 -4.49285878e-05 9.99927700e-01 -3.15641492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.66, Y:-52.13, Z:-3.16 [[ 9.74508592e-01 2.24036882e-01 1.18523819e-02 3.48664146e+02] [-2.24020896e-01 9.74580665e-01 -2.67676060e-03 -5.21320131e+01] [-1.21507954e-02 -4.66550100e-05 9.99926175e-01 -3.15611782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.69, Y:-52.14, Z:-3.16 [[ 9.74340653e-01 2.24795274e-01 1.12861399e-02 3.48694634e+02] [-2.24780805e-01 9.74406015e-01 -2.55103496e-03 -5.21413240e+01] [-1.15707432e-02 -5.13305326e-05 9.99933055e-01 -3.15796067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.73, Y:-52.15, Z:-3.16 [[ 9.74046752e-01 2.26101274e-01 1.05422491e-02 3.48725546e+02] [-2.26088706e-01 9.74103798e-01 -2.38472815e-03 -5.21488857e+01] [-1.08084350e-02 -6.06467441e-05 9.99941585e-01 -3.15969667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.76, Y:-52.15, Z:-3.16 [[ 9.73517744e-01 2.28395812e-01 9.92748317e-03 3.48756870e+02] [-2.28384771e-01 9.73568357e-01 -2.24721099e-03 -5.21549080e+01] [-1.01783371e-02 -7.95861942e-05 9.99948196e-01 -3.16098225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70576923100003 meters Centerline goodness [0,1] 0.9999787030135235 Centerline is valid? [True, True] Translation: X:348.79, Y:-52.15, Z:-3.16 [[ 9.71666028e-01 2.36124395e-01 1.05071214e-02 3.48788139e+02] [-2.36112452e-01 9.71722821e-01 -2.38083268e-03 -5.21518732e+01] [-1.07721823e-02 -1.67487958e-04 9.99941964e-01 -3.15872755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.73576923100006 meters Centerline goodness [0,1] 0.9999364312503973 Centerline is valid? [True, True] Translation: X:348.82, Y:-52.15, Z:-3.16 [[ 9.70607551e-01 2.40445367e-01 1.03444531e-02 3.48819976e+02] [-2.40434027e-01 9.70662650e-01 -2.34478887e-03 -5.21485363e+01] [-1.06047679e-02 -2.11288734e-04 9.99943746e-01 -3.16012075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76576923100004 meters Centerline goodness [0,1] 0.999788036796812 Centerline is valid? [True, True] Translation: X:348.85, Y:-52.15, Z:-3.16 [[ 9.69648057e-01 2.44317799e-01 9.56338396e-03 3.48850739e+02] [-2.44308292e-01 9.69695188e-01 -2.16801751e-03 -5.21473199e+01] [-9.80325268e-03 -2.34200030e-04 9.99951920e-01 -3.16202941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.79576923100007 meters Centerline goodness [0,1] 0.9998074578011681 Centerline is valid? [True, True] Translation: X:348.88, Y:-52.15, Z:-3.16 [[ 9.68858919e-01 2.47447715e-01 9.05667365e-03 3.48880307e+02] [-2.47439327e-01 9.68901215e-01 -2.05302698e-03 -5.21496481e+01] [-9.28303894e-03 -2.51883728e-04 9.99956880e-01 -3.16360521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82576923100004 meters Centerline goodness [0,1] 0.9991109794043562 Centerline is valid? [True, True] Translation: X:348.91, Y:-52.14, Z:-3.17 [[ 9.67743898e-01 2.51786311e-01 8.68347057e-03 3.48912289e+02] [-2.51778777e-01 9.67782814e-01 -1.96799287e-03 -5.21412375e+01] [-8.89922724e-03 -2.81800514e-04 9.99960361e-01 -3.16606441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.85576923100007 meters Centerline goodness [0,1] 0.9987930121757543 Centerline is valid? [True, True] Translation: X:348.94, Y:-52.14, Z:-3.17 [[ 9.67553178e-01 2.52509622e-01 8.92959833e-03 3.48941255e+02] [-2.52501685e-01 9.67594338e-01 -2.02387125e-03 -5.21449653e+01] [-9.15127575e-03 -2.96535569e-04 9.99958082e-01 -3.16574881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88576923100004 meters Centerline goodness [0,1] 0.9994032395566922 Centerline is valid? [True, True] Translation: X:348.97, Y:-52.15, Z:-3.17 [[ 9.67683217e-01 2.52009683e-01 8.96168737e-03 3.48968379e+02] [-2.52001671e-01 9.67724668e-01 -2.03074889e-03 -5.21537889e+01] [-9.18421432e-03 -2.93238579e-04 9.99957781e-01 -3.16528527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91576923100007 meters Centerline goodness [0,1] 0.9988312543827961 Centerline is valid? [True, True] Translation: X:349.00, Y:-52.15, Z:-3.17 [[ 9.68121333e-01 2.50337709e-01 8.49212702e-03 3.48997056e+02] [-2.50330453e-01 9.68158542e-01 -1.92405061e-03 -5.21525886e+01] [-8.70338773e-03 -2.63123560e-04 9.99962090e-01 -3.16760073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94576923100004 meters Centerline goodness [0,1] 0.9997658827285304 Centerline is valid? [True, True] Translation: X:349.02, Y:-52.17, Z:-3.17 [[ 9.69480085e-01 2.45010129e-01 8.85448170e-03 3.49024748e+02] [-2.45002027e-01 9.69520493e-01 -2.00527507e-03 -5.21695075e+01] [-9.07591417e-03 -2.25291721e-04 9.99958788e-01 -3.16652949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.9757692310001 meters Centerline goodness [0,1] 0.9998305443761915 Centerline is valid? [True, True] Translation: X:349.05, Y:-52.18, Z:-3.17 [[ 9.70178286e-01 2.42219489e-01 9.15494518e-03 3.49052540e+02] [-2.42210703e-01 9.70221458e-01 -2.07335945e-03 -5.21818983e+01] [-9.38453233e-03 -2.05897387e-04 9.99955943e-01 -3.16529224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00576923100004 meters Centerline goodness [0,1] 0.9998305443761915 Centerline is valid? [True, True] Translation: X:349.08, Y:-52.19, Z:-3.17 [[ 9.70183987e-01 2.42196652e-01 9.15496250e-03 3.49081002e+02] [-2.42187865e-01 9.70227159e-01 -2.07328301e-03 -5.21882980e+01] [-9.38453546e-03 -2.05754844e-04 9.99955943e-01 -3.16572669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0357692310001 meters Centerline goodness [0,1] 0.9999364554870687 Centerline is valid? [True, True] Translation: X:349.11, Y:-52.19, Z:-3.17 [[ 9.70803093e-01 2.39687173e-01 9.56104859e-03 3.49110096e+02] [-2.39677472e-01 9.70850155e-01 -2.16473591e-03 -5.21929407e+01] [-9.80120493e-03 -1.90035643e-04 9.99951949e-01 -3.16681225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06576923100005 meters Centerline goodness [0,1] 0.9999366139153585 Centerline is valid? [True, True] Translation: X:349.14, Y:-52.20, Z:-3.17 [[ 9.71750313e-01 2.35834819e-01 9.12512728e-03 3.49137475e+02] [-2.35825808e-01 9.71793145e-01 -2.06660586e-03 -5.22029723e+01] [-9.35511376e-03 -1.43715623e-04 9.99956230e-01 -3.16764191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0957692310001 meters Centerline goodness [0,1] 0.9999787396887491 Centerline is valid? [True, True] Translation: X:349.17, Y:-52.21, Z:-3.17 [[ 9.72047040e-01 2.34599727e-01 9.35520797e-03 3.49166264e+02] [-2.34590202e-01 9.72092048e-01 -2.11831904e-03 -5.22115781e+01] [-9.59108035e-03 -1.35534375e-04 9.99953995e-01 -3.16685837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12576923100005 meters Centerline goodness [0,1] 0.9999574811854246 Centerline is valid? [True, True] Translation: X:349.20, Y:-52.21, Z:-3.17 [[ 9.72244139e-01 2.33749271e-01 1.01297628e-02 3.49195384e+02] [-2.33738060e-01 9.72296899e-01 -2.29348547e-03 -5.22146874e+01] [-1.03852375e-02 -1.37883293e-04 9.99946062e-01 -3.16713765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.22, Y:-52.23, Z:-3.16 [[ 9.72436311e-01 2.32912532e-01 1.09258332e-02 3.49224277e+02] [-2.32899443e-01 9.72497677e-01 -2.47317070e-03 -5.22253977e+01] [-1.12013799e-02 -1.39619480e-04 9.99937253e-01 -3.16466238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.25, Y:-52.23, Z:-3.17 [[ 9.73005692e-01 2.30563350e-01 1.00232415e-02 3.49254529e+02] [-2.30552210e-01 9.73057311e-01 -2.26875196e-03 -5.22340365e+01] [-1.02762795e-02 -1.03371915e-04 9.99947192e-01 -3.16715700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.28, Y:-52.24, Z:-3.17 [[ 9.73218003e-01 2.29704321e-01 9.09083855e-03 3.49283956e+02] [-2.29695117e-01 9.73260457e-01 -2.05801990e-03 -5.22420466e+01] [-9.32048975e-03 -8.52192075e-05 9.99956560e-01 -3.16832787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.31, Y:-52.25, Z:-3.17 [[ 9.73293340e-01 2.29393126e-01 8.88074431e-03 3.49314023e+02] [-2.29384329e-01 9.73333852e-01 -2.01045794e-03 -5.22484601e+01] [-9.10511430e-03 -8.03382580e-05 9.99958544e-01 -3.16859660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.275769231 meters Centerline goodness [0,1] 0.9999573424336141 Centerline is valid? [True, True] Translation: X:349.34, Y:-52.25, Z:-3.17 [[ 9.73339824e-01 2.29171964e-01 9.47618811e-03 3.49343643e+02] [-2.29161937e-01 9.73385948e-01 -2.14531774e-03 -5.22532785e+01] [-9.71563503e-03 -8.34584352e-05 9.99952799e-01 -3.16762618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.37, Y:-52.26, Z:-3.16 [[ 9.73659580e-01 2.27675415e-01 1.22852716e-02 3.49374258e+02] [-2.27658447e-01 9.73737078e-01 -2.78104008e-03 -5.22577680e+01] [-1.25957989e-02 -8.90595245e-05 9.99920666e-01 -3.16365902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.40, Y:-52.26, Z:-3.16 [[ 9.73842484e-01 2.26820073e-01 1.35451457e-02 3.49404221e+02] [-2.26799364e-01 9.73936675e-01 -3.06622855e-03 -5.22637989e+01] [-1.38875963e-02 -8.60067924e-05 9.99903559e-01 -3.16206723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.43, Y:-52.27, Z:-3.16 [[ 9.73950087e-01 2.26342456e-01 1.37956970e-02 3.49433212e+02] [-2.26320922e-01 9.74047784e-01 -3.12313001e-03 -5.22689140e+01] [-1.41445650e-02 -8.04821198e-05 9.99899957e-01 -3.16178996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.46, Y:-52.27, Z:-3.16 [[ 9.73970376e-01 2.26329772e-01 1.25116634e-02 3.49463305e+02] [-2.26312061e-01 9.74050732e-01 -2.83233710e-03 -5.22696807e+01] [-1.28280371e-02 -7.29279042e-05 9.99917715e-01 -3.16495203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.49, Y:-52.27, Z:-3.17 [[ 9.73980324e-01 2.26318195e-01 1.19332985e-02 3.49493123e+02] [-2.26302086e-01 9.74053422e-01 -2.70114517e-03 -5.22737661e+01] [-1.22349886e-02 -6.96680996e-05 9.99925147e-01 -3.16761205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.52, Y:-52.28, Z:-3.17 [[ 9.74111177e-01 2.25798126e-01 1.10734266e-02 3.49522652e+02] [-2.25784225e-01 9.74174113e-01 -2.50619357e-03 -5.22804507e+01] [-1.13533393e-02 -5.88938638e-05 9.99935547e-01 -3.16930572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.55, Y:-52.29, Z:-3.17 [[ 9.75194855e-01 2.21149417e-01 9.37705250e-03 3.49552297e+02] [-2.21139235e-01 9.75239937e-01 -2.12213633e-03 -5.22928764e+01] [-9.61418531e-03 -4.13778973e-06 9.99953783e-01 -3.17251977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.58, Y:-52.30, Z:-3.17 [[ 9.75982084e-01 2.17659215e-01 9.13443543e-03 3.49580549e+02] [-2.17649398e-01 9.76024828e-01 -2.06750830e-03 -5.23043814e+01] [-9.36544801e-03 2.97466884e-05 9.99956143e-01 -3.17335716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.61, Y:-52.32, Z:-3.17 [[ 9.76752596e-01 2.14144930e-01 9.81406309e-03 3.49609345e+02] [-2.14133422e-01 9.76801896e-01 -2.22109273e-03 -5.23176613e+01] [-1.00620312e-02 6.79391787e-05 9.99949374e-01 -3.17304560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.64, Y:-52.33, Z:-3.17 [[ 9.77376394e-01 2.11236614e-01 1.06994208e-02 3.49639343e+02] [-2.11222752e-01 9.77434950e-01 -2.42231598e-03 -5.23287920e+01] [-1.09696697e-02 1.07553339e-04 9.99939826e-01 -3.17050731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.67, Y:-52.34, Z:-3.17 [[ 9.78355533e-01 2.06527231e-01 1.29210411e-02 3.49667288e+02] [-2.06506567e-01 9.78440833e-01 -2.92802311e-03 -5.23447201e+01] [-1.32471907e-02 1.96367767e-04 9.99912233e-01 -3.16744104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.70, Y:-52.35, Z:-3.17 [[ 9.78712405e-01 2.04843443e-01 1.26961609e-02 3.49698738e+02] [-2.04823350e-01 9.78794727e-01 -2.87708413e-03 -5.23530477e+01] [-1.30162871e-02 2.15367724e-04 9.99915261e-01 -3.16824105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66576923100007 meters Centerline goodness [0,1] 0.9999362149979801 Centerline is valid? [True, True] Translation: X:349.73, Y:-52.36, Z:-3.17 [[ 9.79021851e-01 2.03425987e-01 1.15793971e-02 3.49728880e+02] [-2.03409152e-01 9.79090303e-01 -2.62588772e-03 -5.23629161e+01] [-1.18714492e-02 2.15446104e-04 9.99929509e-01 -3.17096538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.69576923100004 meters Centerline goodness [0,1] 0.9999787699297285 Centerline is valid? [True, True] Translation: X:349.76, Y:-52.38, Z:-3.17 [[ 9.79248677e-01 2.02410963e-01 1.00911566e-02 3.49757707e+02] [-2.02398110e-01 9.79300649e-01 -2.28978283e-03 -5.23759067e+01] [-1.03457534e-02 1.99835774e-04 9.99946461e-01 -3.17440737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7257692310001 meters Centerline goodness [0,1] 0.9999787969382778 Centerline is valid? [True, True] Translation: X:349.79, Y:-52.39, Z:-3.18 [[ 9.79751831e-01 2.00037115e-01 8.45595911e-03 3.49785292e+02] [-2.00027992e-01 9.79788302e-01 -1.91980507e-03 -5.23938796e+01] [-8.66908209e-03 1.89504007e-04 9.99962405e-01 -3.17786548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.75576923100004 meters Centerline goodness [0,1] 0.9999788637132229 Centerline is valid? [True, True] Translation: X:349.82, Y:-52.40, Z:-3.18 [[ 9.79897152e-01 1.99290997e-01 9.20161224e-03 3.49816295e+02] [-1.99280146e-01 9.79940331e-01 -2.09072200e-03 -5.24033848e+01] [-9.43369301e-03 2.14993909e-04 9.99955479e-01 -3.17606273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.85, Y:-52.42, Z:-3.17 [[ 9.80028389e-01 1.98490710e-01 1.20745381e-02 3.49846267e+02] [-1.98471930e-01 9.80102725e-01 -2.74628401e-03 -5.24151524e+01] [-1.23793995e-02 2.94979421e-04 9.99923329e-01 -3.17052795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.88, Y:-52.42, Z:-3.17 [[ 9.80100772e-01 1.98110636e-01 1.24359253e-02 3.49877757e+02] [-1.98090656e-01 9.80179616e-01 -2.83068788e-03 -5.24238114e+01] [-1.27502299e-02 3.10918785e-04 9.99918664e-01 -3.17008098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8457692310001 meters Centerline goodness [0,1] 0.9999152739827583 Centerline is valid? [True, True] Translation: X:349.91, Y:-52.44, Z:-3.17 [[ 9.80145418e-01 1.97901887e-01 1.22394331e-02 3.49906950e+02] [-1.97882488e-01 9.80221784e-01 -2.78828264e-03 -5.24374203e+01] [-1.25491654e-02 3.10952978e-04 9.99921208e-01 -3.17124129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.87576923100005 meters Centerline goodness [0,1] 0.9999572658703874 Centerline is valid? [True, True] Translation: X:349.94, Y:-52.44, Z:-3.17 [[ 9.80061249e-01 1.98350934e-01 1.16984883e-02 3.49940231e+02] [-1.98333234e-01 9.80131023e-01 -2.66583030e-03 -5.24416896e+01] [-1.19948212e-02 2.92477956e-04 9.99928017e-01 -3.17198594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9057692310001 meters Centerline goodness [0,1] 0.9999367262143294 Centerline is valid? [True, True] Translation: X:349.97, Y:-52.45, Z:-3.17 [[ 9.79629347e-01 2.00541403e-01 1.04636393e-02 3.49970445e+02] [-2.00527342e-01 9.79685198e-01 -2.38682673e-03 -5.24510086e+01] [-1.07297302e-02 2.39959728e-04 9.99942406e-01 -3.17467717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.00, Y:-52.45, Z:-3.18 [[ 9.79315054e-01 2.02085874e-01 1.01648350e-02 3.50002632e+02] [-2.02072686e-01 9.79367782e-01 -2.31878840e-03 -5.24549684e+01] [-1.04237063e-02 2.16788878e-04 9.99945648e-01 -3.17587769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9657692310001 meters Centerline goodness [0,1] 0.9999787491765306 Centerline is valid? [True, True] Translation: X:350.03, Y:-52.46, Z:-3.18 [[ 9.78960991e-01 2.03818863e-01 9.65656736e-03 3.50033036e+02] [-2.03807026e-01 9.79008598e-01 -2.20479996e-03 -5.24624217e+01] [-9.90324229e-03 1.90336878e-04 9.99950944e-01 -3.17722293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.07, Y:-52.46, Z:-3.18 [[ 9.78504332e-01 2.05991350e-01 9.84047124e-03 3.50066087e+02] [-2.05979156e-01 9.78553797e-01 -2.24799069e-03 -5.24645573e+01] [-1.00924971e-02 1.72736668e-04 9.99949055e-01 -3.17710974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.025769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.10, Y:-52.46, Z:-3.18 [[ 9.77485968e-01 2.10766589e-01 9.93114580e-03 3.50098805e+02] [-2.10754407e-01 9.77536408e-01 -2.26949824e-03 -5.24626183e+01] [-1.01863910e-02 1.25369939e-04 9.99948110e-01 -3.17630237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.13, Y:-52.47, Z:-3.18 [[ 9.77081428e-01 2.12649311e-01 9.59971842e-03 3.50129595e+02] [-2.12638024e-01 9.77128579e-01 -2.19330146e-03 -5.24693063e+01] [-9.84656327e-03 1.01768970e-04 9.99951516e-01 -3.17858774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.16, Y:-52.48, Z:-3.18 [[ 9.76882266e-01 2.13596545e-01 8.80651346e-03 3.50161732e+02] [-2.13587075e-01 9.76921956e-01 -2.01316817e-03 -5.24755973e+01] [-9.03328212e-03 8.56708365e-05 9.99959195e-01 -3.18108941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.19, Y:-52.48, Z:-3.18 [[ 9.76835940e-01 2.13843987e-01 7.89276824e-03 3.50192618e+02] [-2.13836377e-01 9.76867823e-01 -1.80565056e-03 -5.24832455e+01] [-8.09631884e-03 7.60634016e-05 9.99967221e-01 -3.18417796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.22, Y:-52.49, Z:-3.18 [[ 9.76901960e-01 2.13518575e-01 8.50762595e-03 3.50224377e+02] [-2.13509705e-01 9.76939001e-01 -1.94803099e-03 -5.24912131e+01] [-8.72737239e-03 8.65745797e-05 9.99961912e-01 -3.18314232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.26, Y:-52.50, Z:-3.18 [[ 9.76962568e-01 2.13234924e-01 8.66069541e-03 3.50256466e+02] [-2.13225706e-01 9.77000951e-01 -1.98476846e-03 -5.24985367e+01] [-8.88472961e-03 9.23615997e-05 9.99960526e-01 -3.18133458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.29, Y:-52.51, Z:-3.18 [[ 9.77127558e-01 2.12487186e-01 8.42208236e-03 3.50285855e+02] [-2.12478422e-01 9.77163848e-01 -1.93240595e-03 -5.25098455e+01] [-8.64036591e-03 9.86963331e-05 9.99962666e-01 -3.18262407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.32, Y:-52.52, Z:-3.18 [[ 9.77348375e-01 2.11465720e-01 8.50900542e-03 3.50315230e+02] [-2.11456731e-01 9.77385409e-01 -1.95285542e-03 -5.25200389e+01] [-8.72953972e-03 1.09333604e-04 9.99961891e-01 -3.18374636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.35, Y:-52.53, Z:-3.18 [[ 9.77452788e-01 2.10909350e-01 1.01633155e-02 3.50347187e+02] [-2.10896477e-01 9.77505615e-01 -2.33437005e-03 -5.25270768e+01] [-1.04270384e-02 1.38329089e-04 9.99945627e-01 -3.18051705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.38, Y:-52.54, Z:-3.18 [[ 9.77386317e-01 2.11172434e-01 1.10539999e-02 3.50377632e+02] [-2.11157193e-01 9.77448812e-01 -2.54154968e-03 -5.25363858e+01] [-1.13414243e-02 1.49944305e-04 9.99935673e-01 -3.18037266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.41, Y:-52.54, Z:-3.18 [[ 9.77248770e-01 2.11807370e-01 1.10670031e-02 3.50409612e+02] [-2.11792104e-01 9.77311423e-01 -2.54714116e-03 -5.25431449e+01] [-1.13554118e-02 1.45286700e-04 9.99935515e-01 -3.18034610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.44, Y:-52.55, Z:-3.18 [[ 9.76671561e-01 2.14501911e-01 1.00793026e-02 3.50440575e+02] [-2.14489390e-01 9.76723564e-01 -2.31992386e-03 -5.25467512e+01] [-1.03423204e-02 1.03900201e-04 9.99946511e-01 -3.18189404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.47, Y:-52.55, Z:-3.18 [[ 9.76197103e-01 2.16670026e-01 9.65999946e-03 3.50471900e+02] [-2.16658614e-01 9.76244894e-01 -2.22517295e-03 -5.25502360e+01] [-9.91265343e-03 7.92852926e-05 9.99950865e-01 -3.18269573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.50, Y:-52.55, Z:-3.18 [[ 9.75681227e-01 2.19001829e-01 9.18377590e-03 3.50503948e+02] [-2.18991614e-01 9.75724447e-01 -2.11591123e-03 -5.25534880e+01] [-9.42422309e-03 5.32849576e-05 9.99955590e-01 -3.18380705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.54, Y:-52.56, Z:-3.18 [[ 9.74854334e-01 2.22662966e-01 8.95719420e-03 3.50536887e+02] [-2.22653390e-01 9.74895483e-01 -2.06511445e-03 -5.25551857e+01] [-9.19215267e-03 1.88361188e-05 9.99957751e-01 -3.18389773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.57, Y:-52.56, Z:-3.18 [[ 9.74574664e-01 2.23851833e-01 9.72529077e-03 3.50567145e+02] [-2.23840584e-01 9.74623187e-01 -2.24420659e-03 -5.25605339e+01] [-9.98086364e-03 1.02321219e-05 9.99950190e-01 -3.18467034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.60, Y:-52.57, Z:-3.18 [[ 9.74375976e-01 2.24696825e-01 1.01387580e-02 3.50599241e+02] [-2.24684628e-01 9.74428723e-01 -2.34120407e-03 -5.25661849e+01] [-1.04055581e-02 3.18993953e-06 9.99945861e-01 -3.18382242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.63, Y:-52.57, Z:-3.18 [[ 9.74249130e-01 2.25252008e-01 1.00082566e-02 3.50631952e+02] [-2.25240131e-01 9.74300535e-01 -2.31304020e-03 -5.25723796e+01] [-1.02720667e-02 -7.83642242e-07 9.99947241e-01 -3.18433466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.66, Y:-52.58, Z:-3.19 [[ 9.74080696e-01 2.26005892e-01 9.38802215e-03 3.50664078e+02] [-2.25995461e-01 9.74125935e-01 -2.17139042e-03 -5.25783221e+01] [-9.63586288e-03 -6.54089851e-06 9.99953574e-01 -3.18548184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.70, Y:-52.59, Z:-3.19 [[ 9.74234549e-01 2.25352306e-01 9.13138943e-03 3.50695191e+02] [-2.25342388e-01 9.74277342e-01 -2.11418937e-03 -5.25851752e+01] [-9.37294327e-03 2.02722673e-06 9.99956073e-01 -3.18653918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.73, Y:-52.59, Z:-3.19 [[ 9.74384569e-01 2.24674180e-01 9.80945936e-03 3.50726514e+02] [-2.24662689e-01 9.74433945e-01 -2.27227975e-03 -5.25934984e+01] [-1.00691928e-02 1.02548078e-05 9.99949304e-01 -3.18655050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6557692310001 meters Centerline goodness [0,1] 0.9999575272356601 Centerline is valid? [True, True] Translation: X:350.76, Y:-52.60, Z:-3.19 [[ 9.74577035e-01 2.23810614e-01 1.04120649e-02 3.50758059e+02] [-2.23797598e-01 9.74632653e-01 -2.41384794e-03 -5.26019972e+01] [-1.06881832e-02 2.22856553e-05 9.99942879e-01 -3.18589045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68576923100005 meters Centerline goodness [0,1] 0.9999787618137411 Centerline is valid? [True, True] Translation: X:350.79, Y:-52.61, Z:-3.19 [[ 9.74843544e-01 2.22629774e-01 1.07725960e-02 3.50788153e+02] [-2.22615744e-01 9.74903063e-01 -2.49968924e-03 -5.26117127e+01] [-1.10587421e-02 3.86564374e-05 9.99938849e-01 -3.18571930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7157692310001 meters Centerline goodness [0,1] 0.9999787401407403 Centerline is valid? [True, True] Translation: X:350.82, Y:-52.63, Z:-3.19 [[ 9.75895796e-01 2.17992201e-01 1.03341536e-02 3.50817308e+02] [-2.17979010e-01 9.75950507e-01 -2.39978974e-03 -5.26271123e+01] [-1.06087579e-02 8.93161538e-05 9.99943722e-01 -3.18717443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74576923100005 meters Centerline goodness [0,1] 0.9999787762378759 Centerline is valid? [True, True] Translation: X:350.85, Y:-52.64, Z:-3.19 [[ 9.76574067e-01 2.14979777e-01 9.31595819e-03 3.50845766e+02] [-2.14968900e-01 9.76618494e-01 -2.16546019e-03 -5.26401548e+01] [-9.56366721e-03 1.12090983e-04 9.99954261e-01 -3.18995013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.775769231 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.87, Y:-52.65, Z:-3.19 [[ 9.77138133e-01 2.12425688e-01 8.74044234e-03 3.50874656e+02] [-2.12416016e-01 9.77177216e-01 -2.03110671e-03 -5.26539155e+01] [-8.97242035e-03 1.28061882e-04 9.99959739e-01 -3.19172331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80576923100006 meters Centerline goodness [0,1] 0.9999788355309107 Centerline is valid? [True, True] Translation: X:350.91, Y:-52.67, Z:-3.19 [[ 9.77564765e-01 2.10469832e-01 8.34142444e-03 3.50905063e+02] [-2.10460942e-01 9.77600343e-01 -1.93952732e-03 -5.26662942e+01] [-8.56279138e-03 1.40469517e-04 9.99963329e-01 -3.19228400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.83576923100003 meters Centerline goodness [0,1] 0.9999573078318782 Centerline is valid? [True, True] Translation: X:350.93, Y:-52.68, Z:-3.19 [[ 9.78328658e-01 2.06882390e-01 8.52729265e-03 3.50933779e+02] [-2.06872945e-01 9.78365803e-01 -1.98477777e-03 -5.26830246e+01] [-8.75342709e-03 1.77698832e-04 9.99961672e-01 -3.19221247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86576923100006 meters Centerline goodness [0,1] 0.9999359152372205 Centerline is valid? [True, True] Translation: X:350.96, Y:-52.69, Z:-3.19 [[ 9.78678818e-01 2.05186201e-01 9.29483663e-03 3.50964261e+02] [-2.05174900e-01 9.78722932e-01 -2.16376152e-03 -5.26925299e+01] [-9.54104377e-03 2.10560394e-04 9.99954461e-01 -3.19091756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.89576923100003 meters Centerline goodness [0,1] 0.9998722697662537 Centerline is valid? [True, True] Translation: X:350.99, Y:-52.71, Z:-3.19 [[ 9.78968082e-01 2.03773461e-01 9.89296190e-03 3.50992284e+02] [-2.03760566e-01 9.79018038e-01 -2.30498655e-03 -5.27092834e+01] [-1.01550832e-02 2.40712743e-04 9.99948407e-01 -3.19155260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92576923100006 meters Centerline goodness [0,1] 0.9998722697662537 Centerline is valid? [True, True] Translation: X:351.02, Y:-52.72, Z:-3.19 [[ 9.78931105e-01 2.03951044e-01 9.89262975e-03 3.51023873e+02] [-2.03938144e-01 9.78981059e-01 -2.30641097e-03 -5.27168712e+01] [-1.01550921e-02 2.40332887e-04 9.99948407e-01 -3.19203694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.95576923100003 meters Centerline goodness [0,1] 0.9999136889349215 Centerline is valid? [True, True] Translation: X:351.05, Y:-52.73, Z:-3.19 [[ 9.79224377e-01 2.02505033e-01 1.05513666e-02 3.51053849e+02] [-2.02490250e-01 9.79281183e-01 -2.46226576e-03 -5.27286207e+01] [-1.08313760e-02 2.74561794e-04 9.99941301e-01 -3.19046886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98576923100006 meters Centerline goodness [0,1] 0.9995964487489911 Centerline is valid? [True, True] Translation: X:351.08, Y:-52.75, Z:-3.19 [[ 9.79906012e-01 1.99145338e-01 1.11956238e-02 3.51079383e+02] [-1.99128445e-01 9.79969909e-01 -2.61516496e-03 -5.27534467e+01] [-1.14921723e-02 3.33248715e-04 9.99933907e-01 -3.19032545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01576923100004 meters Centerline goodness [0,1] 0.9998282672162115 Centerline is valid? [True, True] Translation: X:351.11, Y:-52.76, Z:-3.19 [[ 9.80078858e-01 1.98351807e-01 1.00991596e-02 3.51110549e+02] [-1.98338019e-01 9.80130841e-01 -2.35906735e-03 -5.27590350e+01] [-1.03664231e-02 3.09024725e-04 9.99946219e-01 -3.19158104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04576923100007 meters Centerline goodness [0,1] 0.9996586156866092 Centerline is valid? [True, True] Translation: X:351.14, Y:-52.77, Z:-3.20 [[ 9.80106271e-01 1.98277471e-01 8.81713305e-03 3.51138817e+02] [-1.98266956e-01 9.80145893e-01 -2.05985723e-03 -5.27744484e+01] [-9.05050003e-03 2.70732859e-04 9.99959007e-01 -3.19514559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07576923100004 meters Centerline goodness [0,1] 0.999720940216808 Centerline is valid? [True, True] Translation: X:351.17, Y:-52.79, Z:-3.20 [[ 9.80108558e-01 1.98309299e-01 7.78688081e-03 3.51168883e+02] [-1.98301091e-01 9.80139462e-01 -1.82014988e-03 -5.27867922e+01] [-7.99318181e-03 2.39797513e-04 9.99968025e-01 -3.19717374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10576923100007 meters Centerline goodness [0,1] 0.9996795761861021 Centerline is valid? [True, True] Translation: X:351.20, Y:-52.80, Z:-3.20 [[ 9.80093594e-01 1.98345012e-01 8.70650638e-03 3.51197493e+02] [-1.98334734e-01 9.80132228e-01 -2.03716219e-03 -5.28029174e+01] [-8.93758845e-03 2.69806988e-04 9.99960023e-01 -3.19559754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13576923100004 meters Centerline goodness [0,1] 0.9995785924989464 Centerline is valid? [True, True] Translation: X:351.23, Y:-52.82, Z:-3.19 [[ 9.80119914e-01 1.98176307e-01 9.54487655e-03 3.51228669e+02] [-1.98163936e-01 9.80166344e-01 -2.23429662e-03 -5.28151164e+01] [-9.79835140e-03 2.98428304e-04 9.99951950e-01 -3.19422440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16576923100007 meters Centerline goodness [0,1] 0.9993385678928053 Centerline is valid? [True, True] Translation: X:351.26, Y:-52.83, Z:-3.19 [[ 9.80222351e-01 1.97646170e-01 1.00067133e-02 3.51259026e+02] [-1.97632524e-01 9.80273374e-01 -2.34457457e-03 -5.28270007e+01] [-1.02727108e-02 3.20552396e-04 9.99947183e-01 -3.19335281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.19576923100004 meters Centerline goodness [0,1] 0.9983827034388832 Centerline is valid? [True, True] Translation: X:351.29, Y:-52.85, Z:-3.19 [[ 9.80593896e-01 1.95672014e-01 1.21685996e-02 3.51286866e+02] [-1.95651649e-01 9.80669306e-01 -2.85375172e-03 -5.28479736e+01] [-1.24917715e-02 4.17564943e-04 9.99921888e-01 -3.19025094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2257692310001 meters Centerline goodness [0,1] 0.9970101147182935 Centerline is valid? [True, True] Translation: X:351.32, Y:-52.86, Z:-3.19 [[ 9.80548445e-01 1.95779449e-01 1.39697408e-02 3.51315658e+02] [-1.95752582e-01 9.80647835e-01 -3.27871369e-03 -5.28644773e+01] [-1.43413008e-02 4.80324783e-04 9.99897043e-01 -3.18727792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.25576923100004 meters Centerline goodness [0,1] 0.9982935153583617 Centerline is valid? [True, True] Translation: X:351.35, Y:-52.87, Z:-3.19 [[ 9.80353180e-01 1.96677780e-01 1.50164111e-02 3.51347622e+02] [-1.96646797e-01 9.80468049e-01 -3.52725980e-03 -5.28711911e+01] [-1.54168449e-02 5.05031235e-04 9.99881026e-01 -3.18586901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2857692310001 meters Centerline goodness [0,1] 0.9997452283391011 Centerline is valid? [True, True] Translation: X:351.38, Y:-52.88, Z:-3.19 [[ 9.79233462e-01 2.02289805e-01 1.34410575e-02 3.51376564e+02] [-2.02265498e-01 9.79325633e-01 -3.15803364e-03 -5.28799062e+01] [-1.38020101e-02 3.73790021e-04 9.99904678e-01 -3.18828426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.31576923100005 meters Centerline goodness [0,1] 0.9998726033505319 Centerline is valid? [True, True] Translation: X:351.41, Y:-52.88, Z:-3.19 [[ 9.78329838e-01 2.06729479e-01 1.15607629e-02 3.51408275e+02] [-2.06711809e-01 9.78398104e-01 -2.71611366e-03 -5.28812928e+01] [-1.18725292e-02 2.67508827e-04 9.99929483e-01 -3.19186125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3457692310001 meters Centerline goodness [0,1] 0.9999575668851972 Centerline is valid? [True, True] Translation: X:351.44, Y:-52.89, Z:-3.20 [[ 9.77236460e-01 2.11922653e-01 9.88383214e-03 3.51437907e+02] [-2.11910003e-01 9.77286426e-01 -2.32209556e-03 -5.28881326e+01] [-1.01514396e-02 1.74753538e-04 9.99948458e-01 -3.19563780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.37576923100005 meters Centerline goodness [0,1] 0.9999788184956896 Centerline is valid? [True, True] Translation: X:351.47, Y:-52.89, Z:-3.20 [[ 9.76024295e-01 2.17466656e-01 9.21025816e-03 3.51470710e+02] [-2.17455909e-01 9.76067744e-01 -2.16474728e-03 -5.28861595e+01] [-9.46059625e-03 1.10020871e-04 9.99955242e-01 -3.19608966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.51, Y:-52.88, Z:-3.20 [[ 9.73452748e-01 2.28722944e-01 8.69264282e-03 3.51505089e+02] [-2.28713817e-01 9.73491559e-01 -2.04327891e-03 -5.28769010e+01] [-8.92955918e-03 9.07946407e-07 9.99960131e-01 -3.19606239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.54, Y:-52.88, Z:-3.20 [[ 9.72255483e-01 2.33758443e-01 8.73301318e-03 3.51537321e+02] [-2.33749439e-01 9.72294702e-01 -2.05219689e-03 -5.28760615e+01] [-8.97078080e-03 -4.60772525e-05 9.99959761e-01 -3.19773440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.57, Y:-52.88, Z:-3.20 [[ 9.71329838e-01 2.37568711e-01 8.91363533e-03 3.51569336e+02] [-2.37559474e-01 9.71370733e-01 -2.09653465e-03 -5.28783274e+01] [-9.15651552e-03 -8.10918646e-05 9.99958075e-01 -3.19754888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.60, Y:-52.88, Z:-3.20 [[ 9.70623823e-01 2.40427343e-01 9.16984882e-03 3.51601033e+02] [-2.40417690e-01 9.70667132e-01 -2.15733870e-03 -5.28796503e+01] [-9.41955406e-03 -1.10629531e-04 9.99955629e-01 -3.19899590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5257692310001 meters Centerline goodness [0,1] 0.9999787609115817 Centerline is valid? [True, True] Translation: X:351.63, Y:-52.88, Z:-3.20 [[ 9.69729732e-01 2.44010030e-01 9.12973410e-03 3.51633572e+02] [-2.44000606e-01 9.69772697e-01 -2.14932065e-03 -5.28810000e+01] [-9.37822266e-03 -1.43400517e-04 9.99956013e-01 -3.19920665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.66, Y:-52.88, Z:-3.20 [[ 9.69484509e-01 2.44999481e-01 8.66266007e-03 3.51664707e+02] [-2.44991020e-01 9.69523199e-01 -2.04122176e-03 -5.28836211e+01] [-8.89874817e-03 -1.43341051e-04 9.99960395e-01 -3.20074636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.70, Y:-52.89, Z:-3.20 [[ 9.69169662e-01 2.46254590e-01 8.29724242e-03 3.51696501e+02] [-2.46246871e-01 9.69205167e-01 -1.95535889e-03 -5.28874540e+01] [-8.52324632e-03 -1.48095472e-04 9.99963666e-01 -3.20072980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.73, Y:-52.89, Z:-3.20 [[ 9.68882322e-01 2.47382293e-01 8.30947389e-03 3.51727509e+02] [-2.47374579e-01 9.68917941e-01 -1.95976043e-03 -5.28903284e+01] [-8.53600836e-03 -1.56775375e-04 9.99963555e-01 -3.20028927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.76, Y:-52.89, Z:-3.20 [[ 9.68464060e-01 2.48969436e-01 9.56995226e-03 3.51759864e+02] [-2.48959264e-01 9.68511323e-01 -2.25892626e-03 -5.28873187e+01] [-9.83101071e-03 -1.94839371e-04 9.99951655e-01 -3.19872348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.67576923100006 meters Centerline goodness [0,1] 0.9999789256285432 Centerline is valid? [True, True] Translation: X:351.79, Y:-52.89, Z:-3.20 [[ 9.68323876e-01 2.49474704e-01 1.05472105e-02 3.51793018e+02] [-2.49462359e-01 9.68381291e-01 -2.49137382e-03 -5.28899638e+01] [-1.08352561e-02 -2.18675257e-04 9.99941273e-01 -3.19882192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70576923100003 meters Centerline goodness [0,1] 0.9999789198532821 Centerline is valid? [True, True] Translation: X:351.83, Y:-52.89, Z:-3.20 [[ 9.68289653e-01 2.49600339e-01 1.07153684e-02 3.51825612e+02] [-2.49587583e-01 9.68348915e-01 -2.53317083e-03 -5.28935638e+01] [-1.10084957e-02 -2.21579791e-04 9.99939380e-01 -3.19951363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.73576923100006 meters Centerline goodness [0,1] 0.9999787211405469 Centerline is valid? [True, True] Translation: X:351.86, Y:-52.90, Z:-3.20 [[ 9.68293626e-01 2.49592477e-01 1.05379883e-02 3.51857931e+02] [-2.49580118e-01 9.68350943e-01 -2.49321038e-03 -5.28983010e+01] [-1.08267575e-02 -2.15912642e-04 9.99941366e-01 -3.20086260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.89, Y:-52.90, Z:-3.20 [[ 9.68567454e-01 2.48559590e-01 9.75793220e-03 3.51889933e+02] [-2.48548917e-01 9.68616588e-01 -2.31096463e-03 -5.29048960e+01] [-1.00261074e-02 -1.86998346e-04 9.99949720e-01 -3.20128352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.79576923100007 meters Centerline goodness [0,1] 0.9999786489025536 Centerline is valid? [True, True] Translation: X:351.92, Y:-52.91, Z:-3.20 [[ 9.68937734e-01 2.47136993e-01 9.10907658e-03 3.51921316e+02] [-2.47127625e-01 9.68980537e-01 -2.15779775e-03 -5.29133878e+01] [-9.35978956e-03 -1.60332799e-04 9.99956183e-01 -3.20200657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.95, Y:-52.92, Z:-3.20 [[ 9.69407298e-01 2.45301602e-01 8.75294272e-03 3.51951467e+02] [-2.45292878e-01 9.69446804e-01 -2.07337422e-03 -5.29209507e+01] [-8.99411436e-03 -1.37090407e-04 9.99959543e-01 -3.20260722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.85576923100007 meters Centerline goodness [0,1] 0.9999788695192816 Centerline is valid? [True, True] Translation: X:351.98, Y:-52.93, Z:-3.20 [[ 9.69860622e-01 2.43487924e-01 9.16536826e-03 3.51982385e+02] [-2.43478262e-01 9.69903921e-01 -2.17267072e-03 -5.29259072e+01] [-9.41854569e-03 -1.24380158e-04 9.99955637e-01 -3.20403677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.01, Y:-52.93, Z:-3.20 [[ 9.70280004e-01 2.41790243e-01 9.70524727e-03 3.52014288e+02] [-2.41779307e-01 9.70328535e-01 -2.30231425e-03 -5.29324431e+01] [-9.97395548e-03 -1.12638485e-04 9.99950253e-01 -3.20380065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.04, Y:-52.94, Z:-3.20 [[ 9.71001829e-01 2.38832302e-01 1.07042211e-02 3.52044820e+02] [-2.38818794e-01 9.71060824e-01 -2.54161664e-03 -5.29400723e+01] [-1.10014700e-02 -8.84547779e-05 9.99939478e-01 -3.20247704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.08, Y:-52.95, Z:-3.20 [[ 9.71472053e-01 2.36894071e-01 1.11017810e-02 3.52075454e+02] [-2.36879405e-01 9.71535483e-01 -2.63688869e-03 -5.29507102e+01] [-1.14104374e-02 -6.81196038e-05 9.99934897e-01 -3.20172075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.9757692310001 meters Centerline goodness [0,1] 0.9999787093614938 Centerline is valid? [True, True] Translation: X:352.11, Y:-52.96, Z:-3.20 [[ 9.72097828e-01 2.34306115e-01 1.12452887e-02 3.52105567e+02] [-2.34290872e-01 9.72162869e-01 -2.67288352e-03 -5.29627477e+01] [-1.15585251e-02 -3.63642367e-05 9.99933197e-01 -3.20189198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00576923100004 meters Centerline goodness [0,1] 0.9999363975576662 Centerline is valid? [True, True] Translation: X:352.13, Y:-52.98, Z:-3.20 [[ 9.73697142e-01 2.27546939e-01 1.16732860e-02 3.52133472e+02] [-2.27530002e-01 9.73767112e-01 -2.77664485e-03 -5.29825892e+01] [-1.19988791e-02 4.75883583e-05 9.99928010e-01 -3.20226749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0357692310001 meters Centerline goodness [0,1] 0.9999363273622549 Centerline is valid? [True, True] Translation: X:352.16, Y:-53.00, Z:-3.20 [[ 9.74409492e-01 2.24473112e-01 1.17457959e-02 3.52163365e+02] [-2.24455714e-01 9.74480279e-01 -2.79605453e-03 -5.29963127e+01] [-1.20736855e-02 8.80910643e-05 9.99927107e-01 -3.20281285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06576923100005 meters Centerline goodness [0,1] 0.9998941821337115 Centerline is valid? [True, True] Translation: X:352.19, Y:-53.01, Z:-3.20 [[ 9.75067217e-01 2.21629067e-01 1.11569783e-02 3.52193251e+02] [-2.21613164e-01 9.75131039e-01 -2.65767432e-03 -5.30112426e+01] [-1.14685337e-02 1.18877852e-04 9.99934227e-01 -3.20468396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0957692310001 meters Centerline goodness [0,1] 0.9999155048584706 Centerline is valid? [True, True] Translation: X:352.22, Y:-53.03, Z:-3.21 [[ 9.75734806e-01 2.18716966e-01 1.02214145e-02 3.52221434e+02] [-2.18703438e-01 9.75788332e-01 -2.43671499e-03 -5.30281851e+01] [-1.05068879e-02 1.42129122e-04 9.99944791e-01 -3.20788811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12576923100005 meters Centerline goodness [0,1] 0.9998101185704038 Centerline is valid? [True, True] Translation: X:352.25, Y:-53.04, Z:-3.21 [[ 9.76389930e-01 2.15821614e-01 9.15066784e-03 3.52250926e+02] [-2.15810636e-01 9.76432797e-01 -2.18233991e-03 -5.30440443e+01] [-9.40600831e-03 1.56003270e-04 9.99955750e-01 -3.21142995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1557692310001 meters Centerline goodness [0,1] 0.9998302819441204 Centerline is valid? [True, True] Translation: X:352.28, Y:-53.06, Z:-3.21 [[ 9.76906459e-01 2.13527473e-01 7.73232997e-03 3.52280359e+02] [-2.13519561e-01 9.76937048e-01 -1.84432464e-03 -5.30603908e+01] [-7.94781360e-03 1.50728953e-04 9.99968404e-01 -3.21352837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18576923100005 meters Centerline goodness [0,1] 0.9998523175594421 Centerline is valid? [True, True] Translation: X:352.31, Y:-53.07, Z:-3.21 [[ 9.76712487e-01 2.14421146e-01 7.50262739e-03 3.52309788e+02] [-2.14413726e-01 9.76741293e-01 -1.78911874e-03 -5.30731618e+01] [-7.71175086e-03 1.38788320e-04 9.99970254e-01 -3.21433105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2157692310001 meters Centerline goodness [0,1] 0.999914801167224 Centerline is valid? [True, True] Translation: X:352.34, Y:-53.08, Z:-3.21 [[ 9.76297916e-01 2.16304653e-01 7.39438913e-03 3.52341314e+02] [-2.16297492e-01 9.76325910e-01 -1.76432443e-03 -5.30798262e+01] [-7.60096528e-03 1.23118441e-04 9.99971105e-01 -3.21239581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24576923100005 meters Centerline goodness [0,1] 0.9999577934411007 Centerline is valid? [True, True] Translation: X:352.37, Y:-53.09, Z:-3.21 [[ 9.75861229e-01 2.18267032e-01 7.37318852e-03 3.52370164e+02] [-2.18259955e-01 9.75889077e-01 -1.76108007e-03 -5.30914616e+01] [-7.57979986e-03 1.09297975e-04 9.99971267e-01 -3.21372716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2757692310001 meters Centerline goodness [0,1] 0.9999787838927313 Centerline is valid? [True, True] Translation: X:352.40, Y:-53.10, Z:-3.21 [[ 9.75372420e-01 2.20424506e-01 7.85360426e-03 3.52401858e+02] [-2.20416543e-01 9.75404033e-01 -1.87621456e-03 -5.30962507e+01] [-8.07400093e-03 9.89436349e-05 9.99967400e-01 -3.21252533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30576923100006 meters Centerline goodness [0,1] 0.9999148156824329 Centerline is valid? [True, True] Translation: X:352.43, Y:-53.10, Z:-3.21 [[ 9.74396904e-01 2.24671103e-01 8.57726160e-03 3.52433892e+02] [-2.24661754e-01 9.74434652e-01 -2.05080351e-03 -5.31017902e+01] [-8.81873721e-03 7.13139552e-05 9.99961112e-01 -3.21381011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.33576923100003 meters Centerline goodness [0,1] 0.99991480479649 Centerline is valid? [True, True] Translation: X:352.46, Y:-53.11, Z:-3.21 [[ 9.74035635e-01 2.26210770e-01 9.12515555e-03 3.52463893e+02] [-2.26200239e-01 9.74078377e-01 -2.18361318e-03 -5.31102433e+01] [-9.38257353e-03 6.28046810e-05 9.99955981e-01 -3.21402055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36576923100006 meters Centerline goodness [0,1] 0.9999575082858843 Centerline is valid? [True, True] Translation: X:352.49, Y:-53.12, Z:-3.21 [[ 9.73740966e-01 2.27464918e-01 9.39374040e-03 3.52493916e+02] [-2.27453801e-01 9.73786274e-01 -2.24946230e-03 -5.31189976e+01] [-9.65916923e-03 5.37516317e-05 9.99953348e-01 -3.21364005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.53, Y:-53.12, Z:-3.21 [[ 9.72838728e-01 2.31324137e-01 8.59958675e-03 3.52525975e+02] [-2.31314962e-01 9.72876736e-01 -2.06035760e-03 -5.31242909e+01] [-8.84294833e-03 1.51825837e-05 9.99960900e-01 -3.21396994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42576923100006 meters Centerline goodness [0,1] 0.9999784719381714 Centerline is valid? [True, True] Translation: X:352.56, Y:-53.13, Z:-3.22 [[ 9.72149135e-01 2.34236242e-01 7.70990324e-03 3.52557962e+02] [-2.34228951e-01 9.72179707e-01 -1.84815986e-03 -5.31282379e+01] [-7.92831749e-03 -9.19553798e-06 9.99968570e-01 -3.21743110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.59, Y:-53.13, Z:-3.22 [[ 9.71369926e-01 2.37468695e-01 7.00615509e-03 3.52589689e+02] [-2.37462751e-01 9.71395191e-01 -1.68056404e-03 -5.31317511e+01] [-7.20482671e-03 -3.12514986e-05 9.99974044e-01 -3.21897347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.62, Y:-53.13, Z:-3.22 [[ 9.69791491e-01 2.43798493e-01 8.17059593e-03 3.52622341e+02] [-2.43790618e-01 9.69825905e-01 -1.96158061e-03 -5.31332043e+01] [-8.40228600e-03 -8.95904516e-05 9.99964696e-01 -3.21590620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.65, Y:-53.14, Z:-3.21 [[ 9.69055687e-01 2.46639878e-01 9.99229979e-03 3.52653637e+02] [-2.46628228e-01 9.69107193e-01 -2.40119240e-03 -5.31385331e+01] [-1.02758394e-02 -1.37494032e-04 9.99947193e-01 -3.21216869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.69, Y:-53.14, Z:-3.21 [[ 9.68208060e-01 2.49887493e-01 1.13751596e-02 3.52685269e+02] [-2.49872594e-01 9.68274859e-01 -2.73561077e-03 -5.31433426e+01] [-1.16978760e-02 -1.93700243e-04 9.99931559e-01 -3.21018272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57576923100004 meters Centerline goodness [0,1] 0.999957583084134 Centerline is valid? [True, True] Translation: X:352.72, Y:-53.15, Z:-3.21 [[ 9.67444736e-01 2.52799660e-01 1.19588557e-02 3.52716944e+02] [-2.52783384e-01 9.67518618e-01 -2.87842926e-03 -5.31457486e+01] [-1.22980815e-02 -2.38278781e-04 9.99924347e-01 -3.21056550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60576923100007 meters Centerline goodness [0,1] 0.9999364743250397 Centerline is valid? [True, True] Translation: X:352.75, Y:-53.14, Z:-3.21 [[ 9.66202997e-01 2.57528009e-01 1.14496144e-02 3.52747636e+02] [-2.57513407e-01 9.66270792e-01 -2.75706931e-03 -5.31449542e+01] [-1.17734506e-02 -2.84540588e-04 9.99930650e-01 -3.21202111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.78, Y:-53.15, Z:-3.21 [[ 9.65381438e-01 2.60603145e-01 1.11660476e-02 3.52778911e+02] [-2.60589463e-01 9.65445960e-01 -2.68874646e-03 -5.31479089e+01] [-1.14809113e-02 -3.14088424e-04 9.99934043e-01 -3.21273761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66576923100007 meters Centerline goodness [0,1] 0.9997674959311788 Centerline is valid? [True, True] Translation: X:352.81, Y:-53.15, Z:-3.21 [[ 9.64413265e-01 2.64169821e-01 1.10163889e-02 3.52810485e+02] [-2.64156734e-01 9.64476118e-01 -2.65283966e-03 -5.31475722e+01] [-1.13258442e-02 -3.51619555e-04 9.99935799e-01 -3.21233839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.69576923100004 meters Centerline goodness [0,1] 0.999507262521959 Centerline is valid? [True, True] Translation: X:352.84, Y:-53.15, Z:-3.21 [[ 9.63319575e-01 2.68111342e-01 1.14762639e-02 3.52842970e+02] [-2.68097418e-01 9.63387843e-01 -2.76369077e-03 -5.31464943e+01] [-1.17970699e-02 -4.14439290e-04 9.99930326e-01 -3.21138667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7257692310001 meters Centerline goodness [0,1] 0.9978957114599554 Centerline is valid? [True, True] Translation: X:352.88, Y:-53.14, Z:-3.21 [[ 9.61240880e-01 2.75445388e-01 1.20751544e-02 3.52875988e+02] [-2.75430545e-01 9.61316575e-01 -2.90824352e-03 -5.31362332e+01] [-1.24091083e-02 -5.30343789e-04 9.99922863e-01 -3.21096276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.75576923100004 meters Centerline goodness [0,1] 0.9984 Centerline is valid? [True, True] Translation: X:352.91, Y:-53.14, Z:-3.21 [[ 9.60443973e-01 2.78203562e-01 1.22537303e-02 3.52906252e+02] [-2.78188498e-01 9.60521967e-01 -2.95144282e-03 -5.31419035e+01] [-1.25910791e-02 -5.74151378e-04 9.99920564e-01 -3.21197378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7857692310001 meters Centerline goodness [0,1] 0.9938228364006878 Centerline is valid? [True, True] Translation: X:352.94, Y:-53.14, Z:-3.21 [[ 9.59794804e-01 2.80419696e-01 1.25987512e-02 3.52938396e+02] [-2.80403960e-01 9.59877289e-01 -3.03470438e-03 -5.31381485e+01] [-1.29442460e-02 -6.20046221e-04 9.99916027e-01 -3.21313720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.81576923100005 meters Centerline goodness [0,1] 0.9938228364006878 Centerline is valid? [True, True] Translation: X:352.97, Y:-53.15, Z:-3.21 [[ 9.59794804e-01 2.80419698e-01 1.25987110e-02 3.52967592e+02] [-2.80403960e-01 9.59877288e-01 -3.03487103e-03 -5.31451814e+01] [-1.29442542e-02 -6.19875014e-04 9.99916027e-01 -3.21358451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8457692310001 meters Centerline goodness [0,1] 0.990359240657189 Centerline is valid? [True, True] Translation: X:353.00, Y:-53.15, Z:-3.22 [[ 9.59204139e-01 2.82461917e-01 1.19450540e-02 3.52997914e+02] [-2.82447927e-01 9.59278317e-01 -2.87742659e-03 -5.31472725e+01] [-1.22713947e-02 -6.13816248e-04 9.99924515e-01 -3.21501762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.87576923100005 meters Centerline goodness [0,1] 0.974297821596644 Centerline is valid? [True, True] Translation: X:353.03, Y:-53.14, Z:-3.22 [[ 9.57944503e-01 2.86805573e-01 9.21373314e-03 3.53030673e+02] [-2.86797451e-01 9.57988672e-01 -2.21942011e-03 -5.31426167e+01] [-9.46319404e-03 -5.16393879e-04 9.99955090e-01 -3.21897348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9057692310001 meters Centerline goodness [0,1] 0.9529580540864613 Centerline is valid? [True, True] Translation: X:353.06, Y:-53.14, Z:-3.22 [[ 9.57397089e-01 2.88639998e-01 8.81845323e-03 3.53060775e+02] [-2.88632634e-01 9.57437565e-01 -2.12423882e-03 -5.31424519e+01] [-9.05625868e-03 -5.11553327e-04 9.99958860e-01 -3.21940583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.93576923100005 meters Centerline goodness [0,1] 0.9405622660768969 Centerline is valid? [True, False] Translation: X:353.00, Y:-53.12, Z:-3.22 [[ 9.57897808e-01 2.87038903e-01 6.36071292e-03 3.52997324e+02] [-2.86944561e-01 9.57863526e-01 -1.26603672e-02 -5.31164616e+01] [-9.72671280e-03 1.03021660e-02 9.99899623e-01 -3.21780716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9657692310001 meters Centerline goodness [0,1] 0.9353104294997989 Centerline is valid? [False, False] Translation: X:352.92, Y:-53.09, Z:-3.22 [[ 9.58852608e-01 2.83773372e-01 8.62262627e-03 3.52915983e+02] [-2.83622661e-01 9.58811955e-01 -1.54214440e-02 -5.30883744e+01] [-1.26436723e-02 1.23413196e-02 9.99843903e-01 -3.21890186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.99576923100005 meters Centerline goodness [0,1] 0.9510566589651737 Centerline is valid? [False, True] Translation: X:352.83, Y:-53.06, Z:-3.22 [[ 9.59738476e-01 2.80687853e-01 1.07882578e-02 3.52834750e+02] [-2.80472973e-01 9.59693936e-01 -1.79571999e-02 -5.30607125e+01] [-1.53937934e-02 1.42084010e-02 9.99780552e-01 -3.21996145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0257692310001 meters Centerline goodness [0,1] 0.9441598577536937 Centerline is valid? [True, False] Translation: X:352.76, Y:-53.03, Z:-3.22 [[ 9.60900361e-01 2.76667270e-01 1.12124151e-02 3.52758133e+02] [-2.76390561e-01 9.60806923e-01 -2.14082973e-02 -5.30318439e+01] [-1.66959412e-02 1.74722349e-02 9.99707941e-01 -3.22269162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.05576923100006 meters Centerline goodness [0,1] 0.8990873917066196 Centerline is valid? [False, False] Translation: X:352.70, Y:-53.01, Z:-3.22 [[ 9.62634013e-01 2.70600148e-01 1.05506908e-02 3.52699481e+02] [-2.70404797e-01 9.62598261e-01 -1.69066202e-02 -5.30141642e+01] [-1.47310106e-02 1.34219302e-02 9.99801405e-01 -3.22286570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08576923100003 meters Centerline goodness [0,1] 0.9411627660701049 Centerline is valid? [False, False] Translation: X:352.62, Y:-52.99, Z:-3.23 [[ 9.63883143e-01 2.66130652e-01 1.01864192e-02 3.52623381e+02] [-2.65904969e-01 9.63805496e-01 -1.93265163e-02 -5.29924057e+01] [-1.49611052e-02 1.59198838e-02 9.99761333e-01 -3.22646579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.11576923100006 meters Centerline goodness [0,1] 0.967359618699066 Centerline is valid? [False, True] Translation: X:352.54, Y:-52.97, Z:-3.22 [[ 9.66526365e-01 2.56321065e-01 1.12382028e-02 3.52541574e+02] [-2.56222390e-01 9.66571108e-01 -9.50689213e-03 -5.29691040e+01] [-1.32993388e-02 6.30918273e-03 9.99891655e-01 -3.22456002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14576923100003 meters Centerline goodness [0,1] 0.99184012612651 Centerline is valid? [True, True] Translation: X:352.57, Y:-52.98, Z:-3.22 [[ 9.67195970e-01 2.53664760e-01 1.36434949e-02 3.52570014e+02] [-2.53648778e-01 9.67291984e-01 -2.91813322e-03 -5.29810564e+01] [-1.39374708e-02 -6.38249114e-04 9.99902665e-01 -3.22159318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.17576923100006 meters Centerline goodness [0,1] 0.9948089920969553 Centerline is valid? [True, True] Translation: X:352.60, Y:-52.99, Z:-3.22 [[ 9.67830588e-01 2.51121621e-01 1.55526242e-02 3.52598485e+02] [-2.51100526e-01 9.67955299e-01 -3.32638625e-03 -5.29851800e+01] [-1.58895725e-02 -6.85893770e-04 9.99873518e-01 -3.21895308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20576923100003 meters Centerline goodness [0,1] 0.998775854791051 Centerline is valid? [True, True] Translation: X:352.63, Y:-52.99, Z:-3.22 [[ 9.68309217e-01 2.49142898e-01 1.74664575e-02 3.52627488e+02] [-2.49115985e-01 9.68466456e-01 -3.73490213e-03 -5.29938114e+01] [-1.78462025e-02 -7.34633604e-04 9.99840474e-01 -3.21517569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.23576923100006 meters Centerline goodness [0,1] 0.9989621062887887 Centerline is valid? [True, True] Translation: X:352.66, Y:-53.00, Z:-3.21 [[ 9.68581039e-01 2.47965293e-01 1.90783833e-02 3.52656304e+02] [-2.47932959e-01 9.68768603e-01 -4.07939234e-03 -5.29959456e+01] [-1.94940865e-02 -7.78937954e-04 9.99809669e-01 -3.21301275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26576923100004 meters Centerline goodness [0,1] 0.9993647028927195 Centerline is valid? [True, True] Translation: X:352.69, Y:-53.00, Z:-3.21 [[ 9.68534670e-01 2.48069099e-01 2.00577880e-02 3.52685557e+02] [-2.48033396e-01 9.68741992e-01 -4.28807502e-03 -5.29974157e+01] [-2.04945604e-02 -8.21851939e-04 9.99789627e-01 -3.21228754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.29576923100007 meters Centerline goodness [0,1] 0.9996817043670161 Centerline is valid? [True, True] Translation: X:352.71, Y:-53.00, Z:-3.21 [[ 9.68325853e-01 2.48917387e-01 1.96259148e-02 3.52714552e+02] [-2.48883398e-01 9.68524371e-01 -4.19481943e-03 -5.30008201e+01] [-2.00523403e-02 -8.22612261e-04 9.99798593e-01 -3.21385146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32576923100004 meters Centerline goodness [0,1] 0.9991757370812638 Centerline is valid? [True, True] Translation: X:352.74, Y:-53.00, Z:-3.22 [[ 9.68224119e-01 2.49404388e-01 1.84256984e-02 3.52743786e+02] [-2.49374529e-01 9.68399111e-01 -3.93766920e-03 -5.30008072e+01] [-1.88255019e-02 -7.82353569e-04 9.99822478e-01 -3.21664299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.35576923100007 meters Centerline goodness [0,1] 0.99894083504565 Centerline is valid? [True, True] Translation: X:352.77, Y:-53.00, Z:-3.22 [[ 9.68152760e-01 2.49773311e-01 1.71325894e-02 3.52772464e+02] [-2.49747562e-01 9.68304060e-01 -3.66081581e-03 -5.30029330e+01] [-1.75039299e-02 -7.34593504e-04 9.99846525e-01 -3.21947567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38576923100004 meters Centerline goodness [0,1] 0.9986712785253301 Centerline is valid? [True, True] Translation: X:352.80, Y:-53.00, Z:-3.22 [[ 9.68472180e-01 2.48630459e-01 1.56374992e-02 3.52801689e+02] [-2.48608870e-01 9.68598198e-01 -3.34069357e-03 -5.30017577e+01] [-1.59770518e-02 -6.52252241e-04 9.99872146e-01 -3.22314032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41576923100007 meters Centerline goodness [0,1] 0.9990944318086092 Centerline is valid? [True, True] Translation: X:352.83, Y:-53.01, Z:-3.22 [[ 9.68691879e-01 2.47732546e-01 1.62674303e-02 3.52830043e+02] [-2.47709070e-01 9.68828233e-01 -3.47445694e-03 -5.30067342e+01] [-1.66210819e-02 -6.63911821e-04 9.99861640e-01 -3.22279319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44576923100004 meters Centerline goodness [0,1] 0.9997865528281751 Centerline is valid? [True, True] Translation: X:352.86, Y:-53.01, Z:-3.22 [[ 9.68979821e-01 2.46546115e-01 1.71207164e-02 3.52858343e+02] [-2.46519943e-01 9.69130824e-01 -3.65573864e-03 -5.30148553e+01] [-1.74935222e-02 -6.78261064e-04 9.99846747e-01 -3.22151967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.4757692310001 meters Centerline goodness [0,1] 0.9997444252763402 Centerline is valid? [True, True] Translation: X:352.89, Y:-53.02, Z:-3.22 [[ 9.69301192e-01 2.45243929e-01 1.76242793e-02 3.52887141e+02] [-2.45215986e-01 9.69461170e-01 -3.76297230e-03 -5.30207081e+01] [-1.80089005e-02 -6.74301486e-04 9.99837599e-01 -3.22115552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50576923100004 meters Centerline goodness [0,1] 0.9998936894029596 Centerline is valid? [True, True] Translation: X:352.92, Y:-53.02, Z:-3.22 [[ 9.69698510e-01 2.43653640e-01 1.78242585e-02 3.52915611e+02] [-2.43624813e-01 9.69862092e-01 -3.80444306e-03 -5.30194162e+01] [-1.82140391e-02 -6.53268883e-04 9.99833897e-01 -3.22220561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5357692310001 meters Centerline goodness [0,1] 0.9997655683900942 Centerline is valid? [True, True] Translation: X:352.94, Y:-53.02, Z:-3.22 [[ 9.69747200e-01 2.43468086e-01 1.77104512e-02 3.52944095e+02] [-2.43439610e-01 9.69908693e-01 -3.77929494e-03 -5.30235361e+01] [-1.80976583e-02 -6.46464645e-04 9.99836015e-01 -3.22295388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56576923100005 meters Centerline goodness [0,1] 0.9993671420133322 Centerline is valid? [True, True] Translation: X:352.97, Y:-53.02, Z:-3.22 [[ 9.69666663e-01 2.43786946e-01 1.77338246e-02 3.52972829e+02] [-2.43758463e-01 9.69828592e-01 -3.78347899e-03 -5.30232104e+01] [-1.81211329e-02 -6.54056381e-04 9.99835585e-01 -3.22366518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5957692310001 meters Centerline goodness [0,1] 0.9998076799794858 Centerline is valid? [True, True] Translation: X:353.00, Y:-53.03, Z:-3.22 [[ 9.69515330e-01 2.44390094e-01 1.77061199e-02 3.53000590e+02] [-2.44361819e-01 9.69676771e-01 -3.77648232e-03 -5.30311901e+01] [-1.80921481e-02 -6.65342175e-04 9.99836102e-01 -3.22322832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62576923100005 meters Centerline goodness [0,1] 0.99959661153691 Centerline is valid? [True, True] Translation: X:353.03, Y:-53.03, Z:-3.22 [[ 9.69320443e-01 2.45206535e-01 1.70773082e-02 3.53029169e+02] [-2.45180372e-01 9.69470641e-01 -3.64169194e-03 -5.30290242e+01] [-1.74489156e-02 -6.57054321e-04 9.99847540e-01 -3.22468504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6557692310001 meters Centerline goodness [0,1] 0.9998927774918511 Centerline is valid? [True, True] Translation: X:353.06, Y:-53.03, Z:-3.22 [[ 9.69226195e-01 2.45539341e-01 1.76356199e-02 3.53057785e+02] [-2.45511520e-01 9.69386384e-01 -3.75930927e-03 -5.30327772e+01] [-1.80187881e-02 -6.86126820e-04 9.99837413e-01 -3.22499976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68576923100005 meters Centerline goodness [0,1] 0.9996368374954605 Centerline is valid? [True, True] Translation: X:353.09, Y:-53.03, Z:-3.22 [[ 9.69139500e-01 2.45818343e-01 1.84924755e-02 3.53085911e+02] [-2.45787820e-01 9.69315643e-01 -3.94105257e-03 -5.30337949e+01] [-1.88938288e-02 -7.25795515e-04 9.99821232e-01 -3.22464796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7157692310001 meters Centerline goodness [0,1] 0.9997259985246074 Centerline is valid? [True, True] Translation: X:353.11, Y:-53.04, Z:-3.22 [[ 9.69333660e-01 2.44976219e-01 1.94655702e-02 3.53114990e+02] [-2.44942255e-01 9.69528799e-01 -4.14717069e-03 -5.30370469e+01] [-1.98883891e-02 -7.47948518e-04 9.99801927e-01 -3.22285135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74576923100005 meters Centerline goodness [0,1] 0.9998725221492766 Centerline is valid? [True, True] Translation: X:353.14, Y:-53.04, Z:-3.22 [[ 9.69522341e-01 2.44227979e-01 1.94710964e-02 3.53142365e+02] [-2.44193863e-01 9.69717565e-01 -4.14744637e-03 -5.30404896e+01] [-1.98943866e-02 -7.33680335e-04 9.99801818e-01 -3.22341757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7757692310001 meters Centerline goodness [0,1] 0.9996615905245347 Centerline is valid? [True, True] Translation: X:353.17, Y:-53.04, Z:-3.22 [[ 9.69780842e-01 2.43229835e-01 1.90883789e-02 3.53170528e+02] [-2.43196876e-01 9.69968431e-01 -4.06478942e-03 -5.30440922e+01] [-1.95038030e-02 -7.00279208e-04 9.99809538e-01 -3.22489259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80576923100006 meters Centerline goodness [0,1] 0.9998086653344105 Centerline is valid? [True, True] Translation: X:353.20, Y:-53.05, Z:-3.23 [[ 9.70065148e-01 2.42103661e-01 1.89585583e-02 3.53198429e+02] [-2.42070951e-01 9.70250155e-01 -4.03623193e-03 -5.30531604e+01] [-1.93717307e-02 -6.73908326e-04 9.99812123e-01 -3.22642895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.83576923100003 meters Centerline goodness [0,1] 0.9998096406438376 Centerline is valid? [True, True] Translation: X:353.23, Y:-53.05, Z:-3.23 [[ 9.70509201e-01 2.40357407e-01 1.84447199e-02 3.53226562e+02] [-2.40326143e-01 9.70684258e-01 -3.92625669e-03 -5.30539128e+01] [-1.88477042e-02 -6.22280155e-04 9.99822173e-01 -3.22782050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86576923100006 meters Centerline goodness [0,1] 0.9998102866779089 Centerline is valid? [True, True] Translation: X:353.25, Y:-53.06, Z:-3.23 [[ 9.70588441e-01 2.39996984e-01 1.89611863e-02 3.53254779e+02] [-2.39963899e-01 9.70773427e-01 -4.03496845e-03 -5.30590413e+01] [-1.93753960e-02 -6.33706447e-04 9.99812079e-01 -3.22735405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.89576923100003 meters Centerline goodness [0,1] 0.9998729647900744 Centerline is valid? [True, True] Translation: X:353.28, Y:-53.07, Z:-3.23 [[ 9.70514528e-01 2.40215908e-01 1.99466287e-02 3.53283023e+02] [-2.40179361e-01 9.70719252e-01 -4.24369504e-03 -5.30663694e+01] [-2.03819795e-02 -6.72200825e-04 9.99792040e-01 -3.22591151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92576923100006 meters Centerline goodness [0,1] 0.9998931829349057 Centerline is valid? [True, True] Translation: X:353.31, Y:-53.07, Z:-3.22 [[ 9.70329437e-01 2.40902989e-01 2.06526796e-02 3.53311508e+02] [-2.40863986e-01 9.70548939e-01 -4.39286943e-03 -5.30696232e+01] [-2.11026917e-02 -7.11956215e-04 9.99777060e-01 -3.22498726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.95576923100003 meters Centerline goodness [0,1] 0.9998724245710277 Centerline is valid? [True, True] Translation: X:353.34, Y:-53.07, Z:-3.23 [[ 9.69627480e-01 2.43718043e-01 2.05928386e-02 3.53341168e+02] [-2.43679921e-01 9.69845823e-01 -4.37913588e-03 -5.30657055e+01] [-2.10391529e-02 -7.71930785e-04 9.99778355e-01 -3.22561692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98576923100006 meters Centerline goodness [0,1] 0.9997469475548807 Centerline is valid? [True, True] Translation: X:353.37, Y:-53.07, Z:-3.23 [[ 9.69338342e-01 2.44890916e-01 2.02883746e-02 3.53370185e+02] [-2.44854189e-01 9.69550319e-01 -4.31342090e-03 -5.30667129e+01] [-2.07269177e-02 -7.86529257e-04 9.99784865e-01 -3.22652677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01576923100004 meters Centerline goodness [0,1] 0.9997242374103772 Centerline is valid? [True, True] Translation: X:353.40, Y:-53.07, Z:-3.23 [[ 9.69095781e-01 2.45871219e-01 2.00177840e-02 3.53398995e+02] [-2.45835693e-01 9.69302175e-01 -4.25496406e-03 -5.30677178e+01] [-2.04494548e-02 -7.97618092e-04 9.99790570e-01 -3.22833428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04576923100007 meters Centerline goodness [0,1] 0.9996420600496905 Centerline is valid? [True, True] Translation: X:353.43, Y:-53.07, Z:-3.23 [[ 9.69035982e-01 2.46095872e-01 2.01515935e-02 3.53428183e+02] [-2.46059943e-01 9.69245153e-01 -4.28219283e-03 -5.30663008e+01] [-2.05856643e-02 -8.08901000e-04 9.99787766e-01 -3.22919799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07576923100004 meters Centerline goodness [0,1] 0.9997674664411795 Centerline is valid? [True, True] Translation: X:353.46, Y:-53.07, Z:-3.23 [[ 9.69324732e-01 2.44911699e-01 2.06838886e-02 3.53456400e+02] [-2.44873604e-01 9.69545053e-01 -4.39403445e-03 -5.30724909e+01] [-2.11301123e-02 -8.05692073e-04 9.99776410e-01 -3.22841002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10576923100007 meters Centerline goodness [0,1] 0.9999572119293141 Centerline is valid? [True, True] Translation: X:353.48, Y:-53.08, Z:-3.23 [[ 9.69754839e-01 2.43174915e-01 2.10122213e-02 3.53483746e+02] [-2.43135215e-01 9.69982139e-01 -4.46277034e-03 -5.30816514e+01] [-2.14667132e-02 -7.81017824e-04 9.99769258e-01 -3.22806083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13576923100004 meters Centerline goodness [0,1] 0.9999153851035475 Centerline is valid? [True, True] Translation: X:353.51, Y:-53.09, Z:-3.23 [[ 9.70219672e-01 2.41324266e-01 2.08898884e-02 3.53511157e+02] [-2.41284620e-01 9.70444257e-01 -4.43578017e-03 -5.30854093e+01] [-2.13429337e-02 -7.36727617e-04 9.99771942e-01 -3.22877296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16576923100007 meters Centerline goodness [0,1] 0.9999786393250026 Centerline is valid? [True, True] Translation: X:353.54, Y:-53.09, Z:-3.23 [[ 9.70743145e-01 2.39243081e-01 2.05059489e-02 3.53539485e+02] [-2.39204442e-01 9.70959467e-01 -4.35300638e-03 -5.30935003e+01] [-2.09518719e-02 -6.79462962e-04 9.99780255e-01 -3.23066266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.19576923100004 meters Centerline goodness [0,1] 0.999914562775001 Centerline is valid? [True, True] Translation: X:353.57, Y:-53.10, Z:-3.23 [[ 9.71476207e-01 2.36272306e-01 2.02330378e-02 3.53567494e+02] [-2.36234060e-01 9.71686692e-01 -4.29433093e-03 -5.30985437e+01] [-2.06748050e-02 -6.07892332e-04 9.99786069e-01 -3.23219075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2257692310001 meters Centerline goodness [0,1] 0.9999137615074488 Centerline is valid? [True, True] Translation: X:353.60, Y:-53.10, Z:-3.23 [[ 9.71582120e-01 2.35819761e-01 2.04260607e-02 3.53595968e+02] [-2.35780692e-01 9.71796622e-01 -4.33478963e-03 -5.31034784e+01] [-2.08722059e-02 -6.04466619e-04 9.99781969e-01 -3.23234811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.62, Y:-53.11, Z:-3.23 [[ 9.71616565e-01 2.35706324e-01 2.00942493e-02 3.53623508e+02] [-2.35668509e-01 9.71824149e-01 -4.26344682e-03 -5.31074400e+01] [-2.05329982e-02 -5.93146220e-04 9.99789000e-01 -3.23329786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.65, Y:-53.11, Z:-3.23 [[ 9.71797989e-01 2.34993024e-01 1.96709840e-02 3.53650920e+02] [-2.34956668e-01 9.71996891e-01 -4.17221742e-03 -5.31118429e+01] [-2.01005772e-02 -5.67276339e-04 9.99797802e-01 -3.23467349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.31576923100005 meters Centerline goodness [0,1] 0.9998937865108869 Centerline is valid? [True, True] Translation: X:353.68, Y:-53.12, Z:-3.24 [[ 9.72307195e-01 2.32913285e-01 1.92384977e-02 3.53678873e+02] [-2.32878126e-01 9.72497372e-01 -4.07932593e-03 -5.31167301e+01] [-1.96595176e-02 -5.13867327e-04 9.99806601e-01 -3.23617624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.71, Y:-53.12, Z:-3.24 [[ 9.72403223e-01 2.32570491e-01 1.85185966e-02 3.53707544e+02] [-2.32537868e-01 9.72579420e-01 -3.92583005e-03 -5.31220527e+01] [-1.89238382e-02 -4.88785179e-04 9.99820809e-01 -3.23819104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.37576923100005 meters Centerline goodness [0,1] 0.999957282299921 Centerline is valid? [True, True] Translation: X:353.73, Y:-53.13, Z:-3.24 [[ 9.72325732e-01 2.32948962e-01 1.78171920e-02 3.53734890e+02] [-2.32918839e-01 9.72488845e-01 -3.77647393e-03 -5.31261351e+01] [-1.82067461e-02 -4.77996887e-04 9.99834129e-01 -3.24079878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4057692310001 meters Centerline goodness [0,1] 0.999851986551921 Centerline is valid? [True, True] Translation: X:353.76, Y:-53.13, Z:-3.24 [[ 9.72177841e-01 2.33600287e-01 1.73537127e-02 3.53762600e+02] [-2.33571843e-01 9.72332596e-01 -3.67663443e-03 -5.31285903e+01] [-1.77324434e-02 -4.78996143e-04 9.99842653e-01 -3.24311660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.43576923100005 meters Centerline goodness [0,1] 0.9998936215480192 Centerline is valid? [True, True] Translation: X:353.79, Y:-53.13, Z:-3.24 [[ 9.71840763e-01 2.34997933e-01 1.73638514e-02 3.53791729e+02] [-2.34969697e-01 9.71995739e-01 -3.67770385e-03 -5.31313353e+01] [-1.77418423e-02 -5.05836382e-04 9.99842473e-01 -3.24388742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4657692310001 meters Centerline goodness [0,1] 0.9997880906971816 Centerline is valid? [True, True] Translation: X:353.82, Y:-53.14, Z:-3.24 [[ 9.71640082e-01 2.35797000e-01 1.77574157e-02 3.53820725e+02] [-2.35767620e-01 9.71802187e-01 -3.76020309e-03 -5.31351734e+01] [-1.81433400e-02 -5.33059599e-04 9.99835254e-01 -3.24339860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.49576923100005 meters Centerline goodness [0,1] 0.9998093785741518 Centerline is valid? [True, True] Translation: X:353.85, Y:-53.14, Z:-3.24 [[ 9.71406963e-01 2.36696120e-01 1.85326781e-02 3.53848829e+02] [-2.36664297e-01 9.71583561e-01 -3.92348783e-03 -5.31374013e+01] [-1.89347198e-02 -5.74719849e-04 9.99820557e-01 -3.24245390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5257692310001 meters Centerline goodness [0,1] 0.9999355642424502 Centerline is valid? [True, True] Translation: X:353.88, Y:-53.14, Z:-3.24 [[ 9.70817790e-01 2.39070146e-01 1.89284022e-02 3.53878544e+02] [-2.39037424e-01 9.71002091e-01 -4.00604164e-03 -5.31410275e+01] [-1.93372431e-02 -6.35460023e-04 9.99812816e-01 -3.24234678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.55576923100006 meters Centerline goodness [0,1] 0.9998090428804821 Centerline is valid? [True, True] Translation: X:353.91, Y:-53.14, Z:-3.24 [[ 9.70443999e-01 2.40611789e-01 1.85583307e-02 3.53907694e+02] [-2.40580623e-01 9.70621213e-01 -3.92732506e-03 -5.31420512e+01] [-1.89580701e-02 -6.53525720e-04 9.99820066e-01 -3.24336514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58576923100003 meters Centerline goodness [0,1] 0.9998505869797225 Centerline is valid? [True, True] Translation: X:353.94, Y:-53.14, Z:-3.24 [[ 9.69975709e-01 2.42517612e-01 1.82299779e-02 3.53936910e+02] [-2.42487887e-01 9.70146765e-01 -3.85721215e-03 -5.31441867e+01] [-1.86211960e-02 -6.79146731e-04 9.99826380e-01 -3.24443838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.61576923100006 meters Centerline goodness [0,1] 0.9992327529251295 Centerline is valid? [True, True] Translation: X:353.97, Y:-53.14, Z:-3.25 [[ 9.69475191e-01 2.44549542e-01 1.77023943e-02 3.53966078e+02] [-2.44521861e-01 9.69636548e-01 -3.74502852e-03 -5.31431684e+01] [-1.80807335e-02 -6.97910160e-04 9.99836287e-01 -3.24555890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64576923100003 meters Centerline goodness [0,1] 0.9997631403285889 Centerline is valid? [True, True] Translation: X:353.99, Y:-53.15, Z:-3.25 [[ 9.68910909e-01 2.46809112e-01 1.72311709e-02 3.53993587e+02] [-2.46783255e-01 9.69063848e-01 -3.64453321e-03 -5.31549834e+01] [-1.75976088e-02 -7.21136480e-04 9.99844890e-01 -3.24571128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.67576923100006 meters Centerline goodness [0,1] 0.9907054186776825 Centerline is valid? [True, True] Translation: X:354.03, Y:-53.13, Z:-3.25 [[ 9.67879553e-01 2.50855559e-01 1.67529039e-02 3.54028308e+02] [-2.50831734e-01 9.68024220e-01 -3.54266319e-03 -5.31332089e+01] [-1.71059135e-02 -7.73288674e-04 9.99853384e-01 -3.24955571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70576923100003 meters Centerline goodness [0,1] 0.9877576091330778 Centerline is valid? [True, True] Translation: X:354.06, Y:-53.13, Z:-3.25 [[ 9.67494469e-01 2.52323287e-01 1.69531890e-02 3.54058603e+02] [-2.52299119e-01 9.67642653e-01 -3.58472565e-03 -5.31330229e+01] [-1.73091385e-02 -8.09072406e-04 9.99849858e-01 -3.24992333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.73576923100006 meters Centerline goodness [0,1] 0.9877576091330778 Centerline is valid? [True, True] Translation: X:354.09, Y:-53.14, Z:-3.25 [[ 9.67537336e-01 2.52158867e-01 1.69531212e-02 3.54085552e+02] [-2.52134668e-01 9.67685515e-01 -3.58504670e-03 -5.31385073e+01] [-1.73092911e-02 -8.05803049e-04 9.99849858e-01 -3.25052864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76576923100004 meters Centerline goodness [0,1] 0.9871448334574864 Centerline is valid? [True, True] Translation: X:354.11, Y:-53.14, Z:-3.25 [[ 9.67303152e-01 2.53034597e-01 1.72657262e-02 3.54114900e+02] [-2.53009693e-01 9.67456866e-01 -3.64792595e-03 -5.31399452e+01] [-1.76268968e-02 -8.39745812e-04 9.99844282e-01 -3.25049719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.79576923100007 meters Centerline goodness [0,1] 0.9843925848852271 Centerline is valid? [True, True] Translation: X:354.14, Y:-53.14, Z:-3.25 [[ 9.67215987e-01 2.53327173e-01 1.78487186e-02 3.54144636e+02] [-2.53300669e-01 9.67380264e-01 -3.76782530e-03 -5.31361035e+01] [-1.82209906e-02 -8.76791494e-04 9.99833600e-01 -3.24993981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82576923100004 meters Centerline goodness [0,1] 0.998153650254669 Centerline is valid? [True, True] Translation: X:354.17, Y:-53.15, Z:-3.25 [[ 9.67445495e-01 2.52415820e-01 1.83157679e-02 3.54171482e+02] [-2.52387761e-01 9.67618455e-01 -3.86573130e-03 -5.31501609e+01] [-1.86984468e-02 -8.82791319e-04 9.99824779e-01 -3.24926588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.85576923100007 meters Centerline goodness [0,1] 0.9983205425285402 Centerline is valid? [True, True] Translation: X:354.20, Y:-53.15, Z:-3.25 [[ 9.67701734e-01 2.51409161e-01 1.86222370e-02 3.54200961e+02] [-2.51380037e-01 9.67880497e-01 -3.92681123e-03 -5.31527249e+01] [-1.90113363e-02 -8.81276583e-04 9.99818880e-01 -3.25003392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88576923100004 meters Centerline goodness [0,1] 0.9993370969121547 Centerline is valid? [True, True] Translation: X:354.23, Y:-53.16, Z:-3.25 [[ 9.68262235e-01 2.49252020e-01 1.84844675e-02 3.54230799e+02] [-2.49222942e-01 9.68438298e-01 -3.89728721e-03 -5.31559372e+01] [-1.88724729e-02 -8.33157337e-04 9.99821552e-01 -3.25053063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91576923100007 meters Centerline goodness [0,1] 0.9992182217714672 Centerline is valid? [True, True] Translation: X:354.26, Y:-53.16, Z:-3.25 [[ 9.68376014e-01 2.48816685e-01 1.83889141e-02 3.54259849e+02] [-2.48787823e-01 9.68550249e-01 -3.87741812e-03 -5.31576209e+01] [-1.87753536e-02 -8.20139205e-04 9.99823391e-01 -3.25074009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94576923100004 meters Centerline goodness [0,1] 0.9992292540892352 Centerline is valid? [True, True] Translation: X:354.29, Y:-53.16, Z:-3.25 [[ 9.68428945e-01 2.48618977e-01 1.82751927e-02 3.54287259e+02] [-2.48590496e-01 9.68601023e-01 -3.85019944e-03 -5.31575469e+01] [-1.86586030e-02 -8.14394627e-04 9.99825581e-01 -3.25074360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.9757692310001 meters Centerline goodness [0,1] 0.999385905471794 Centerline is valid? [True, True] Translation: X:354.32, Y:-53.16, Z:-3.25 [[ 9.68429292e-01 2.48605453e-01 1.84400373e-02 3.54316751e+02] [-2.48576499e-01 9.68604486e-01 -3.88254987e-03 -5.31582478e+01] [-1.88263259e-02 -8.23784896e-04 9.99822430e-01 -3.25093071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00576923100004 meters Centerline goodness [0,1] 0.9924220098513872 Centerline is valid? [True, True] Translation: X:354.35, Y:-53.14, Z:-3.25 [[ 9.68611637e-01 2.47899735e-01 1.83634811e-02 3.54349229e+02] [-2.47870957e-01 9.68785356e-01 -3.86306259e-03 -5.31380429e+01] [-1.87479237e-02 -8.09966238e-04 9.99823914e-01 -3.25300015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0357692310001 meters Centerline goodness [0,1] 0.9994911265186693 Centerline is valid? [True, True] Translation: X:354.38, Y:-53.15, Z:-3.25 [[ 9.68772300e-01 2.47260141e-01 1.85108752e-02 3.54375320e+02] [-2.47230810e-01 9.68948798e-01 -3.89265059e-03 -5.31545438e+01] [-1.88985877e-02 -8.05366611e-04 9.99821081e-01 -3.25278223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06576923100005 meters Centerline goodness [0,1] 0.9994239016792199 Centerline is valid? [True, True] Translation: X:354.40, Y:-53.15, Z:-3.25 [[ 9.68901628e-01 2.46711091e-01 1.90596903e-02 3.54403386e+02] [-2.46679959e-01 9.69088728e-01 -4.00444898e-03 -5.31542879e+01] [-1.94584730e-02 -8.21726479e-04 9.99810328e-01 -3.25284631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0957692310001 meters Centerline goodness [0,1] 0.9995760735936241 Centerline is valid? [True, True] Translation: X:354.43, Y:-53.16, Z:-3.25 [[ 9.69111490e-01 2.45860634e-01 1.93769903e-02 3.54432506e+02] [-2.45828306e-01 9.69304843e-01 -4.07016090e-03 -5.31575282e+01] [-1.97829029e-02 -8.18973013e-04 9.99803964e-01 -3.25287060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12576923100005 meters Centerline goodness [0,1] 0.9996376039224046 Centerline is valid? [True, True] Translation: X:354.46, Y:-53.16, Z:-3.25 [[ 9.69397890e-01 2.44677238e-01 2.00194979e-02 3.54461001e+02] [-2.44642552e-01 9.69604233e-01 -4.20149599e-03 -5.31615043e+01] [-2.04390004e-02 -8.24699711e-04 9.99790762e-01 -3.25236307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1557692310001 meters Centerline goodness [0,1] 0.9998519709017086 Centerline is valid? [True, True] Translation: X:354.49, Y:-53.17, Z:-3.25 [[ 9.70340462e-01 2.40952939e-01 1.95209674e-02 3.54489829e+02] [-2.40919242e-01 9.70536526e-01 -4.09511570e-03 -5.31652617e+01] [-1.99325421e-02 -7.29320197e-04 9.99801061e-01 -3.25393044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18576923100005 meters Centerline goodness [0,1] 0.9999353935608916 Centerline is valid? [True, True] Translation: X:354.52, Y:-53.18, Z:-3.26 [[ 9.71100636e-01 2.37888276e-01 1.93060284e-02 3.54517972e+02] [-2.37854720e-01 9.71292301e-01 -4.04957778e-03 -5.31767377e+01] [-1.97151438e-02 -6.59482422e-04 9.99805420e-01 -3.25532104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2157692310001 meters Centerline goodness [0,1] 0.9999575037715402 Centerline is valid? [True, True] Translation: X:354.55, Y:-53.18, Z:-3.26 [[ 9.72056215e-01 2.33955256e-01 1.92783182e-02 3.54546727e+02] [-2.33921035e-01 9.72247192e-01 -4.04313384e-03 -5.31803278e+01] [-1.96892032e-02 -5.79450777e-04 9.99805981e-01 -3.25679040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.57, Y:-53.19, Z:-3.26 [[ 9.73148485e-01 2.29381957e-01 1.91296527e-02 3.54574763e+02] [-2.29347388e-01 9.73336367e-01 -4.01144620e-03 -5.31931212e+01] [-1.95397401e-02 -4.83603093e-04 9.99808964e-01 -3.25738887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.60, Y:-53.22, Z:-3.26 [[ 9.75268709e-01 2.20199357e-01 1.90574936e-02 3.54600822e+02] [-2.20163297e-01 9.75454845e-01 -3.99607447e-03 -5.32159337e+01] [-1.94696575e-02 -2.98514247e-04 9.99810404e-01 -3.25763947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.63, Y:-53.23, Z:-3.26 [[ 9.76236879e-01 2.15841454e-01 1.93396721e-02 3.54627588e+02] [-2.15803462e-01 9.76428400e-01 -4.05526841e-03 -5.32252893e+01] [-1.97591001e-02 -2.14665602e-04 9.99804747e-01 -3.25840447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.65, Y:-53.24, Z:-3.26 [[ 9.77109193e-01 2.11835915e-01 1.95747540e-02 3.54653851e+02] [-2.11796214e-01 9.77305237e-01 -4.10329046e-03 -5.32389415e+01] [-1.99997339e-02 -1.36495966e-04 9.99799976e-01 -3.25848845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.68, Y:-53.26, Z:-3.26 [[ 9.78592257e-01 2.04918012e-01 1.91259501e-02 3.54678566e+02] [-2.04878806e-01 9.78779142e-01 -4.00832539e-03 -5.32559217e+01] [-1.95414591e-02 4.01436939e-06 9.99809047e-01 -3.25983165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.71, Y:-53.27, Z:-3.26 [[ 9.79209380e-01 2.01959511e-01 1.90091155e-02 3.54705966e+02] [-2.01920247e-01 9.79393870e-01 -3.98265463e-03 -5.32670906e+01] [-1.94217461e-02 6.15274762e-05 9.99811378e-01 -3.26041734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.73, Y:-53.28, Z:-3.26 [[ 9.79729676e-01 1.99390816e-01 1.93148549e-02 3.54731642e+02] [-1.99349798e-01 9.79920042e-01 -4.04580011e-03 -5.32778539e+01] [-1.97337088e-02 1.13378010e-04 9.99805265e-01 -3.26035529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.76, Y:-53.29, Z:-3.26 [[ 9.80139326e-01 1.97364907e-01 1.93389311e-02 3.54759165e+02] [-1.97323421e-01 9.80330082e-01 -4.04937553e-03 -5.32882903e+01] [-1.97577405e-02 1.52928168e-04 9.99804785e-01 -3.26065772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.78, Y:-53.30, Z:-3.26 [[ 9.80837909e-01 1.93898543e-01 1.89829211e-02 3.54784948e+02] [-1.93857938e-01 9.81021563e-01 -3.97396173e-03 -5.33029951e+01] [-1.93932004e-02 2.17822367e-04 9.99811910e-01 -3.26115365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.81, Y:-53.31, Z:-3.26 [[ 9.81007462e-01 1.93089281e-01 1.84631806e-02 3.54811581e+02] [-1.93050745e-01 9.81181165e-01 -3.86413309e-03 -5.33124214e+01] [-1.88618478e-02 2.26412611e-04 9.99822074e-01 -3.26305217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.84, Y:-53.32, Z:-3.27 [[ 9.81087299e-01 1.92788825e-01 1.73257233e-02 3.54837662e+02] [-1.92754869e-01 9.81240247e-01 -3.62466358e-03 -5.33217759e+01] [-1.76994917e-02 2.16493870e-04 9.99843328e-01 -3.26560570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.87, Y:-53.33, Z:-3.27 [[ 9.81107719e-01 1.92744445e-01 1.66500268e-02 3.54865450e+02] [-1.92713108e-01 9.81248967e-01 -3.48172177e-03 -5.33299083e+01] [-1.70089042e-02 2.07265695e-04 9.99855317e-01 -3.26711848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.89, Y:-53.34, Z:-3.27 [[ 9.81004237e-01 1.93174593e-01 1.77274951e-02 3.54892253e+02] [-1.93139155e-01 9.81164376e-01 -3.70610761e-03 -5.33420915e+01] [-1.81095125e-02 2.11833846e-04 9.99835987e-01 -3.26502518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.92, Y:-53.35, Z:-3.26 [[ 9.80895148e-01 1.93657627e-01 1.84778750e-02 3.54918516e+02] [-1.93619228e-01 9.81069151e-01 -3.86203385e-03 -5.33527506e+01] [-1.88759855e-02 2.10578364e-04 9.99821811e-01 -3.26391884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.95, Y:-53.36, Z:-3.26 [[ 9.80732571e-01 1.94444828e-01 1.88370031e-02 3.54945641e+02] [-1.94405092e-01 9.80913436e-01 -3.93583643e-03 -5.33619189e+01] [-1.92427725e-02 1.97993667e-04 9.99814821e-01 -3.26386221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.97, Y:-53.37, Z:-3.27 [[ 9.80515056e-01 1.95603294e-01 1.81542624e-02 3.54972265e+02] [-1.95566599e-01 9.80683090e-01 -3.79236372e-03 -5.33717737e+01] [-1.85453770e-02 1.68102371e-04 9.99828006e-01 -3.26609392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.00, Y:-53.38, Z:-3.27 [[ 9.79808480e-01 1.99296073e-01 1.60130703e-02 3.54998813e+02] [-1.99268031e-01 9.79939318e-01 -3.34423348e-03 -5.33803103e+01] [-1.63583298e-02 8.58153386e-05 9.99866190e-01 -3.27194424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.03, Y:-53.39, Z:-3.27 [[ 9.79310512e-01 2.01718053e-01 1.61476866e-02 3.55027221e+02] [-2.01689883e-01 9.79443630e-01 -3.37133645e-03 -5.33863399e+01] [-1.64958083e-02 4.47601932e-05 9.99863934e-01 -3.27158383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.06, Y:-53.39, Z:-3.27 [[ 9.78652702e-01 2.04813463e-01 1.70392054e-02 3.55055344e+02] [-2.04782581e-01 9.78801024e-01 -3.55660138e-03 -5.33911602e+01] [-1.74064315e-02 -8.65490080e-06 9.99848497e-01 -3.26984337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.08, Y:-53.39, Z:-3.27 [[ 9.77092998e-01 2.12044607e-01 1.80653848e-02 3.55083837e+02] [-2.12011143e-01 9.77259977e-01 -3.76988382e-03 -5.33902712e+01] [-1.84539611e-02 -1.46535804e-04 9.99829700e-01 -3.26818980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.11, Y:-53.39, Z:-3.27 [[ 9.76104276e-01 2.16588255e-01 1.76059647e-02 3.55113333e+02] [-2.16557230e-01 9.76263016e-01 -3.67291526e-03 -5.33902773e+01] [-1.79835625e-02 -2.27550646e-04 9.99838257e-01 -3.26958920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.14, Y:-53.39, Z:-3.27 [[ 9.74960967e-01 2.21721474e-01 1.70499624e-02 3.55143776e+02] [-2.21693177e-01 9.75109989e-01 -3.55600148e-03 -5.33889891e+01] [-1.74140305e-02 -3.12897698e-04 9.99848315e-01 -3.27157707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9057692310001 meters Centerline goodness [0,1] 0.9999575875816439 Centerline is valid? [True, True] Translation: X:355.17, Y:-53.39, Z:-3.27 [[ 9.73876498e-01 2.26472416e-01 1.65774043e-02 3.55174338e+02] [-2.26446360e-01 9.74017502e-01 -3.45705082e-03 -5.33882191e+01] [-1.69296086e-02 -3.87152318e-04 9.99856609e-01 -3.27300962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.93576923100005 meters Centerline goodness [0,1] 0.9998725140234574 Centerline is valid? [True, True] Translation: X:355.21, Y:-53.38, Z:-3.27 [[ 9.72123736e-01 2.33813581e-01 1.75114451e-02 3.55205524e+02] [-2.33785702e-01 9.72281293e-01 -3.65138351e-03 -5.33807303e+01] [-1.78797936e-02 -5.44328914e-04 9.99839996e-01 -3.27191197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9657692310001 meters Centerline goodness [0,1] 0.9997252224641204 Centerline is valid? [True, True] Translation: X:355.23, Y:-53.38, Z:-3.27 [[ 9.71542167e-01 2.36134697e-01 1.86070857e-02 3.55234726e+02] [-2.36103653e-01 9.71720132e-01 -3.87936820e-03 -5.33791493e+01] [-1.89969332e-02 -6.24231117e-04 9.99819347e-01 -3.27080734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.99576923100005 meters Centerline goodness [0,1] 0.99997866757685 Centerline is valid? [True, True] Translation: X:355.26, Y:-53.39, Z:-3.27 [[ 9.71256867e-01 2.37243617e-01 1.93794797e-02 3.55263131e+02] [-2.37210177e-01 9.71449954e-01 -4.03969877e-03 -5.33853486e+01] [-1.97845874e-02 -6.73424626e-04 9.99804039e-01 -3.27026976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0257692310001 meters Centerline goodness [0,1] 0.9998941597341292 Centerline is valid? [True, True] Translation: X:355.29, Y:-53.39, Z:-3.27 [[ 9.71633781e-01 2.35766597e-01 1.84907428e-02 3.55291351e+02] [-2.35735950e-01 9.71809514e-01 -3.85107532e-03 -5.33874555e+01] [-1.88774347e-02 -6.17097956e-04 9.99821615e-01 -3.27138046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.05576923100006 meters Centerline goodness [0,1] 0.9999576853908813 Centerline is valid? [True, True] Translation: X:355.32, Y:-53.39, Z:-3.27 [[ 9.72137753e-01 2.33741285e-01 1.76974959e-02 3.55318742e+02] [-2.33712893e-01 9.72298671e-01 -3.68492459e-03 -5.33920338e+01] [-1.80685707e-02 -5.53878640e-04 9.99836597e-01 -3.27296387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08576923100003 meters Centerline goodness [0,1] 0.9999364568330086 Centerline is valid? [True, True] Translation: X:355.35, Y:-53.40, Z:-3.27 [[ 9.72735102e-01 2.31231363e-01 1.78459271e-02 3.55346215e+02] [-2.31202101e-01 9.72898655e-01 -3.71417638e-03 -5.34001787e+01] [-1.82211125e-02 -5.13106090e-04 9.99833850e-01 -3.27349329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.37, Y:-53.41, Z:-3.27 [[ 9.73452091e-01 2.28149182e-01 1.84113316e-02 3.55373831e+02] [-2.28117496e-01 9.73626073e-01 -3.83129533e-03 -5.34107338e+01] [-1.87998594e-02 -4.70364408e-04 9.99823156e-01 -3.27277086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.40, Y:-53.42, Z:-3.27 [[ 9.74795827e-01 2.22252308e-01 1.94166694e-02 3.55401407e+02] [-2.22215968e-01 9.74989112e-01 -4.03681637e-03 -5.34208363e+01] [-1.98282330e-02 -3.79622248e-04 9.99803329e-01 -3.27407309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.43, Y:-53.43, Z:-3.27 [[ 9.75464556e-01 2.19316042e-01 1.92190829e-02 3.55428881e+02] [-2.19279877e-01 9.75653818e-01 -3.99531790e-03 -5.34319229e+01] [-1.96274089e-02 -3.17067126e-04 9.99807314e-01 -3.27460131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.46, Y:-53.44, Z:-3.27 [[ 9.76086995e-01 2.16535343e-01 1.91473928e-02 3.55455364e+02] [-2.16498930e-01 9.76274745e-01 -3.97948857e-03 -5.34403710e+01] [-1.95548160e-02 -2.61063020e-04 9.99808752e-01 -3.27451025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.48, Y:-53.45, Z:-3.27 [[ 9.76999843e-01 2.12431128e-01 1.85559185e-02 3.55482248e+02] [-2.12396211e-01 9.77176026e-01 -3.85541141e-03 -5.34532454e+01] [-1.89514081e-02 -1.74470434e-04 9.99820391e-01 -3.27427939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.51, Y:-53.46, Z:-3.27 [[ 9.77480428e-01 2.10211322e-01 1.85259975e-02 3.55510127e+02] [-2.10176136e-01 9.77655963e-01 -3.84825790e-03 -5.34624998e+01] [-1.89209993e-02 -1.32125791e-04 9.99820973e-01 -3.27475330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.54, Y:-53.47, Z:-3.28 [[ 9.77962892e-01 2.07958454e-01 1.84895424e-02 3.55536327e+02] [-2.07923021e-01 9.78137656e-01 -3.83979236e-03 -5.34716133e+01] [-1.88838350e-02 -8.92270760e-05 9.99821681e-01 -3.27635329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.56, Y:-53.48, Z:-3.28 [[ 9.78391798e-01 2.05944621e-01 1.83385548e-02 3.55562454e+02] [-2.05909430e-01 9.78563647e-01 -3.80738217e-03 -5.34809650e+01] [-1.87295530e-02 -5.09698749e-05 9.99824585e-01 -3.27803950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.59, Y:-53.49, Z:-3.28 [[ 9.79028949e-01 2.02986005e-01 1.72915785e-02 3.55587149e+02] [-2.02954281e-01 9.79181639e-01 -3.58858015e-03 -5.34924418e+01] [-1.76600277e-02 3.92397709e-06 9.99844050e-01 -3.28117153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.62, Y:-53.50, Z:-3.28 [[ 9.79172558e-01 2.02335345e-01 1.67782545e-02 3.55615377e+02] [-2.02305408e-01 9.79316296e-01 -3.48050317e-03 -5.35001483e+01] [-1.71354468e-02 1.36815730e-05 9.99853177e-01 -3.28188850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.64, Y:-53.51, Z:-3.28 [[ 9.79291030e-01 2.01799758e-01 1.63075225e-02 3.55641927e+02] [-2.01771415e-01 9.79426800e-01 -3.38214579e-03 -5.35069525e+01] [-1.66545407e-02 2.17131562e-05 9.99861303e-01 -3.28305137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.67, Y:-53.51, Z:-3.28 [[ 9.79389209e-01 2.01344916e-01 1.60312671e-02 3.55669686e+02] [-2.01317481e-01 9.79520405e-01 -3.32382624e-03 -5.35133547e+01] [-1.63721887e-02 2.79452509e-05 9.99865966e-01 -3.28403011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.70, Y:-53.52, Z:-3.29 [[ 9.79680270e-01 1.99936281e-01 1.58761498e-02 3.55695884e+02] [-1.99909201e-01 9.79808900e-01 -3.29095341e-03 -5.35237763e+01] [-1.62135738e-02 5.02937101e-05 9.99868550e-01 -3.28581166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.72, Y:-53.53, Z:-3.29 [[ 9.79870882e-01 1.98947164e-01 1.65251651e-02 3.55723035e+02] [-1.98917701e-01 9.80010215e-01 -3.42446610e-03 -5.35323902e+01] [-1.68761184e-02 6.83867710e-05 9.99857586e-01 -3.28513387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.75, Y:-53.54, Z:-3.28 [[ 9.80050564e-01 1.97991792e-01 1.73246416e-02 3.55749226e+02] [-1.97959282e-01 9.80203674e-01 -3.58885774e-03 -5.35406984e+01] [-1.76922418e-02 8.76884264e-05 9.99843476e-01 -3.28378836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.78, Y:-53.55, Z:-3.28 [[ 9.80220909e-01 1.97103196e-01 1.78129087e-02 3.55775764e+02] [-1.97068710e-01 9.80382741e-01 -3.68839504e-03 -5.35485546e+01] [-1.81904627e-02 1.05074996e-04 9.99834534e-01 -3.28255157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.80, Y:-53.56, Z:-3.28 [[ 9.80329061e-01 1.96579770e-01 1.76444533e-02 3.55803970e+02] [-1.96545872e-01 9.80487828e-01 -3.65222793e-03 -5.35556387e+01] [-1.80181258e-02 1.12440713e-04 9.99837654e-01 -3.28262165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.83, Y:-53.56, Z:-3.28 [[ 9.80342876e-01 1.96510848e-01 1.76446054e-02 3.55830917e+02] [-1.96476953e-01 9.80501644e-01 -3.65149308e-03 -5.35610744e+01] [-1.80181226e-02 1.12956933e-04 9.99837654e-01 -3.28322670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.86, Y:-53.57, Z:-3.29 [[ 9.80051490e-01 1.98066891e-01 1.63885354e-02 3.55856967e+02] [-1.98037885e-01 9.80188503e-01 -3.39052517e-03 -5.35669864e+01] [-1.67354048e-02 7.73383556e-05 9.99859950e-01 -3.28673700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.89, Y:-53.57, Z:-3.29 [[ 9.79727960e-01 1.99650968e-01 1.65110864e-02 3.55885723e+02] [-1.99621778e-01 9.79867077e-01 -3.41427240e-03 -5.35710724e+01] [-1.68603328e-02 4.90857167e-05 9.99857853e-01 -3.28713771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.91, Y:-53.57, Z:-3.29 [[ 9.79336872e-01 2.01480682e-01 1.74592817e-02 3.55914392e+02] [-2.01448349e-01 9.79492488e-01 -3.60945400e-03 -5.35741243e+01] [-1.78284705e-02 1.77279139e-05 9.99841060e-01 -3.28588503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.94, Y:-53.57, Z:-3.28 [[ 9.78568231e-01 2.05051413e-01 1.89244859e-02 3.55942920e+02] [-2.05014110e-01 9.78751202e-01 -3.91144442e-03 -5.35729020e+01] [-1.93244105e-02 -5.21713965e-05 9.99813265e-01 -3.28286626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.97, Y:-53.58, Z:-3.28 [[ 9.78284044e-01 2.06412553e-01 1.88198655e-02 3.55971670e+02] [-2.06375940e-01 9.78465049e-01 -3.88840579e-03 -5.35764469e+01] [-1.92171964e-02 -8.00020901e-05 9.99815329e-01 -3.28395714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.00, Y:-53.58, Z:-3.29 [[ 9.78091428e-01 2.07365536e-01 1.83492115e-02 3.56000212e+02] [-2.07330915e-01 9.78263525e-01 -3.79030713e-03 -5.35812485e+01] [-1.87363434e-02 -9.70918957e-05 9.99824455e-01 -3.28608260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.03, Y:-53.59, Z:-3.29 [[ 9.78061144e-01 2.07575396e-01 1.75742218e-02 3.56027773e+02] [-2.07543687e-01 9.78219017e-01 -3.62943236e-03 -5.35882997e+01] [-1.79448189e-02 -9.76120305e-05 9.99838974e-01 -3.28804503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.05, Y:-53.60, Z:-3.29 [[ 9.78487590e-01 2.05570576e-01 1.74003944e-02 3.56053945e+02] [-2.05539186e-01 9.78642291e-01 -3.59280138e-03 -5.35986546e+01] [-1.77673361e-02 -6.09513573e-05 9.99842147e-01 -3.28936910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.08, Y:-53.61, Z:-3.29 [[ 9.78699862e-01 2.04546770e-01 1.75270814e-02 3.56081667e+02] [-2.04514786e-01 9.78856791e-01 -3.61739165e-03 -5.36068432e+01] [-1.78964284e-02 -4.42065916e-05 9.99839845e-01 -3.28966505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.11, Y:-53.61, Z:-3.29 [[ 9.78925340e-01 2.03475936e-01 1.73988966e-02 3.56108751e+02] [-2.03444262e-01 9.79079947e-01 -3.59019385e-03 -5.36145278e+01] [-1.77654288e-02 -2.51739486e-05 9.99842182e-01 -3.28967806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.14, Y:-53.62, Z:-3.29 [[ 9.79291933e-01 2.01756464e-01 1.67820821e-02 3.56135559e+02] [-2.01726764e-01 9.79435720e-01 -3.46170692e-03 -5.36227231e+01] [-1.71353924e-02 4.62655708e-06 9.99853178e-01 -3.29113294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.16, Y:-53.63, Z:-3.29 [[ 9.79450200e-01 2.00989179e-01 1.67527624e-02 3.56162988e+02] [-2.00959491e-01 9.79593461e-01 -3.45445165e-03 -5.36303165e+01] [-1.71052040e-02 1.68367412e-05 9.99853695e-01 -3.29214135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.19, Y:-53.64, Z:-3.29 [[ 9.79556892e-01 2.00450421e-01 1.69683579e-02 3.56189946e+02] [-2.00419905e-01 9.79703847e-01 -3.49765109e-03 -5.36383995e+01] [-1.73250711e-02 2.53515672e-05 9.99849909e-01 -3.29221235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.22, Y:-53.65, Z:-3.29 [[ 9.79679641e-01 1.99813745e-01 1.73858773e-02 3.56215479e+02] [-1.99781632e-01 9.79833897e-01 -3.58243812e-03 -5.36462240e+01] [-1.77510922e-02 3.62627638e-05 9.99842436e-01 -3.29203171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.24, Y:-53.66, Z:-3.29 [[ 9.79812506e-01 1.99076460e-01 1.83307668e-02 3.56243363e+02] [-1.99040665e-01 9.79983959e-01 -3.77535330e-03 -5.36559965e+01] [-1.87154414e-02 5.05703607e-05 9.99824850e-01 -3.29074883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.27, Y:-53.66, Z:-3.29 [[ 9.79927634e-01 1.98523984e-01 1.81675526e-02 3.56270321e+02] [-1.98488744e-01 9.80096028e-01 -3.74087773e-03 -5.36641439e+01] [-1.85486001e-02 5.97347570e-05 9.99827958e-01 -3.29215171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.30, Y:-53.67, Z:-3.29 [[ 9.80065516e-01 1.97889075e-01 1.76493148e-02 3.56298243e+02] [-1.97855735e-01 9.80224418e-01 -3.63305477e-03 -5.36729603e+01] [-1.80192311e-02 6.86135591e-05 9.99837638e-01 -3.29452549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.32, Y:-53.68, Z:-3.30 [[ 9.80095024e-01 1.97867084e-01 1.61975498e-02 3.56324579e+02] [-1.97839011e-01 9.80228857e-01 -3.33356766e-03 -5.36838521e+01] [-1.65369091e-02 6.27058311e-05 9.99863254e-01 -3.29754347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.35, Y:-53.69, Z:-3.30 [[ 9.79846517e-01 1.99102884e-01 1.60886680e-02 3.56352683e+02] [-1.99075371e-01 9.79978592e-01 -3.31012345e-03 -5.36883253e+01] [-1.64256053e-02 4.05553811e-05 9.99865090e-01 -3.29701108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.38, Y:-53.69, Z:-3.30 [[ 9.79422688e-01 2.01161315e-01 1.62887561e-02 3.56380879e+02] [-2.01133411e-01 9.79558128e-01 -3.35046270e-03 -5.36921649e+01] [-1.66297669e-02 5.30611606e-06 9.99861716e-01 -3.29719804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.41, Y:-53.69, Z:-3.30 [[ 9.78928642e-01 2.03557688e-01 1.62167214e-02 3.56409029e+02] [-2.03530371e-01 9.79062953e-01 -3.33490826e-03 -5.36949158e+01] [-1.65560373e-02 -3.59581010e-05 9.99862939e-01 -3.29838445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.44, Y:-53.69, Z:-3.30 [[ 9.77720391e-01 2.09307152e-01 1.59170660e-02 3.56438312e+02] [-2.09281613e-01 9.77849937e-01 -3.27225050e-03 -5.36944051e+01] [-1.62494074e-02 -1.31803200e-04 9.99867961e-01 -3.29890857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.47, Y:-53.70, Z:-3.30 [[ 9.77186407e-01 2.11807317e-01 1.56328659e-02 3.56466361e+02] [-2.11783012e-01 9.77311430e-01 -3.21313871e-03 -5.36956455e+01] [-1.59587448e-02 -1.70939965e-04 9.99872637e-01 -3.29995154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.49, Y:-53.70, Z:-3.30 [[ 9.76752963e-01 2.13787086e-01 1.57712254e-02 3.56494177e+02] [-2.13762624e-01 9.76880258e-01 -3.24059316e-03 -5.36977969e+01] [-1.60993957e-02 -2.06039538e-04 9.99870375e-01 -3.30092043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.52, Y:-53.70, Z:-3.30 [[ 9.76347326e-01 2.15598266e-01 1.62261395e-02 3.56521894e+02] [-2.15572636e-01 9.76482119e-01 -3.33319335e-03 -5.37000476e+01] [-1.65631658e-02 -2.43557256e-04 9.99862792e-01 -3.30063540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4057692310001 meters Centerline goodness [0,1] 0.9999787410446651 Centerline is valid? [True, True] Translation: X:356.55, Y:-53.70, Z:-3.30 [[ 9.75751340e-01 2.18238505e-01 1.67713096e-02 3.56551744e+02] [-2.18211543e-01 9.75895417e-01 -3.44350490e-03 -5.37000454e+01] [-1.71185495e-02 -2.99688812e-04 9.99853422e-01 -3.30033329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.58, Y:-53.70, Z:-3.30 [[ 9.75681424e-01 2.18555334e-01 1.67130204e-02 3.56579434e+02] [-2.18528617e-01 9.75824509e-01 -3.43080727e-03 -5.37035237e+01] [-1.70587962e-02 -3.04898307e-04 9.99854442e-01 -3.30141549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4657692310001 meters Centerline goodness [0,1] 0.9999788310506149 Centerline is valid? [True, True] Translation: X:356.61, Y:-53.71, Z:-3.30 [[ 9.75645174e-01 2.18713679e-01 1.67577418e-02 3.56607987e+02] [-2.18686860e-01 9.75789030e-01 -3.43894390e-03 -5.37079898e+01] [-1.71041647e-02 -3.09508925e-04 9.99853665e-01 -3.30149208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.49576923100005 meters Centerline goodness [0,1] 0.9999789202976453 Centerline is valid? [True, True] Translation: X:356.64, Y:-53.71, Z:-3.30 [[ 9.75710463e-01 2.18365453e-01 1.74820337e-02 3.56636826e+02] [-2.18336225e-01 9.75867014e-01 -3.58671297e-03 -5.37111694e+01] [-1.78433542e-02 -3.17367875e-04 9.99840744e-01 -3.29971782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.66, Y:-53.71, Z:-3.30 [[ 9.75695922e-01 2.18361996e-01 1.83168365e-02 3.56664484e+02] [-2.18329925e-01 9.75867782e-01 -3.75715655e-03 -5.37135691e+01] [-1.86952308e-02 -3.33271209e-04 9.99825173e-01 -3.29913946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.55576923100006 meters Centerline goodness [0,1] 0.9999788833516344 Centerline is valid? [True, True] Translation: X:356.69, Y:-53.72, Z:-3.30 [[ 9.75646828e-01 2.18562951e-01 1.85338497e-02 3.56692632e+02] [-2.18530177e-01 9.75822791e-01 -3.80029501e-03 -5.37179259e+01] [-1.89163566e-02 -3.42459693e-04 9.99821011e-01 -3.29920428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58576923100003 meters Centerline goodness [0,1] 0.9999577113375904 Centerline is valid? [True, True] Translation: X:356.72, Y:-53.72, Z:-3.30 [[ 9.75728856e-01 2.18171513e-01 1.88252841e-02 3.56720375e+02] [-2.18137645e-01 9.75910383e-01 -3.85916283e-03 -5.37187915e+01] [-1.92137496e-02 -3.41006603e-04 9.99815341e-01 -3.30019700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.75, Y:-53.73, Z:-3.30 [[ 9.76091725e-01 2.16491653e-01 1.93986970e-02 3.56748632e+02] [-2.16455381e-01 9.76284417e-01 -3.97558463e-03 -5.37271964e+01] [-1.97993265e-02 -3.18417100e-04 9.99803923e-01 -3.29891734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.78, Y:-53.73, Z:-3.30 [[ 9.76334988e-01 2.15374850e-01 1.95873753e-02 3.56776264e+02] [-2.15337681e-01 9.76531404e-01 -4.01238114e-03 -5.37307333e+01] [-1.99918531e-02 -3.00471880e-04 9.99800098e-01 -3.29884661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.80, Y:-53.74, Z:-3.30 [[ 9.76728925e-01 2.13580351e-01 1.95969512e-02 3.56802975e+02] [-2.13542809e-01 9.76925465e-01 -4.01312974e-03 -5.37369386e+01] [-2.00018863e-02 -2.65048114e-04 9.99799907e-01 -3.29995286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.83, Y:-53.75, Z:-3.30 [[ 9.77271277e-01 2.11134717e-01 1.90521210e-02 3.56830377e+02] [-2.11098788e-01 9.77456949e-01 -3.90055245e-03 -5.37460089e+01] [-1.94461701e-02 -2.09981776e-04 9.99810883e-01 -3.30108006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.86, Y:-53.75, Z:-3.30 [[ 9.78297441e-01 2.06373394e-01 1.85509997e-02 3.56856589e+02] [-2.06338506e-01 9.78473305e-01 -3.79626253e-03 -5.37545073e+01] [-1.89351056e-02 -1.13911641e-04 9.99820708e-01 -3.30380344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.88, Y:-53.76, Z:-3.30 [[ 9.78672485e-01 2.04555040e-01 1.89050839e-02 3.56884474e+02] [-2.04518501e-01 9.78855060e-01 -3.86698580e-03 -5.37630630e+01] [-1.92963485e-02 -8.19268183e-05 9.99813805e-01 -3.30320937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.91, Y:-53.77, Z:-3.30 [[ 9.78840267e-01 2.03705023e-01 1.93906059e-02 3.56912403e+02] [-2.03666437e-01 9.79032307e-01 -3.96531677e-03 -5.37694496e+01] [-1.97917846e-02 -6.78038751e-05 9.99804121e-01 -3.30225869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.94, Y:-53.77, Z:-3.30 [[ 9.78800151e-01 2.03888611e-01 1.94858338e-02 3.56940028e+02] [-2.03849699e-01 9.78994090e-01 -3.98387880e-03 -5.37735640e+01] [-1.98887836e-02 -7.27601715e-05 9.99802196e-01 -3.30268961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.97, Y:-53.78, Z:-3.31 [[ 9.78625994e-01 2.04823534e-01 1.83979303e-02 3.56969022e+02] [-2.04789036e-01 9.78798913e-01 -3.76012130e-03 -5.37762541e+01] [-1.87780355e-02 -8.79419685e-05 9.99823673e-01 -3.30575406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.00, Y:-53.78, Z:-3.31 [[ 9.78286019e-01 2.06553687e-01 1.70891874e-02 3.56997133e+02] [-2.06524199e-01 9.78435262e-01 -3.49194091e-03 -5.37755702e+01] [-1.74419368e-02 -1.13213772e-04 9.99847871e-01 -3.30968162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.02, Y:-53.78, Z:-3.31 [[ 9.78251000e-01 2.06718374e-01 1.71024785e-02 3.57024598e+02] [-2.06688883e-01 9.78400480e-01 -3.49366796e-03 -5.37791051e+01] [-1.74552785e-02 -1.17207988e-04 9.99847638e-01 -3.31024099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.05, Y:-53.78, Z:-3.31 [[ 9.78321566e-01 2.06375026e-01 1.72122473e-02 3.57052929e+02] [-2.06345125e-01 9.78472961e-01 -3.51473698e-03 -5.37832061e+01] [-1.75670726e-02 -1.13120339e-04 9.99845681e-01 -3.30990796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.08, Y:-53.79, Z:-3.31 [[ 9.78452866e-01 2.05691824e-01 1.79126460e-02 3.57080340e+02] [-2.05659342e-01 9.78616811e-01 -3.65690170e-03 -5.37875852e+01] [-1.82818112e-02 -1.05797025e-04 9.99832868e-01 -3.30912186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.11, Y:-53.80, Z:-3.31 [[ 9.79020544e-01 2.02710844e-01 2.06661262e-02 3.57106771e+02] [-2.02666972e-01 9.79238638e-01 -4.21760298e-03 -5.37969969e+01] [-2.10920231e-02 -5.92212560e-05 9.99777537e-01 -3.30572710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.13, Y:-53.81, Z:-3.30 [[ 9.79569714e-01 1.99936152e-01 2.16497367e-02 3.57133475e+02] [-1.99887356e-01 9.79808928e-01 -4.41699963e-03 -5.38083751e+01] [-2.20957233e-02 -7.49570020e-07 9.99755860e-01 -3.30478041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.16, Y:-53.82, Z:-3.31 [[ 9.80154910e-01 1.97079808e-01 2.13518606e-02 3.57159837e+02] [-1.97031689e-01 9.80387447e-01 -4.35524048e-03 -5.38200791e+01] [-2.17914261e-02 6.18171687e-05 9.99762537e-01 -3.30604935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.19, Y:-53.84, Z:-3.31 [[ 9.81443842e-01 1.90819189e-01 1.88685427e-02 3.57186198e+02] [-1.90780474e-01 9.81625186e-01 -3.84772256e-03 -5.38363201e+01] [-1.92560560e-02 1.76574099e-04 9.99814569e-01 -3.31112229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.21, Y:-53.85, Z:-3.31 [[ 9.81967911e-01 1.88178961e-01 1.81025101e-02 3.57213371e+02] [-1.88142892e-01 9.82134732e-01 -3.69067722e-03 -5.38462385e+01] [-1.84736117e-02 2.18267992e-04 9.99829324e-01 -3.31288250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.24, Y:-53.86, Z:-3.31 [[ 9.82379561e-01 1.86037767e-01 1.78982408e-02 3.57239262e+02] [-1.86002167e-01 9.82542561e-01 -3.64821705e-03 -5.38585911e+01] [-1.82644895e-02 2.54822285e-04 9.99833158e-01 -3.31436994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.27, Y:-53.86, Z:-3.31 [[ 9.82686750e-01 1.84394870e-01 1.80355950e-02 3.57267543e+02] [-1.84358465e-01 9.82852202e-01 -3.67508346e-03 -5.38638528e+01] [-1.84039908e-02 2.86441206e-04 9.99830591e-01 -3.31289260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.29, Y:-53.88, Z:-3.31 [[ 9.83002103e-01 1.82595303e-01 1.91264682e-02 3.57294570e+02] [-1.82554042e-01 9.83188100e-01 -3.89626653e-03 -5.38765416e+01] [-1.95163559e-02 3.38424112e-04 9.99809481e-01 -3.31193185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.32, Y:-53.88, Z:-3.31 [[ 9.83059292e-01 1.82276852e-01 1.92244128e-02 3.57323350e+02] [-1.82235119e-01 9.83247186e-01 -3.91562244e-03 -5.38818040e+01] [-1.96160771e-02 3.45925874e-04 9.99807526e-01 -3.31230301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.35, Y:-53.89, Z:-3.31 [[ 9.83084254e-01 1.82209602e-01 1.85744609e-02 3.57350853e+02] [-1.82170639e-01 9.83259655e-01 -3.78282284e-03 -5.38910365e+01] [-1.89527846e-02 3.35112171e-04 9.99820324e-01 -3.31438253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.38, Y:-53.90, Z:-3.32 [[ 9.83038815e-01 1.82553551e-01 1.75752469e-02 3.57379649e+02] [-1.82518734e-01 9.83195863e-01 -3.57864595e-03 -5.38982138e+01] [-1.79332046e-02 3.10136066e-04 9.99839139e-01 -3.31702565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.41, Y:-53.91, Z:-3.32 [[ 9.82878211e-01 1.83500602e-01 1.66718954e-02 3.57407374e+02] [-1.83469415e-01 9.83019558e-01 -3.39438624e-03 -5.39077328e+01] [-1.70116711e-02 2.77485382e-04 9.99855253e-01 -3.31816648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.44, Y:-53.91, Z:-3.32 [[ 9.82828864e-01 1.83633329e-01 1.80617103e-02 3.57436277e+02] [-1.83596759e-01 9.82994767e-01 -3.67666864e-03 -5.39128634e+01] [-1.84297256e-02 2.97464587e-04 9.99830114e-01 -3.31552657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.46, Y:-53.92, Z:-3.31 [[ 9.82817891e-01 1.83513131e-01 1.97970554e-02 3.57463961e+02] [-1.83469193e-01 9.83017204e-01 -4.02889438e-03 -5.39189296e+01] [-2.02002011e-02 3.27519694e-04 9.99795901e-01 -3.31298402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42576923100006 meters Centerline goodness [0,1] 0.9999788364267423 Centerline is valid? [True, True] Translation: X:357.49, Y:-53.93, Z:-3.31 [[ 9.83068511e-01 1.81939452e-01 2.17793232e-02 3.57491635e+02] [-1.81885920e-01 9.83309656e-01 -4.43078084e-03 -5.39292047e+01] [-2.22219527e-02 3.94408879e-04 9.99752984e-01 -3.31135938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.45576923100003 meters Centerline goodness [0,1] 0.9999571367338191 Centerline is valid? [True, True] Translation: X:357.52, Y:-53.94, Z:-3.31 [[ 9.83300433e-01 1.80734860e-01 2.13347047e-02 3.57518756e+02] [-1.80683225e-01 9.83531769e-01 -4.33956121e-03 -5.39422182e+01] [-2.17676698e-02 4.12269160e-04 9.99762971e-01 -3.31306126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48576923100006 meters Centerline goodness [0,1] 0.9999574585752877 Centerline is valid? [True, True] Translation: X:357.55, Y:-53.95, Z:-3.32 [[ 9.83555217e-01 1.79487176e-01 2.00870310e-02 3.57547814e+02] [-1.79441149e-01 9.83760226e-01 -4.08553485e-03 -5.39515681e+01] [-2.04941233e-02 4.13909184e-04 9.99789888e-01 -3.31589381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51576923100004 meters Centerline goodness [0,1] 0.9999787834425986 Centerline is valid? [True, True] Translation: X:357.58, Y:-53.97, Z:-3.32 [[ 9.84054482e-01 1.76822624e-01 1.92493080e-02 3.57575621e+02] [-1.76779851e-01 9.84242631e-01 -3.91494960e-03 -5.39714304e+01] [-1.96382412e-02 4.49633893e-04 9.99807050e-01 -3.31764203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54576923100007 meters Centerline goodness [0,1] 0.9999787834425986 Centerline is valid? [True, True] Translation: X:357.61, Y:-53.98, Z:-3.32 [[ 9.84050497e-01 1.76844838e-01 1.92489557e-02 3.57605827e+02] [-1.76802035e-01 9.84238640e-01 -3.91668111e-03 -5.39776235e+01] [-1.96382108e-02 4.50957444e-04 9.99807050e-01 -3.31832086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57576923100004 meters Centerline goodness [0,1] 0.9999789411616056 Centerline is valid? [True, True] Translation: X:357.64, Y:-53.99, Z:-3.32 [[ 9.84174964e-01 1.76120559e-01 1.95240518e-02 3.57635930e+02] [-1.76076378e-01 9.84368491e-01 -3.97285611e-03 -5.39887616e+01] [-1.99185630e-02 4.72261208e-04 9.99801494e-01 -3.31779126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60576923100007 meters Centerline goodness [0,1] 0.9999145773715458 Centerline is valid? [True, True] Translation: X:357.67, Y:-54.00, Z:-3.32 [[ 9.84134959e-01 1.76250805e-01 2.03478841e-02 3.57666370e+02] [-1.76202776e-01 9.84345169e-01 -4.14374517e-03 -5.39982634e+01] [-2.07596798e-02 4.92650825e-04 9.99784373e-01 -3.31711720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63576923100004 meters Centerline goodness [0,1] 0.9999369668445602 Centerline is valid? [True, True] Translation: X:357.70, Y:-54.01, Z:-3.32 [[ 9.83913744e-01 1.77518257e-01 2.00253090e-02 3.57695116e+02] [-1.77471933e-01 9.84117399e-01 -4.08138474e-03 -5.40143818e+01] [-2.04317753e-02 4.61800252e-04 9.99791143e-01 -3.31821738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66576923100007 meters Centerline goodness [0,1] 0.9999353225250086 Centerline is valid? [True, True] Translation: X:357.73, Y:-54.01, Z:-3.32 [[ 9.83595634e-01 1.79315594e-01 1.96353414e-02 3.57729103e+02] [-1.79271352e-01 9.83791513e-01 -4.00507907e-03 -5.40108311e+01] [-2.00352554e-02 4.19324092e-04 9.99799186e-01 -3.31656854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.76, Y:-54.01, Z:-3.32 [[ 9.82416948e-01 1.85850958e-01 1.77865428e-02 3.57760707e+02] [-1.85815712e-01 9.82577912e-01 -3.62863606e-03 -5.40104741e+01] [-1.81510496e-02 2.59814439e-04 9.99835222e-01 -3.32354440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.79, Y:-54.01, Z:-3.32 [[ 9.81714075e-01 1.89502906e-01 1.80589031e-02 3.57790664e+02] [-1.89467129e-01 9.81880140e-01 -3.68750902e-03 -5.40131396e+01] [-1.84304720e-02 1.98510978e-04 9.99830125e-01 -3.32426759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.82, Y:-54.02, Z:-3.32 [[ 9.81098003e-01 1.92612939e-01 1.86269997e-02 3.57820476e+02] [-1.92575434e-01 9.81274801e-01 -3.80358260e-03 -5.40155944e+01] [-1.90108246e-02 1.44584733e-04 9.99819267e-01 -3.32371194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.85, Y:-54.02, Z:-3.32 [[ 9.80592897e-01 1.95119036e-01 1.91345695e-02 3.57848902e+02] [-1.95079945e-01 9.80779564e-01 -3.90677228e-03 -5.40180750e+01] [-1.95290804e-02 9.81823864e-05 9.99809285e-01 -3.32273054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.88, Y:-54.02, Z:-3.32 [[ 9.80178041e-01 1.97150989e-01 1.95575085e-02 3.57878656e+02] [-1.97110570e-01 9.80373135e-01 -3.99236645e-03 -5.40205213e+01] [-1.99607549e-02 5.82382866e-05 9.99800763e-01 -3.32278760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.91, Y:-54.02, Z:-3.32 [[ 9.79642695e-01 1.99713997e-01 2.03595086e-02 3.57906738e+02] [-1.99670758e-01 9.79854234e-01 -4.15560134e-03 -5.40205257e+01] [-2.07792824e-02 5.80599092e-06 9.99784087e-01 -3.32323024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.94, Y:-54.02, Z:-3.32 [[ 9.79445806e-01 2.00578734e-01 2.13092774e-02 3.57935289e+02] [-2.00531600e-01 9.79677585e-01 -4.34807914e-03 -5.40237236e+01] [-2.17483536e-02 -1.44756219e-05 9.99763476e-01 -3.32280261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.96, Y:-54.03, Z:-3.32 [[ 9.79358936e-01 2.00940496e-01 2.18858547e-02 3.57963000e+02] [-2.00890893e-01 9.79603449e-01 -4.46461787e-03 -5.40271425e+01] [-2.23365813e-02 -2.42054894e-05 9.99750507e-01 -3.32273701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.99, Y:-54.03, Z:-3.32 [[ 9.79753381e-01 1.99147366e-01 2.05824688e-02 3.57991381e+02] [-1.99103125e-01 9.79969554e-01 -4.19753806e-03 -5.40311500e+01] [-2.10061214e-02 1.45182503e-05 9.99779347e-01 -3.32495965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.02, Y:-54.04, Z:-3.33 [[ 9.80066345e-01 1.97634839e-01 2.02590611e-02 3.58018869e+02] [-1.97591674e-01 9.80275710e-01 -4.13062754e-03 -5.40369323e+01] [-2.06758214e-02 4.52672466e-05 9.99786231e-01 -3.32650694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.05, Y:-54.04, Z:-3.33 [[ 9.80247839e-01 1.96746430e-01 2.01250213e-02 3.58045697e+02] [-1.96703672e-01 9.80454404e-01 -4.10208257e-03 -5.40425104e+01] [-2.05387359e-02 6.23919708e-05 9.99789056e-01 -3.32812585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.07, Y:-54.05, Z:-3.33 [[ 9.80324199e-01 1.96372762e-01 2.00550063e-02 3.58074311e+02] [-1.96330247e-01 9.80529313e-01 -4.08658731e-03 -5.40472636e+01] [-2.04670160e-02 6.87760784e-05 9.99790526e-01 -3.32981255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.10, Y:-54.05, Z:-3.33 [[ 9.80279179e-01 1.96635538e-01 1.96773017e-02 3.58102498e+02] [-1.96594682e-01 9.80476650e-01 -4.00871110e-03 -5.40502289e+01] [-2.00813899e-02 6.12031642e-05 9.99798347e-01 -3.33105162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.13, Y:-54.05, Z:-3.34 [[ 9.80160814e-01 1.97452183e-01 1.72457175e-02 3.58131858e+02] [-1.97420944e-01 9.80312518e-01 -3.51240711e-03 -5.40482068e+01] [-1.75997252e-02 3.80579838e-05 9.99845112e-01 -3.33633525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.16, Y:-54.05, Z:-3.34 [[ 9.80157147e-01 1.97579282e-01 1.59497712e-02 3.58160076e+02] [-1.97552588e-01 9.80286910e-01 -3.24785206e-03 -5.40504583e+01] [-1.62770602e-02 3.24868112e-05 9.99867519e-01 -3.33964864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.19, Y:-54.05, Z:-3.34 [[ 9.80241483e-01 1.97173015e-01 1.57935999e-02 3.58188303e+02] [-1.97146802e-01 9.80368707e-01 -3.21520827e-03 -5.40534802e+01] [-1.61175034e-02 3.80228140e-05 9.99870104e-01 -3.34049956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.22, Y:-54.06, Z:-3.34 [[ 9.80319932e-01 1.96717423e-01 1.65857401e-02 3.58216527e+02] [-1.96688473e-01 9.80460225e-01 -3.37508831e-03 -5.40570893e+01] [-1.69255971e-02 4.64424496e-05 9.99856751e-01 -3.34015497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.25, Y:-54.06, Z:-3.34 [[ 9.80337969e-01 1.96550475e-01 1.74750164e-02 3.58245011e+02] [-1.96518327e-01 9.80493706e-01 -3.55517258e-03 -5.40595573e+01] [-1.78329145e-02 5.11096775e-05 9.99840980e-01 -3.33824400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.27, Y:-54.06, Z:-3.34 [[ 9.80013019e-01 1.98095374e-01 1.82402356e-02 3.58274228e+02] [-1.98060632e-01 9.80182749e-01 -3.70994313e-03 -5.40572170e+01] [-1.86136869e-02 2.31199704e-05 9.99826750e-01 -3.33785002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.30, Y:-54.06, Z:-3.34 [[ 9.79804821e-01 1.99145184e-01 1.79918768e-02 3.58302335e+02] [-1.99111578e-01 9.79969997e-01 -3.65838680e-03 -5.40581022e+01] [-1.83600495e-02 2.11405661e-06 9.99831440e-01 -3.33775060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.33, Y:-54.06, Z:-3.34 [[ 9.79629671e-01 1.99992459e-01 1.81307299e-02 3.58329860e+02] [-1.99958502e-01 9.79797436e-01 -3.68531852e-03 -5.40590126e+01] [-1.85014786e-02 -1.51462033e-05 9.99828833e-01 -3.33852668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.36, Y:-54.06, Z:-3.34 [[ 9.79681965e-01 1.99564560e-01 1.99307412e-02 3.58358933e+02] [-1.99523475e-01 9.79884680e-01 -4.04927659e-03 -5.40581434e+01] [-2.03379200e-02 -9.64748669e-06 9.99793163e-01 -3.33711415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.39, Y:-54.06, Z:-3.34 [[ 9.80045847e-01 1.97679388e-01 2.08086081e-02 3.58385487e+02] [-1.97634205e-01 9.80266728e-01 -4.22635225e-03 -5.40647286e+01] [-2.12334489e-02 2.95262352e-05 9.99774544e-01 -3.33612990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.41, Y:-54.07, Z:-3.34 [[ 9.80558126e-01 1.95062697e-01 2.13613154e-02 3.58412509e+02] [-1.95014501e-01 9.80790771e-01 -4.33679410e-03 -5.40746187e+01] [-2.17969278e-02 8.67124346e-05 9.99762415e-01 -3.33572888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.44, Y:-54.09, Z:-3.34 [[ 9.81161409e-01 1.91959208e-01 2.17704625e-02 3.58439569e+02] [-1.91908406e-01 9.81402893e-01 -4.41881708e-03 -5.40867064e+01] [-2.22138275e-02 1.57638035e-04 9.99753230e-01 -3.33555354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.47, Y:-54.11, Z:-3.33 [[ 9.82802708e-01 1.83075856e-01 2.41261096e-02 3.58466567e+02] [-1.83010811e-01 9.83098710e-01 -4.89582378e-03 -5.41082615e+01] [-2.46146543e-02 3.96289991e-04 9.99696935e-01 -3.33202733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.4757692310001 meters Centerline goodness [0,1] 0.9999576064607754 Centerline is valid? [True, True] Translation: X:358.49, Y:-54.12, Z:-3.33 [[ 9.83737920e-01 1.77845747e-01 2.51116730e-02 3.58493865e+02] [-1.77773568e-01 9.84058224e-01 -5.09602684e-03 -5.41241793e+01] [-2.56176550e-02 5.48963146e-04 9.99671663e-01 -3.33093011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50576923100004 meters Centerline goodness [0,1] 0.9998720709579753 Centerline is valid? [True, True] Translation: X:358.52, Y:-54.14, Z:-3.33 [[ 9.84687386e-01 1.72495787e-01 2.52181663e-02 3.58522709e+02] [-1.72421205e-01 9.85010012e-01 -5.11898823e-03 -5.41400635e+01] [-2.57231502e-02 6.92456518e-04 9.99668865e-01 -3.33230530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5357692310001 meters Centerline goodness [0,1] 0.9980382643913346 Centerline is valid? [True, True] Translation: X:358.55, Y:-54.17, Z:-3.33 [[ 9.85568690e-01 1.67500033e-01 2.44559900e-02 3.58547316e+02] [-1.67428341e-01 9.85871747e-01 -4.96479284e-03 -5.41684454e+01] [-2.49420726e-02 7.98518540e-04 9.99688579e-01 -3.33344124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56576923100005 meters Centerline goodness [0,1] 0.9987017962032859 Centerline is valid? [True, True] Translation: X:358.58, Y:-54.19, Z:-3.34 [[ 9.86789312e-01 1.60345599e-01 2.31547716e-02 3.58575055e+02] [-1.60279364e-01 9.87060499e-01 -4.70067148e-03 -5.41868252e+01] [-2.36088924e-02 9.27340293e-04 9.99720841e-01 -3.33645975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5957692310001 meters Centerline goodness [0,1] 0.9968505623995715 Centerline is valid? [True, True] Translation: X:358.60, Y:-54.20, Z:-3.34 [[ 9.87035795e-01 1.58902083e-01 2.25935163e-02 3.58603019e+02] [-1.58838630e-01 9.87293901e-01 -4.58730583e-03 -5.42027682e+01] [-2.30353733e-02 9.39111885e-04 9.99734210e-01 -3.33738124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62576923100005 meters Centerline goodness [0,1] 0.9969360155523624 Centerline is valid? [True, True] Translation: X:358.63, Y:-54.22, Z:-3.34 [[ 9.87037215e-01 1.59031040e-01 2.16024076e-02 3.58633528e+02] [-1.58973053e-01 9.87273177e-01 -4.38658004e-03 -5.42154530e+01] [-2.20250800e-02 8.95517056e-04 9.99757017e-01 -3.33953672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6557692310001 meters Centerline goodness [0,1] 0.9979111279908849 Centerline is valid? [True, True] Translation: X:358.66, Y:-54.23, Z:-3.35 [[ 9.86725507e-01 1.61304527e-01 1.88048913e-02 3.58660457e+02] [-1.61260937e-01 9.86904405e-01 -3.82176815e-03 -5.42340119e+01] [-1.91750985e-02 7.38541726e-04 9.99815868e-01 -3.34566308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68576923100005 meters Centerline goodness [0,1] 0.9990236240528092 Centerline is valid? [True, True] Translation: X:358.69, Y:-54.24, Z:-3.35 [[ 9.86518826e-01 1.62704121e-01 1.75492358e-02 3.58691469e+02] [-1.62666387e-01 9.86674682e-01 -3.56616277e-03 -5.42421000e+01] [-1.78956160e-02 6.63415919e-04 9.99839641e-01 -3.34816350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7157692310001 meters Centerline goodness [0,1] 0.9995742416178819 Centerline is valid? [True, True] Translation: X:358.72, Y:-54.25, Z:-3.35 [[ 9.86397011e-01 1.63477415e-01 1.72067477e-02 3.58723098e+02] [-1.63441210e-01 9.86546870e-01 -3.49925113e-03 -5.42487134e+01] [-1.75473116e-02 6.39359185e-04 9.99845830e-01 -3.34923385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74576923100005 meters Centerline goodness [0,1] 0.9985407017321236 Centerline is valid? [True, True] Translation: X:358.75, Y:-54.27, Z:-3.35 [[ 9.86217634e-01 1.64410599e-01 1.85454313e-02 3.58750786e+02] [-1.64368640e-01 9.86391758e-01 -3.77495742e-03 -5.42690860e+01] [-1.89137036e-02 6.74642250e-04 9.99820892e-01 -3.34772449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7757692310001 meters Centerline goodness [0,1] 0.9991868526919455 Centerline is valid? [True, True] Translation: X:358.78, Y:-54.28, Z:-3.35 [[ 9.86090568e-01 1.64987839e-01 2.01098341e-02 3.58782240e+02] [-1.64938552e-01 9.86295336e-01 -4.09681536e-03 -5.42780529e+01] [-2.05101603e-02 7.22944077e-04 9.99789383e-01 -3.34547824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80576923100006 meters Centerline goodness [0,1] 0.9993420354451873 Centerline is valid? [True, True] Translation: X:358.81, Y:-54.29, Z:-3.34 [[ 9.85918330e-01 1.65852556e-01 2.14003655e-02 3.58813049e+02] [-1.65796860e-01 9.86150273e-01 -4.36347713e-03 -5.42868389e+01] [-2.18276701e-02 7.53918686e-04 9.99761464e-01 -3.34389700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.83576923100003 meters Centerline goodness [0,1] 0.99929934818149 Centerline is valid? [True, True] Translation: X:358.84, Y:-54.30, Z:-3.34 [[ 9.85734022e-01 1.66988223e-01 2.10563868e-02 3.58843624e+02] [-1.66934487e-01 9.85958627e-01 -4.29681949e-03 -5.42974866e+01] [-2.14782444e-02 7.20484032e-04 9.99769056e-01 -3.34489381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86576923100006 meters Centerline goodness [0,1] 0.9995490756049902 Centerline is valid? [True, True] Translation: X:358.88, Y:-54.30, Z:-3.35 [[ 9.85522403e-01 1.68444424e-01 1.92890703e-02 3.58875563e+02] [-1.68399553e-01 9.85710949e-01 -3.93908088e-03 -5.43029267e+01] [-1.96769640e-02 6.33781638e-04 9.99806189e-01 -3.34879230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.89576923100003 meters Centerline goodness [0,1] 0.9994857950893431 Centerline is valid? [True, True] Translation: X:358.90, Y:-54.32, Z:-3.36 [[ 9.85068779e-01 1.71547002e-01 1.45301877e-02 3.58903347e+02] [-1.71521838e-01 9.85175841e-01 -2.96999539e-03 -5.43174522e+01] [-1.48242837e-02 4.33405238e-04 9.99890020e-01 -3.35855458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92576923100006 meters Centerline goodness [0,1] 0.9995744771387843 Centerline is valid? [True, True] Translation: X:358.93, Y:-54.32, Z:-3.36 [[ 9.84646787e-01 1.73999872e-01 1.39552624e-02 3.58934132e+02] [-1.73976905e-01 9.84745601e-01 -2.85255693e-03 -5.43216491e+01] [-1.42387278e-02 3.80867641e-04 9.99898552e-01 -3.35933534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.95576923100003 meters Centerline goodness [0,1] 0.9995757318625371 Centerline is valid? [True, True] Translation: X:358.96, Y:-54.33, Z:-3.36 [[ 9.84062627e-01 1.77160379e-01 1.53279273e-02 3.58964226e+02] [-1.77133048e-01 9.84181926e-01 -3.13355524e-03 -5.43271549e+01] [-1.56406109e-02 3.68532110e-04 9.99877610e-01 -3.35724922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98576923100006 meters Centerline goodness [0,1] 0.999723686447883 Centerline is valid? [True, True] Translation: X:359.00, Y:-54.33, Z:-3.35 [[ 9.83326593e-01 1.80985969e-01 1.76887378e-02 3.58996027e+02] [-1.80950178e-01 9.83485614e-01 -3.61668469e-03 -5.43277707e+01] [-1.80511884e-02 3.55601972e-04 9.99837001e-01 -3.35257801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01576923100004 meters Centerline goodness [0,1] 0.999767294266977 Centerline is valid? [True, True] Translation: X:359.03, Y:-54.33, Z:-3.35 [[ 9.82583763e-01 1.84793843e-01 1.95034630e-02 3.59027196e+02] [-1.84751070e-01 9.82777257e-01 -3.98824102e-03 -5.43290528e+01] [-1.99045622e-02 3.15495209e-04 9.99801835e-01 -3.35045226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04576923100007 meters Centerline goodness [0,1] 0.9998725681760259 Centerline is valid? [True, True] Translation: X:359.06, Y:-54.33, Z:-3.35 [[ 9.81333280e-01 1.91159895e-01 2.10448969e-02 3.59060108e+02] [-1.91111543e-01 9.81558890e-01 -4.30398180e-03 -5.43252839e+01] [-2.14795543e-02 2.01717859e-04 9.99769267e-01 -3.34896390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07576923100004 meters Centerline goodness [0,1] 0.9997666327223353 Centerline is valid? [True, True] Translation: X:359.09, Y:-54.33, Z:-3.35 [[ 9.80818364e-01 1.93746655e-01 2.13909202e-02 3.59091023e+02] [-1.93697303e-01 9.81051585e-01 -4.37525949e-03 -5.43296611e+01] [-2.18332880e-02 1.47971302e-04 9.99761614e-01 -3.34927325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10576923100007 meters Centerline goodness [0,1] 0.999873131330218 Centerline is valid? [True, True] Translation: X:359.12, Y:-54.33, Z:-3.35 [[ 9.80460398e-01 1.95539656e-01 2.14860642e-02 3.59123440e+02] [-1.95490220e-01 9.80695789e-01 -4.39812769e-03 -5.43341785e+01] [-2.19313011e-02 1.11874612e-04 9.99759474e-01 -3.34955069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13576923100004 meters Centerline goodness [0,1] 0.9998301486199576 Centerline is valid? [True, True] Translation: X:359.16, Y:-54.34, Z:-3.35 [[ 9.80192136e-01 1.96853072e-01 2.17312085e-02 3.59155559e+02] [-1.96802793e-01 9.80432997e-01 -4.44969047e-03 -5.43404115e+01] [-2.21819291e-02 8.47890618e-05 9.99753947e-01 -3.34979948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16576923100007 meters Centerline goodness [0,1] 0.9999151859547941 Centerline is valid? [True, True] Translation: X:359.19, Y:-54.35, Z:-3.35 [[ 9.80109149e-01 1.97282998e-01 2.15748741e-02 3.59186837e+02] [-1.97233451e-01 9.80346578e-01 -4.42191201e-03 -5.43494477e+01] [-2.20232220e-02 7.86695328e-05 9.99757456e-01 -3.35063026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.19576923100004 meters Centerline goodness [0,1] 0.9998728220780873 Centerline is valid? [True, True] Translation: X:359.22, Y:-54.36, Z:-3.35 [[ 9.80099566e-01 1.97389107e-01 2.10328565e-02 3.59218772e+02] [-1.97341990e-01 9.80325219e-01 -4.31330676e-03 -5.43576443e+01] [-2.14704394e-02 7.68043203e-05 9.99769481e-01 -3.35179580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2257692310001 meters Centerline goodness [0,1] 0.9998937752283833 Centerline is valid? [True, True] Translation: X:359.25, Y:-54.37, Z:-3.35 [[ 9.80233746e-01 1.96753320e-01 2.07348666e-02 3.59249621e+02] [-1.96707301e-01 9.80453019e-01 -4.25624424e-03 -5.43666030e+01] [-2.11669927e-02 9.34145940e-05 9.99775950e-01 -3.35299900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.25576923100004 meters Centerline goodness [0,1] 0.9998101546185163 Centerline is valid? [True, True] Translation: X:359.28, Y:-54.38, Z:-3.36 [[ 9.80663513e-01 1.94777380e-01 1.89959837e-02 3.59278783e+02] [-1.94738323e-01 9.80847468e-01 -3.90250490e-03 -5.43795175e+01] [-1.93922822e-02 1.27798158e-04 9.99811944e-01 -3.35766755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2857692310001 meters Centerline goodness [0,1] 0.9998925747679615 Centerline is valid? [True, True] Translation: X:359.31, Y:-54.39, Z:-3.36 [[ 9.80876240e-01 1.93807570e-01 1.79004985e-02 3.59309297e+02] [-1.93772675e-01 9.81039554e-01 -3.68029500e-03 -5.43892390e+01] [-1.82743661e-02 1.41286444e-04 9.99833000e-01 -3.36055121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.31576923100005 meters Centerline goodness [0,1] 0.9998937345915158 Centerline is valid? [True, True] Translation: X:359.34, Y:-54.40, Z:-3.36 [[ 9.81062360e-01 1.92917229e-01 1.73085967e-02 3.59338590e+02] [-1.92884414e-01 9.81215022e-01 -3.56149208e-03 -5.44003901e+01] [-1.76705282e-02 1.55487299e-04 9.99843852e-01 -3.36300368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3457692310001 meters Centerline goodness [0,1] 0.9997870573454569 Centerline is valid? [True, True] Translation: X:359.37, Y:-54.41, Z:-3.36 [[ 9.81137967e-01 1.92489892e-01 1.77744710e-02 3.59370195e+02] [-1.92455167e-01 9.81298941e-01 -3.66009025e-03 -5.44109860e+01] [-1.81465999e-02 1.70264731e-04 9.99835322e-01 -3.36190557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.37576923100005 meters Centerline goodness [0,1] 0.9998513484816309 Centerline is valid? [True, True] Translation: X:359.40, Y:-54.42, Z:-3.36 [[ 9.80894600e-01 1.93540558e-01 1.96935681e-02 3.59399294e+02] [-1.93498051e-01 9.81092260e-01 -4.05971248e-03 -5.44228296e+01] [-2.01069262e-02 1.71483009e-04 9.99797821e-01 -3.35714138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4057692310001 meters Centerline goodness [0,1] 0.9998068420826716 Centerline is valid? [True, True] Translation: X:359.43, Y:-54.43, Z:-3.36 [[ 9.80621273e-01 1.94952607e-01 1.93752575e-02 3.59430324e+02] [-1.94911679e-01 9.80812653e-01 -3.99712004e-03 -5.44300805e+01] [-1.97827467e-02 1.43196966e-04 9.99804292e-01 -3.35785728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.43576923100005 meters Centerline goodness [0,1] 0.9998068420826716 Centerline is valid? [True, True] Translation: X:359.46, Y:-54.44, Z:-3.36 [[ 9.80584448e-01 1.95137811e-01 1.93746057e-02 3.59462094e+02] [-1.95096857e-01 9.80775823e-01 -4.00027700e-03 -5.44368440e+01] [-1.97827501e-02 1.42684749e-04 9.99804292e-01 -3.35857279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4657692310001 meters Centerline goodness [0,1] 0.9999146976030027 Centerline is valid? [True, True] Translation: X:359.49, Y:-54.44, Z:-3.36 [[ 9.80228975e-01 1.97015952e-01 1.83268043e-02 3.59493624e+02] [-1.96979572e-01 9.80400277e-01 -3.78737323e-03 -5.44426006e+01] [-1.87137770e-02 1.02486909e-04 9.99824877e-01 -3.36121174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.49576923100005 meters Centerline goodness [0,1] 0.9998313908150146 Centerline is valid? [True, True] Translation: X:359.52, Y:-54.45, Z:-3.37 [[ 9.79813071e-01 1.99180370e-01 1.71325801e-02 3.59524644e+02] [-1.99148860e-01 9.79962844e-01 -3.54334561e-03 -5.44491483e+01] [-1.74950568e-02 5.98825535e-05 9.99846948e-01 -3.36557594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5257692310001 meters Centerline goodness [0,1] 0.9999361702127659 Centerline is valid? [True, True] Translation: X:359.56, Y:-54.45, Z:-3.37 [[ 9.78727138e-01 2.04458925e-01 1.70216675e-02 3.59555954e+02] [-2.04428554e-01 9.78875144e-01 -3.52407255e-03 -5.44520427e+01] [-1.73826154e-02 -3.06094479e-05 9.99848910e-01 -3.36523747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.59, Y:-54.45, Z:-3.36 [[ 9.78034415e-01 2.07668230e-01 1.79607568e-02 3.59587798e+02] [-2.07634929e-01 9.78199314e-01 -3.72001691e-03 -5.44549612e+01] [-1.83417293e-02 -9.09758857e-05 9.99831772e-01 -3.36371222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.62, Y:-54.46, Z:-3.36 [[ 9.77288050e-01 2.11119456e-01 1.83477992e-02 3.59620486e+02] [-2.11085248e-01 9.77460255e-01 -3.80357608e-03 -5.44574744e+01] [-1.87372534e-02 -1.55760302e-04 9.99824430e-01 -3.36257451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.65, Y:-54.46, Z:-3.36 [[ 9.76580479e-01 2.14431072e-01 1.76035019e-02 3.59653140e+02] [-2.14400071e-01 9.76739101e-01 -3.65202777e-03 -5.44597606e+01] [-1.79771369e-02 -2.07693038e-04 9.99838377e-01 -3.36392182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64576923100003 meters Centerline goodness [0,1] 0.9999361620632421 Centerline is valid? [True, True] Translation: X:359.69, Y:-54.46, Z:-3.37 [[ 9.75343350e-01 2.20007510e-01 1.73794506e-02 3.59685426e+02] [-2.19978115e-01 9.75498131e-01 -3.60905021e-03 -5.44575476e+01] [-1.77476397e-02 -3.03035658e-04 9.99842452e-01 -3.36668919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.67576923100006 meters Centerline goodness [0,1] 0.9998730803401447 Centerline is valid? [True, True] Translation: X:359.72, Y:-54.46, Z:-3.37 [[ 9.74796055e-01 2.22329972e-01 1.84941689e-02 3.59717064e+02] [-2.22297101e-01 9.74971409e-01 -3.84061310e-03 -5.44578129e+01] [-1.88851693e-02 -3.67385628e-04 9.99821592e-01 -3.36576262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70576923100003 meters Centerline goodness [0,1] 0.9998732546103636 Centerline is valid? [True, True] Translation: X:359.75, Y:-54.46, Z:-3.36 [[ 9.74267904e-01 2.24526834e-01 1.97421291e-02 3.59746831e+02] [-2.24489753e-01 9.74467810e-01 -4.10343342e-03 -5.44593984e+01] [-2.01594003e-02 -4.34062219e-04 9.99796684e-01 -3.36305452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.73576923100006 meters Centerline goodness [0,1] 0.9998105382817928 Centerline is valid? [True, True] Translation: X:359.78, Y:-54.46, Z:-3.36 [[ 9.73673005e-01 2.26984987e-01 2.09450212e-02 3.59777478e+02] [-2.26943824e-01 9.73898121e-01 -4.35318530e-03 -5.44636350e+01] [-2.13864245e-02 -5.14764185e-04 9.99771152e-01 -3.36067154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76576923100004 meters Centerline goodness [0,1] 0.9997864616698697 Centerline is valid? [True, True] Translation: X:359.81, Y:-54.46, Z:-3.36 [[ 9.72601640e-01 2.31497775e-01 2.13267571e-02 3.59809542e+02] [-2.31456174e-01 9.72835233e-01 -4.43278604e-03 -5.44619049e+01] [-2.17736008e-02 -6.24874640e-04 9.99762732e-01 -3.36120786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.79576923100007 meters Centerline goodness [0,1] 0.9997032640949555 Centerline is valid? [True, True] Translation: X:359.84, Y:-54.46, Z:-3.36 [[ 9.72067514e-01 2.33758229e-01 2.10199375e-02 3.59840025e+02] [-2.33718339e-01 9.72294527e-01 -4.36928217e-03 -5.44609027e+01] [-2.14589259e-02 -6.65507636e-04 9.99769509e-01 -3.36266863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82576923100004 meters Centerline goodness [0,1] 0.9995960540862319 Centerline is valid? [True, True] Translation: X:359.87, Y:-54.46, Z:-3.36 [[ 9.71632360e-01 2.35592505e-01 2.06574100e-02 3.59869573e+02] [-2.35554397e-01 9.71851681e-01 -4.29369893e-03 -5.44626545e+01] [-2.10875019e-02 -6.94046936e-04 9.99777393e-01 -3.36358614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.85576923100007 meters Centerline goodness [0,1] 0.9995753264677779 Centerline is valid? [True, True] Translation: X:359.90, Y:-54.46, Z:-3.36 [[ 9.71228868e-01 2.37264266e-01 2.04976654e-02 3.59899745e+02] [-2.37227133e-01 9.71444873e-01 -4.25974007e-03 -5.44648553e+01] [-2.09230361e-02 -7.25419879e-04 9.99780826e-01 -3.36430979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88576923100004 meters Centerline goodness [0,1] 0.9993453424281461 Centerline is valid? [True, True] Translation: X:359.93, Y:-54.46, Z:-3.36 [[ 9.70486337e-01 2.40219949e-01 2.12284274e-02 3.59931065e+02] [-2.40180838e-01 9.70718140e-01 -4.41106207e-03 -5.44559743e+01] [-2.16664446e-02 -8.17786008e-04 9.99764921e-01 -3.36398264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91576923100007 meters Centerline goodness [0,1] 0.9993447612605948 Centerline is valid? [True, True] Translation: X:359.96, Y:-54.46, Z:-3.36 [[ 9.70165117e-01 2.41484174e-01 2.15647773e-02 3.59959753e+02] [-2.41444137e-01 9.70404377e-01 -4.48041479e-03 -5.44586970e+01] [-2.20085035e-02 -8.59946902e-04 9.99757414e-01 -3.36460662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94576923100004 meters Centerline goodness [0,1] 0.9992523604050071 Centerline is valid? [True, True] Translation: X:359.99, Y:-54.46, Z:-3.37 [[ 9.70007930e-01 2.42115384e-01 2.15582134e-02 3.59988691e+02] [-2.42075550e-01 9.70247069e-01 -4.47802205e-03 -5.44624944e+01] [-2.20009914e-02 -8.74999468e-04 9.99757566e-01 -3.36634598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.9757692310001 meters Centerline goodness [0,1] 0.998990345175743 Centerline is valid? [True, True] Translation: X:360.02, Y:-54.46, Z:-3.37 [[ 9.70095131e-01 2.41964169e-01 1.92035830e-02 3.60016882e+02] [-2.41932547e-01 9.70284874e-01 -3.98813837e-03 -5.44630674e+01] [-1.95979327e-02 -7.77098129e-04 9.99807640e-01 -3.37223053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00576923100004 meters Centerline goodness [0,1] 0.9991104145044797 Centerline is valid? [True, True] Translation: X:360.05, Y:-54.47, Z:-3.38 [[ 9.70372668e-01 2.40965015e-01 1.76846323e-02 3.60045342e+02] [-2.40938051e-01 9.70533551e-01 -3.67167968e-03 -5.44686628e+01] [-1.80482753e-02 -6.98003220e-04 9.99836873e-01 -3.37612277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0357692310001 meters Centerline goodness [0,1] 0.9993056140055551 Centerline is valid? [True, True] Translation: X:360.07, Y:-54.47, Z:-3.38 [[ 9.70548523e-01 2.40349780e-01 1.63569079e-02 3.60074289e+02] [-2.40326637e-01 9.70686138e-01 -3.39531882e-03 -5.44722888e+01] [-1.66934879e-02 -6.35679021e-04 9.99860452e-01 -3.37851589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06576923100005 meters Centerline goodness [0,1] 0.9997852879288873 Centerline is valid? [True, True] Translation: X:360.10, Y:-54.48, Z:-3.38 [[ 9.70648210e-01 2.39945035e-01 1.63838971e-02 3.60101401e+02] [-2.39921771e-01 9.70786270e-01 -3.40016236e-03 -5.44826251e+01] [-1.67211144e-02 -6.30492103e-04 9.99859994e-01 -3.37774636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0957692310001 meters Centerline goodness [0,1] 0.9994298384542287 Centerline is valid? [True, True] Translation: X:360.13, Y:-54.48, Z:-3.37 [[ 9.70690609e-01 2.39606253e-01 1.86704128e-02 3.60130728e+02] [-2.39576000e-01 9.70869886e-01 -3.87362208e-03 -5.44782834e+01] [-1.90546856e-02 -7.12894246e-04 9.99818189e-01 -3.37387334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12576923100005 meters Centerline goodness [0,1] 0.9993863992213617 Centerline is valid? [True, True] Translation: X:360.16, Y:-54.48, Z:-3.37 [[ 9.70800913e-01 2.39075397e-01 1.97114608e-02 3.60158728e+02] [-2.39041593e-01 9.71000722e-01 -4.08828628e-03 -5.44795646e+01] [-2.01172514e-02 -7.42946957e-04 9.99797352e-01 -3.37289310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1557692310001 meters Centerline goodness [0,1] 0.9993630708477527 Centerline is valid? [True, True] Translation: X:360.19, Y:-54.49, Z:-3.38 [[ 9.71596778e-01 2.35813713e-01 1.97887320e-02 3.60186956e+02] [-2.35778993e-01 9.71798040e-01 -4.10306478e-03 -5.44860037e+01] [-2.01982099e-02 -6.79242792e-04 9.99795765e-01 -3.37505037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18576923100005 meters Centerline goodness [0,1] 0.9993630708477527 Centerline is valid? [True, True] Translation: X:360.21, Y:-54.49, Z:-3.38 [[ 9.71612474e-01 2.35749025e-01 1.97888069e-02 3.60213918e+02] [-2.35714299e-01 9.71813736e-01 -4.10270376e-03 -5.44914538e+01] [-2.01982427e-02 -6.78266587e-04 9.99795765e-01 -3.37565579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2157692310001 meters Centerline goodness [0,1] 0.9995372804711327 Centerline is valid? [True, True] Translation: X:360.24, Y:-54.50, Z:-3.38 [[ 9.72548324e-01 2.32064529e-01 1.71991925e-02 3.60241854e+02] [-2.32037742e-01 9.72700252e-01 -3.56461292e-03 -5.44988790e+01] [-1.75568791e-02 -5.24103476e-04 9.99845729e-01 -3.38267023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24576923100005 meters Centerline goodness [0,1] 0.9997456279809221 Centerline is valid? [True, True] Translation: X:360.27, Y:-54.51, Z:-3.38 [[ 9.72968818e-01 2.30357077e-01 1.63492000e-02 3.60268696e+02] [-2.30332635e-01 9.73106056e-01 -3.38822553e-03 -5.45095102e+01] [-1.66900073e-02 -4.69116535e-04 9.99860602e-01 -3.38413337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2757692310001 meters Centerline goodness [0,1] 0.9998307057454238 Centerline is valid? [True, True] Translation: X:360.30, Y:-54.52, Z:-3.38 [[ 9.73264305e-01 2.29101256e-01 1.64075079e-02 3.60295908e+02] [-2.29076474e-01 9.73402492e-01 -3.39960678e-03 -5.45150312e+01] [-1.67499632e-02 -4.49858112e-04 9.99859608e-01 -3.38432700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30576923100006 meters Centerline goodness [0,1] 0.9998291729837073 Centerline is valid? [True, True] Translation: X:360.32, Y:-54.53, Z:-3.38 [[ 9.73871551e-01 2.26405244e-01 1.77444929e-02 3.60323478e+02] [-2.26375836e-01 9.74033097e-01 -3.67520649e-03 -5.45282156e+01] [-1.81158094e-02 -4.37745365e-04 9.99835799e-01 -3.38072186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.33576923100003 meters Centerline goodness [0,1] 0.9998713274715848 Centerline is valid? [True, True] Translation: X:360.35, Y:-54.54, Z:-3.38 [[ 9.74265865e-01 2.24690920e-01 1.78889641e-02 3.60350086e+02] [-2.24660747e-01 9.74429999e-01 -3.70481519e-03 -5.45352135e+01] [-1.82639816e-02 -4.09473068e-04 9.99833116e-01 -3.38102009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36576923100006 meters Centerline goodness [0,1] 0.9998494591281533 Centerline is valid? [True, True] Translation: X:360.38, Y:-54.54, Z:-3.38 [[ 9.74569025e-01 2.23367058e-01 1.79547392e-02 3.60378255e+02] [-2.23336460e-01 9.74734327e-01 -3.71727780e-03 -5.45422350e+01] [-1.83314181e-02 -3.87204105e-04 9.99831890e-01 -3.38110214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.39576923100003 meters Centerline goodness [0,1] 0.9999146812277371 Centerline is valid? [True, True] Translation: X:360.41, Y:-54.55, Z:-3.38 [[ 9.74685558e-01 2.22853306e-01 1.80129631e-02 3.60405453e+02] [-2.22822437e-01 9.74851917e-01 -3.72849167e-03 -5.45480305e+01] [-1.83908783e-02 -3.79585348e-04 9.99830801e-01 -3.38222307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42576923100006 meters Centerline goodness [0,1] 0.999873297434273 Centerline is valid? [True, True] Translation: X:360.43, Y:-54.55, Z:-3.38 [[ 9.74716630e-01 2.22687498e-01 1.83785001e-02 3.60432972e+02] [-2.22655357e-01 9.74889804e-01 -3.80295084e-03 -5.45499583e+01] [-1.87638819e-02 -3.85272067e-04 9.99823869e-01 -3.38365985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.45576923100003 meters Centerline goodness [0,1] 0.9998945814885094 Centerline is valid? [True, True] Translation: X:360.46, Y:-54.56, Z:-3.38 [[ 9.74727445e-01 2.22581208e-01 1.90791663e-02 3.60460272e+02] [-2.22546573e-01 9.74914071e-01 -3.94669041e-03 -5.45582053e+01] [-1.94790069e-02 -3.99055626e-04 9.99810187e-01 -3.38229106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48576923100006 meters Centerline goodness [0,1] 0.9999366112367147 Centerline is valid? [True, True] Translation: X:360.49, Y:-54.56, Z:-3.38 [[ 9.74792309e-01 2.22193509e-01 2.02484388e-02 3.60488085e+02] [-2.22154436e-01 9.75002498e-01 -4.18751948e-03 -5.45640679e+01] [-2.06727181e-02 -4.16318740e-04 9.99786210e-01 -3.38082278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51576923100004 meters Centerline goodness [0,1] 0.9999367382227659 Centerline is valid? [True, True] Translation: X:360.52, Y:-54.57, Z:-3.38 [[ 9.75002212e-01 2.21220677e-01 2.07869945e-02 3.60516156e+02] [-2.21179299e-01 9.75223690e-01 -4.29786644e-03 -5.45710133e+01] [-2.12227464e-02 -4.07223571e-04 9.99774689e-01 -3.37990296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54576923100007 meters Centerline goodness [0,1] 0.9998931738062173 Centerline is valid? [True, True] Translation: X:360.54, Y:-54.58, Z:-3.38 [[ 9.75226338e-01 2.20190279e-01 2.12092242e-02 3.60542921e+02] [-2.20146982e-01 9.75456860e-01 -4.38412084e-03 -5.45775465e+01] [-2.16540241e-02 -3.93636586e-04 9.99765447e-01 -3.37948208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57576923100004 meters Centerline goodness [0,1] 0.9998524793998019 Centerline is valid? [True, True] Translation: X:360.57, Y:-54.58, Z:-3.38 [[ 9.75360737e-01 2.19590673e-01 2.12454357e-02 3.60570657e+02] [-2.19547113e-01 9.75592020e-01 -4.39031825e-03 -5.45833012e+01] [-2.16909505e-02 -3.82230041e-04 9.99764651e-01 -3.38046190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60576923100007 meters Centerline goodness [0,1] 0.9998734470903377 Centerline is valid? [True, True] Translation: X:360.60, Y:-54.59, Z:-3.38 [[ 9.75178891e-01 2.20334192e-01 2.18854943e-02 3.60598694e+02] [-2.20288179e-01 9.75424356e-01 -4.52150573e-03 -5.45865534e+01] [-2.23438865e-02 -4.11838752e-04 9.99750259e-01 -3.38006182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63576923100004 meters Centerline goodness [0,1] 0.9998297691243749 Centerline is valid? [True, True] Translation: X:360.63, Y:-54.59, Z:-3.38 [[ 9.74940943e-01 2.21323355e-01 2.24973172e-02 3.60627641e+02] [-2.21275028e-01 9.75200375e-01 -4.64655120e-03 -5.45900913e+01] [-2.29677825e-02 -4.47981470e-04 9.99736105e-01 -3.37948085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66576923100007 meters Centerline goodness [0,1] 0.999893851902174 Centerline is valid? [True, True] Translation: X:360.66, Y:-54.59, Z:-3.38 [[ 9.74665673e-01 2.22503309e-01 2.27838336e-02 3.60656215e+02] [-2.22454090e-01 9.74931815e-01 -4.70460543e-03 -5.45914531e+01] [-2.32594745e-02 -4.82939558e-04 9.99729345e-01 -3.37922757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.69576923100004 meters Centerline goodness [0,1] 0.9998531170656987 Centerline is valid? [True, True] Translation: X:360.68, Y:-54.59, Z:-3.38 [[ 9.74408175e-01 2.23697751e-01 2.20912801e-02 3.60684527e+02] [-2.23651815e-01 9.74658437e-01 -4.56032095e-03 -5.45914883e+01] [-2.25515861e-02 -4.97140876e-04 9.99745557e-01 -3.38132588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7257692310001 meters Centerline goodness [0,1] 0.9998942626937636 Centerline is valid? [True, True] Translation: X:360.71, Y:-54.60, Z:-3.38 [[ 9.74442117e-01 2.23648749e-01 2.10664979e-02 3.60712661e+02] [-2.23606990e-01 9.74669694e-01 -4.34760733e-03 -5.45954701e+01] [-2.15052140e-02 -4.74124514e-04 9.99768624e-01 -3.38416886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.75576923100004 meters Centerline goodness [0,1] 0.9998929450808265 Centerline is valid? [True, True] Translation: X:360.74, Y:-54.60, Z:-3.39 [[ 9.74545066e-01 2.23296005e-01 2.00201998e-02 3.60740786e+02] [-2.23258245e-01 9.74750582e-01 -4.13032322e-03 -5.46024466e+01] [-2.04369861e-02 -4.44488550e-04 9.99791044e-01 -3.38728386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7857692310001 meters Centerline goodness [0,1] 0.999872670939264 Centerline is valid? [True, True] Translation: X:360.77, Y:-54.61, Z:-3.39 [[ 9.74629753e-01 2.23173469e-01 1.70425424e-02 3.60769273e+02] [-2.23146099e-01 9.74778673e-01 -3.51534310e-03 -5.46069244e+01] [-1.73972382e-02 -3.76818889e-04 9.99848586e-01 -3.39293954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.81576923100005 meters Centerline goodness [0,1] 0.9999575452673587 Centerline is valid? [True, True] Translation: X:360.80, Y:-54.61, Z:-3.39 [[ 9.74625260e-01 2.23215185e-01 1.67506105e-02 3.60796811e+02] [-2.23188764e-01 9.74769123e-01 -3.45440909e-03 -5.46108649e+01] [-1.70990545e-02 -3.71793705e-04 9.99853731e-01 -3.39388529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8457692310001 meters Centerline goodness [0,1] 0.999914967794052 Centerline is valid? [True, True] Translation: X:360.82, Y:-54.61, Z:-3.39 [[ 9.74560473e-01 2.23448559e-01 1.73961578e-02 3.60824358e+02] [-2.23420121e-01 9.74715645e-01 -3.58630424e-03 -5.46127099e+01] [-1.77576616e-02 -3.91581316e-04 9.99842244e-01 -3.39367218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.87576923100005 meters Centerline goodness [0,1] 0.9998312948123155 Centerline is valid? [True, True] Translation: X:360.85, Y:-54.61, Z:-3.39 [[ 9.73916000e-01 2.26019497e-01 2.00701937e-02 3.60854071e+02] [-2.25982217e-01 9.74122646e-01 -4.13617491e-03 -5.46105127e+01] [-2.04856864e-02 -5.07219933e-04 9.99790018e-01 -3.38878572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9057692310001 meters Centerline goodness [0,1] 0.9998520741319922 Centerline is valid? [True, True] Translation: X:360.88, Y:-54.62, Z:-3.39 [[ 9.73277827e-01 2.28667929e-01 2.10059561e-02 3.60883115e+02] [-2.28627723e-01 9.73504304e-01 -4.32826671e-03 -5.46153627e+01] [-2.14391245e-02 -5.89937904e-04 9.99769982e-01 -3.38760337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.93576923100005 meters Centerline goodness [0,1] 0.9995147474576986 Centerline is valid? [True, True] Translation: X:360.91, Y:-54.61, Z:-3.39 [[ 9.72543391e-01 2.31790302e-01 2.07992316e-02 3.60913824e+02] [-2.31751612e-01 9.72765557e-01 -4.28492745e-03 -5.46071877e+01] [-2.12259808e-02 -6.52977589e-04 9.99774490e-01 -3.38832759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9657692310001 meters Centerline goodness [0,1] 0.9995283221131169 Centerline is valid? [True, True] Translation: X:360.94, Y:-54.61, Z:-3.39 [[ 9.71863619e-01 2.34702525e-01 1.98955203e-02 3.60942727e+02] [-2.34667753e-01 9.72067001e-01 -4.09779067e-03 -5.46141224e+01] [-2.03015405e-02 -6.86343371e-04 9.99793667e-01 -3.38989764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.99576923100005 meters Centerline goodness [0,1] 0.9993642990337346 Centerline is valid? [True, True] Translation: X:360.97, Y:-54.61, Z:-3.40 [[ 9.70730320e-01 2.39519110e-01 1.76986276e-02 3.60974676e+02] [-2.39492399e-01 9.70891397e-01 -3.64489160e-03 -5.46059799e+01] [-1.80564665e-02 -7.00479993e-04 9.99836723e-01 -3.39554353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0257692310001 meters Centerline goodness [0,1] 0.999448041609171 Centerline is valid? [True, True] Translation: X:361.00, Y:-54.61, Z:-3.40 [[ 9.70376942e-01 2.40994044e-01 1.70428969e-02 3.61004243e+02] [-2.40969507e-01 9.70526341e-01 -3.50967068e-03 -5.46092343e+01] [-1.73863901e-02 -7.01114946e-04 9.99848599e-01 -3.39782320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.05576923100006 meters Centerline goodness [0,1] 0.9988177173499979 Centerline is valid? [True, True] Translation: X:361.03, Y:-54.61, Z:-3.40 [[ 9.70199858e-01 2.41718158e-01 1.68691367e-02 3.61032975e+02] [-2.41694229e-01 9.70346244e-01 -3.47379160e-03 -5.46064240e+01] [-1.72085820e-02 -7.06900876e-04 9.99851671e-01 -3.39991910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.08576923100003 meters Centerline goodness [0,1] 0.9992107508532423 Centerline is valid? [True, True] Translation: X:361.06, Y:-54.61, Z:-3.39 [[ 9.69983766e-01 2.42428431e-01 1.89723187e-02 3.61061449e+02] [-2.42398339e-01 9.70168953e-01 -3.90482715e-03 -5.46095704e+01] [-1.93529957e-02 -8.11239574e-04 9.99812384e-01 -3.39456624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.11576923100006 meters Centerline goodness [0,1] 0.999235067887725 Centerline is valid? [True, True] Translation: X:361.09, Y:-54.61, Z:-3.39 [[ 9.70052069e-01 2.42006988e-01 2.07750092e-02 3.61089878e+02] [-2.41970838e-01 9.70274107e-01 -4.27445788e-03 -5.46129223e+01] [-2.11919022e-02 -8.80499668e-04 9.99775039e-01 -3.39151996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.14576923100003 meters Centerline goodness [0,1] 0.998417120425478 Centerline is valid? [True, True] Translation: X:361.12, Y:-54.61, Z:-3.39 [[ 9.70087419e-01 2.41757811e-01 2.19900029e-02 3.61119222e+02] [-2.41717270e-01 9.70336179e-01 -4.52331505e-03 -5.46108380e+01] [-2.24312421e-02 -9.27352446e-04 9.99747958e-01 -3.38946997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.17576923100006 meters Centerline goodness [0,1] 0.9988170180404748 Centerline is valid? [True, True] Translation: X:361.15, Y:-54.62, Z:-3.39 [[ 9.70121449e-01 2.41567337e-01 2.25742217e-02 3.61146730e+02] [-2.41524594e-01 9.70383595e-01 -4.64211263e-03 -5.46189100e+01] [-2.30270372e-02 -9.48816699e-04 9.99734392e-01 -3.38943652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.20576923100003 meters Centerline goodness [0,1] 0.9991318341591496 Centerline is valid? [True, True] Translation: X:361.18, Y:-54.62, Z:-3.39 [[ 9.70094951e-01 2.41711375e-01 2.21674915e-02 3.61175225e+02] [-2.41670219e-01 9.70347739e-01 -4.55742840e-03 -5.46211448e+01] [-2.26117576e-02 -9.36084255e-04 9.99743883e-01 -3.39294767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.23576923100006 meters Centerline goodness [0,1] 0.9987583652510628 Centerline is valid? [True, True] Translation: X:361.20, Y:-54.62, Z:-3.39 [[ 9.70254187e-01 2.41048760e-01 2.24122138e-02 3.61203284e+02] [-2.41006540e-01 9.70512559e-01 -4.60660779e-03 -5.46208965e+01] [-2.28617521e-02 -9.31909610e-04 9.99738202e-01 -3.39321371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26576923100004 meters Centerline goodness [0,1] 0.9983581712553675 Centerline is valid? [True, True] Translation: X:361.23, Y:-54.63, Z:-3.39 [[ 9.70544261e-01 2.39800997e-01 2.32232547e-02 3.61231092e+02] [-2.39755359e-01 9.70821613e-01 -4.77121785e-03 -5.46253292e+01] [-2.36897804e-02 -9.37221669e-04 9.99718918e-01 -3.39248825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.29576923100007 meters Centerline goodness [0,1] 0.9988646637091857 Centerline is valid? [True, True] Translation: X:361.26, Y:-54.63, Z:-3.39 [[ 9.71033389e-01 2.37738250e-01 2.39725115e-02 3.61259449e+02] [-2.37689032e-01 9.71328823e-01 -4.92351332e-03 -5.46322740e+01] [-2.44556988e-02 -9.17107217e-04 9.99700494e-01 -3.39145648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32576923100004 meters Centerline goodness [0,1] 0.9997031760166222 Centerline is valid? [True, True] Translation: X:361.29, Y:-54.65, Z:-3.39 [[ 9.72150912e-01 2.33206292e-01 2.31825278e-02 3.61286831e+02] [-2.33159049e-01 9.72426973e-01 -4.75813973e-03 -5.46472078e+01] [-2.36529434e-02 -7.79586258e-04 9.99719926e-01 -3.39336344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.35576923100007 meters Centerline goodness [0,1] 0.9997031760166222 Centerline is valid? [True, True] Translation: X:361.31, Y:-54.65, Z:-3.39 [[ 9.72167031e-01 2.33139080e-01 2.31826194e-02 3.61313799e+02] [-2.33091829e-01 9.72443090e-01 -4.75769334e-03 -5.46526044e+01] [-2.36529823e-02 -7.78406552e-04 9.99719926e-01 -3.39396878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38576923100004 meters Centerline goodness [0,1] 0.9997664642690332 Centerline is valid? [True, True] Translation: X:361.34, Y:-54.66, Z:-3.40 [[ 9.72669724e-01 2.31150183e-01 2.19818257e-02 3.61341989e+02] [-2.31107227e-01 9.72917834e-01 -4.50977024e-03 -5.46607868e+01] [-2.24289444e-02 -6.93641798e-04 9.99748199e-01 -3.39710410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.41576923100007 meters Centerline goodness [0,1] 0.9997244536764238 Centerline is valid? [True, True] Translation: X:361.37, Y:-54.66, Z:-3.40 [[ 9.73098308e-01 2.29458743e-01 2.06970549e-02 3.61370313e+02] [-2.29420294e-01 9.73318193e-01 -4.24549552e-03 -5.46625907e+01] [-2.11189861e-02 -6.17039892e-04 9.99776779e-01 -3.40064136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.44576923100004 meters Centerline goodness [0,1] 0.9997872657263812 Centerline is valid? [True, True] Translation: X:361.40, Y:-54.67, Z:-3.40 [[ 9.73513792e-01 2.27728797e-01 2.02606059e-02 3.61397514e+02] [-2.27691598e-01 9.73724433e-01 -4.15501831e-03 -5.46725757e+01] [-2.06744643e-02 -5.68202096e-04 9.99786099e-01 -3.40259185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.4757692310001 meters Centerline goodness [0,1] 0.9997647612326511 Centerline is valid? [True, True] Translation: X:361.43, Y:-54.68, Z:-3.40 [[ 9.74058545e-01 2.25254018e-01 2.16928083e-02 3.61425779e+02] [-2.25210784e-01 9.74299913e-01 -4.44764319e-03 -5.46802801e+01] [-2.21371507e-02 -5.53189495e-04 9.99754790e-01 -3.39998667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.50576923100004 meters Centerline goodness [0,1] 0.9999578832101417 Centerline is valid? [True, True] Translation: X:361.45, Y:-54.69, Z:-3.40 [[ 9.74151252e-01 2.24756863e-01 2.26647353e-02 3.61453992e+02] [-2.24709552e-01 9.74414712e-01 -4.64608415e-03 -5.46889942e+01] [-2.31290908e-02 -5.66993831e-04 9.99732326e-01 -3.39834256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5357692310001 meters Centerline goodness [0,1] 0.9999151229656036 Centerline is valid? [True, True] Translation: X:361.48, Y:-54.69, Z:-3.40 [[ 9.74157202e-01 2.24720561e-01 2.27687354e-02 3.61481844e+02] [-2.24672825e-01 9.74423083e-01 -4.66652071e-03 -5.46931670e+01] [-2.32350445e-02 -5.69591341e-04 9.99729868e-01 -3.39828491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.56576923100005 meters Centerline goodness [0,1] 0.9998718551108453 Centerline is valid? [True, True] Translation: X:361.51, Y:-54.70, Z:-3.40 [[ 9.74113535e-01 2.24907907e-01 2.27871502e-02 3.61510178e+02] [-2.24860185e-01 9.74379855e-01 -4.66860819e-03 -5.46958392e+01] [-2.32533470e-02 -5.76168366e-04 9.99729438e-01 -3.39883533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5957692310001 meters Centerline goodness [0,1] 0.9999368088467615 Centerline is valid? [True, True] Translation: X:361.54, Y:-54.70, Z:-3.40 [[ 9.74023244e-01 2.25372065e-01 2.20488467e-02 3.61539106e+02] [-2.25327547e-01 9.74272604e-01 -4.51544615e-03 -5.46988237e+01] [-2.24992427e-02 -5.70063028e-04 9.99746697e-01 -3.40118814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.62576923100005 meters Centerline goodness [0,1] 0.9998517420311341 Centerline is valid? [True, True] Translation: X:361.57, Y:-54.70, Z:-3.40 [[ 9.74095575e-01 2.25086042e-01 2.17734702e-02 3.61566823e+02] [-2.25042581e-01 9.74338731e-01 -4.45800186e-03 -5.47024858e+01] [-2.22181694e-02 -5.57438041e-04 9.99752991e-01 -3.40277293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6557692310001 meters Centerline goodness [0,1] 0.9998726222826086 Centerline is valid? [True, True] Translation: X:361.59, Y:-54.71, Z:-3.40 [[ 9.74255771e-01 2.24429994e-01 2.13745249e-02 3.61594892e+02] [-2.24387981e-01 9.74490068e-01 -4.37505253e-03 -5.47082015e+01] [-2.18111552e-02 -5.33766313e-04 9.99761966e-01 -3.40489546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.68576923100005 meters Centerline goodness [0,1] 0.9999361946488579 Centerline is valid? [True, True] Translation: X:361.62, Y:-54.71, Z:-3.41 [[ 9.74944241e-01 2.21550278e-01 1.99800430e-02 3.61622293e+02] [-2.21512980e-01 9.75148851e-01 -4.08878764e-03 -5.47130372e+01] [-2.03893880e-02 -4.39498913e-04 9.99792018e-01 -3.40824663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7157692310001 meters Centerline goodness [0,1] 0.9999571606048923 Centerline is valid? [True, True] Translation: X:361.65, Y:-54.72, Z:-3.41 [[ 9.75409080e-01 2.19494211e-01 1.99854473e-02 3.61650456e+02] [-2.19456497e-01 9.75613721e-01 -4.08815182e-03 -5.47202964e+01] [-2.03954023e-02 -3.98315863e-04 9.99791913e-01 -3.40870073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.74576923100005 meters Centerline goodness [0,1] 0.9999362461747705 Centerline is valid? [True, True] Translation: X:361.68, Y:-54.73, Z:-3.41 [[ 9.75878148e-01 2.17367933e-01 2.03229479e-02 3.61678366e+02] [-2.17328494e-01 9.76089674e-01 -4.15621123e-03 -5.47288656e+01] [-2.07404467e-02 -3.60799944e-04 9.99784829e-01 -3.40847292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.71, Y:-54.74, Z:-3.41 [[ 9.76928498e-01 2.12495716e-01 2.13607367e-02 3.61705201e+02] [-2.12451003e-01 9.77161961e-01 -4.36738989e-03 -5.47429883e+01] [-2.18009510e-02 -2.71482290e-04 9.99762294e-01 -3.40625683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.73, Y:-54.75, Z:-3.41 [[ 9.77396304e-01 2.10296090e-01 2.17259916e-02 3.61731452e+02] [-2.10249314e-01 9.77637716e-01 -4.44104505e-03 -5.47516547e+01] [-2.21740832e-02 -2.27213817e-04 9.99754099e-01 -3.40629194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.76, Y:-54.76, Z:-3.41 [[ 9.77724006e-01 2.08701747e-01 2.23461225e-02 3.61758887e+02] [-2.08651877e-01 9.77979315e-01 -4.56647695e-03 -5.47594872e+01] [-2.28070773e-02 -1.97806271e-04 9.99739865e-01 -3.40616949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.79, Y:-54.77, Z:-3.41 [[ 9.77922837e-01 2.07751653e-01 2.24983580e-02 3.61787475e+02] [-2.07700874e-01 9.78181588e-01 -4.59652489e-03 -5.47651813e+01] [-2.29624152e-02 -1.77881937e-04 9.99736313e-01 -3.40688973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.82, Y:-54.76, Z:-3.41 [[ 9.77601844e-01 2.09330694e-01 2.18012648e-02 3.61817299e+02] [-2.09283427e-01 9.77844884e-01 -4.45311969e-03 -5.47642365e+01] [-2.22504299e-02 -2.09265385e-04 9.99752407e-01 -3.40979698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.85, Y:-54.76, Z:-3.41 [[ 9.77122908e-01 2.11620350e-01 2.11577275e-02 3.61845954e+02] [-2.11576389e-01 9.77351914e-01 -4.32071441e-03 -5.47635466e+01] [-2.15928965e-02 -2.54606560e-04 9.99766814e-01 -3.41166726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.88, Y:-54.77, Z:-3.41 [[ 9.76599582e-01 2.14017038e-01 2.12123453e-02 3.61875078e+02] [-2.13973442e-01 9.76829879e-01 -4.33062613e-03 -5.47654589e+01] [-2.16476804e-02 -3.09590862e-04 9.99765614e-01 -3.41186401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.98576923100006 meters Centerline goodness [0,1] 0.9999576468595146 Centerline is valid? [True, True] Translation: X:361.90, Y:-54.77, Z:-3.41 [[ 9.76039034e-01 2.16487722e-01 2.19287555e-02 3.61904382e+02] [-2.16441779e-01 9.76285268e-01 -4.47577510e-03 -5.47656711e+01] [-2.23776713e-02 -3.77767662e-04 9.99749517e-01 -3.41061358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01576923100004 meters Centerline goodness [0,1] 0.9999578139171887 Centerline is valid? [True, True] Translation: X:361.93, Y:-54.76, Z:-3.41 [[ 9.75315611e-01 2.19546529e-01 2.36385455e-02 3.61934520e+02] [-2.19494070e-01 9.75601910e-01 -4.82351012e-03 -5.47589255e+01] [-2.41207950e-02 -4.84075838e-04 9.99708934e-01 -3.40764708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.04576923100007 meters Centerline goodness [0,1] 0.9999577524292353 Centerline is valid? [True, True] Translation: X:361.96, Y:-54.76, Z:-3.41 [[ 9.75065066e-01 2.20653766e-01 2.36650200e-02 3.61962960e+02] [-2.20601543e-01 9.75352066e-01 -4.82773573e-03 -5.47613365e+01] [-2.41469842e-02 -5.13183471e-04 9.99708287e-01 -3.40862258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07576923100004 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:361.99, Y:-54.77, Z:-3.41 [[ 9.74971294e-01 2.21058656e-01 2.37496587e-02 3.61991294e+02] [-2.21006213e-01 9.75260372e-01 -4.84359655e-03 -5.47667019e+01] [-2.42328200e-02 -5.26454543e-04 9.99706203e-01 -3.41043402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.10576923100007 meters Centerline goodness [0,1] 0.9999571514268575 Centerline is valid? [True, True] Translation: X:362.02, Y:-54.77, Z:-3.41 [[ 9.75015470e-01 2.20939580e-01 2.30333338e-02 3.62018733e+02] [-2.20890250e-01 9.75287364e-01 -4.69624812e-03 -5.47659961e+01] [-2.35017065e-02 -5.08924281e-04 9.99723667e-01 -3.41246385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13576923100004 meters Centerline goodness [0,1] 0.9999786866727765 Centerline is valid? [True, True] Translation: X:362.05, Y:-54.77, Z:-3.42 [[ 9.75150275e-01 2.20479651e-01 2.16948292e-02 3.62047662e+02] [-2.20435836e-01 9.75391460e-01 -4.42053818e-03 -5.47662013e+01] [-2.21355898e-02 -4.71628776e-04 9.99754867e-01 -3.41566949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.08, Y:-54.77, Z:-3.42 [[ 9.75206247e-01 2.20252586e-01 2.14842789e-02 3.62076446e+02] [-2.20209586e-01 9.75442763e-01 -4.37657485e-03 -5.47659062e+01] [-2.19206363e-02 -4.62981021e-04 9.99759607e-01 -3.41680179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.19576923100004 meters Centerline goodness [0,1] 0.9999788677331417 Centerline is valid? [True, True] Translation: X:362.10, Y:-54.76, Z:-3.42 [[ 9.75227765e-01 2.20141953e-01 2.16408838e-02 3.62104555e+02] [-2.20098326e-01 9.75467736e-01 -4.40712011e-03 -5.47615319e+01] [-2.20801760e-02 -4.65176405e-04 9.99756095e-01 -3.41717578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.13, Y:-54.77, Z:-3.42 [[ 9.75455520e-01 2.19156763e-01 2.13738345e-02 3.62133007e+02] [-2.19114009e-01 9.75689561e-01 -4.35094556e-03 -5.47676559e+01] [-2.18077663e-02 -4.39152695e-04 9.99762086e-01 -3.41896309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.16, Y:-54.77, Z:-3.42 [[ 9.75687858e-01 2.18205888e-01 2.04791043e-02 3.62160533e+02] [-2.18166450e-01 9.75902674e-01 -4.16785912e-03 -5.47702677e+01] [-2.08950641e-02 -4.01323948e-04 9.99781594e-01 -3.42099187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.19, Y:-54.77, Z:-3.42 [[ 9.75960960e-01 2.17084576e-01 1.93517647e-02 3.62188838e+02] [-2.17049162e-01 9.76152733e-01 -3.93728296e-03 -5.47734573e+01] [-1.97450014e-02 -3.57649862e-04 9.99804984e-01 -3.42378839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.22, Y:-54.78, Z:-3.43 [[ 9.76552977e-01 2.14476568e-01 1.85495111e-02 3.62217653e+02] [-2.14443575e-01 9.76729090e-01 -3.77318731e-03 -5.47773610e+01] [-1.89271074e-02 -2.93106193e-04 9.99820823e-01 -3.42616400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.25, Y:-54.78, Z:-3.43 [[ 9.76976409e-01 2.12510915e-01 1.88734664e-02 3.62245959e+02] [-2.12476405e-01 9.77158658e-01 -3.83846147e-03 -5.47841556e+01] [-1.92580861e-02 -2.60079994e-04 9.99814512e-01 -3.42653946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.27, Y:-54.79, Z:-3.43 [[ 9.77479253e-01 2.10122302e-01 1.95685672e-02 3.62273472e+02] [-2.10084795e-01 9.77675083e-01 -3.97630259e-03 -5.47919124e+01] [-1.99672104e-02 -2.24305140e-04 9.99800610e-01 -3.42629304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.30, Y:-54.80, Z:-3.43 [[ 9.77952896e-01 2.07851995e-01 2.01415211e-02 3.62300252e+02] [-2.07811855e-01 9.78160270e-01 -4.08895552e-03 -5.47994114e+01] [-2.05515333e-02 -1.86840965e-04 9.99788777e-01 -3.42630823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.33, Y:-54.81, Z:-3.43 [[ 9.78544006e-01 2.05020527e-01 2.04502210e-02 3.62327822e+02] [-2.04978555e-01 9.78757665e-01 -4.15032511e-03 -5.48056953e+01] [-2.08667124e-02 -1.30580990e-04 9.99782258e-01 -3.42650459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.36, Y:-54.81, Z:-3.43 [[ 9.78602205e-01 2.04766128e-01 2.02127774e-02 3.62355530e+02] [-2.04725091e-01 9.78810920e-01 -4.10119271e-03 -5.48092934e+01] [-2.06242726e-02 -1.24626473e-04 9.99787289e-01 -3.42665253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.38, Y:-54.81, Z:-3.43 [[ 9.78539793e-01 2.05062146e-01 2.02333925e-02 3.62383115e+02] [-2.05021120e-01 9.78748946e-01 -4.10384716e-03 -5.48115911e+01] [-2.06449553e-02 -1.32495051e-04 9.99786861e-01 -3.42752298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.41, Y:-54.81, Z:-3.43 [[ 9.78450802e-01 2.05496811e-01 2.01268099e-02 3.62411339e+02] [-2.05456333e-01 9.78657775e-01 -4.08099287e-03 -5.48149580e+01] [-2.05358900e-02 -1.42129812e-04 9.99789106e-01 -3.42805770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.44, Y:-54.82, Z:-3.43 [[ 9.78353992e-01 2.05828118e-01 2.14068158e-02 3.62438592e+02] [-2.05782439e-01 9.78588146e-01 -4.33908528e-03 -5.48150887e+01] [-2.18415620e-02 -1.59985367e-04 9.99761432e-01 -3.42632540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.47, Y:-54.82, Z:-3.43 [[ 9.78285022e-01 2.06062679e-01 2.22842726e-02 3.62466517e+02] [-2.06013287e-01 9.78538779e-01 -4.51480960e-03 -5.48197435e+01] [-2.27363586e-02 -1.74085642e-04 9.99741480e-01 -3.42516743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.49, Y:-54.82, Z:-3.42 [[ 9.78191012e-01 2.06458490e-01 2.27428267e-02 3.62494704e+02] [-2.06407261e-01 9.78455341e-01 -4.60297093e-03 -5.48227155e+01] [-2.32031627e-02 -1.91699768e-04 9.99730752e-01 -3.42493317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.52, Y:-54.83, Z:-3.43 [[ 9.78089198e-01 2.06963957e-01 2.25264538e-02 3.62522061e+02] [-2.06913935e-01 9.78348546e-01 -4.55470970e-03 -5.48252715e+01] [-2.29813841e-02 -2.06124844e-04 9.99735872e-01 -3.42587575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.55, Y:-54.82, Z:-3.43 [[ 9.77996791e-01 2.07437720e-01 2.21781388e-02 3.62550520e+02] [-2.07389402e-01 9.78248202e-01 -4.48219530e-03 -5.48246825e+01] [-2.26255008e-02 -2.15938325e-04 9.99743987e-01 -3.42777963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.58, Y:-54.83, Z:-3.43 [[ 9.78004768e-01 2.07336009e-01 2.27695680e-02 3.62577367e+02] [-2.07285087e-01 9.78269764e-01 -4.60021721e-03 -5.48261848e+01] [-2.32285705e-02 -2.20757522e-04 9.99730156e-01 -3.42699357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.61, Y:-54.83, Z:-3.43 [[ 9.78039030e-01 2.07069697e-01 2.37022322e-02 3.62605775e+02] [-2.07014497e-01 9.78326167e-01 -4.78626865e-03 -5.48290383e+01] [-2.41796052e-02 -2.25548138e-04 9.99707605e-01 -3.42547870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.63, Y:-54.83, Z:-3.42 [[ 9.78148472e-01 2.06455073e-01 2.45330192e-02 3.62633972e+02] [-2.06395867e-01 9.78456056e-01 -4.94900276e-03 -5.48318190e+01] [-2.50262279e-02 -2.22654278e-04 9.99686770e-01 -3.42397647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.66, Y:-54.83, Z:-3.42 [[ 9.78403598e-01 2.05167351e-01 2.51546900e-02 3.62661855e+02] [-2.05104802e-01 9.78726887e-01 -5.06967545e-03 -5.48347847e+01] [-2.56597033e-02 -1.99159025e-04 9.99670716e-01 -3.42301602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.69, Y:-54.84, Z:-3.42 [[ 9.78632633e-01 2.04148469e-01 2.45269670e-02 3.62689775e+02] [-2.04088745e-01 9.78939923e-01 -4.94069964e-03 -5.48399546e+01] [-2.50190634e-02 -1.70548011e-04 9.99686960e-01 -3.42486036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.72, Y:-54.85, Z:-3.43 [[ 9.78911760e-01 2.03011288e-01 2.27636343e-02 3.62717803e+02] [-2.02959622e-01 9.79176388e-01 -4.58183657e-03 -5.48465077e+01] [-2.32197778e-02 -1.34884913e-04 9.99730376e-01 -3.42952997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.74, Y:-54.85, Z:-3.43 [[ 9.79153766e-01 2.02066429e-01 2.06654410e-02 3.62744792e+02] [-2.02023712e-01 9.79371812e-01 -4.15605081e-03 -5.48518426e+01] [-2.10789488e-02 -1.05496296e-04 9.99777809e-01 -3.43382740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.77, Y:-54.86, Z:-3.44 [[ 9.79469144e-01 2.00713248e-01 1.88251990e-02 3.62771007e+02] [-2.00677570e-01 9.79650033e-01 -3.78494814e-03 -5.48566180e+01] [-1.92017960e-02 -7.05552758e-05 9.99815626e-01 -3.43801142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.80, Y:-54.86, Z:-3.44 [[ 9.79608762e-01 1.99985066e-01 1.93040409e-02 3.62798569e+02] [-1.99947438e-01 9.79798943e-01 -3.87972969e-03 -5.48621192e+01] [-1.96899669e-02 -5.91763298e-05 9.99806132e-01 -3.43789233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.83, Y:-54.87, Z:-3.44 [[ 9.79651428e-01 1.99728748e-01 1.97865284e-02 3.62825278e+02] [-1.99689245e-01 9.79851225e-01 -3.97261573e-03 -5.48673405e+01] [-2.01812996e-02 -5.93782447e-05 9.99796335e-01 -3.43728575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.85, Y:-54.87, Z:-3.44 [[ 9.79810484e-01 1.98868581e-01 2.05597571e-02 3.62852096e+02] [-1.98825800e-01 9.80026166e-01 -4.12506774e-03 -5.48748056e+01] [-2.09694463e-02 -4.60255207e-05 9.99780116e-01 -3.43623321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.88, Y:-54.89, Z:-3.43 [[ 9.80171057e-01 1.96915230e-01 2.21154159e-02 3.62878503e+02] [-1.96865336e-01 9.80420518e-01 -4.43253823e-03 -5.48853685e+01] [-2.25552418e-02 -9.11309902e-06 9.99745598e-01 -3.43491045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.90, Y:-54.89, Z:-3.43 [[ 9.80381002e-01 1.95803773e-01 2.26709980e-02 3.62904809e+02] [-1.95751146e-01 9.80643096e-01 -4.53942674e-03 -5.48938345e+01] [-2.31209946e-02 1.24938919e-05 9.99732674e-01 -3.43465387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.93, Y:-54.90, Z:-3.44 [[ 9.80614673e-01 1.94628750e-01 2.26828562e-02 3.62931774e+02] [-1.94575801e-01 9.80876979e-01 -4.53973995e-03 -5.49025322e+01] [-2.31326554e-02 3.82006797e-05 9.99732404e-01 -3.43564922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.96, Y:-54.92, Z:-3.44 [[ 9.81042266e-01 1.92487379e-01 2.24651074e-02 3.62958292e+02] [-1.92434977e-01 9.81299446e-01 -4.49195921e-03 -5.49156418e+01] [-2.29096429e-02 8.37294221e-05 9.99737536e-01 -3.43667855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.99, Y:-54.93, Z:-3.44 [[ 9.81301319e-01 1.91275277e-01 2.14823028e-02 3.62985412e+02] [-1.91227091e-01 9.81536427e-01 -4.29445415e-03 -5.49255399e+01] [-2.19070856e-02 1.06155243e-04 9.99760005e-01 -3.43906903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.01, Y:-54.94, Z:-3.44 [[ 9.81565902e-01 1.90025786e-01 2.04592289e-02 3.63011243e+02] [-1.89981829e-01 9.81779092e-01 -4.08900825e-03 -5.49358203e+01] [-2.08634602e-02 1.26749339e-04 9.99782326e-01 -3.44179401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.04, Y:-54.95, Z:-3.44 [[ 9.81818832e-01 1.88744883e-01 2.01779795e-02 3.63038366e+02] [-1.88701881e-01 9.82026144e-01 -4.03158637e-03 -5.49461376e+01] [-2.05762447e-02 1.50664747e-04 9.99788275e-01 -3.44280321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.07, Y:-54.95, Z:-3.44 [[ 9.81831745e-01 1.88677680e-01 2.01781571e-02 3.63065345e+02] [-1.88634682e-01 9.82039057e-01 -4.03069732e-03 -5.49513875e+01] [-2.05762410e-02 1.51166341e-04 9.99788275e-01 -3.44340822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2757692310001 meters Centerline goodness [0,1] 0.999978742852284 Centerline is valid? [True, True] Translation: X:363.09, Y:-54.96, Z:-3.44 [[ 9.82019186e-01 1.87476417e-01 2.21565061e-02 3.63091436e+02] [-1.87424307e-01 9.82269085e-01 -4.42416289e-03 -5.49635424e+01] [-2.25930772e-02 1.91945044e-04 9.99744725e-01 -3.43961140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.30576923100006 meters Centerline goodness [0,1] 0.9999785577974569 Centerline is valid? [True, True] Translation: X:363.12, Y:-54.97, Z:-3.44 [[ 9.82067568e-01 1.87115205e-01 2.30476066e-02 3.63119689e+02] [-1.87058751e-01 9.82337955e-01 -4.60070197e-03 -5.49710248e+01] [-2.35014000e-02 2.06943680e-04 9.99723783e-01 -3.43811851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.15, Y:-54.98, Z:-3.44 [[ 9.82198879e-01 1.86435128e-01 2.29631427e-02 3.63146145e+02] [-1.86378928e-01 9.82467248e-01 -4.58270801e-03 -5.49795916e+01] [-2.34149134e-02 2.21284750e-04 9.99725809e-01 -3.43917895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.36576923100006 meters Centerline goodness [0,1] 0.9999788516442847 Centerline is valid? [True, True] Translation: X:363.17, Y:-54.99, Z:-3.44 [[ 9.82477299e-01 1.85067341e-01 2.21006080e-02 3.63173589e+02] [-1.85014980e-01 9.82725811e-01 -4.40873174e-03 -5.49904705e+01] [-2.25347502e-02 2.42535311e-04 9.99746031e-01 -3.44195129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.20, Y:-55.01, Z:-3.45 [[ 9.83236236e-01 1.81170593e-01 2.05844657e-02 3.63199106e+02] [-1.81124334e-01 9.83451636e-01 -4.10539244e-03 -5.50096326e+01] [-2.09876029e-02 3.08222955e-04 9.99779688e-01 -3.44673679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.22, Y:-55.02, Z:-3.45 [[ 9.83552522e-01 1.79481794e-01 2.02662940e-02 3.63224697e+02] [-1.79436614e-01 9.83761237e-01 -4.04103849e-03 -5.50212955e+01] [-2.06624873e-02 3.38058419e-04 9.99786451e-01 -3.44715283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.45576923100003 meters Centerline goodness [0,1] 0.9999788063750424 Centerline is valid? [True, True] Translation: X:363.25, Y:-55.04, Z:-3.45 [[ 9.84013721e-01 1.77032747e-01 1.94011279e-02 3.63250844e+02] [-1.76990892e-01 9.84204892e-01 -3.86722094e-03 -5.50351884e+01] [-1.97793097e-02 3.71575521e-04 9.99804301e-01 -3.44870921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.28, Y:-55.04, Z:-3.45 [[ 9.84272834e-01 1.75679097e-01 1.85429863e-02 3.63278105e+02] [-1.75640642e-01 9.84447414e-01 -3.69515835e-03 -5.50429490e+01] [-1.89037570e-02 3.80141963e-04 9.99821236e-01 -3.45031199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.30, Y:-55.05, Z:-3.45 [[ 9.84555442e-01 1.74176820e-01 1.76922679e-02 3.63303781e+02] [-1.74141593e-01 9.84714316e-01 -3.52445315e-03 -5.50542597e+01] [-1.80357075e-02 3.89059823e-04 9.99837268e-01 -3.45231288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.33, Y:-55.07, Z:-3.45 [[ 9.84766852e-01 1.72976339e-01 1.77040608e-02 3.63329768e+02] [-1.72940896e-01 9.84925895e-01 -3.52541981e-03 -5.50654120e+01] [-1.80470022e-02 4.09960432e-04 9.99837056e-01 -3.45320582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57576923100004 meters Centerline goodness [0,1] 0.9999789345073835 Centerline is valid? [True, True] Translation: X:363.36, Y:-55.08, Z:-3.45 [[ 9.84875938e-01 1.72295511e-01 1.82658975e-02 3.63355184e+02] [-1.72257687e-01 9.85045211e-01 -3.63612211e-03 -5.50807287e+01] [-1.86192224e-02 4.34687915e-04 9.99826553e-01 -3.45407362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.60576923100007 meters Centerline goodness [0,1] 0.9999573769793065 Centerline is valid? [True, True] Translation: X:363.38, Y:-55.10, Z:-3.45 [[ 9.85005721e-01 1.71320114e-01 2.03260599e-02 3.63382057e+02] [-1.71273097e-01 9.85215289e-01 -4.04483162e-03 -5.50955280e+01] [-2.07185060e-02 5.02875059e-04 9.99785222e-01 -3.45035664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63576923100004 meters Centerline goodness [0,1] 0.9999155369736897 Centerline is valid? [True, True] Translation: X:363.41, Y:-55.10, Z:-3.45 [[ 9.85125999e-01 1.70528576e-01 2.11369405e-02 3.63409496e+02] [-1.70477571e-01 9.85352584e-01 -4.20521175e-03 -5.51037980e+01] [-2.15444477e-02 5.39289141e-04 9.99767746e-01 -3.44890653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.66576923100007 meters Centerline goodness [0,1] 0.9999357064786438 Centerline is valid? [True, True] Translation: X:363.44, Y:-55.11, Z:-3.45 [[ 9.85297906e-01 1.69403990e-01 2.21432712e-02 3.63437568e+02] [-1.69347752e-01 9.85546519e-01 -4.40435176e-03 -5.51123117e+01] [-2.25693386e-02 5.89685362e-04 9.99745106e-01 -3.44853293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.69576923100004 meters Centerline goodness [0,1] 0.9998080818850624 Centerline is valid? [True, True] Translation: X:363.46, Y:-55.13, Z:-3.45 [[ 9.85517052e-01 1.68001169e-01 2.30596472e-02 3.63464172e+02] [-1.67939815e-01 9.85786584e-01 -4.58578710e-03 -5.51310667e+01] [-2.35023084e-02 6.46738494e-04 9.99723573e-01 -3.44735307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7257692310001 meters Centerline goodness [0,1] 0.9997243368179987 Centerline is valid? [True, True] Translation: X:363.49, Y:-55.14, Z:-3.45 [[ 9.85471990e-01 1.68224471e-01 2.33555955e-02 3.63492031e+02] [-1.68161602e-01 9.85748500e-01 -4.64435777e-03 -5.51416284e+01] [-2.38040378e-02 6.49370145e-04 9.99716433e-01 -3.44753188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.75576923100004 meters Centerline goodness [0,1] 0.9998517011991017 Centerline is valid? [True, True] Translation: X:363.52, Y:-55.15, Z:-3.45 [[ 9.85303056e-01 1.69280333e-01 2.28485506e-02 3.63521853e+02] [-1.69220453e-01 9.85567754e-01 -4.54329728e-03 -5.51507358e+01] [-2.32878855e-02 6.10082624e-04 9.99728614e-01 -3.44871860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.55, Y:-55.16, Z:-3.45 [[ 9.84735000e-01 1.72830791e-01 2.06518167e-02 3.63552080e+02] [-1.72782648e-01 9.84951416e-01 -4.10671613e-03 -5.51576785e+01] [-2.10508031e-02 4.75751527e-04 9.99778294e-01 -3.45296569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.81576923100005 meters Centerline goodness [0,1] 0.9999574368469216 Centerline is valid? [True, True] Translation: X:363.58, Y:-55.17, Z:-3.45 [[ 9.84315451e-01 1.75271539e-01 2.00743571e-02 3.63580904e+02] [-1.75226559e-01 9.84520044e-01 -3.99186237e-03 -5.51652083e+01] [-2.04632668e-02 4.11691277e-04 9.99790521e-01 -3.45486720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8457692310001 meters Centerline goodness [0,1] 0.999957960230378 Centerline is valid? [True, True] Translation: X:363.61, Y:-55.17, Z:-3.46 [[ 9.83877647e-01 1.77714948e-01 2.00542501e-02 3.63610697e+02] [-1.77670553e-01 9.84081941e-01 -3.98843557e-03 -5.51690850e+01] [-2.04438300e-02 3.61082887e-04 9.99790938e-01 -3.45551468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.64, Y:-55.17, Z:-3.46 [[ 9.83386818e-01 1.80353260e-01 2.05686100e-02 3.63640171e+02] [-1.80307140e-01 9.83601852e-01 -4.09049626e-03 -5.51713791e+01] [-2.09690572e-02 3.13872858e-04 9.99780076e-01 -3.45526405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.67, Y:-55.18, Z:-3.45 [[ 9.82921921e-01 1.82777761e-01 2.13725758e-02 3.63668927e+02] [-1.82728549e-01 9.83154218e-01 -4.24983861e-03 -5.51765324e+01] [-2.17893140e-02 2.71879765e-04 9.99762548e-01 -3.45467178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.70, Y:-55.18, Z:-3.45 [[ 9.82233194e-01 1.86277167e-01 2.27765055e-02 3.63698838e+02] [-1.86222231e-01 9.82497213e-01 -4.52840169e-03 -5.51767460e+01] [-2.32213910e-02 2.06454792e-04 9.99730326e-01 -3.45282055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.73, Y:-55.18, Z:-3.45 [[ 9.82063518e-01 1.87165110e-01 2.28137855e-02 3.63727151e+02] [-1.87110253e-01 9.82328452e-01 -4.53496585e-03 -5.51832732e+01] [-2.32594180e-02 1.84931333e-04 9.99729446e-01 -3.45292294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.76, Y:-55.19, Z:-3.46 [[ 9.82088016e-01 1.87136755e-01 2.19764583e-02 3.63755495e+02] [-1.87085861e-01 9.82333855e-01 -4.36773234e-03 -5.51895319e+01] [-2.24055822e-02 1.78012961e-04 9.99748948e-01 -3.45520359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.78, Y:-55.20, Z:-3.46 [[ 9.82539318e-01 1.84918254e-01 2.05359941e-02 3.63781483e+02] [-1.84873349e-01 9.82753883e-01 -4.08050631e-03 -5.52043399e+01] [-2.09363880e-02 2.12699876e-04 9.99780787e-01 -3.45891186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.81, Y:-55.21, Z:-3.46 [[ 9.82734478e-01 1.83842629e-01 2.08526675e-02 3.63810808e+02] [-1.83796101e-01 9.82955661e-01 -4.14274191e-03 -5.52105067e+01] [-2.12588601e-02 2.38576322e-04 9.99773976e-01 -3.45907505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.84, Y:-55.22, Z:-3.46 [[ 9.82873258e-01 1.83034567e-01 2.14127446e-02 3.63838524e+02] [-1.82985326e-01 9.83106443e-01 -4.25348956e-03 -5.52184051e+01] [-2.18295428e-02 2.62423077e-04 9.99761673e-01 -3.45884713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.87, Y:-55.23, Z:-3.46 [[ 9.82944382e-01 1.82598667e-01 2.18647625e-02 3.63865868e+02] [-1.82547235e-01 9.83187495e-01 -4.34248613e-03 -5.52262182e+01] [-2.22900933e-02 2.77070413e-04 9.99751507e-01 -3.45906076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.90, Y:-55.23, Z:-3.46 [[ 9.82847537e-01 1.83143965e-01 2.16565652e-02 3.63895227e+02] [-1.83093656e-01 9.83086069e-01 -4.30038506e-03 -5.52316584e+01] [-2.20778572e-02 2.61443153e-04 9.99756220e-01 -3.45939236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.92, Y:-55.23, Z:-3.46 [[ 9.81962163e-01 1.87995069e-01 2.02030694e-02 3.63924500e+02] [-1.87952322e-01 9.82169962e-01 -4.01133480e-03 -5.52305085e+01] [-2.05969591e-02 1.41765180e-04 9.99787850e-01 -3.46159050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.95, Y:-55.23, Z:-3.46 [[ 9.81334286e-01 1.91315012e-01 1.95342240e-02 3.63953978e+02] [-1.91275718e-01 9.81528686e-01 -3.87790006e-03 -5.52279149e+01] [-1.99153017e-02 6.90935489e-05 9.99801668e-01 -3.46349339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.98, Y:-55.22, Z:-3.47 [[ 9.80590030e-01 1.95123334e-01 1.92373717e-02 3.63982728e+02] [-1.95085976e-01 9.80778713e-01 -3.81808928e-03 -5.52247237e+01] [-1.96126030e-02 -8.96113827e-06 9.99807654e-01 -3.46511291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.01, Y:-55.22, Z:-3.47 [[ 9.79869703e-01 1.98708348e-01 1.92446884e-02 3.64012697e+02] [-1.98671675e-01 9.80058664e-01 -3.81835772e-03 -5.52221972e+01] [-1.96196632e-02 -8.18814369e-05 9.99807513e-01 -3.46647855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.04, Y:-55.22, Z:-3.47 [[ 9.78786178e-01 2.03944245e-01 1.96051619e-02 3.64043131e+02] [-2.03907252e-01 9.78982486e-01 -3.88895908e-03 -5.52156823e+01] [-1.99862409e-02 -1.91175294e-04 9.99800237e-01 -3.46678224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32576923100004 meters Centerline goodness [0,1] 0.9999787437559783 Centerline is valid? [True, True] Translation: X:364.07, Y:-55.22, Z:-3.47 [[ 9.78350037e-01 2.05963234e-01 2.02571187e-02 3.64071867e+02] [-2.05924192e-01 9.78559701e-01 -4.01733929e-03 -5.52159259e+01] [-2.06502242e-02 -2.41066755e-04 9.99786732e-01 -3.46569091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.35576923100007 meters Centerline goodness [0,1] 0.9999789109620819 Centerline is valid? [True, True] Translation: X:364.10, Y:-55.22, Z:-3.46 [[ 9.78069200e-01 2.07195113e-01 2.12326609e-02 3.64101163e+02] [-2.07152538e-01 9.78299599e-01 -4.20953750e-03 -5.52170609e+01] [-2.16440993e-02 -2.81180621e-04 9.99765700e-01 -3.46424582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38576923100004 meters Centerline goodness [0,1] 0.9998733455765942 Centerline is valid? [True, True] Translation: X:364.13, Y:-55.22, Z:-3.46 [[ 9.77879064e-01 2.07930694e-01 2.27456266e-02 3.64129532e+02] [-2.07882058e-01 9.78143509e-01 -4.50838238e-03 -5.52160707e+01] [-2.31859181e-02 -3.19754937e-04 9.99731119e-01 -3.46235718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.41576923100007 meters Centerline goodness [0,1] 0.9999576262208945 Centerline is valid? [True, True] Translation: X:364.16, Y:-55.22, Z:-3.46 [[ 9.78059295e-01 2.07100787e-01 2.25672174e-02 3.64156696e+02] [-2.07052719e-01 9.78319567e-01 -4.47176118e-03 -5.52207250e+01] [-2.30040556e-02 -2.98956147e-04 9.99735327e-01 -3.46355177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.44576923100004 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:364.18, Y:-55.23, Z:-3.47 [[ 9.78434161e-01 2.05364430e-01 2.21820522e-02 3.64183785e+02] [-2.05317571e-01 9.78685540e-01 -4.39422447e-03 -5.52309243e+01] [-2.26116711e-02 -2.54905737e-04 9.99744291e-01 -3.46588178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.21, Y:-55.24, Z:-3.47 [[ 9.78835977e-01 2.03579795e-01 2.08661695e-02 3.64211905e+02] [-2.03537946e-01 9.79058337e-01 -4.13255268e-03 -5.52367448e+01] [-2.12705014e-02 -2.01966054e-04 9.99773737e-01 -3.46886073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.24, Y:-55.24, Z:-3.48 [[ 9.79771446e-01 1.99284839e-01 1.82610651e-02 3.64238536e+02] [-1.99252056e-01 9.79941602e-01 -3.61586145e-03 -5.52435000e+01] [-1.86153638e-02 -9.58369703e-05 9.99826715e-01 -3.47545121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.27, Y:-55.25, Z:-3.48 [[ 9.80183803e-01 1.97231395e-01 1.84252041e-02 3.64265716e+02] [-1.97197680e-01 9.80356962e-01 -3.64714198e-03 -5.52522639e+01] [-1.87826080e-02 -5.85380127e-05 9.99823590e-01 -3.47539000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.29, Y:-55.26, Z:-3.47 [[ 9.80600671e-01 1.94999067e-01 1.99421243e-02 3.64293393e+02] [-1.94959131e-01 9.80803428e-01 -3.94634600e-03 -5.52609679e+01] [-2.03288377e-02 -1.81096938e-05 9.99793348e-01 -3.47238049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.32, Y:-55.27, Z:-3.47 [[ 9.81418259e-01 1.90547616e-01 2.25788922e-02 3.64319460e+02] [-1.90495271e-01 9.81677951e-01 -4.46683409e-03 -5.52722130e+01] [-2.30163452e-02 8.26603687e-05 9.99735085e-01 -3.46792678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.35, Y:-55.28, Z:-3.47 [[ 9.81764548e-01 1.88812160e-01 2.20984404e-02 3.64347359e+02] [-1.88761610e-01 9.82013215e-01 -4.37043195e-03 -5.52798583e+01] [-2.25261512e-02 1.19397970e-04 9.99746247e-01 -3.46979134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.37, Y:-55.29, Z:-3.47 [[ 9.82030519e-01 1.87611297e-01 2.04465157e-02 3.64374848e+02] [-1.87567782e-01 9.82243342e-01 -4.04280692e-03 -5.52870932e+01] [-2.08419301e-02 1.35052191e-04 9.99782774e-01 -3.47339540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.40, Y:-55.29, Z:-3.48 [[ 9.82295333e-01 1.86396537e-01 1.87672429e-02 3.64401406e+02] [-1.86359671e-01 9.82474585e-01 -3.70997366e-03 -5.52949498e+01] [-1.91298654e-02 1.46832613e-04 9.99816997e-01 -3.47687313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.43, Y:-55.30, Z:-3.48 [[ 9.82380252e-01 1.85894010e-01 1.92991565e-02 3.64429980e+02] [-1.85854951e-01 9.82569790e-01 -3.81388491e-03 -5.53001496e+01] [-1.96717465e-02 1.59841442e-04 9.99806480e-01 -3.47585444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.46, Y:-55.30, Z:-3.47 [[ 9.82384430e-01 1.85747358e-01 2.04633766e-02 3.64458226e+02] [-1.85703434e-01 9.82597522e-01 -4.04290285e-03 -5.53046735e+01] [-2.08582216e-02 1.71565516e-04 9.99782429e-01 -3.47406750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7757692310001 meters Centerline goodness [0,1] 0.9999575560790306 Centerline is valid? [True, True] Translation: X:364.49, Y:-55.31, Z:-3.47 [[ 9.82398495e-01 1.85523889e-01 2.17734735e-02 3.64486484e+02] [-1.85474130e-01 9.82639737e-01 -4.30061735e-03 -5.53088117e+01] [-2.21933476e-02 1.86503959e-04 9.99753680e-01 -3.47219445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.51, Y:-55.32, Z:-3.47 [[ 9.82583768e-01 1.84526078e-01 2.18921426e-02 3.64512907e+02] [-1.84475552e-01 9.82827596e-01 -4.32296945e-03 -5.53167567e+01] [-2.23139024e-02 2.09114527e-04 9.99750992e-01 -3.47218922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.54, Y:-55.32, Z:-3.48 [[ 9.82885867e-01 1.83034405e-01 2.08273832e-02 3.64540617e+02] [-1.82988366e-01 9.83106481e-01 -4.11149519e-03 -5.53240594e+01] [-2.12280805e-02 2.29961699e-04 9.99774632e-01 -3.47504633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.57, Y:-55.33, Z:-3.48 [[ 9.83241347e-01 1.81239157e-01 1.97185807e-02 3.64567494e+02] [-1.81197546e-01 9.83439019e-01 -3.89174685e-03 -5.53327255e+01] [-2.00973586e-02 2.53567982e-04 9.99797996e-01 -3.47831495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.59, Y:-55.34, Z:-3.48 [[ 9.83586456e-01 1.79418552e-01 1.91485308e-02 3.64594986e+02] [-1.79378992e-01 9.83772791e-01 -3.77796677e-03 -5.53396654e+01] [-1.95156409e-02 2.81112796e-04 9.99809512e-01 -3.48036603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.92576923100006 meters Centerline goodness [0,1] 0.9999368527405911 Centerline is valid? [True, True] Translation: X:364.62, Y:-55.35, Z:-3.48 [[ 9.84008498e-01 1.76897427e-01 2.08464806e-02 3.64621542e+02] [-1.76850003e-01 9.84229227e-01 -4.11160153e-03 -5.53512406e+01] [-2.12450472e-02 3.59150688e-04 9.99774234e-01 -3.47846744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.95576923100003 meters Centerline goodness [0,1] 0.9999788726442999 Centerline is valid? [True, True] Translation: X:364.65, Y:-55.36, Z:-3.48 [[ 9.84229821e-01 1.75611102e-01 2.12696881e-02 3.64650413e+02] [-1.75561454e-01 9.84459540e-01 -4.19403661e-03 -5.53573347e+01] [-2.16756668e-02 3.93758537e-04 9.99764978e-01 -3.47797593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.68, Y:-55.37, Z:-3.48 [[ 9.84414654e-01 1.74630253e-01 2.07861500e-02 3.64677908e+02] [-1.74582629e-01 9.84633998e-01 -4.09819797e-03 -5.53655814e+01] [-2.11824193e-02 4.05425417e-04 9.99775545e-01 -3.47908132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01576923100004 meters Centerline goodness [0,1] 0.9999788054766648 Centerline is valid? [True, True] Translation: X:364.71, Y:-55.37, Z:-3.48 [[ 9.84500655e-01 1.74286790e-01 1.95595323e-02 3.64706388e+02] [-1.74244565e-01 9.84694858e-01 -3.85582113e-03 -5.53742378e+01] [-1.99321896e-02 3.87916238e-04 9.99801259e-01 -3.48171179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.74, Y:-55.38, Z:-3.49 [[ 9.84407967e-01 1.75087385e-01 1.68926342e-02 3.64735021e+02] [-1.75056010e-01 9.84552845e-01 -3.32997306e-03 -5.53794532e+01] [-1.72147273e-02 3.20894870e-04 9.99851764e-01 -3.48821560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.76, Y:-55.38, Z:-3.49 [[ 9.84272494e-01 1.75843256e-01 1.69353414e-02 3.64762187e+02] [-1.75811838e-01 9.84418130e-01 -3.33815885e-03 -5.53838130e+01] [-1.72584499e-02 3.08224427e-04 9.99851014e-01 -3.48851866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.79, Y:-55.39, Z:-3.49 [[ 9.84161614e-01 1.76350801e-01 1.80641277e-02 3.64792014e+02] [-1.76315163e-01 9.84327331e-01 -3.55941183e-03 -5.53864581e+01] [-1.84087197e-02 3.18056868e-04 9.99830495e-01 -3.48662428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13576923100004 meters Centerline goodness [0,1] 0.9999786943923641 Centerline is valid? [True, True] Translation: X:364.82, Y:-55.39, Z:-3.48 [[ 9.84048496e-01 1.76835341e-01 1.94375683e-02 3.64820633e+02] [-1.76794181e-01 9.84240393e-01 -3.82955602e-03 -5.53914759e+01] [-1.98084407e-02 3.32019869e-04 9.99803738e-01 -3.48445494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.16576923100007 meters Centerline goodness [0,1] 0.9999786943923641 Centerline is valid? [True, True] Translation: X:364.85, Y:-55.40, Z:-3.49 [[ 9.84052576e-01 1.76812625e-01 1.94377063e-02 3.64849255e+02] [-1.76771474e-01 9.84244475e-01 -3.82885552e-03 -5.53970672e+01] [-1.98084450e-02 3.31763141e-04 9.99803738e-01 -3.48509679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.88, Y:-55.41, Z:-3.49 [[ 9.84098516e-01 1.76506236e-01 1.98911892e-02 3.64877085e+02] [-1.76463090e-01 9.84299461e-01 -3.91771416e-03 -5.54052028e+01] [-2.02703878e-02 3.45355984e-04 9.99794475e-01 -3.48545917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.91, Y:-55.41, Z:-3.49 [[ 9.84281455e-01 1.75588023e-01 1.89436749e-02 3.64906212e+02] [-1.75548733e-01 9.84463675e-01 -3.73042291e-03 -5.54114034e+01] [-1.93043774e-02 3.46247972e-04 9.99813593e-01 -3.48798088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.25576923100004 meters Centerline goodness [0,1] 0.9999574395641811 Centerline is valid? [True, True] Translation: X:364.93, Y:-55.42, Z:-3.49 [[ 9.84651132e-01 1.73707262e-01 1.69686453e-02 3.64933473e+02] [-1.73675466e-01 9.84797273e-01 -3.34108327e-03 -5.54235312e+01] [-1.72910460e-02 3.42764049e-04 9.99850440e-01 -3.49390088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2857692310001 meters Centerline goodness [0,1] 0.9999575064802617 Centerline is valid? [True, True] Translation: X:364.96, Y:-55.43, Z:-3.50 [[ 9.84748792e-01 1.73191575e-01 1.65678969e-02 3.64961081e+02] [-1.73161192e-01 9.84888095e-01 -3.26209836e-03 -5.54319081e+01] [-1.68824924e-02 3.43430644e-04 9.99857422e-01 -3.49505215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.31576923100005 meters Centerline goodness [0,1] 0.9999788574569749 Centerline is valid? [True, True] Translation: X:364.99, Y:-55.44, Z:-3.49 [[ 9.84789442e-01 1.72932045e-01 1.68601105e-02 3.64990848e+02] [-1.72900554e-01 9.84933695e-01 -3.31897741e-03 -5.54367683e+01] [-1.71800485e-02 3.53371472e-04 9.99852350e-01 -3.49421342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3457692310001 meters Centerline goodness [0,1] 0.9999785633132543 Centerline is valid? [True, True] Translation: X:365.02, Y:-55.44, Z:-3.49 [[ 9.84649434e-01 1.73717339e-01 1.69640455e-02 3.65020480e+02] [-1.73685584e-01 9.84795496e-01 -3.33890800e-03 -5.54424300e+01] [-1.72861418e-02 3.41243737e-04 9.99850525e-01 -3.49309395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.37576923100005 meters Centerline goodness [0,1] 0.9999788158034106 Centerline is valid? [True, True] Translation: X:365.05, Y:-55.45, Z:-3.49 [[ 9.84381193e-01 1.75234256e-01 1.69299131e-02 3.65048712e+02] [-1.75202851e-01 9.84526717e-01 -3.33230303e-03 -5.54475078e+01] [-1.72518855e-02 3.14087379e-04 9.99851126e-01 -3.49311203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.08, Y:-55.45, Z:-3.49 [[ 9.83670297e-01 1.79131974e-01 1.74494249e-02 3.65078790e+02] [-1.79099233e-01 9.83825021e-01 -3.43406905e-03 -5.54504637e+01] [-1.77823324e-02 2.52813108e-04 9.99841850e-01 -3.49343632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.11, Y:-55.46, Z:-3.49 [[ 9.83434311e-01 1.80358278e-01 1.81065403e-02 3.65106385e+02] [-1.80323235e-01 9.83600953e-01 -3.56324353e-03 -5.54571597e+01] [-1.84522708e-02 2.39186023e-04 9.99829714e-01 -3.49407503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.13, Y:-55.46, Z:-3.49 [[ 9.83290695e-01 1.81036593e-01 1.91091932e-02 3.65133100e+02] [-1.80997702e-01 9.83476332e-01 -3.75987352e-03 -5.54633631e+01] [-1.94741139e-02 2.38328601e-04 9.99810333e-01 -3.49325142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.16, Y:-55.47, Z:-3.49 [[ 9.83251941e-01 1.81118932e-01 2.02867591e-02 3.65161854e+02] [-1.81075144e-01 9.83461168e-01 -3.99025889e-03 -5.54711704e+01] [-2.06739513e-02 2.50001963e-04 9.99786240e-01 -3.49116362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.19, Y:-55.48, Z:-3.49 [[ 9.83262297e-01 1.81020089e-01 2.06635497e-02 3.65189609e+02] [-1.80974648e-01 9.83479365e-01 -4.06384541e-03 -5.54827275e+01] [-2.10578124e-02 2.56247326e-04 9.99778227e-01 -3.49115575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.22, Y:-55.49, Z:-3.49 [[ 9.83268861e-01 1.80958608e-01 2.08884966e-02 3.65218422e+02] [-1.80912164e-01 9.83490678e-01 -4.10783673e-03 -5.54904216e+01] [-2.12869901e-02 2.60124827e-04 9.99773373e-01 -3.49142530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.58576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.25, Y:-55.50, Z:-3.49 [[ 9.83222648e-01 1.81219598e-01 2.08010221e-02 3.65246931e+02] [-1.81173611e-01 9.83442623e-01 -4.09013786e-03 -5.54997703e+01] [-2.11978248e-02 2.52919892e-04 9.99775269e-01 -3.49167933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.28, Y:-55.51, Z:-3.49 [[ 9.82938622e-01 1.82713177e-01 2.11556092e-02 3.65276991e+02] [-1.82665960e-01 9.83166235e-01 -4.15960317e-03 -5.55060632e+01] [-2.15594949e-02 2.24224952e-04 9.99767542e-01 -3.49146228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.31, Y:-55.51, Z:-3.49 [[ 9.82789157e-01 1.83498281e-01 2.13038539e-02 3.65306721e+02] [-1.83450585e-01 9.83020009e-01 -4.18875096e-03 -5.55119803e+01] [-2.17107433e-02 2.08454561e-04 9.99764272e-01 -3.49238076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.34, Y:-55.52, Z:-3.49 [[ 9.82569129e-01 1.84736188e-01 2.07472403e-02 3.65335361e+02] [-1.84691227e-01 9.82788131e-01 -4.07932012e-03 -5.55180782e+01] [-2.11437395e-02 1.76380762e-04 9.99776431e-01 -3.49491312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.36, Y:-55.52, Z:-3.50 [[ 9.82218785e-01 1.86655134e-01 2.01524119e-02 3.65364385e+02] [-1.86613123e-01 9.82425490e-01 -3.96214605e-03 -5.55237709e+01] [-2.05377981e-02 1.30989752e-04 9.99789069e-01 -3.49688895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.73576923100006 meters Centerline goodness [0,1] 0.9998317666603579 Centerline is valid? [True, True] Translation: X:365.39, Y:-55.53, Z:-3.50 [[ 9.81433105e-01 1.90896851e-01 1.86401001e-02 3.65392781e+02] [-1.90861680e-01 9.81610101e-01 -3.66443882e-03 -5.55263635e+01] [-1.89968404e-02 3.87207433e-05 9.99819543e-01 -3.49995195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76576923100004 meters Centerline goodness [0,1] 0.9998713881505616 Centerline is valid? [True, True] Translation: X:365.42, Y:-55.53, Z:-3.50 [[ 9.81047236e-01 1.92898453e-01 1.83441298e-02 3.65422329e+02] [-1.92864753e-01 9.81218725e-01 -3.60557504e-03 -5.55296092e+01] [-1.86951135e-02 -6.96633702e-07 9.99825231e-01 -3.50060541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.79576923100007 meters Centerline goodness [0,1] 0.9995132893177586 Centerline is valid? [True, True] Translation: X:365.45, Y:-55.53, Z:-3.50 [[ 9.80251694e-01 1.96957388e-01 1.77314566e-02 3.65450622e+02] [-1.96926570e-01 9.80412047e-01 -3.48490028e-03 -5.55299158e+01] [-1.80705106e-02 -7.57155363e-05 9.99836712e-01 -3.50244563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82576923100004 meters Centerline goodness [0,1] 0.9992981262096688 Centerline is valid? [True, True] Translation: X:365.48, Y:-55.53, Z:-3.50 [[ 9.79942943e-01 1.98495735e-01 1.76429164e-02 3.65478027e+02] [-1.98465494e-01 9.80101746e-01 -3.46631342e-03 -5.55337062e+01] [-1.79799016e-02 -1.04720755e-04 9.99838343e-01 -3.50337980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.85576923100007 meters Centerline goodness [0,1] 0.9994677793626126 Centerline is valid? [True, True] Translation: X:365.51, Y:-55.54, Z:-3.50 [[ 9.79702588e-01 1.99674951e-01 1.76848169e-02 3.65506735e+02] [-1.99644781e-01 9.79862183e-01 -3.47330321e-03 -5.55393118e+01] [-1.80222149e-02 -1.27877262e-04 9.99837579e-01 -3.50376060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88576923100004 meters Centerline goodness [0,1] 0.9992215279092764 Centerline is valid? [True, True] Translation: X:365.53, Y:-55.54, Z:-3.51 [[ 9.79534186e-01 2.00516118e-01 1.74947413e-02 3.65534802e+02] [-2.00486741e-01 9.79690393e-01 -3.43519226e-03 -5.55430822e+01] [-1.78282414e-02 -1.42575405e-04 9.99841054e-01 -3.50511523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.91576923100007 meters Centerline goodness [0,1] 0.9987735605473793 Centerline is valid? [True, True] Translation: X:365.56, Y:-55.55, Z:-3.51 [[ 9.79221927e-01 2.02043189e-01 1.74059908e-02 3.65563394e+02] [-2.02014369e-01 9.79376598e-01 -3.41668241e-03 -5.55450637e+01] [-1.77373375e-02 -1.70569936e-04 9.99842667e-01 -3.50599020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.94576923100004 meters Centerline goodness [0,1] 0.9988814081593888 Centerline is valid? [True, True] Translation: X:365.59, Y:-55.55, Z:-3.51 [[ 9.78981953e-01 2.03222316e-01 1.71762969e-02 3.65591280e+02] [-2.03194447e-01 9.79132603e-01 -3.37087942e-03 -5.55473621e+01] [-1.75029102e-02 -1.90098023e-04 9.99846794e-01 -3.50711910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.9757692310001 meters Centerline goodness [0,1] 0.9989567809239941 Centerline is valid? [True, True] Translation: X:365.62, Y:-55.55, Z:-3.51 [[ 9.78700931e-01 2.04575307e-01 1.71298422e-02 3.65620065e+02] [-2.04547816e-01 9.78850805e-01 -3.36054911e-03 -5.55506335e+01] [-1.74550452e-02 -2.14899279e-04 9.99847626e-01 -3.50765110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.00576923100004 meters Centerline goodness [0,1] 0.9989238462999304 Centerline is valid? [True, True] Translation: X:365.65, Y:-55.55, Z:-3.51 [[ 9.78413882e-01 2.05907353e-01 1.75623694e-02 3.65649264e+02] [-2.05878686e-01 9.78571460e-01 -3.44455316e-03 -5.55532872e+01] [-1.78952922e-02 -2.45518898e-04 9.99839836e-01 -3.50701386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0357692310001 meters Centerline goodness [0,1] 0.9990440582912011 Centerline is valid? [True, True] Translation: X:365.68, Y:-55.55, Z:-3.50 [[ 9.77790692e-01 2.08765519e-01 1.85019062e-02 3.65678639e+02] [-2.08734231e-01 9.77965674e-01 -3.62794234e-03 -5.55498039e+01] [-1.88516184e-02 -3.14612906e-04 9.99822243e-01 -3.50393009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.06576923100005 meters Centerline goodness [0,1] 0.9989757377888739 Centerline is valid? [True, True] Translation: X:365.71, Y:-55.55, Z:-3.50 [[ 9.77543676e-01 2.09865681e-01 1.90986064e-02 3.65708037e+02] [-2.09832574e-01 9.77730165e-01 -3.74376649e-03 -5.55509556e+01] [-1.94589716e-02 -3.47814477e-04 9.99810596e-01 -3.50364387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0957692310001 meters Centerline goodness [0,1] 0.9989170135054787 Centerline is valid? [True, True] Translation: X:365.74, Y:-55.55, Z:-3.50 [[ 9.77343634e-01 2.10731495e-01 1.97903570e-02 3.65735931e+02] [-2.10696142e-01 9.77543909e-01 -3.87843461e-03 -5.55526633e+01] [-2.01632512e-02 -3.79188496e-04 9.99796629e-01 -3.50335482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.12576923100005 meters Centerline goodness [0,1] 0.9989372781568152 Centerline is valid? [True, True] Translation: X:365.77, Y:-55.56, Z:-3.50 [[ 9.77194146e-01 2.11304841e-01 2.10206084e-02 3.65765226e+02] [-2.11265117e-01 9.77420120e-01 -4.11824222e-03 -5.55551602e+01] [-2.14161701e-02 -4.16599108e-04 9.99770561e-01 -3.50124962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1557692310001 meters Centerline goodness [0,1] 0.9991337418128037 Centerline is valid? [True, True] Translation: X:365.79, Y:-55.55, Z:-3.50 [[ 9.77139078e-01 2.11521556e-01 2.13974972e-02 3.65793884e+02] [-2.11480468e-01 9.77373238e-01 -4.19106067e-03 -5.55544132e+01] [-2.17998408e-02 -4.29903562e-04 9.99762263e-01 -3.50076003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.18576923100005 meters Centerline goodness [0,1] 0.9991021612261912 Centerline is valid? [True, True] Translation: X:365.82, Y:-55.56, Z:-3.50 [[ 9.77105183e-01 2.11678623e-01 2.13920922e-02 3.65822200e+02] [-2.11637621e-01 9.77339231e-01 -4.18875339e-03 -5.55597270e+01] [-2.17940004e-02 -4.34518848e-04 9.99762388e-01 -3.50154267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2157692310001 meters Centerline goodness [0,1] 0.9989194228446723 Centerline is valid? [True, True] Translation: X:365.85, Y:-55.56, Z:-3.50 [[ 9.77040856e-01 2.11982789e-01 2.13181467e-02 3.65850440e+02] [-2.11942164e-01 9.77273300e-01 -4.17327885e-03 -5.55640446e+01] [-2.17183188e-02 -4.40750185e-04 9.99764032e-01 -3.50266135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.24576923100005 meters Centerline goodness [0,1] 0.998951624981279 Centerline is valid? [True, True] Translation: X:365.88, Y:-55.57, Z:-3.50 [[ 9.77005115e-01 2.12083110e-01 2.19490454e-02 3.65878372e+02] [-2.12040094e-01 9.77251526e-01 -4.29569404e-03 -5.55696355e+01] [-2.23607823e-02 -4.57162614e-04 9.99749862e-01 -3.50264310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2757692310001 meters Centerline goodness [0,1] 0.9989906848623756 Centerline is valid? [True, True] Translation: X:365.91, Y:-55.57, Z:-3.50 [[ 9.77047288e-01 2.11854979e-01 2.22724956e-02 3.65905931e+02] [-2.11810654e-01 9.77301006e-01 -4.35781736e-03 -5.55693926e+01] [-2.26901576e-02 -4.59758205e-04 9.99742440e-01 -3.50227541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.30576923100006 meters Centerline goodness [0,1] 0.9989777011053607 Centerline is valid? [True, True] Translation: X:365.93, Y:-55.57, Z:-3.50 [[ 9.77287331e-01 2.10734864e-01 2.23671643e-02 3.65933953e+02] [-2.10689913e-01 9.77543158e-01 -4.37436267e-03 -5.55719567e+01] [-2.27866992e-02 -4.37526680e-04 9.99740254e-01 -3.50247053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.33576923100003 meters Centerline goodness [0,1] 0.998983632244267 Centerline is valid? [True, True] Translation: X:365.96, Y:-55.58, Z:-3.50 [[ 9.78070053e-01 2.07110941e-01 2.20006840e-02 3.65960982e+02] [-2.07066562e-01 9.78317401e-01 -4.30142621e-03 -5.55812111e+01] [-2.24145244e-02 -3.48509841e-04 9.99748702e-01 -3.50398686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.36576923100006 meters Centerline goodness [0,1] 0.9987440395095368 Centerline is valid? [True, True] Translation: X:365.99, Y:-55.59, Z:-3.50 [[ 9.78479151e-01 2.05106368e-01 2.25816246e-02 3.65987801e+02] [-2.05059104e-01 9.78739639e-01 -4.41397606e-03 -5.55922982e+01] [-2.30068657e-02 -3.11584167e-04 9.99735258e-01 -3.50422815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.39576923100003 meters Centerline goodness [0,1] 0.9988593074058929 Centerline is valid? [True, True] Translation: X:366.02, Y:-55.60, Z:-3.50 [[ 9.78888414e-01 2.03142639e-01 2.25951531e-02 3.66015514e+02] [-2.03094819e-01 9.79149119e-01 -4.41556621e-03 -5.56024989e+01] [-2.30210140e-02 -2.66611943e-04 9.99734946e-01 -3.50482321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.42576923100006 meters Centerline goodness [0,1] 0.9986407849466933 Centerline is valid? [True, True] Translation: X:366.04, Y:-55.61, Z:-3.51 [[ 9.79118086e-01 2.02048382e-01 2.24549403e-02 3.66042278e+02] [-2.02000891e-01 9.79375512e-01 -4.38707977e-03 -5.56081451e+01] [-2.28782210e-02 -2.40448806e-04 9.99738230e-01 -3.50574758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.45576923100003 meters Centerline goodness [0,1] 0.9987124282337049 Centerline is valid? [True, True] Translation: X:366.07, Y:-55.61, Z:-3.51 [[ 9.79235158e-01 2.01572934e-01 2.16068925e-02 3.66070164e+02] [-2.01528875e-01 9.79473482e-01 -4.22014542e-03 -5.56142621e+01] [-2.20140453e-02 -2.21897975e-04 9.99757637e-01 -3.50778214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.48576923100006 meters Centerline goodness [0,1] 0.9987441999063471 Centerline is valid? [True, True] Translation: X:366.10, Y:-55.62, Z:-3.51 [[ 9.79191089e-01 2.01939992e-01 2.01258801e-02 3.66097394e+02] [-2.01901861e-01 9.79397873e-01 -3.93004035e-03 -5.56196745e+01] [-2.05048765e-02 -2.15192166e-04 9.99789730e-01 -3.51163046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51576923100004 meters Centerline goodness [0,1] 0.9986517232662004 Centerline is valid? [True, True] Translation: X:366.13, Y:-55.63, Z:-3.51 [[ 9.79029165e-01 2.02809534e-01 1.92402354e-02 3.66125369e+02] [-2.02774874e-01 9.79218179e-01 -3.75603023e-03 -5.56263867e+01] [-1.96021470e-02 -2.24173160e-04 9.99807834e-01 -3.51341433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.54576923100007 meters Centerline goodness [0,1] 0.998791322971225 Centerline is valid? [True, True] Translation: X:366.16, Y:-55.63, Z:-3.52 [[ 9.78312844e-01 2.06398988e-01 1.74194741e-02 3.66155219e+02] [-2.06371160e-01 9.78467877e-01 -3.39978184e-03 -5.56254430e+01] [-1.77461074e-02 -2.68826850e-04 9.99842489e-01 -3.51643825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57576923100004 meters Centerline goodness [0,1] 0.9991129321815532 Centerline is valid? [True, True] Translation: X:366.18, Y:-55.62, Z:-3.52 [[ 9.77769412e-01 2.09053914e-01 1.62307772e-02 3.66184011e+02] [-2.09030128e-01 9.77904072e-01 -3.16737141e-03 -5.56235189e+01] [-1.65342945e-02 -2.95762546e-04 9.99863255e-01 -3.52035048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.60576923100007 meters Centerline goodness [0,1] 0.9990849311570301 Centerline is valid? [True, True] Translation: X:366.21, Y:-55.63, Z:-3.52 [[ 9.77228273e-01 2.11609365e-01 1.56964553e-02 3.66212493e+02] [-2.11587464e-01 9.77354270e-01 -3.06211980e-03 -5.56270030e+01] [-1.59889709e-02 -3.28783136e-04 9.99872114e-01 -3.52160243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63576923100004 meters Centerline goodness [0,1] 0.9991076360854969 Centerline is valid? [True, True] Translation: X:366.24, Y:-55.63, Z:-3.52 [[ 9.76655383e-01 2.14215850e-01 1.59947647e-02 3.66241300e+02] [-2.14193470e-01 9.76786274e-01 -3.11954869e-03 -5.56270477e+01] [-1.62917234e-02 -3.79250132e-04 9.99867209e-01 -3.52196156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.66576923100007 meters Centerline goodness [0,1] 0.9991029474583512 Centerline is valid? [True, True] Translation: X:366.27, Y:-55.62, Z:-3.52 [[ 9.75467902e-01 2.19388487e-01 1.81951555e-02 3.66273011e+02] [-2.19360447e-01 9.75637438e-01 -3.54747743e-03 -5.56224540e+01] [-1.85301506e-02 -5.30847060e-04 9.99828161e-01 -3.51806275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.69576923100004 meters Centerline goodness [0,1] 0.9990832924723388 Centerline is valid? [True, True] Translation: X:366.30, Y:-55.62, Z:-3.52 [[ 9.74815192e-01 2.22237127e-01 1.86011074e-02 3.66302623e+02] [-2.22208342e-01 9.74992462e-01 -3.62647136e-03 -5.56225999e+01] [-1.89418761e-02 -5.98181866e-04 9.99820408e-01 -3.51686601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7257692310001 meters Centerline goodness [0,1] 0.9988761900723055 Centerline is valid? [True, True] Translation: X:366.33, Y:-55.62, Z:-3.52 [[ 9.74195065e-01 2.24924626e-01 1.87853206e-02 3.66332424e+02] [-2.24895780e-01 9.74375944e-01 -3.66169162e-03 -5.56185565e+01] [-1.91275691e-02 -6.57537431e-04 9.99816835e-01 -3.51721191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.75576923100004 meters Centerline goodness [0,1] 0.9987353778058805 Centerline is valid? [True, True] Translation: X:366.36, Y:-55.62, Z:-3.52 [[ 9.73681368e-01 2.27177813e-01 1.82985234e-02 3.66362244e+02] [-2.27150850e-01 9.73853055e-01 -3.56620592e-03 -5.56160803e+01] [-1.86302358e-02 -6.84176905e-04 9.99826208e-01 -3.51840046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7857692310001 meters Centerline goodness [0,1] 0.9986754683928304 Centerline is valid? [True, True] Translation: X:366.39, Y:-55.61, Z:-3.52 [[ 9.72960180e-01 2.30242512e-01 1.83540925e-02 3.66393253e+02] [-2.30215950e-01 9.73132996e-01 -3.57598516e-03 -5.56125244e+01] [-1.86843168e-02 -7.46113659e-04 9.99825155e-01 -3.51879404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.81576923100005 meters Centerline goodness [0,1] 0.9982774753317455 Centerline is valid? [True, True] Translation: X:366.42, Y:-55.61, Z:-3.52 [[ 9.72888368e-01 2.30442228e-01 1.96113179e-02 3.66421598e+02] [-2.30411945e-01 9.73085678e-01 -3.82077578e-03 -5.56126372e+01] [-1.99639607e-02 -8.01493594e-04 9.99800379e-01 -3.51728760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8457692310001 meters Centerline goodness [0,1] 0.9980748482091857 Centerline is valid? [True, True] Translation: X:366.45, Y:-55.61, Z:-3.52 [[ 9.73084879e-01 2.29508968e-01 2.07713975e-02 3.66449810e+02] [-2.29474812e-01 9.73306193e-01 -4.04546687e-03 -5.56123479e+01] [-2.11454008e-02 -8.29929902e-04 9.99776067e-01 -3.51643765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.87576923100005 meters Centerline goodness [0,1] 0.9986677381153781 Centerline is valid? [True, True] Translation: X:366.48, Y:-55.62, Z:-3.52 [[ 9.73979169e-01 2.25719428e-01 2.03793346e-02 3.66479179e+02] [-2.25685746e-01 9.74192075e-01 -3.96787389e-03 -5.56181250e+01] [-2.07490125e-02 -7.34698821e-04 9.99784446e-01 -3.51748452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9057692310001 meters Centerline goodness [0,1] 0.9971814988536694 Centerline is valid? [True, True] Translation: X:366.51, Y:-55.61, Z:-3.52 [[ 9.74543339e-01 2.23261752e-01 2.04810031e-02 3.66510447e+02] [-2.23227195e-01 9.74758288e-01 -3.98746294e-03 -5.56078287e+01] [-2.08542755e-02 -6.85961420e-04 9.99782291e-01 -3.51876644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.93576923100005 meters Centerline goodness [0,1] 0.999005059378903 Centerline is valid? [True, True] Translation: X:366.54, Y:-55.63, Z:-3.52 [[ 9.75044719e-01 2.20978748e-01 2.13585916e-02 3.66536792e+02] [-2.20940635e-01 9.75278396e-01 -4.15755185e-03 -5.56264341e+01] [-2.17493036e-02 -6.65181826e-04 9.99763235e-01 -3.51744505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9657692310001 meters Centerline goodness [0,1] 0.9990576544161741 Centerline is valid? [True, True] Translation: X:366.57, Y:-55.63, Z:-3.52 [[ 9.75566199e-01 2.18525615e-01 2.27408819e-02 3.66565067e+02] [-2.18481787e-01 9.75830995e-01 -4.42470405e-03 -5.56323520e+01] [-2.31581686e-02 -6.51876823e-04 9.99731601e-01 -3.51537724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.99576923100005 meters Centerline goodness [0,1] 0.9989995529917622 Centerline is valid? [True, True] Translation: X:366.59, Y:-55.64, Z:-3.52 [[ 9.76752245e-01 2.13153069e-01 2.28215202e-02 3.66593059e+02] [-2.13107488e-01 9.77018675e-01 -4.43933934e-03 -5.56386664e+01] [-2.32433102e-02 -5.27302161e-04 9.99729699e-01 -3.51551069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0257692310001 meters Centerline goodness [0,1] 0.9989757377888739 Centerline is valid? [True, True] Translation: X:366.62, Y:-55.65, Z:-3.52 [[ 9.77446279e-01 2.10049753e-01 2.18602897e-02 3.66621602e+02] [-2.10007171e-01 9.77690601e-01 -4.25161372e-03 -5.56457732e+01] [-2.22656502e-02 -4.35093594e-04 9.99751995e-01 -3.51845327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.05576923100006 meters Centerline goodness [0,1] 0.9989757377888739 Centerline is valid? [True, True] Translation: X:366.65, Y:-55.65, Z:-3.52 [[ 9.77460388e-01 2.09984057e-01 2.18606034e-02 3.66648613e+02] [-2.09941495e-01 9.77704713e-01 -4.25000030e-03 -5.56508805e+01] [-2.22656473e-02 -4.35240813e-04 9.99751995e-01 -3.51905841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.08576923100003 meters Centerline goodness [0,1] 0.9989311900130394 Centerline is valid? [True, True] Translation: X:366.68, Y:-55.66, Z:-3.52 [[ 9.78145440e-01 2.06879071e-01 2.07977790e-02 3.66675870e+02] [-2.06839874e-01 9.78366459e-01 -4.04200462e-03 -5.56571387e+01] [-2.11840556e-02 -3.48141606e-04 9.99775532e-01 -3.52148627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.11576923100006 meters Centerline goodness [0,1] 0.9986021095437794 Centerline is valid? [True, True] Translation: X:366.70, Y:-55.67, Z:-3.52 [[ 9.79526443e-01 2.00249586e-01 2.06893917e-02 3.66703513e+02] [-2.00209352e-01 9.79744896e-01 -4.01922440e-03 -5.56674342e+01] [-2.10751739e-02 -2.05273127e-04 9.99777873e-01 -3.52278096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.14576923100003 meters Centerline goodness [0,1] 0.9984454855195911 Centerline is valid? [True, True] Translation: X:366.73, Y:-55.68, Z:-3.52 [[ 9.80299253e-01 1.96373209e-01 2.12352688e-02 3.66730697e+02] [-1.96329924e-01 9.80529218e-01 -4.12477680e-03 -5.56789685e+01] [-2.16317972e-02 -1.25603094e-04 9.99765997e-01 -3.52253133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.17576923100006 meters Centerline goodness [0,1] 0.9978844485815228 Centerline is valid? [True, True] Translation: X:366.76, Y:-55.69, Z:-3.52 [[ 9.81053736e-01 1.92433219e-01 2.24281723e-02 3.66757703e+02] [-1.92383928e-01 9.81310071e-01 -4.35540214e-03 -5.56905323e+01] [-2.28471154e-02 -4.19363606e-05 9.99738970e-01 -3.52134936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.20576923100003 meters Centerline goodness [0,1] 0.9974597617726166 Centerline is valid? [True, True] Translation: X:366.78, Y:-55.70, Z:-3.52 [[ 9.81824276e-01 1.88356111e-01 2.33037997e-02 3.66783072e+02] [-1.88301776e-01 9.82100795e-01 -4.52422686e-03 -5.57011305e+01] [-2.37388460e-02 5.38488827e-05 9.99718192e-01 -3.51967125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.23576923100006 meters Centerline goodness [0,1] 0.9972889315828797 Centerline is valid? [True, True] Translation: X:366.81, Y:-55.72, Z:-3.52 [[ 9.83021698e-01 1.81979925e-01 2.34871802e-02 3.66808488e+02] [-1.81922955e-01 9.83302224e-01 -4.55791746e-03 -5.57159834e+01] [-2.39244460e-02 2.07674548e-04 9.99713748e-01 -3.51950595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26576923100004 meters Centerline goodness [0,1] 0.997451826892703 Centerline is valid? [True, True] Translation: X:366.84, Y:-55.73, Z:-3.52 [[ 9.83478831e-01 1.79660590e-01 2.21689389e-02 3.66835065e+02] [-1.79609274e-01 9.83728627e-01 -4.30092249e-03 -5.57251399e+01] [-2.25809261e-02 2.48119194e-04 9.99744988e-01 -3.52281390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.29576923100007 meters Centerline goodness [0,1] 0.997327507582667 Centerline is valid? [True, True] Translation: X:366.86, Y:-55.73, Z:-3.53 [[ 9.83789699e-01 1.78094888e-01 2.09770887e-02 3.66862526e+02] [-1.78048609e-01 9.84013282e-01 -4.06858733e-03 -5.57336062e+01] [-2.13663285e-02 2.67692838e-04 9.99771678e-01 -3.52626508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32576923100004 meters Centerline goodness [0,1] 0.9972735212047629 Centerline is valid? [True, True] Translation: X:366.89, Y:-55.74, Z:-3.53 [[ 9.83927963e-01 1.77301195e-01 2.12143825e-02 3.66889787e+02] [-1.77253699e-01 9.84156595e-01 -4.11366870e-03 -5.57408529e+01] [-2.16076328e-02 2.87225891e-04 9.99766487e-01 -3.52664914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.35576923100007 meters Centerline goodness [0,1] 0.9974167929805086 Centerline is valid? [True, True] Translation: X:366.92, Y:-55.74, Z:-3.53 [[ 9.83858177e-01 1.77589872e-01 2.20210119e-02 3.66918563e+02] [-1.77538796e-01 9.84104544e-01 -4.26883027e-03 -5.57444626e+01] [-2.24290789e-02 2.90339627e-04 9.99748394e-01 -3.52524297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38576923100004 meters Centerline goodness [0,1] 0.9974255085675698 Centerline is valid? [True, True] Translation: X:366.95, Y:-55.75, Z:-3.53 [[ 9.83782579e-01 1.77970213e-01 2.23257846e-02 3.66945115e+02] [-1.77917835e-01 9.84035834e-01 -4.32686349e-03 -5.57516780e+01] [-2.27394249e-02 2.84537658e-04 9.99741385e-01 -3.52503962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.41576923100007 meters Centerline goodness [0,1] 0.9974854196602146 Centerline is valid? [True, True] Translation: X:366.97, Y:-55.76, Z:-3.53 [[ 9.83828356e-01 1.77779780e-01 2.18200968e-02 3.66972153e+02] [-1.77729728e-01 9.84070257e-01 -4.22763742e-03 -5.57580492e+01] [-2.22240967e-02 2.81189695e-04 9.99752975e-01 -3.52692783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.44576923100004 meters Centerline goodness [0,1] 0.9974682476053842 Centerline is valid? [True, True] Translation: X:367.00, Y:-55.77, Z:-3.53 [[ 9.84107331e-01 1.76480594e-01 1.96814866e-02 3.66999498e+02] [-1.76439638e-01 9.84304080e-01 -3.81209228e-03 -5.57659709e+01] [-2.00453279e-02 2.78913583e-04 9.99799033e-01 -3.53332336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.4757692310001 meters Centerline goodness [0,1] 0.9974461021133505 Centerline is valid? [True, True] Translation: X:367.03, Y:-55.77, Z:-3.53 [[ 9.84276304e-01 1.75546675e-01 1.95837195e-02 3.67027777e+02] [-1.75505957e-01 9.84471065e-01 -3.79227519e-03 -5.57727025e+01] [-1.99453265e-02 2.95587175e-04 9.99801028e-01 -3.53437644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.50576923100004 meters Centerline goodness [0,1] 0.9975057072799527 Centerline is valid? [True, True] Translation: X:367.06, Y:-55.78, Z:-3.53 [[ 9.84490074e-01 1.74281941e-01 2.01270541e-02 3.67055590e+02] [-1.74238688e-01 9.84695738e-01 -3.89651008e-03 -5.57814590e+01] [-2.04981158e-02 3.29163987e-04 9.99789837e-01 -3.53375853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5357692310001 meters Centerline goodness [0,1] 0.9973906105108796 Centerline is valid? [True, True] Translation: X:367.08, Y:-55.79, Z:-3.53 [[ 9.84735632e-01 1.72753230e-01 2.12616068e-02 3.67083398e+02] [-1.72704630e-01 9.84965064e-01 -4.11506889e-03 -5.57890750e+01] [-2.16528313e-02 3.80277024e-04 9.99765478e-01 -3.53173593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.56576923100005 meters Centerline goodness [0,1] 0.9973764942346345 Centerline is valid? [True, True] Translation: X:367.11, Y:-55.80, Z:-3.53 [[ 9.84942732e-01 1.71529822e-01 2.15716147e-02 3.67109279e+02] [-1.71479526e-01 9.85178842e-01 -4.17396056e-03 -5.58032015e+01] [-2.19678571e-02 4.12021856e-04 9.99758593e-01 -3.53069330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5957692310001 meters Centerline goodness [0,1] 0.9973785724941924 Centerline is valid? [True, True] Translation: X:367.14, Y:-55.81, Z:-3.53 [[ 9.84904780e-01 1.71855746e-01 2.06924484e-02 3.67137717e+02] [-1.71809565e-01 9.85122050e-01 -4.00258550e-03 -5.58064294e+01] [-2.10724545e-02 3.87005023e-04 9.99777876e-01 -3.53298488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.62576923100005 meters Centerline goodness [0,1] 0.9976265655131492 Centerline is valid? [True, True] Translation: X:367.17, Y:-55.81, Z:-3.54 [[ 9.84761812e-01 1.72843787e-01 1.92145791e-02 3.67165717e+02] [-1.72804172e-01 9.84949192e-01 -3.71582899e-03 -5.58119262e+01] [-1.95676421e-02 3.38847040e-04 9.99808478e-01 -3.53615285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6557692310001 meters Centerline goodness [0,1] 0.9976306858204017 Centerline is valid? [True, True] Translation: X:367.19, Y:-55.82, Z:-3.54 [[ 9.84191777e-01 1.76183910e-01 1.80492827e-02 3.67193197e+02] [-1.76149526e-01 9.84357234e-01 -3.48995249e-03 -5.58159341e+01] [-1.83818155e-02 2.55409949e-04 9.99831008e-01 -3.53925408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.68576923100005 meters Centerline goodness [0,1] 0.9975798333725986 Centerline is valid? [True, True] Translation: X:367.22, Y:-55.82, Z:-3.54 [[ 9.83895295e-01 1.77744815e-01 1.88899023e-02 3.67220670e+02] [-1.77707465e-01 9.84076585e-01 -3.65127873e-03 -5.58203989e+01] [-1.92381064e-02 2.35599322e-04 9.99814903e-01 -3.53864145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7157692310001 meters Centerline goodness [0,1] 0.9975746744957876 Centerline is valid? [True, True] Translation: X:367.25, Y:-55.83, Z:-3.54 [[ 9.83631043e-01 1.79066197e-01 2.01312737e-02 3.67248940e+02] [-1.79024079e-01 9.83837003e-01 -3.88991332e-03 -5.58251004e+01] [-2.05024439e-02 2.22256775e-04 9.99789778e-01 -3.53720644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.74576923100005 meters Centerline goodness [0,1] 0.9976681081997796 Centerline is valid? [True, True] Translation: X:367.28, Y:-55.83, Z:-3.54 [[ 9.83441047e-01 1.79995942e-01 2.10990113e-02 3.67277391e+02] [-1.79949914e-01 9.83667330e-01 -4.07583363e-03 -5.58308078e+01] [-2.14880416e-02 2.11576829e-04 9.99769083e-01 -3.53634107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7757692310001 meters Centerline goodness [0,1] 0.9977659574468085 Centerline is valid? [True, True] Translation: X:367.31, Y:-55.84, Z:-3.54 [[ 9.83208925e-01 1.81466026e-01 1.92429503e-02 3.67305721e+02] [-1.81428038e-01 9.83397201e-01 -3.71644897e-03 -5.58380936e+01] [-1.95978727e-02 1.62835074e-04 9.99807930e-01 -3.54052249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.80576923100006 meters Centerline goodness [0,1] 0.9977967443153865 Centerline is valid? [True, True] Translation: X:367.33, Y:-55.84, Z:-3.54 [[ 9.83135639e-01 1.82047306e-01 1.74095812e-02 3.67334201e+02] [-1.82016317e-01 9.83289764e-01 -3.36162481e-03 -5.58437445e+01] [-1.77306377e-02 1.36105312e-04 9.99842791e-01 -3.54346392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.83576923100003 meters Centerline goodness [0,1] 0.9977511880515954 Centerline is valid? [True, True] Translation: X:367.36, Y:-55.85, Z:-3.55 [[ 9.83031531e-01 1.82693194e-01 1.64986902e-02 3.67361767e+02] [-1.82665466e-01 9.83169967e-01 -3.18502859e-03 -5.58497380e+01] [-1.68028997e-02 1.17242606e-04 9.99858814e-01 -3.54644675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.86576923100006 meters Centerline goodness [0,1] 0.9981377631996614 Centerline is valid? [True, True] Translation: X:367.39, Y:-55.85, Z:-3.54 [[ 9.82655292e-01 1.84558458e-01 1.80763094e-02 3.67389909e+02] [-1.84525512e-01 9.82821534e-01 -3.48826743e-03 -5.58534524e+01] [-1.84095754e-02 9.22241913e-05 9.99830525e-01 -3.54407601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.89576923100003 meters Centerline goodness [0,1] 0.9978219090326713 Centerline is valid? [True, True] Translation: X:367.42, Y:-55.86, Z:-3.54 [[ 9.82454945e-01 1.85497604e-01 1.93111174e-02 3.67418084e+02] [-1.85460204e-01 9.82644713e-01 -3.72555038e-03 -5.58579673e+01] [-1.96670481e-02 7.87416049e-05 9.99806582e-01 -3.54245449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.92576923100006 meters Centerline goodness [0,1] 0.9979715158115005 Centerline is valid? [True, True] Translation: X:367.45, Y:-55.86, Z:-3.54 [[ 9.82257180e-01 1.86493898e-01 1.97701545e-02 3.67446289e+02] [-1.86454921e-01 9.82456117e-01 -3.81313269e-03 -5.58635759e+01] [-2.01344352e-02 5.92343754e-05 9.99797280e-01 -3.54227427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.95576923100003 meters Centerline goodness [0,1] 0.9981447515442835 Centerline is valid? [True, True] Translation: X:367.47, Y:-55.87, Z:-3.54 [[ 9.82239386e-01 1.86630960e-01 1.93564972e-02 3.67472512e+02] [-1.86593641e-01 9.82430090e-01 -3.73251344e-03 -5.58690987e+01] [-1.97130078e-02 5.44224341e-05 9.99805678e-01 -3.54378575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.98576923100006 meters Centerline goodness [0,1] 0.9981851562664866 Centerline is valid? [True, True] Translation: X:367.50, Y:-55.88, Z:-3.54 [[ 9.82342871e-01 1.86103585e-01 1.91817311e-02 3.67499803e+02] [-1.86066867e-01 9.82530128e-01 -3.69717638e-03 -5.58750719e+01] [-1.95346865e-02 6.28102559e-05 9.99809178e-01 -3.54476054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01576923100004 meters Centerline goodness [0,1] 0.9982366313284752 Centerline is valid? [True, True] Translation: X:367.53, Y:-55.89, Z:-3.55 [[ 9.82728783e-01 1.84045197e-01 1.92744387e-02 3.67525841e+02] [-1.84007757e-01 9.82917776e-01 -3.71360124e-03 -5.58852437e+01] [-1.96286589e-02 1.02816597e-04 9.99807334e-01 -3.54526018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.04576923100007 meters Centerline goodness [0,1] 0.9982175444552901 Centerline is valid? [True, True] Translation: X:367.55, Y:-55.89, Z:-3.54 [[ 9.82932425e-01 1.82845428e-01 2.02829466e-02 3.67553696e+02] [-1.82803738e-01 9.83141664e-01 -3.90660205e-03 -5.58929454e+01] [-2.06553142e-02 1.32127364e-04 9.99786648e-01 -3.54429786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07576923100004 meters Centerline goodness [0,1] 0.9981832948619304 Centerline is valid? [True, True] Translation: X:367.58, Y:-55.90, Z:-3.54 [[ 9.83214265e-01 1.81215931e-01 2.12248861e-02 3.67580996e+02] [-1.81169922e-01 9.83443316e-01 -4.08693151e-03 -5.59016040e+01] [-2.16140895e-02 1.73018401e-04 9.99766373e-01 -3.54285644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.10576923100007 meters Centerline goodness [0,1] 0.998121023188282 Centerline is valid? [True, True] Translation: X:367.61, Y:-55.91, Z:-3.54 [[ 9.83638760e-01 1.78787770e-01 2.21296657e-02 3.67608247e+02] [-1.78737165e-01 9.83887635e-01 -4.26001371e-03 -5.59138618e+01] [-2.25347428e-02 2.34920893e-04 9.99746033e-01 -3.54100726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13576923100004 meters Centerline goodness [0,1] 0.9981067857902574 Centerline is valid? [True, True] Translation: X:367.64, Y:-55.92, Z:-3.54 [[ 9.83809753e-01 1.77950685e-01 2.12585146e-02 3.67635657e+02] [-1.77903813e-01 9.84039377e-01 -4.09130774e-03 -5.59235998e+01] [-2.16472665e-02 2.43097647e-04 9.99765641e-01 -3.54321263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.16576923100007 meters Centerline goodness [0,1] 0.9980401025177145 Centerline is valid? [True, True] Translation: X:367.66, Y:-55.93, Z:-3.55 [[ 9.83946406e-01 1.77343324e-01 1.99703832e-02 3.67664576e+02] [-1.77301850e-01 9.84149017e-01 -3.84269541e-03 -5.59307419e+01] [-2.03353093e-02 2.40220462e-04 9.99793187e-01 -3.54629761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.19576923100004 meters Centerline goodness [0,1] 0.9981280578600298 Centerline is valid? [True, True] Translation: X:367.69, Y:-55.94, Z:-3.55 [[ 9.84077912e-01 1.76701396e-01 1.91645454e-02 3.67691833e+02] [-1.76663088e-01 9.84264475e-01 -3.68721394e-03 -5.59400387e+01] [-1.95145171e-02 2.42838024e-04 9.99809544e-01 -3.54872017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2257692310001 meters Centerline goodness [0,1] 0.9981458985998338 Centerline is valid? [True, True] Translation: X:367.72, Y:-55.95, Z:-3.55 [[ 9.84083452e-01 1.76649970e-01 1.93532329e-02 3.67720240e+02] [-1.76610909e-01 9.84273706e-01 -3.72276519e-03 -5.59474577e+01] [-1.97065047e-02 2.45519557e-04 9.99805778e-01 -3.54876933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.25576923100004 meters Centerline goodness [0,1] 0.9981601708714869 Centerline is valid? [True, True] Translation: X:367.75, Y:-55.95, Z:-3.54 [[ 9.83668267e-01 1.78685953e-01 2.16349535e-02 3.67749267e+02] [-1.78637642e-01 9.83906133e-01 -4.16108262e-03 -5.59524858e+01] [-2.20302905e-02 2.28307842e-04 9.99757278e-01 -3.54426460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2857692310001 meters Centerline goodness [0,1] 0.9983131192347113 Centerline is valid? [True, True] Translation: X:367.78, Y:-55.96, Z:-3.54 [[ 9.83295539e-01 1.80639368e-01 2.23450468e-02 3.67778589e+02] [-1.80588357e-01 9.83549380e-01 -4.29682160e-03 -5.59551196e+01] [-2.27536321e-02 1.89790238e-04 9.99741085e-01 -3.54359915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.31576923100005 meters Centerline goodness [0,1] 0.9982747375286667 Centerline is valid? [True, True] Translation: X:367.81, Y:-55.96, Z:-3.55 [[ 9.82661801e-01 1.84140140e-01 2.16377887e-02 3.67807280e+02] [-1.84093166e-01 9.82899994e-01 -4.16029485e-03 -5.59572827e+01] [-2.20338596e-02 1.04793795e-04 9.99757220e-01 -3.54697374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3457692310001 meters Centerline goodness [0,1] 0.998261901733859 Centerline is valid? [True, True] Translation: X:367.84, Y:-55.96, Z:-3.55 [[ 9.82508510e-01 1.85067294e-01 2.06670036e-02 3.67836239e+02] [-1.85024663e-01 9.82725847e-01 -3.97290758e-03 -5.59617753e+01] [-2.10452539e-02 7.95101340e-05 9.99778521e-01 -3.54969925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.37576923100005 meters Centerline goodness [0,1] 0.9984883646660563 Centerline is valid? [True, True] Translation: X:367.86, Y:-55.97, Z:-3.55 [[ 9.82449445e-01 1.85541348e-01 1.91701722e-02 3.67864496e+02] [-1.85504770e-01 9.82636456e-01 -3.68455219e-03 -5.59672174e+01] [-1.95209468e-02 6.37278687e-05 9.99809446e-01 -3.55251483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4057692310001 meters Centerline goodness [0,1] 0.9984911594695681 Centerline is valid? [True, True] Translation: X:367.89, Y:-55.97, Z:-3.56 [[ 9.82428428e-01 1.85780131e-01 1.78920861e-02 3.67891408e+02] [-1.85748322e-01 9.82591339e-01 -3.43813373e-03 -5.59732303e+01] [-1.82193458e-02 5.42953410e-05 9.99834012e-01 -3.55553236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.43576923100005 meters Centerline goodness [0,1] 0.998682252922423 Centerline is valid? [True, True] Translation: X:367.92, Y:-55.98, Z:-3.56 [[ 9.82229322e-01 1.86858469e-01 1.75917847e-02 3.67920089e+02] [-1.86827912e-01 9.82386844e-01 -3.37932297e-03 -5.59787727e+01] [-1.79133929e-02 3.26337028e-05 9.99839542e-01 -3.55630822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4657692310001 meters Centerline goodness [0,1] 0.9987016304116471 Centerline is valid? [True, True] Translation: X:367.95, Y:-55.98, Z:-3.56 [[ 9.82047948e-01 1.87722146e-01 1.84992701e-02 3.67948278e+02] [-1.87688526e-01 9.82222172e-01 -3.55268288e-03 -5.59830994e+01] [-1.88373105e-02 1.68041866e-05 9.99822562e-01 -3.55560828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.49576923100005 meters Centerline goodness [0,1] 0.998840909569872 Centerline is valid? [True, True] Translation: X:367.98, Y:-55.99, Z:-3.55 [[ 9.81901271e-01 1.88408203e-01 1.92936177e-02 3.67977171e+02] [-1.88371786e-01 9.82090805e-01 -3.70423384e-03 -5.59868764e+01] [-1.96459926e-02 2.81869869e-06 9.99806999e-01 -3.55452850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5257692310001 meters Centerline goodness [0,1] 0.9989776575578795 Centerline is valid? [True, True] Translation: X:368.00, Y:-55.99, Z:-3.55 [[ 9.81701343e-01 1.89378249e-01 1.99587644e-02 3.68004818e+02] [-1.89339498e-01 9.81904210e-01 -3.83094130e-03 -5.59898161e+01] [-2.03230917e-02 -1.81422080e-05 9.99793464e-01 -3.55439194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.55576923100006 meters Centerline goodness [0,1] 0.99912906789022 Centerline is valid? [True, True] Translation: X:368.03, Y:-55.99, Z:-3.56 [[ 9.81174904e-01 1.92227268e-01 1.85603249e-02 3.68033450e+02] [-1.92194287e-01 9.81350433e-01 -3.56147159e-03 -5.59881757e+01] [-1.88987948e-02 -7.27618519e-05 9.99821399e-01 -3.55691010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.58576923100003 meters Centerline goodness [0,1] 0.9990455991516437 Centerline is valid? [True, True] Translation: X:368.06, Y:-55.99, Z:-3.56 [[ 9.80840693e-01 1.93969195e-01 1.80966092e-02 3.68061731e+02] [-1.93938157e-01 9.81007615e-01 -3.47143852e-03 -5.59890322e+01] [-1.84262636e-02 -1.04694874e-04 9.99830217e-01 -3.55823746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.61576923100006 meters Centerline goodness [0,1] 0.9992349215794619 Centerline is valid? [True, True] Translation: X:368.09, Y:-55.99, Z:-3.56 [[ 9.80478518e-01 1.95741335e-01 1.86334419e-02 3.68091244e+02] [-1.95708770e-01 9.80655551e-01 -3.57324493e-03 -5.59905435e+01] [-1.89724200e-02 -1.43238098e-04 9.99819997e-01 -3.55817119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.64576923100003 meters Centerline goodness [0,1] 0.9992629872180926 Centerline is valid? [True, True] Translation: X:368.12, Y:-55.99, Z:-3.56 [[ 9.80094763e-01 1.97542346e-01 1.97807277e-02 3.68120413e+02] [-1.97506034e-01 9.80294336e-01 -3.79225306e-03 -5.59904837e+01] [-2.01400659e-02 -1.90045724e-04 9.99797150e-01 -3.55664260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.67576923100006 meters Centerline goodness [0,1] 0.9992760720521228 Centerline is valid? [True, True] Translation: X:368.15, Y:-55.99, Z:-3.56 [[ 9.80017657e-01 1.97937589e-01 1.96494894e-02 3.68148154e+02] [-1.97901855e-01 9.80214605e-01 -3.76619407e-03 -5.59940631e+01] [-2.00061878e-02 -1.97733708e-04 9.99799837e-01 -3.55786349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.70576923100003 meters Centerline goodness [0,1] 0.999260026639041 Centerline is valid? [True, True] Translation: X:368.18, Y:-56.00, Z:-3.56 [[ 9.80050710e-01 1.97815675e-01 1.92240469e-02 3.68175466e+02] [-1.97781469e-01 9.80239217e-01 -3.68358731e-03 -5.59993544e+01] [-1.95728360e-02 -1.92057866e-04 9.99808415e-01 -3.55900468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.73576923100006 meters Centerline goodness [0,1] 0.9992606362752968 Centerline is valid? [True, True] Translation: X:368.20, Y:-56.00, Z:-3.56 [[ 9.80172294e-01 1.97034771e-01 2.09659902e-02 3.68204179e+02] [-1.96993942e-01 9.80396482e-01 -4.01567824e-03 -5.60035530e+01] [-2.13462112e-02 -1.94116498e-04 9.99772125e-01 -3.55668404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76576923100004 meters Centerline goodness [0,1] 0.999213217938631 Centerline is valid? [True, True] Translation: X:368.23, Y:-56.01, Z:-3.56 [[ 9.80191976e-01 1.96846450e-01 2.17983089e-02 3.68232500e+02] [-1.96802292e-01 9.80434310e-01 -4.17398826e-03 -5.60070065e+01] [-2.21934447e-02 -1.98647357e-04 9.99753675e-01 -3.55584097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.79576923100007 meters Centerline goodness [0,1] 0.9993048680302488 Centerline is valid? [True, True] Translation: X:368.26, Y:-56.01, Z:-3.56 [[ 9.80148478e-01 1.97082725e-01 2.16185070e-02 3.68260783e+02] [-1.97039385e-01 9.80386841e-01 -4.13800385e-03 -5.60094160e+01] [-2.20100289e-02 -2.03839147e-04 9.99757729e-01 -3.55711670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82576923100004 meters Centerline goodness [0,1] 0.9992138698848425 Centerline is valid? [True, True] Translation: X:368.29, Y:-56.01, Z:-3.56 [[ 9.80129746e-01 1.97313576e-01 2.03232415e-02 3.68289304e+02] [-1.97275356e-01 9.80340407e-01 -3.88849805e-03 -5.60136338e+01] [-2.06909483e-02 -1.98042091e-04 9.99785900e-01 -3.56019639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.85576923100007 meters Centerline goodness [0,1] 0.9994309919706644 Centerline is valid? [True, True] Translation: X:368.32, Y:-56.02, Z:-3.57 [[ 9.80213422e-01 1.97121283e-01 1.80235119e-02 3.68317467e+02] [-1.97091204e-01 9.80379095e-01 -3.44777703e-03 -5.60154983e+01] [-1.83495045e-02 -1.72718342e-04 9.99831619e-01 -3.56565389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88576923100004 meters Centerline goodness [0,1] 0.9993241245300554 Centerline is valid? [True, True] Translation: X:368.35, Y:-56.02, Z:-3.57 [[ 9.80367313e-01 1.96348150e-01 1.80924223e-02 3.68345288e+02] [-1.96317730e-01 9.80534231e-01 -3.45982991e-03 -5.60214060e+01] [-1.84195706e-02 -1.59959128e-04 9.99830333e-01 -3.56606018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.91576923100007 meters Centerline goodness [0,1] 0.9993854499989404 Centerline is valid? [True, True] Translation: X:368.37, Y:-56.03, Z:-3.57 [[ 9.80539012e-01 1.95411456e-01 1.89105567e-02 3.68373963e+02] [-1.95378067e-01 9.80721337e-01 -3.61531549e-03 -5.60275896e+01] [-1.92524605e-02 -1.49750122e-04 9.99814643e-01 -3.56608537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.94576923100004 meters Centerline goodness [0,1] 0.9992293365872456 Centerline is valid? [True, True] Translation: X:368.40, Y:-56.04, Z:-3.56 [[ 9.80762684e-01 1.94142309e-01 2.03302920e-02 3.68401828e+02] [-1.94103461e-01 9.80973366e-01 -3.88598125e-03 -5.60352607e+01] [-2.06979083e-02 -1.34954642e-04 9.99785766e-01 -3.56415412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.9757692310001 meters Centerline goodness [0,1] 0.9992293365872456 Centerline is valid? [True, True] Translation: X:368.43, Y:-56.04, Z:-3.56 [[ 9.80775960e-01 1.94075215e-01 2.03304638e-02 3.68428854e+02] [-1.94036371e-01 9.80986643e-01 -3.88508200e-03 -5.60402817e+01] [-2.06979116e-02 -1.34454395e-04 9.99785766e-01 -3.56475915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.00576923100004 meters Centerline goodness [0,1] 0.9990316197212749 Centerline is valid? [True, True] Translation: X:368.46, Y:-56.05, Z:-3.56 [[ 9.81484220e-01 1.90299154e-01 2.17935380e-02 3.68455090e+02] [-1.90253623e-01 9.81726147e-01 -4.16301714e-03 -5.60534911e+01] [-2.21875048e-02 -6.03639386e-05 9.99753825e-01 -3.56241329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0357692310001 meters Centerline goodness [0,1] 0.9990771343949865 Centerline is valid? [True, True] Translation: X:368.48, Y:-56.06, Z:-3.56 [[ 9.81973546e-01 1.87803387e-01 2.13972474e-02 3.68482441e+02] [-1.87758931e-01 9.82206642e-01 -4.08607980e-03 -5.60632835e+01] [-2.17838982e-02 -5.10202677e-06 9.99762703e-01 -3.56350535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.06576923100005 meters Centerline goodness [0,1] 0.9989432973349959 Centerline is valid? [True, True] Translation: X:368.51, Y:-56.07, Z:-3.56 [[ 9.82473799e-01 1.85230595e-01 2.08533098e-02 3.68509166e+02] [-1.85187810e-01 9.82695082e-01 -3.98127547e-03 -5.60733538e+01] [-2.12298990e-02 4.97200614e-05 9.99774619e-01 -3.56496782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0957692310001 meters Centerline goodness [0,1] 0.9989356720166886 Centerline is valid? [True, True] Translation: X:368.54, Y:-56.09, Z:-3.57 [[ 9.83196172e-01 1.81371851e-01 2.07253297e-02 3.68535728e+02] [-1.81328758e-01 9.83414579e-01 -3.95564351e-03 -5.60892781e+01] [-2.10990338e-02 1.31075259e-04 9.99777382e-01 -3.56669603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.12576923100005 meters Centerline goodness [0,1] 0.9989597265566948 Centerline is valid? [True, True] Translation: X:368.56, Y:-56.10, Z:-3.57 [[ 9.83418432e-01 1.80172942e-01 2.06373091e-02 3.68562315e+02] [-1.80129969e-01 9.83634936e-01 -3.93790715e-03 -5.60987766e+01] [-2.10090825e-02 1.55212618e-04 9.99779273e-01 -3.56690601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1557692310001 meters Centerline goodness [0,1] 0.9989115355885178 Centerline is valid? [True, True] Translation: X:368.59, Y:-56.11, Z:-3.57 [[ 9.83560959e-01 1.79425815e-01 2.03523018e-02 3.68589966e+02] [-1.79383886e-01 9.83771492e-01 -3.88236037e-03 -5.61067207e+01] [-2.07186100e-02 1.67663099e-04 9.99785333e-01 -3.56778046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.18576923100005 meters Centerline goodness [0,1] 0.998858085389837 Centerline is valid? [True, True] Translation: X:368.62, Y:-56.11, Z:-3.57 [[ 9.83622494e-01 1.79200888e-01 1.93347167e-02 3.68618154e+02] [-1.79163020e-01 9.83812490e-01 -3.68741096e-03 -5.61134978e+01] [-1.96825231e-02 1.62954121e-04 9.99806267e-01 -3.56989297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2157692310001 meters Centerline goodness [0,1] 0.9989733718318896 Centerline is valid? [True, True] Translation: X:368.64, Y:-56.12, Z:-3.58 [[ 9.83840003e-01 1.78222110e-01 1.71967242e-02 3.68644543e+02] [-1.78192016e-01 9.83990271e-01 -3.27906226e-03 -5.61232865e+01] [-1.75058107e-02 1.61753673e-04 9.99846748e-01 -3.57527151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.24576923100005 meters Centerline goodness [0,1] 0.9989415749364945 Centerline is valid? [True, True] Translation: X:368.67, Y:-56.13, Z:-3.58 [[ 9.84046270e-01 1.77070274e-01 1.72932348e-02 3.68670550e+02] [-1.77039682e-01 9.84198194e-01 -3.29637917e-03 -5.61326072e+01] [-1.76036612e-02 1.82200842e-04 9.99845027e-01 -3.57626052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2757692310001 meters Centerline goodness [0,1] 0.9990047222751626 Centerline is valid? [True, True] Translation: X:368.70, Y:-56.14, Z:-3.58 [[ 9.84294795e-01 1.75596135e-01 1.81591332e-02 3.68697777e+02] [-1.75562177e-01 9.84462264e-01 -3.46005739e-03 -5.61422999e+01] [-1.84845541e-02 2.17659526e-04 9.99829122e-01 -3.57508154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.30576923100006 meters Centerline goodness [0,1] 0.998924523025962 Centerline is valid? [True, True] Translation: X:368.73, Y:-56.15, Z:-3.57 [[ 9.84522294e-01 1.74208559e-01 1.91632875e-02 3.68725974e+02] [-1.74170497e-01 9.84708745e-01 -3.65042595e-03 -5.61526548e+01] [-1.95061922e-02 2.56246414e-04 9.99809703e-01 -3.57406809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.33576923100003 meters Centerline goodness [0,1] 0.9989331284940042 Centerline is valid? [True, True] Translation: X:368.75, Y:-56.17, Z:-3.58 [[ 9.85179382e-01 1.70455701e-01 1.91426071e-02 3.68753196e+02] [-1.70417022e-01 9.85365285e-01 -3.64600554e-03 -5.61714729e+01] [-1.94839430e-02 3.29743395e-04 9.99810116e-01 -3.57519794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.36576923100006 meters Centerline goodness [0,1] 0.9988582061149406 Centerline is valid? [True, True] Translation: X:368.78, Y:-56.19, Z:-3.58 [[ 9.85596690e-01 1.68087135e-01 1.85978485e-02 3.68781469e+02] [-1.68050205e-01 9.85772074e-01 -3.54221445e-03 -5.61859730e+01] [-1.89286403e-02 3.65822597e-04 9.99820770e-01 -3.57723734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.39576923100003 meters Centerline goodness [0,1] 0.9987623498282227 Centerline is valid? [True, True] Translation: X:368.81, Y:-56.20, Z:-3.58 [[ 9.86439836e-01 1.63153211e-01 1.78179388e-02 3.68810357e+02] [-1.63118506e-01 9.86600646e-01 -3.39380642e-03 -5.62020078e+01] [-1.81329004e-02 4.41350280e-04 9.99835488e-01 -3.57871426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.42576923100006 meters Centerline goodness [0,1] 0.9986854380459672 Centerline is valid? [True, True] Translation: X:368.84, Y:-56.22, Z:-3.58 [[ 9.86696356e-01 1.61565781e-01 1.80775667e-02 3.68838068e+02] [-1.61529792e-01 9.86861829e-01 -3.44323642e-03 -5.62236772e+01] [-1.83963698e-02 4.77363231e-04 9.99830659e-01 -3.57950214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.45576923100003 meters Centerline goodness [0,1] 0.9987517454406973 Centerline is valid? [True, True] Translation: X:368.87, Y:-56.23, Z:-3.58 [[ 9.86792717e-01 1.60884238e-01 1.88784153e-02 3.68869448e+02] [-1.60844805e-01 9.86973149e-01 -3.59887382e-03 -5.62309396e+01] [-1.92114911e-02 5.14847440e-04 9.99815310e-01 -3.57727573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.48576923100006 meters Centerline goodness [0,1] 0.9987565072607331 Centerline is valid? [True, True] Translation: X:368.90, Y:-56.24, Z:-3.58 [[ 9.86707158e-01 1.61343145e-01 1.94261352e-02 3.68900232e+02] [-1.61301414e-01 9.86898229e-01 -3.70656616e-03 -5.62421339e+01] [-1.97696475e-02 5.23832269e-04 9.99804424e-01 -3.57619054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51576923100004 meters Centerline goodness [0,1] 0.9986508706100594 Centerline is valid? [True, True] Translation: X:368.93, Y:-56.26, Z:-3.58 [[ 9.86452647e-01 1.62883482e-01 1.94973456e-02 3.68929159e+02] [-1.62841681e-01 9.86645186e-01 -3.72336330e-03 -5.62566050e+01] [-1.98434365e-02 4.97941057e-04 9.99802976e-01 -3.57709177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.54576923100007 meters Centerline goodness [0,1] 0.9990617936799011 Centerline is valid? [True, True] Translation: X:368.96, Y:-56.26, Z:-3.58 [[ 9.86068107e-01 1.65209117e-01 1.93813348e-02 3.68961561e+02] [-1.65168205e-01 9.86258457e-01 -3.70408975e-03 -5.62568304e+01] [-1.97269548e-02 4.51304492e-04 9.99805303e-01 -3.57792362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57576923100004 meters Centerline goodness [0,1] 0.9992348890589136 Centerline is valid? [True, True] Translation: X:368.99, Y:-56.26, Z:-3.58 [[ 9.85146828e-01 1.70600509e-01 1.95241835e-02 3.68991858e+02] [-1.70559978e-01 9.85340217e-01 -3.73493796e-03 -5.62604680e+01] [-1.98751455e-02 3.49417986e-04 9.99802409e-01 -3.57977010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.60576923100007 meters Centerline goodness [0,1] 0.9993533507210139 Centerline is valid? [True, True] Translation: X:369.02, Y:-56.27, Z:-3.58 [[ 9.84672595e-01 1.73297553e-01 1.96936251e-02 3.69023479e+02] [-1.73256861e-01 9.84869468e-01 -3.76701127e-03 -5.62658838e+01] [-2.00484639e-02 2.97217111e-04 9.99798965e-01 -3.57992994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63576923100004 meters Centerline goodness [0,1] 0.9993028709043665 Centerline is valid? [True, True] Translation: X:369.05, Y:-56.28, Z:-3.58 [[ 9.84297991e-01 1.75443886e-01 1.94141291e-02 3.69052401e+02] [-1.75404691e-01 9.84489400e-01 -3.71696829e-03 -5.62804360e+01] [-1.97651236e-02 2.53275113e-04 9.99804619e-01 -3.58199097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.66576923100007 meters Centerline goodness [0,1] 0.9992584117298076 Centerline is valid? [True, True] Translation: X:369.08, Y:-56.28, Z:-3.58 [[ 9.83981755e-01 1.77273395e-01 1.88161767e-02 3.69084615e+02] [-1.77236854e-01 9.84161622e-01 -3.60544927e-03 -5.62827721e+01] [-1.91573093e-02 2.12776330e-04 9.99816459e-01 -3.58287986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.69576923100004 meters Centerline goodness [0,1] 0.9994279054984638 Centerline is valid? [True, True] Translation: X:369.11, Y:-56.29, Z:-3.59 [[ 9.83281679e-01 1.81303213e-01 1.69199753e-02 3.69114659e+02] [-1.81274219e-01 9.83427237e-01 -3.24465283e-03 -5.62892844e+01] [-1.72278305e-02 1.23252389e-04 9.99851582e-01 -3.58726084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7257692310001 meters Centerline goodness [0,1] 0.999405696820478 Centerline is valid? [True, True] Translation: X:369.15, Y:-56.29, Z:-3.59 [[ 9.82835985e-01 1.83700698e-01 1.69552533e-02 3.69145917e+02] [-1.83671895e-01 9.82982221e-01 -3.25400068e-03 -5.62948540e+01] [-1.72644747e-02 8.39454700e-05 9.99850954e-01 -3.58789082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.75576923100004 meters Centerline goodness [0,1] 0.9993435680254102 Centerline is valid? [True, True] Translation: X:369.18, Y:-56.30, Z:-3.59 [[ 9.82367116e-01 1.86131997e-01 1.75990994e-02 3.69177495e+02] [-1.86101299e-01 9.82524747e-01 -3.38065021e-03 -5.63000824e+01] [-1.79207978e-02 4.58243365e-05 9.99839409e-01 -3.58659218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7857692310001 meters Centerline goodness [0,1] 0.9995717253046104 Centerline is valid? [True, True] Translation: X:369.21, Y:-56.30, Z:-3.58 [[ 9.81890784e-01 1.88543639e-01 1.84874282e-02 3.69209539e+02] [-1.88510129e-01 9.82064813e-01 -3.55456198e-03 -5.63048353e+01] [-1.88260427e-02 5.12417209e-06 9.99822774e-01 -3.58495969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.81576923100005 meters Centerline goodness [0,1] 0.9997037789344505 Centerline is valid? [True, True] Translation: X:369.24, Y:-56.31, Z:-3.58 [[ 9.81135253e-01 1.92315569e-01 1.97062575e-02 3.69241135e+02] [-1.92278185e-01 9.81333133e-01 -3.79241167e-03 -5.63109344e+01] [-2.00677432e-02 -6.82146390e-05 9.99798620e-01 -3.58437402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8457692310001 meters Centerline goodness [0,1] 0.9997221212833721 Centerline is valid? [True, True] Translation: X:369.27, Y:-56.32, Z:-3.59 [[ 9.80918453e-01 1.93401455e-01 1.98712267e-02 3.69273452e+02] [-1.93363592e-01 9.81119702e-01 -3.82772974e-03 -5.63201343e+01] [-2.02363405e-02 -8.76810416e-05 9.99795220e-01 -3.58510949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.87576923100005 meters Centerline goodness [0,1] 0.9998513958178538 Centerline is valid? [True, True] Translation: X:369.30, Y:-56.33, Z:-3.59 [[ 9.80833876e-01 1.93874213e-01 1.94344500e-02 3.69304737e+02] [-1.93838018e-01 9.81026392e-01 -3.74721968e-03 -5.63279479e+01] [-1.97921976e-02 -9.17352595e-05 9.99804111e-01 -3.58871283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9057692310001 meters Centerline goodness [0,1] 0.9997889003820903 Centerline is valid? [True, True] Translation: X:369.34, Y:-56.34, Z:-3.59 [[ 9.80751941e-01 1.94365644e-01 1.86447342e-02 3.69336167e+02] [-1.94332360e-01 9.80929145e-01 -3.59806334e-03 -5.63395473e+01] [-1.89885030e-02 -9.44675911e-05 9.99819698e-01 -3.58939689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.93576923100005 meters Centerline goodness [0,1] 0.9997874375597832 Centerline is valid? [True, True] Translation: X:369.37, Y:-56.34, Z:-3.59 [[ 9.80070642e-01 1.97851677e-01 1.77834216e-02 3.69366721e+02] [-1.97821912e-01 9.80231958e-01 -3.43512202e-03 -5.63447355e+01] [-1.81115228e-02 -1.51288205e-04 9.99835961e-01 -3.59124259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9657692310001 meters Centerline goodness [0,1] 0.9998515565357536 Centerline is valid? [True, True] Translation: X:369.40, Y:-56.35, Z:-3.59 [[ 9.79332098e-01 2.01465396e-01 1.78979496e-02 3.69398383e+02] [-2.01435791e-01 9.79495609e-01 -3.46043744e-03 -5.63459579e+01] [-1.82281214e-02 -2.16370171e-04 9.99833831e-01 -3.59060548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.99576923100005 meters Centerline goodness [0,1] 0.9999363246593369 Centerline is valid? [True, True] Translation: X:369.43, Y:-56.35, Z:-3.59 [[ 9.78343020e-01 2.06183280e-01 1.82589645e-02 3.69429955e+02] [-2.06153280e-01 9.78513341e-01 -3.53073831e-03 -5.63450874e+01] [-1.85946196e-02 -3.09872237e-04 9.99827057e-01 -3.58976914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0257692310001 meters Centerline goodness [0,1] 0.9998921414241646 Centerline is valid? [True, True] Translation: X:369.46, Y:-56.35, Z:-3.59 [[ 9.77287343e-01 2.11107425e-01 1.85230615e-02 3.69461156e+02] [-2.11077433e-01 9.77462781e-01 -3.58180678e-03 -5.63458172e+01] [-1.88617492e-02 -4.09345851e-04 9.99822018e-01 -3.58924530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.05576923100006 meters Centerline goodness [0,1] 0.9995741056218058 Centerline is valid? [True, True] Translation: X:369.49, Y:-56.34, Z:-3.59 [[ 9.75327248e-01 2.20029763e-01 1.79906479e-02 3.69492534e+02] [-2.20002985e-01 9.75492995e-01 -3.47887488e-03 -5.63378765e+01] [-1.83152071e-02 -5.64954784e-04 9.99832103e-01 -3.59160773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.08576923100003 meters Centerline goodness [0,1] 0.9993236245270656 Centerline is valid? [True, True] Translation: X:369.52, Y:-56.34, Z:-3.59 [[ 9.74630709e-01 2.23115378e-01 1.77343862e-02 3.69523180e+02] [-2.23089868e-01 9.74791850e-01 -3.42924225e-03 -5.63377049e+01] [-1.80524518e-02 -6.14117075e-04 9.99836853e-01 -3.59330920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.11576923100006 meters Centerline goodness [0,1] 0.9993839748491801 Centerline is valid? [True, True] Translation: X:369.55, Y:-56.34, Z:-3.59 [[ 9.74128334e-01 2.25254555e-01 1.82859135e-02 3.69553230e+02] [-2.25227813e-01 9.74299713e-01 -3.53570890e-03 -5.63382618e+01] [-1.86123949e-02 -6.74262105e-04 9.99826547e-01 -3.59299829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.14576923100003 meters Centerline goodness [0,1] 0.9994883601944231 Centerline is valid? [True, True] Translation: X:369.58, Y:-56.34, Z:-3.59 [[ 9.73594215e-01 2.27305703e-01 2.11286755e-02 3.69583431e+02] [-2.27270494e-01 9.73823103e-01 -4.08481210e-03 -5.63400835e+01] [-2.15040935e-02 -8.24975105e-04 9.99768420e-01 -3.58821034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.17576923100006 meters Centerline goodness [0,1] 0.9991751443497388 Centerline is valid? [True, True] Translation: X:369.61, Y:-56.34, Z:-3.59 [[ 9.73532279e-01 2.27481814e-01 2.20664066e-02 3.69612534e+02] [-2.27443469e-01 9.73781944e-01 -4.26553700e-03 -5.63360646e+01] [-2.24582004e-02 -8.66222101e-04 9.99747408e-01 -3.58698001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.20576923100003 meters Centerline goodness [0,1] 0.9990439364323956 Centerline is valid? [True, True] Translation: X:369.64, Y:-56.34, Z:-3.59 [[ 9.73708870e-01 2.26725623e-01 2.20573730e-02 3.69641695e+02] [-2.26687144e-01 9.73958300e-01 -4.26248576e-03 -5.63390899e+01] [-2.24493763e-02 -8.49702714e-04 9.99747620e-01 -3.58726666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.23576923100006 meters Centerline goodness [0,1] 0.9994239754229514 Centerline is valid? [True, True] Translation: X:369.67, Y:-56.34, Z:-3.59 [[ 9.74207752e-01 2.24678387e-01 2.09494290e-02 3.69670581e+02] [-2.24643223e-01 9.74432676e-01 -4.04746587e-03 -5.63445483e+01] [-2.13231863e-02 -7.63074631e-04 9.99772344e-01 -3.59112987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26576923100004 meters Centerline goodness [0,1] 0.9992218062507887 Centerline is valid? [True, True] Translation: X:369.70, Y:-56.34, Z:-3.59 [[ 9.74458547e-01 2.23605804e-01 2.07601761e-02 3.69699208e+02] [-2.23571040e-01 9.74679387e-01 -4.01044881e-03 -5.63435155e+01] [-2.11312753e-02 -7.33358035e-04 9.99776441e-01 -3.59221012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.29576923100007 meters Centerline goodness [0,1] 0.9994299467950342 Centerline is valid? [True, True] Translation: X:369.73, Y:-56.35, Z:-3.59 [[ 9.74704592e-01 2.22499035e-01 2.10982687e-02 3.69727490e+02] [-2.22462898e-01 9.74932643e-01 -4.07448715e-03 -5.63479846e+01] [-2.14759604e-02 -7.22160662e-04 9.99769104e-01 -3.59200860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32576923100004 meters Centerline goodness [0,1] 0.9996404171161453 Centerline is valid? [True, True] Translation: X:369.75, Y:-56.36, Z:-3.59 [[ 9.74981268e-01 2.21195973e-01 2.19969922e-02 3.69754535e+02] [-2.21156383e-01 9.75229110e-01 -4.24701755e-03 -5.63585713e+01] [-2.23915303e-02 -7.24012670e-04 9.99749016e-01 -3.59055419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.35576923100007 meters Centerline goodness [0,1] 0.9997232334844904 Centerline is valid? [True, True] Translation: X:369.78, Y:-56.36, Z:-3.59 [[ 9.75661375e-01 2.18141755e-01 2.23395723e-02 3.69784593e+02] [-2.18100146e-01 9.75916867e-01 -4.31209238e-03 -5.63613476e+01] [-2.27422128e-02 -6.65122006e-04 9.99741141e-01 -3.59057003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38576923100004 meters Centerline goodness [0,1] 0.9996614114908475 Centerline is valid? [True, True] Translation: X:369.81, Y:-56.36, Z:-3.59 [[ 9.76052719e-01 2.16457872e-01 2.16120239e-02 3.69813867e+02] [-2.16418522e-01 9.76291771e-01 -4.17140456e-03 -5.63591030e+01] [-2.20025745e-02 -6.05731500e-04 9.99757731e-01 -3.59317510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.41576923100007 meters Centerline goodness [0,1] 0.9997672844207498 Centerline is valid? [True, True] Translation: X:369.84, Y:-56.37, Z:-3.60 [[ 9.76529542e-01 2.14404534e-01 2.05121600e-02 3.69841183e+02] [-2.14368654e-01 9.76744804e-01 -3.95817608e-03 -5.63700435e+01] [-2.08837967e-02 -5.31888270e-04 9.99781768e-01 -3.59571458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.44576923100004 meters Centerline goodness [0,1] 0.999852186582765 Centerline is valid? [True, True] Translation: X:369.87, Y:-56.38, Z:-3.60 [[ 9.77494553e-01 2.10190176e-01 1.80135409e-02 3.69870065e+02] [-2.10161804e-01 9.77660441e-01 -3.47525693e-03 -5.63800028e+01] [-1.83415912e-02 -3.88713534e-04 9.99831703e-01 -3.59995219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.4757692310001 meters Centerline goodness [0,1] 0.9998726817468064 Centerline is valid? [True, True] Translation: X:369.90, Y:-56.39, Z:-3.60 [[ 9.77882191e-01 2.08472173e-01 1.69048267e-02 3.69897858e+02] [-2.08446936e-01 9.78028241e-01 -3.26098430e-03 -5.63886934e+01] [-1.72132224e-02 -3.34900846e-04 9.99851785e-01 -3.60203651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.50576923100004 meters Centerline goodness [0,1] 0.9998509813939627 Centerline is valid? [True, True] Translation: X:369.93, Y:-56.39, Z:-3.60 [[ 9.78149629e-01 2.07297087e-01 1.58499611e-02 3.69925486e+02] [-2.07274757e-01 9.78277992e-01 -3.05687696e-03 -5.63926947e+01] [-1.61393498e-02 -2.95213776e-04 9.99869709e-01 -3.60421062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5357692310001 meters Centerline goodness [0,1] 0.9999361267245784 Centerline is valid? [True, True] Translation: X:369.95, Y:-56.40, Z:-3.60 [[ 9.78513932e-01 2.05536571e-01 1.62850397e-02 3.69954294e+02] [-2.05512774e-01 9.78649397e-01 -3.13960660e-03 -5.63980107e+01] [-1.65826483e-02 -2.74634891e-04 9.99862461e-01 -3.60478979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.56576923100005 meters Centerline goodness [0,1] 0.9999364231673978 Centerline is valid? [True, True] Translation: X:369.98, Y:-56.40, Z:-3.60 [[ 9.78720498e-01 2.04415235e-01 1.79052531e-02 3.69981391e+02] [-2.04386291e-01 9.78884228e-01 -3.45133676e-03 -5.64035604e+01] [-1.82326756e-02 -2.81694239e-04 9.99833731e-01 -3.60248786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5957692310001 meters Centerline goodness [0,1] 0.9998726249867318 Centerline is valid? [True, True] Translation: X:370.01, Y:-56.41, Z:-3.60 [[ 9.78943440e-01 2.03167056e-01 1.98214106e-02 3.70010131e+02] [-2.03131355e-01 9.79144047e-01 -3.81939628e-03 -5.64096069e+01] [-2.01839917e-02 -2.87377050e-04 9.99796241e-01 -3.59955542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.62576923100005 meters Centerline goodness [0,1] 0.9999573996762375 Centerline is valid? [True, True] Translation: X:370.04, Y:-56.42, Z:-3.60 [[ 9.79197497e-01 2.01831280e-01 2.08901072e-02 3.70038251e+02] [-2.01791357e-01 9.79420266e-01 -4.02367541e-03 -5.64160683e+01] [-2.12722979e-02 -2.75470190e-04 9.99773681e-01 -3.59865163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6557692310001 meters Centerline goodness [0,1] 0.9999361810755616 Centerline is valid? [True, True] Translation: X:370.07, Y:-56.43, Z:-3.60 [[ 9.79868322e-01 1.98615454e-01 2.02478054e-02 3.70066993e+02] [-1.98577281e-01 9.80077477e-01 -3.89897424e-03 -5.64284728e+01] [-2.06188145e-02 -2.00272787e-04 9.99787390e-01 -3.60061207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.68576923100005 meters Centerline goodness [0,1] 0.9999578085775161 Centerline is valid? [True, True] Translation: X:370.10, Y:-56.44, Z:-3.60 [[ 9.80243103e-01 1.96808752e-01 1.97426796e-02 3.70096349e+02] [-1.96772094e-01 9.80441885e-01 -3.80168267e-03 -5.64364748e+01] [-2.01047544e-02 -1.58235176e-04 9.99797866e-01 -3.60237084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7157692310001 meters Centerline goodness [0,1] 0.9999576531368439 Centerline is valid? [True, True] Translation: X:370.13, Y:-56.45, Z:-3.60 [[ 9.80706581e-01 1.94522209e-01 1.93833237e-02 3.70125429e+02] [-1.94486421e-01 9.80898108e-01 -3.73274753e-03 -5.64466133e+01] [-1.97391679e-02 -1.09063201e-04 9.99805158e-01 -3.60346764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.74576923100005 meters Centerline goodness [0,1] 0.9999152847491369 Centerline is valid? [True, True] Translation: X:370.15, Y:-56.46, Z:-3.60 [[ 9.81020084e-01 1.92965584e-01 1.90755947e-02 3.70153428e+02] [-1.92930630e-01 9.81205523e-01 -3.67351581e-03 -5.64550338e+01] [-1.94259410e-02 -7.64736976e-05 9.99811296e-01 -3.60459955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7757692310001 meters Centerline goodness [0,1] 0.9999577880962431 Centerline is valid? [True, True] Translation: X:370.18, Y:-56.46, Z:-3.61 [[ 9.81201658e-01 1.92132796e-01 1.81189150e-02 3.70182456e+02] [-1.92101122e-01 9.81368934e-01 -3.48904434e-03 -5.64633660e+01] [-1.84517002e-02 -5.72078125e-05 9.99829751e-01 -3.60711774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.80576923100006 meters Centerline goodness [0,1] 0.9999153098600495 Centerline is valid? [True, True] Translation: X:370.21, Y:-56.47, Z:-3.61 [[ 9.81124616e-01 1.92525863e-01 1.81184802e-02 3.70212448e+02] [-1.92494259e-01 9.81291897e-01 -3.48887413e-03 -5.64706775e+01] [-1.84512163e-02 -6.46831332e-05 9.99829760e-01 -3.60786077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.83576923100003 meters Centerline goodness [0,1] 0.9999571045576408 Centerline is valid? [True, True] Translation: X:370.24, Y:-56.48, Z:-3.61 [[ 9.81056914e-01 1.92867868e-01 1.81470840e-02 3.70243377e+02] [-1.92836215e-01 9.81224735e-01 -3.49483262e-03 -5.64779079e+01] [-1.84804086e-02 -7.07852745e-05 9.99829220e-01 -3.60845110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.86576923100006 meters Centerline goodness [0,1] 0.9999571045576408 Centerline is valid? [True, True] Translation: X:370.27, Y:-56.48, Z:-3.61 [[ 9.81052289e-01 1.92891404e-01 1.81470005e-02 3.70273638e+02] [-1.92859746e-01 9.81220109e-01 -3.49526596e-03 -5.64837828e+01] [-1.84804086e-02 -7.07872363e-05 9.99829220e-01 -3.60912965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.89576923100003 meters Centerline goodness [0,1] 0.9999567875893957 Centerline is valid? [True, True] Translation: X:370.31, Y:-56.49, Z:-3.61 [[ 9.81003677e-01 1.93115443e-01 1.83905302e-02 3.70305020e+02] [-1.93082970e-01 9.81176039e-01 -3.54214706e-03 -5.64922273e+01] [-1.87283908e-02 -7.60388984e-05 9.99824605e-01 -3.60923717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.33, Y:-56.51, Z:-3.61 [[ 9.81063898e-01 1.92658472e-01 1.99083353e-02 3.70334061e+02] [-1.92620245e-01 9.81265870e-01 -3.83835090e-03 -5.65051095e+01] [-2.02748608e-02 -6.90809254e-05 9.99794441e-01 -3.60752260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.37, Y:-56.52, Z:-3.61 [[ 9.81125245e-01 1.92306791e-01 2.02818072e-02 3.70365678e+02] [-1.92266972e-01 9.81334853e-01 -3.91367985e-03 -5.65164585e+01] [-2.06558715e-02 -5.97115616e-05 9.99786643e-01 -3.60746348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.98576923100006 meters Centerline goodness [0,1] 0.99997877128179 Centerline is valid? [True, True] Translation: X:370.40, Y:-56.53, Z:-3.61 [[ 9.81175493e-01 1.92088886e-01 1.99126216e-02 3.70395839e+02] [-1.92050378e-01 9.81377531e-01 -3.84643662e-03 -5.65264118e+01] [-2.02806572e-02 -5.01971561e-05 9.99794325e-01 -3.60897094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01576923100004 meters Centerline goodness [0,1] 0.9999367168712822 Centerline is valid? [True, True] Translation: X:370.43, Y:-56.53, Z:-3.61 [[ 9.81146478e-01 1.92301136e-01 1.92837218e-02 3.70426705e+02] [-1.92265021e-01 9.81335962e-01 -3.72711345e-03 -5.65349096e+01] [-1.96405378e-02 -5.07409418e-05 9.99807105e-01 -3.61112171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.04576923100007 meters Centerline goodness [0,1] 0.9999787433041408 Centerline is valid? [True, True] Translation: X:370.46, Y:-56.54, Z:-3.61 [[ 9.80888645e-01 1.93743375e-01 1.79156748e-02 3.70457119e+02] [-1.93712382e-01 9.81052241e-01 -3.46601419e-03 -5.65424668e+01] [-1.82477302e-02 -7.07140962e-05 9.99833494e-01 -3.61397104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07576923100004 meters Centerline goodness [0,1] 0.9999786971155894 Centerline is valid? [True, True] Translation: X:370.49, Y:-56.55, Z:-3.62 [[ 9.80630476e-01 1.95116597e-01 1.71283984e-02 3.70488109e+02] [-1.95088458e-01 9.80780049e-01 -3.31485401e-03 -5.65495801e+01] [-1.74459745e-02 -9.09059767e-05 9.99847803e-01 -3.61531730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.10576923100007 meters Centerline goodness [0,1] 0.9999787315496192 Centerline is valid? [True, True] Translation: X:370.52, Y:-56.55, Z:-3.62 [[ 9.80195652e-01 1.97331314e-01 1.66383965e-02 3.70518879e+02] [-1.97305033e-01 9.80336849e-01 -3.22285482e-03 -5.65543450e+01] [-1.69472033e-02 -1.23811074e-04 9.99856378e-01 -3.61650187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.55, Y:-56.56, Z:-3.62 [[ 9.79597177e-01 2.00269544e-01 1.67774069e-02 3.70550264e+02] [-2.00243195e-01 9.79740823e-01 -3.25312447e-03 -5.65575058e+01] [-1.70890122e-02 -1.72810013e-04 9.99853957e-01 -3.61725328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.16576923100007 meters Centerline goodness [0,1] 0.9999574766653201 Centerline is valid? [True, True] Translation: X:370.58, Y:-56.56, Z:-3.62 [[ 9.78879684e-01 2.03713863e-01 1.71821711e-02 3.70582167e+02] [-2.03686750e-01 9.79030441e-01 -3.33203703e-03 -5.65595110e+01] [-1.75006507e-02 -2.38117243e-04 9.99846824e-01 -3.61675820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.19576923100004 meters Centerline goodness [0,1] 0.9999154923626222 Centerline is valid? [True, True] Translation: X:370.61, Y:-56.55, Z:-3.61 [[ 9.77291922e-01 2.11092880e-01 1.84470810e-02 3.70612729e+02] [-2.11062930e-01 9.77465927e-01 -3.57787028e-03 -5.65539364e+01] [-1.87866561e-02 -3.96871227e-04 9.99823436e-01 -3.61422854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2257692310001 meters Centerline goodness [0,1] 0.9998938045579083 Centerline is valid? [True, True] Translation: X:370.64, Y:-56.55, Z:-3.61 [[ 9.76489692e-01 2.14769482e-01 1.84919065e-02 3.70642780e+02] [-2.14740039e-01 9.76664656e-01 -3.58685157e-03 -5.65531860e+01] [-1.88307378e-02 -4.68429137e-04 9.99822576e-01 -3.61414809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.25576923100004 meters Centerline goodness [0,1] 0.999809873883009 Centerline is valid? [True, True] Translation: X:370.67, Y:-56.55, Z:-3.61 [[ 9.75618803e-01 2.18690415e-01 1.85055077e-02 3.70672852e+02] [-2.18661647e-01 9.75794141e-01 -3.58873262e-03 -5.65494826e+01] [-1.88423875e-02 -5.45209778e-04 9.99822318e-01 -3.61456623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2857692310001 meters Centerline goodness [0,1] 0.9993662730518177 Centerline is valid? [True, True] Translation: X:370.70, Y:-56.54, Z:-3.62 [[ 9.73901485e-01 2.26166188e-01 1.90984961e-02 3.70704979e+02] [-2.26136981e-01 9.74088471e-01 -3.70368904e-03 -5.65362468e+01] [-1.94412740e-02 -7.11847982e-04 9.99810747e-01 -3.61535236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.31576923100005 meters Centerline goodness [0,1] 0.9991089234947171 Centerline is valid? [True, True] Translation: X:370.74, Y:-56.54, Z:-3.62 [[ 9.73222438e-01 2.29064652e-01 1.91695503e-02 3.70736346e+02] [-2.29035798e-01 9.73410904e-01 -3.71698573e-03 -5.65356651e+01] [-1.95112794e-02 -7.73059336e-04 9.99809338e-01 -3.61613293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3457692310001 meters Centerline goodness [0,1] 0.998180240800694 Centerline is valid? [True, True] Translation: X:370.77, Y:-56.54, Z:-3.62 [[ 9.72717777e-01 2.31233946e-01 1.87346989e-02 3.70766364e+02] [-2.31206785e-01 9.72897849e-01 -3.63276627e-03 -5.65353066e+01] [-1.90669671e-02 -7.97933167e-04 9.99817890e-01 -3.61791224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.37576923100005 meters Centerline goodness [0,1] 0.9964735197229496 Centerline is valid? [True, True] Translation: X:370.79, Y:-56.53, Z:-3.62 [[ 9.72491574e-01 2.32207262e-01 1.84370628e-02 3.70794646e+02] [-2.32181142e-01 9.72665996e-01 -3.57450297e-03 -5.65341133e+01] [-1.87631296e-02 -8.04564280e-04 9.99823633e-01 -3.61886896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4057692310001 meters Centerline goodness [0,1] 0.9967957559681697 Centerline is valid? [True, True] Translation: X:370.82, Y:-56.53, Z:-3.62 [[ 9.72403212e-01 2.32531433e-01 1.90032973e-02 3.70824327e+02] [-2.32503768e-01 9.72588522e-01 -3.68313392e-03 -5.65310926e+01] [-1.93388332e-02 -8.36846965e-04 9.99812637e-01 -3.61847316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.43576923100005 meters Centerline goodness [0,1] 0.9970087827230685 Centerline is valid? [True, True] Translation: X:370.85, Y:-56.53, Z:-3.62 [[ 9.72519901e-01 2.32013645e-01 1.93574378e-02 3.70853167e+02] [-2.31984854e-01 9.72712166e-01 -3.75088128e-03 -5.65332738e+01] [-1.96994709e-02 -8.42825694e-04 9.99805591e-01 -3.61795987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4657692310001 meters Centerline goodness [0,1] 0.9976322854787223 Centerline is valid? [True, True] Translation: X:370.88, Y:-56.54, Z:-3.62 [[ 9.72689613e-01 2.31267455e-01 1.97555356e-02 3.70881151e+02] [-2.31237333e-01 9.72889844e-01 -3.82712879e-03 -5.65355989e+01] [-2.01050503e-02 -8.45608953e-04 9.99797515e-01 -3.61805545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.49576923100005 meters Centerline goodness [0,1] 0.9991094714076713 Centerline is valid? [True, True] Translation: X:370.91, Y:-56.54, Z:-3.62 [[ 9.72961281e-01 2.30092475e-01 2.00947199e-02 3.70909838e+02] [-2.30061082e-01 9.73168409e-01 -3.89167395e-03 -5.65403920e+01] [-2.04509915e-02 -8.36564934e-04 9.99790507e-01 -3.61750763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5257692310001 meters Centerline goodness [0,1] 0.9993025762410973 Centerline is valid? [True, True] Translation: X:370.94, Y:-56.54, Z:-3.62 [[ 9.73171667e-01 2.29155722e-01 2.06048776e-02 3.70938212e+02] [-2.29122526e-01 9.73389414e-01 -3.98950099e-03 -5.65409991e+01] [-2.09707867e-02 -8.38572279e-04 9.99779737e-01 -3.61795441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.55576923100006 meters Centerline goodness [0,1] 0.9990080411979485 Centerline is valid? [True, True] Translation: X:370.97, Y:-56.54, Z:-3.62 [[ 9.73356805e-01 2.28282669e-01 2.15303026e-02 3.70966338e+02] [-2.28246239e-01 9.73594519e-01 -4.16737761e-03 -5.65431071e+01] [-2.19131247e-02 -8.57865236e-04 9.99759511e-01 -3.61738493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.58576923100003 meters Centerline goodness [0,1] 0.9993187575841441 Centerline is valid? [True, True] Translation: X:371.00, Y:-56.55, Z:-3.62 [[ 9.73572563e-01 2.27343646e-01 2.17101738e-02 3.70995264e+02] [-2.27306400e-01 9.73814229e-01 -4.20094326e-03 -5.65476334e+01] [-2.20967339e-02 -8.44938355e-04 9.99755480e-01 -3.61723533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.61576923100006 meters Centerline goodness [0,1] 0.9993034447821681 Centerline is valid? [True, True] Translation: X:371.02, Y:-56.54, Z:-3.62 [[ 9.73868270e-01 2.26211364e-01 2.02240107e-02 3.71023806e+02] [-2.26178812e-01 9.74077941e-01 -3.91274817e-03 -5.65447589e+01] [-2.05848708e-02 -7.63741425e-04 9.99787817e-01 -3.62017740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.64576923100003 meters Centerline goodness [0,1] 0.9997222459618836 Centerline is valid? [True, True] Translation: X:371.05, Y:-56.56, Z:-3.62 [[ 9.74024718e-01 2.25652003e-01 1.88950252e-02 3.71051260e+02] [-2.25623504e-01 9.74207718e-01 -3.65460262e-03 -5.65559288e+01] [-1.92323478e-02 -7.03488511e-04 9.99814794e-01 -3.62250029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.67576923100006 meters Centerline goodness [0,1] 0.9993675022664502 Centerline is valid? [True, True] Translation: X:371.08, Y:-56.55, Z:-3.63 [[ 9.74144080e-01 2.25200316e-01 1.81143496e-02 3.71080973e+02] [-2.25174060e-01 9.74312257e-01 -3.50278135e-03 -5.65484766e+01] [-1.84378603e-02 -6.66667941e-04 9.99829786e-01 -3.62527370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.70576923100003 meters Centerline goodness [0,1] 0.9993256059009483 Centerline is valid? [True, True] Translation: X:371.11, Y:-56.55, Z:-3.63 [[ 9.74286728e-01 2.24595399e-01 1.79521381e-02 3.71108999e+02] [-2.24569529e-01 9.74451889e-01 -3.47027603e-03 -5.65497092e+01] [-1.82729029e-02 -6.50459324e-04 9.99832825e-01 -3.62590059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.73576923100006 meters Centerline goodness [0,1] 0.9996383132632654 Centerline is valid? [True, True] Translation: X:371.14, Y:-56.55, Z:-3.62 [[ 9.74380471e-01 2.24018628e-01 1.99587776e-02 3.71138293e+02] [-2.23986557e-01 9.74584602e-01 -3.85689159e-03 -5.65460090e+01] [-2.03155329e-02 -7.12418028e-04 9.99793364e-01 -3.62228107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76576923100004 meters Centerline goodness [0,1] 0.9995360998650472 Centerline is valid? [True, True] Translation: X:371.17, Y:-56.55, Z:-3.62 [[ 9.74373766e-01 2.23944169e-01 2.10896627e-02 3.71167590e+02] [-2.23908370e-01 9.74601684e-01 -4.07415840e-03 -5.65460084e+01] [-2.14664048e-02 -7.52398943e-04 9.99769287e-01 -3.62057348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.79576923100007 meters Centerline goodness [0,1] 0.9992394312636005 Centerline is valid? [True, True] Translation: X:371.20, Y:-56.54, Z:-3.62 [[ 9.74321102e-01 2.24089776e-01 2.19581803e-02 3.71195828e+02] [-2.24051028e-01 9.74568187e-01 -4.24090075e-03 -5.65444372e+01] [-2.23500865e-02 -7.87753757e-04 9.99749895e-01 -3.61998661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82576923100004 meters Centerline goodness [0,1] 0.9997025137587386 Centerline is valid? [True, True] Translation: X:371.23, Y:-56.55, Z:-3.62 [[ 9.74815131e-01 2.21889684e-01 2.23702660e-02 3.71225638e+02] [-2.21848932e-01 9.75071485e-01 -4.31862730e-03 -5.65465729e+01] [-2.27708674e-02 -7.52956382e-04 9.99740427e-01 -3.61995150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.85576923100007 meters Centerline goodness [0,1] 0.9997050396089668 Centerline is valid? [True, True] Translation: X:371.25, Y:-56.55, Z:-3.62 [[ 9.75443803e-01 2.19134631e-01 2.21224129e-02 3.71253756e+02] [-2.19094079e-01 9.75694393e-01 -4.27028525e-03 -5.65515461e+01] [-2.25204816e-02 -6.81466395e-04 9.99746150e-01 -3.62112016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88576923100004 meters Centerline goodness [0,1] 0.9997881535463097 Centerline is valid? [True, True] Translation: X:371.28, Y:-56.56, Z:-3.62 [[ 9.76256270e-01 2.15593321e-01 2.10526699e-02 3.71282975e+02] [-2.15555787e-01 9.76483074e-01 -4.06311368e-03 -5.65604742e+01] [-2.14335560e-02 -5.71384642e-04 9.99770112e-01 -3.62333821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.91576923100007 meters Centerline goodness [0,1] 0.9998936419135946 Centerline is valid? [True, True] Translation: X:371.31, Y:-56.57, Z:-3.63 [[ 9.77117005e-01 2.11767973e-01 1.99169154e-02 3.71310378e+02] [-2.11733589e-01 9.77319862e-01 -3.84374362e-03 -5.65689742e+01] [-2.02791788e-02 -4.61292710e-04 9.99794250e-01 -3.62638028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.34, Y:-56.59, Z:-3.63 [[ 9.77981347e-01 2.07808496e-01 1.91862814e-02 3.71337368e+02] [-2.07775839e-01 9.78169461e-01 -3.70210285e-03 -5.65850824e+01] [-1.95367630e-02 -3.65858181e-04 9.99809072e-01 -3.62818742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.37, Y:-56.59, Z:-3.63 [[ 9.79492445e-01 2.00502232e-01 1.98344660e-02 3.71365131e+02] [-2.00465841e-01 9.79693219e-01 -3.82666721e-03 -5.65947656e+01] [-2.01989471e-02 -2.27941287e-04 9.99795954e-01 -3.62852687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.39, Y:-56.60, Z:-3.63 [[ 9.80076250e-01 1.97544280e-01 2.06591798e-02 3.71392765e+02] [-1.97504153e-01 9.80293949e-01 -3.98527050e-03 -5.66041466e+01] [-2.10393364e-02 -1.74404848e-04 9.99778633e-01 -3.62719576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.42, Y:-56.61, Z:-3.63 [[ 9.80487919e-01 1.95449190e-01 2.10488600e-02 3.71420430e+02] [-1.95407073e-01 9.80713820e-01 -4.05950182e-03 -5.66140861e+01] [-2.14363343e-02 -1.32803630e-04 9.99770207e-01 -3.62656828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.45, Y:-56.62, Z:-3.63 [[ 9.80812720e-01 1.93778554e-01 2.13607311e-02 3.71447948e+02] [-1.93734806e-01 9.81045291e-01 -4.11858505e-03 -5.66192762e+01] [-2.17539381e-02 -9.87564996e-05 9.99763350e-01 -3.62638315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.47, Y:-56.63, Z:-3.63 [[ 9.80960602e-01 1.93057504e-01 2.10973325e-02 3.71474903e+02] [-1.93014689e-01 9.81187440e-01 -4.06651555e-03 -5.66254268e+01] [-2.14855090e-02 -8.30035294e-05 9.99769156e-01 -3.62762638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.50, Y:-56.63, Z:-3.63 [[ 9.81055527e-01 1.92753608e-01 1.93932783e-02 3.71501967e+02] [-1.92717390e-01 9.81247187e-01 -3.73711972e-03 -5.66306278e+01] [-1.97499431e-02 -7.11000261e-05 9.99804948e-01 -3.63269413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.53, Y:-56.63, Z:-3.63 [[ 9.80959301e-01 1.93302608e-01 1.87869787e-02 3.71530806e+02] [-1.93268744e-01 9.81139182e-01 -3.61904503e-03 -5.66347019e+01] [-1.91322118e-02 -8.07999064e-05 9.99816959e-01 -3.63435094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.56, Y:-56.64, Z:-3.63 [[ 9.80854034e-01 1.93816875e-01 1.89837471e-02 3.71558519e+02] [-1.93782409e-01 9.81037721e-01 -3.65613250e-03 -5.66409534e+01] [-1.93323921e-02 -9.25839353e-05 9.99813108e-01 -3.63379764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.59, Y:-56.64, Z:-3.63 [[ 9.80479569e-01 1.95552132e-01 2.04738355e-02 3.71586472e+02] [-1.95512444e-01 9.80693298e-01 -3.94204946e-03 -5.66446951e+01] [-2.08494295e-02 -1.37790657e-04 9.99782618e-01 -3.63048670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.61, Y:-56.65, Z:-3.63 [[ 9.80228191e-01 1.96808309e-01 2.04739676e-02 3.71614843e+02] [-1.96768920e-01 9.80441973e-01 -3.94082400e-03 -5.66492526e+01] [-2.08491241e-02 -1.65733698e-04 9.99782620e-01 -3.63078408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.64, Y:-56.65, Z:-3.63 [[ 9.79961449e-01 1.98127118e-01 2.05232690e-02 3.71642915e+02] [-1.98087849e-01 9.80176314e-01 -3.94930124e-03 -5.66520544e+01] [-2.08988858e-02 -1.95247241e-04 9.99781575e-01 -3.63223850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.67, Y:-56.65, Z:-3.63 [[ 9.79498001e-01 2.00328007e-01 2.12686441e-02 3.71671145e+02] [-2.00286382e-01 9.79728853e-01 -4.09137812e-03 -5.66532097e+01] [-2.16571219e-02 -2.52323079e-04 9.99765425e-01 -3.63130690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.33576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.70, Y:-56.66, Z:-3.63 [[ 9.79305801e-01 2.01202746e-01 2.18541555e-02 3.71699394e+02] [-2.01159058e-01 9.79549578e-01 -4.20203099e-03 -5.66593478e+01] [-2.22526889e-02 -2.81088013e-04 9.99752339e-01 -3.63129779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.73, Y:-56.66, Z:-3.63 [[ 9.79093330e-01 2.02176744e-01 2.23789152e-02 3.71727152e+02] [-2.02131213e-01 9.79349002e-01 -4.30180566e-03 -5.66639982e+01] [-2.27864933e-02 -3.11608046e-04 9.99740306e-01 -3.63099699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.76, Y:-56.67, Z:-3.63 [[ 9.79012053e-01 2.02531586e-01 2.27235008e-02 3.71755541e+02] [-2.02484770e-01 9.79275676e-01 -4.36665806e-03 -5.66698675e+01] [-2.31369578e-02 -3.26151943e-04 9.99732252e-01 -3.63115486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.78, Y:-56.68, Z:-3.63 [[ 9.79036299e-01 2.02380562e-01 2.30224358e-02 3.71782180e+02] [-2.02332492e-01 9.79306898e-01 -4.42292049e-03 -5.66754799e+01] [-2.34411433e-02 -3.27987103e-04 9.99725165e-01 -3.63152806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.81, Y:-56.68, Z:-3.63 [[ 9.79190897e-01 2.01690167e-01 2.25003083e-02 3.71810383e+02] [-2.01644112e-01 9.79449326e-01 -4.32079623e-03 -5.66839008e+01] [-2.29093739e-02 -3.06170347e-04 9.99737499e-01 -3.63315422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.84, Y:-56.69, Z:-3.64 [[ 9.79293231e-01 2.01263649e-01 2.18565934e-02 3.71837815e+02] [-2.01220103e-01 9.79537064e-01 -4.19639992e-03 -5.66895586e+01] [-2.22539261e-02 -2.88479932e-04 9.99752309e-01 -3.63510113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.87, Y:-56.70, Z:-3.64 [[ 9.79509089e-01 2.00305738e-01 2.09655928e-02 3.71865491e+02] [-2.00265477e-01 9.79733405e-01 -4.02410391e-03 -5.66981316e+01] [-2.13467428e-02 -2.57038091e-04 9.99772099e-01 -3.63726975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.89, Y:-56.70, Z:-3.64 [[ 9.79618475e-01 1.99784251e-01 2.08302009e-02 3.71893473e+02] [-1.99744412e-01 9.79839881e-01 -3.99713256e-03 -5.67047075e+01] [-2.12088257e-02 -2.45051321e-04 9.99775038e-01 -3.63775328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.92, Y:-56.71, Z:-3.64 [[ 9.79693682e-01 1.99408362e-01 2.08948481e-02 3.71920846e+02] [-1.99368210e-01 9.79916450e-01 -4.00855241e-03 -5.67105037e+01] [-2.12745443e-02 -2.38614999e-04 9.99773643e-01 -3.63843450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.95, Y:-56.72, Z:-3.64 [[ 9.79609964e-01 1.99803654e-01 2.10432411e-02 3.71949782e+02] [-1.99763048e-01 9.79835924e-01 -4.03576464e-03 -5.67151156e+01] [-2.14252841e-02 -2.50186736e-04 9.99770421e-01 -3.63930459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.98, Y:-56.72, Z:-3.64 [[ 9.79442104e-01 2.00665984e-01 2.06476950e-02 3.71978304e+02] [-2.00627102e-01 9.79659682e-01 -3.95896144e-03 -5.67206886e+01] [-2.10221432e-02 -2.64913682e-04 9.99778975e-01 -3.64205628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.00, Y:-56.73, Z:-3.64 [[ 9.79500883e-01 2.00399582e-01 2.04457364e-02 3.72004712e+02] [-2.00361418e-01 9.79714214e-01 -3.91931525e-03 -5.67263875e+01] [-2.08164077e-02 -2.57563996e-04 9.99783282e-01 -3.64297794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.03, Y:-56.73, Z:-3.64 [[ 9.79703027e-01 1.99423993e-01 2.02990374e-02 3.72031862e+02] [-1.99386200e-01 9.79913269e-01 -3.88948506e-03 -5.67332368e+01] [-2.06669527e-02 -2.36807649e-04 9.99786388e-01 -3.64405355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.06, Y:-56.74, Z:-3.65 [[ 9.79976250e-01 1.98095073e-01 2.01218994e-02 3.72059344e+02] [-1.98057682e-01 9.80182788e-01 -3.85435363e-03 -5.67424081e+01] [-2.04866679e-02 -2.08121727e-04 9.99790105e-01 -3.64501142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.09, Y:-56.76, Z:-3.65 [[ 9.80700929e-01 1.94613247e-01 1.87449437e-02 3.72085903e+02] [-1.94580177e-01 9.80880048e-01 -3.58978983e-03 -5.67579800e+01] [-1.90851619e-02 -1.26884246e-04 9.99817854e-01 -3.64920407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.11, Y:-56.76, Z:-3.65 [[ 9.80714076e-01 1.94546967e-01 1.87450935e-02 3.72112928e+02] [-1.94513900e-01 9.80893196e-01 -3.58900769e-03 -5.67630104e+01] [-1.90851652e-02 -1.26390865e-04 9.99817854e-01 -3.64980911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.14, Y:-56.77, Z:-3.65 [[ 9.80936718e-01 1.93476051e-01 1.81706730e-02 3.72139299e+02] [-1.93444819e-01 9.81104993e-01 -3.47775918e-03 -5.67718453e+01] [-1.85002011e-02 -1.03560882e-04 9.99828851e-01 -3.65151967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.17, Y:-56.78, Z:-3.65 [[ 9.80940732e-01 1.93453668e-01 1.81922843e-02 3.72166566e+02] [-1.93422377e-01 9.81109407e-01 -3.48087555e-03 -5.67791835e+01] [-1.85220094e-02 -1.04262268e-04 9.99828447e-01 -3.65191723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.19, Y:-56.78, Z:-3.65 [[ 9.80502419e-01 1.95574823e-01 1.91179210e-02 3.72194961e+02] [-1.95540698e-01 9.80688771e-01 -3.65652498e-03 -5.67846786e+01] [-1.94638547e-02 -1.53100038e-04 9.99810550e-01 -3.64961148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.22, Y:-56.79, Z:-3.65 [[ 9.80027336e-01 1.97900300e-01 1.95420631e-02 3.72223217e+02] [-1.97865124e-01 9.80222133e-01 -3.73674617e-03 -5.67868063e+01] [-1.98950659e-02 -2.04579330e-04 9.99802053e-01 -3.64924537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.25, Y:-56.79, Z:-3.65 [[ 9.79552117e-01 2.00234026e-01 1.95955185e-02 3.72252142e+02] [-2.00199147e-01 9.79748065e-01 -3.74581981e-03 -5.67882603e+01] [-1.99487119e-02 -2.53780354e-04 9.99800972e-01 -3.64992246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.28, Y:-56.79, Z:-3.65 [[ 9.78763049e-01 2.04096254e-01 1.91732366e-02 3.72281584e+02] [-2.04063620e-01 9.78950771e-01 -3.66419396e-03 -5.67911133e+01] [-1.95175030e-02 -3.26182414e-04 9.99809462e-01 -3.65218388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.31, Y:-56.79, Z:-3.65 [[ 9.78609842e-01 2.04795644e-01 1.95325793e-02 3.72309416e+02] [-2.04761922e-01 9.78804691e-01 -3.73245088e-03 -5.67937006e+01] [-1.98829699e-02 -3.46915317e-04 9.99802254e-01 -3.65260518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.34, Y:-56.79, Z:-3.65 [[ 9.78645943e-01 2.04547492e-01 2.03086480e-02 3.72337796e+02] [-2.04511011e-01 9.78856576e-01 -3.87945387e-03 -5.67931056e+01] [-2.06727862e-02 -3.56730333e-04 9.99786231e-01 -3.65235200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.37, Y:-56.80, Z:-3.65 [[ 9.78847008e-01 2.03528426e-01 2.08498114e-02 3.72365736e+02] [-2.03489771e-01 9.79068976e-01 -3.98152291e-03 -5.67987774e+01] [-2.12237566e-02 -3.45421550e-04 9.99774691e-01 -3.65190420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.39, Y:-56.81, Z:-3.65 [[ 9.79857589e-01 1.98655873e-01 2.03702967e-02 3.72392042e+02] [-1.98617940e-01 9.80069278e-01 -3.88910201e-03 -5.68093936e+01] [-2.07368949e-02 -2.35140249e-04 9.99784940e-01 -3.65347603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.42, Y:-56.82, Z:-3.65 [[ 9.80584038e-01 1.95104906e-01 1.97236170e-02 3.72419139e+02] [-1.95068653e-01 9.80782367e-01 -3.76420433e-03 -5.68223279e+01] [-2.00789905e-02 -1.56340723e-04 9.99798385e-01 -3.65482334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.45, Y:-56.83, Z:-3.66 [[ 9.81427368e-01 1.90904905e-01 1.88583868e-02 3.72445292e+02] [-1.90871004e-01 9.81608533e-01 -3.59822750e-03 -5.68316189e+01] [-1.91984727e-02 -6.81202657e-05 9.99815690e-01 -3.65783315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.47, Y:-56.85, Z:-3.66 [[ 9.82344725e-01 1.86149409e-01 1.86343526e-02 3.72471653e+02] [-1.86115475e-01 9.82521449e-01 -3.55430394e-03 -5.68458311e+01] [-1.89702827e-02 2.34103416e-05 9.99820048e-01 -3.65964738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.50, Y:-56.87, Z:-3.66 [[ 9.83937217e-01 1.77516457e-01 1.88536651e-02 3.72498459e+02] [-1.77480150e-01 9.84117814e-01 -3.59517002e-03 -5.68673804e+01] [-1.91924295e-02 1.91270265e-04 9.99815790e-01 -3.65896950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.53, Y:-56.89, Z:-3.66 [[ 9.84503372e-01 1.74341546e-01 1.89244667e-02 3.72526176e+02] [-1.74304380e-01 9.84685209e-01 -3.60863840e-03 -5.68850519e+01] [-1.92637781e-02 2.54099240e-04 9.99814404e-01 -3.65963688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.55, Y:-56.90, Z:-3.66 [[ 9.84785166e-01 1.72686543e-01 1.94302324e-02 3.72554038e+02] [-1.72647036e-01 9.84976787e-01 -3.70539739e-03 -5.68959214e+01] [-1.97782001e-02 2.94448363e-04 9.99804349e-01 -3.65881898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.58, Y:-56.90, Z:-3.66 [[ 9.84746335e-01 1.72800831e-01 2.03599516e-02 3.72584450e+02] [-1.72757487e-01 9.84956740e-01 -3.88220801e-03 -5.69010731e+01] [-2.07245203e-02 3.05656040e-04 9.99785177e-01 -3.65711881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.62, Y:-56.91, Z:-3.66 [[ 9.84586331e-01 1.73710628e-01 2.03561838e-02 3.72615372e+02] [-1.73667494e-01 9.84796698e-01 -3.88145867e-03 -5.69080613e+01] [-2.07209532e-02 2.86423709e-04 9.99785257e-01 -3.65784944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.65, Y:-56.92, Z:-3.66 [[ 9.84396506e-01 1.74820338e-01 2.00341837e-02 3.72645282e+02] [-1.74778778e-01 9.84600316e-01 -3.82054388e-03 -5.69158287e+01] [-2.03935724e-02 2.59379897e-04 9.99791996e-01 -3.65899711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.67, Y:-56.92, Z:-3.66 [[ 9.84120561e-01 1.76366797e-01 2.00368417e-02 3.72674751e+02] [-1.76325536e-01 9.84324490e-01 -3.82157959e-03 -5.69219758e+01] [-2.03967537e-02 2.27888200e-04 9.99791939e-01 -3.65954311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.70, Y:-56.93, Z:-3.66 [[ 9.83526981e-01 1.79619363e-01 2.02869662e-02 3.72704077e+02] [-1.79577757e-01 9.83736173e-01 -3.86926915e-03 -5.69308180e+01] [-2.06520182e-02 1.62442719e-04 9.99786711e-01 -3.65938083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.73, Y:-56.94, Z:-3.66 [[ 9.83256116e-01 1.81023298e-01 2.09278646e-02 3.72734009e+02] [-1.80979334e-01 9.83478798e-01 -3.99177585e-03 -5.69374327e+01] [-2.13047155e-02 1.37427038e-04 9.99773019e-01 -3.65880834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.76, Y:-56.94, Z:-3.66 [[ 9.83041197e-01 1.82134050e-01 2.13820479e-02 3.72763222e+02] [-1.82088419e-01 9.83273703e-01 -4.07840392e-03 -5.69441356e+01] [-2.17672216e-02 1.15815784e-04 9.99763059e-01 -3.65864504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.79, Y:-56.95, Z:-3.66 [[ 9.82830414e-01 1.83239439e-01 2.16260534e-02 3.72792902e+02] [-1.83193022e-01 9.83068309e-01 -4.12520225e-03 -5.69499358e+01] [-2.20157875e-02 9.26321598e-05 9.99757619e-01 -3.65914814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.82, Y:-56.95, Z:-3.66 [[ 9.82152008e-01 1.86884356e-01 2.12525621e-02 3.72823371e+02] [-1.86840381e-01 9.82381920e-01 -4.05396249e-03 -5.69509912e+01] [-2.16357550e-02 1.07705874e-05 9.99765920e-01 -3.66129250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.85, Y:-56.95, Z:-3.66 [[ 9.81776084e-01 1.88925242e-01 2.05663187e-02 3.72852071e+02] [-1.88884513e-01 9.81991472e-01 -3.92285123e-03 -5.69528403e+01] [-2.09370752e-02 -3.32975773e-05 9.99780795e-01 -3.66258737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.88, Y:-56.96, Z:-3.66 [[ 9.81503478e-01 1.90425788e-01 1.97216105e-02 3.72881961e+02] [-1.90388653e-01 9.81701592e-01 -3.76102564e-03 -5.69560645e+01] [-2.00769327e-02 -6.33111235e-05 9.99798436e-01 -3.66419439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.91, Y:-56.96, Z:-3.67 [[ 9.81439016e-01 1.90815543e-01 1.91542803e-02 3.72910180e+02] [-1.90780592e-01 9.81625908e-01 -3.65266297e-03 -5.69610611e+01] [-1.94993226e-02 -6.93989773e-05 9.99809868e-01 -3.66506671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.94, Y:-56.97, Z:-3.67 [[ 9.81720652e-01 1.89317375e-01 1.95829879e-02 3.72938570e+02] [-1.89280560e-01 9.81915948e-01 -3.73364815e-03 -5.69697474e+01] [-1.99356926e-02 -4.12794180e-05 9.99801263e-01 -3.66545133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.97, Y:-56.98, Z:-3.66 [[ 9.82172517e-01 1.86839325e-01 2.06933230e-02 3.72967693e+02] [-1.86797676e-01 9.82390486e-01 -3.94478958e-03 -5.69804489e+01] [-2.10659655e-02 8.99925710e-06 9.99778088e-01 -3.66448637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.00, Y:-56.99, Z:-3.66 [[ 9.82738344e-01 1.83759841e-01 2.13931825e-02 3.72996120e+02] [-1.83714597e-01 9.82971167e-01 -4.07820182e-03 -5.69932413e+01] [-2.17782913e-02 7.75653831e-05 9.99762822e-01 -3.66401889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.02, Y:-57.01, Z:-3.66 [[ 9.84076019e-01 1.76448942e-01 2.14513122e-02 3.73024561e+02] [-1.76401709e-01 9.84309765e-01 -4.08952068e-03 -5.70138841e+01] [-2.18363277e-02 2.40351099e-04 9.99761530e-01 -3.66441117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.05, Y:-57.03, Z:-3.67 [[ 9.84613900e-01 1.73478123e-01 2.09954340e-02 3.73053561e+02] [-1.73432131e-01 9.84837676e-01 -4.00586422e-03 -5.70294706e+01] [-2.13720243e-02 3.02946721e-04 9.99771546e-01 -3.66594490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.08, Y:-57.04, Z:-3.67 [[ 9.85020128e-01 1.71295514e-01 1.98291167e-02 3.73084030e+02] [-1.71253989e-01 9.85219638e-01 -3.78627535e-03 -5.70384206e+01] [-2.01846072e-02 3.33742095e-04 9.99796214e-01 -3.66801422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.83576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.11, Y:-57.05, Z:-3.67 [[ 9.85470117e-01 1.68728825e-01 1.94738697e-02 3.73112984e+02] [-1.68688215e-01 9.85662436e-01 -3.72141597e-03 -5.70528077e+01] [-1.98225720e-02 3.82331915e-04 9.99803440e-01 -3.66971621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.14, Y:-57.06, Z:-3.67 [[ 9.85590233e-01 1.67938532e-01 2.02124043e-02 3.73144185e+02] [-1.67894549e-01 9.85797381e-01 -3.86580723e-03 -5.70631757e+01] [-2.05745532e-02 4.16549345e-04 9.99788235e-01 -3.66886209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.17, Y:-57.07, Z:-3.67 [[ 9.85678055e-01 1.67304852e-01 2.11626840e-02 3.73174248e+02] [-1.67256410e-01 9.85905107e-01 -4.05125314e-03 -5.70737056e+01] [-2.15421926e-02 4.53636770e-04 9.99767837e-01 -3.66820650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.20, Y:-57.09, Z:-3.67 [[ 9.85698298e-01 1.67285275e-01 2.03593059e-02 3.73204872e+02] [-1.67240376e-01 9.85908436e-01 -3.90041157e-03 -5.70880727e+01] [-2.07248928e-02 4.39731075e-04 9.99785120e-01 -3.67048460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.95576923100003 meters Centerline goodness [0,1] 0.9999576073593625 Centerline is valid? [True, True] Translation: X:373.24, Y:-57.10, Z:-3.67 [[ 9.85673490e-01 1.67573020e-01 1.91586446e-02 3.73235090e+02] [-1.67533249e-01 9.85859581e-01 -3.67378942e-03 -5.70982882e+01] [-1.95033613e-02 4.11446864e-04 9.99809707e-01 -3.67327465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.27, Y:-57.11, Z:-3.68 [[ 9.85618956e-01 1.68036068e-01 1.78648814e-02 3.73266359e+02] [-1.68001512e-01 9.85780775e-01 -3.42854614e-03 -5.71077851e+01] [-1.81869760e-02 3.77912985e-04 9.99834532e-01 -3.67726621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.30, Y:-57.12, Z:-3.68 [[ 9.85498117e-01 1.68857550e-01 1.67507773e-02 3.73297180e+02] [-1.68827237e-01 9.85640406e-01 -3.21773805e-03 -5.71164312e+01] [-1.70535823e-02 3.43087336e-04 9.99854518e-01 -3.68011105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.33, Y:-57.12, Z:-3.68 [[ 9.85226776e-01 1.70434323e-01 1.67434245e-02 3.73329029e+02] [-1.70404209e-01 9.85368987e-01 -3.21956431e-03 -5.71233901e+01] [-1.70471755e-02 3.18850938e-04 9.99854636e-01 -3.68033473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07576923100004 meters Centerline goodness [0,1] 0.9999787518857701 Centerline is valid? [True, True] Translation: X:373.36, Y:-57.13, Z:-3.68 [[ 9.84323811e-01 1.75374745e-01 1.87172191e-02 3.73359962e+02] [-1.75337979e-01 9.84501717e-01 -3.60044199e-03 -5.71259712e+01] [-1.90585609e-02 2.62161413e-04 9.99818335e-01 -3.67630784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.39, Y:-57.13, Z:-3.68 [[ 9.83807379e-01 1.78123060e-01 1.98800521e-02 3.73392216e+02] [-1.78082139e-01 9.84008194e-01 -3.82437826e-03 -5.71295476e+01] [-2.02433441e-02 2.22169350e-04 9.99795058e-01 -3.67501421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.42, Y:-57.13, Z:-3.68 [[ 9.82845985e-01 1.83381075e-01 1.96252581e-02 3.73424271e+02] [-1.83342181e-01 9.83041895e-01 -3.77848220e-03 -5.71307987e+01] [-1.99853530e-02 1.15528441e-04 9.99800266e-01 -3.67735053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.46, Y:-57.14, Z:-3.68 [[ 9.82415004e-01 1.85825856e-01 1.81524611e-02 3.73456072e+02] [-1.85792949e-01 9.82582692e-01 -3.49757472e-03 -5.71356302e+01] [-1.84862339e-02 6.34706087e-05 9.99829113e-01 -3.68079967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.49, Y:-57.14, Z:-3.68 [[ 9.82061786e-01 1.87827302e-01 1.65997730e-02 3.73488471e+02] [-1.87800032e-01 9.82202069e-01 -3.20063948e-03 -5.71409511e+01] [-1.69054989e-02 2.57878215e-05 9.99857092e-01 -3.68480307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.52, Y:-57.15, Z:-3.69 [[ 9.81731244e-01 1.89678972e-01 1.50217587e-02 3.73519277e+02] [-1.89656812e-01 9.81846163e-01 -2.89933464e-03 -5.71454639e+01] [-1.52989990e-02 -2.61145643e-06 9.99882963e-01 -3.68848944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.55, Y:-57.14, Z:-3.69 [[ 9.80779980e-01 1.94645267e-01 1.35591515e-02 3.73550812e+02] [-1.94627664e-01 9.80873700e-01 -2.61864337e-03 -5.71438085e+01] [-1.38095217e-02 -7.06730030e-05 9.99904642e-01 -3.69211022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.58, Y:-57.14, Z:-3.69 [[ 9.80138271e-01 1.97845002e-01 1.36500734e-02 3.73581680e+02] [-1.97827469e-01 9.80233310e-01 -2.63644475e-03 -5.71436164e+01] [-1.39018641e-02 -1.16279087e-04 9.99903358e-01 -3.69209394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.61, Y:-57.14, Z:-3.69 [[ 9.79504198e-01 2.00960833e-01 1.36481035e-02 3.73610944e+02] [-2.00943603e-01 9.79599264e-01 -2.63632848e-03 -5.71420234e+01] [-1.38994710e-02 -1.60204294e-04 9.99903385e-01 -3.69309599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3457692310001 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:373.64, Y:-57.14, Z:-3.69 [[ 9.78863165e-01 2.04075798e-01 1.34154027e-02 3.73641889e+02] [-2.04059450e-01 9.78955070e-01 -2.59085242e-03 -5.71401767e+01] [-1.36618068e-02 -2.01449712e-04 9.99906653e-01 -3.69407027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.37576923100005 meters Centerline goodness [0,1] 0.9998718879446556 Centerline is valid? [True, True] Translation: X:373.67, Y:-57.13, Z:-3.69 [[ 9.77774508e-01 2.09202589e-01 1.38307157e-02 3.73672370e+02] [-2.09185728e-01 9.77872281e-01 -2.67091193e-03 -5.71313483e+01] [-1.40834352e-02 -2.81638747e-04 9.99900784e-01 -3.69433108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4057692310001 meters Centerline goodness [0,1] 0.9998509972540922 Centerline is valid? [True, True] Translation: X:373.70, Y:-57.13, Z:-3.69 [[ 9.77445447e-01 2.10588885e-01 1.58971365e-02 3.73700304e+02] [-2.10566804e-01 9.77574652e-01 -3.06919661e-03 -5.71320857e+01] [-1.61869764e-02 -3.47436983e-04 9.99868922e-01 -3.69041705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.43576923100005 meters Centerline goodness [0,1] 0.9999786164866887 Centerline is valid? [True, True] Translation: X:373.73, Y:-57.14, Z:-3.68 [[ 9.77422729e-01 2.10494600e-01 1.83529760e-02 3.73728667e+02] [-2.10465177e-01 9.77594938e-01 -3.54206645e-03 -5.71427112e+01] [-1.86873623e-02 -4.00566088e-04 9.99825296e-01 -3.68469967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.76, Y:-57.15, Z:-3.68 [[ 9.78274706e-01 2.06326970e-01 2.01935939e-02 3.73757254e+02] [-2.06290473e-01 9.78483038e-01 -3.89674221e-03 -5.71528279e+01] [-2.05630921e-02 -3.53661688e-04 9.99788495e-01 -3.68210373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.79, Y:-57.16, Z:-3.68 [[ 9.78982277e-01 2.02918699e-01 2.04377691e-02 3.73785623e+02] [-2.02880572e-01 9.79195547e-01 -3.94382562e-03 -5.71596386e+01] [-2.08128484e-02 -2.85490882e-04 9.99783348e-01 -3.68305332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5257692310001 meters Centerline goodness [0,1] 0.9999786807657869 Centerline is valid? [True, True] Translation: X:373.82, Y:-57.18, Z:-3.68 [[ 9.79702722e-01 1.99354531e-01 2.09844570e-02 3.73815365e+02] [-1.99313506e-01 9.79927408e-01 -4.04987649e-03 -5.71766926e+01] [-2.13706058e-02 -2.14810685e-04 9.99771599e-01 -3.68314329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.55576923100006 meters Centerline goodness [0,1] 0.999851108180542 Centerline is valid? [True, True] Translation: X:373.85, Y:-57.19, Z:-3.68 [[ 9.80388785e-01 1.95916975e-01 2.13159302e-02 3.73845625e+02] [-1.95873752e-01 9.80620477e-01 -4.11747825e-03 -5.71897614e+01] [-2.17095215e-02 -1.38501707e-04 9.99764311e-01 -3.68305807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.58576923100003 meters Centerline goodness [0,1] 0.9998305730865348 Centerline is valid? [True, True] Translation: X:373.87, Y:-57.21, Z:-3.68 [[ 9.81427931e-01 1.90699217e-01 2.08092601e-02 3.73874166e+02] [-1.90656776e-01 9.81648516e-01 -4.02315489e-03 -5.72068559e+01] [-2.11945918e-02 -1.89898545e-05 9.99775369e-01 -3.68419899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.61576923100006 meters Centerline goodness [0,1] 0.999851964640697 Centerline is valid? [True, True] Translation: X:373.91, Y:-57.22, Z:-3.69 [[ 9.81615706e-01 1.89853448e-01 1.96538565e-02 3.73906248e+02] [-1.89815361e-01 9.81812440e-01 -3.80267953e-03 -5.72167629e+01] [-2.00183526e-02 2.16607992e-06 9.99799613e-01 -3.68679704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.64576923100003 meters Centerline goodness [0,1] 0.9998091198303287 Centerline is valid? [True, True] Translation: X:373.94, Y:-57.22, Z:-3.69 [[ 9.81611278e-01 1.90044875e-01 1.79511843e-02 3.73938315e+02] [-1.90013076e-01 9.81775405e-01 -3.47641826e-03 -5.72248788e+01] [-1.82847067e-02 1.53161189e-06 9.99832821e-01 -3.68974239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.67576923100006 meters Centerline goodness [0,1] 0.9998091198303287 Centerline is valid? [True, True] Translation: X:373.97, Y:-57.23, Z:-3.69 [[ 9.81575042e-01 1.90232004e-01 1.79505226e-02 3.73970170e+02] [-1.90200174e-01 9.81739163e-01 -3.47983124e-03 -5.72312542e+01] [-1.82847063e-02 1.52298257e-06 9.99832821e-01 -3.69045797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.70576923100003 meters Centerline goodness [0,1] 0.9998102586806653 Centerline is valid? [True, True] Translation: X:374.00, Y:-57.24, Z:-3.69 [[ 9.81417145e-01 1.91153673e-01 1.67529459e-02 3.74001713e+02] [-1.91126030e-01 9.81560122e-01 -3.25076570e-03 -5.72378070e+01] [-1.70654194e-02 -1.15668399e-05 9.99854375e-01 -3.69342601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.73576923100006 meters Centerline goodness [0,1] 0.9998511398434842 Centerline is valid? [True, True] Translation: X:374.03, Y:-57.24, Z:-3.69 [[ 9.80668770e-01 1.94871031e-01 1.77213064e-02 3.74034406e+02] [-1.94840644e-01 9.80828872e-01 -3.44212110e-03 -5.72410094e+01] [-1.80523386e-02 -7.72500765e-05 9.99837040e-01 -3.69163068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76576923100004 meters Centerline goodness [0,1] 0.9998521147589471 Centerline is valid? [True, True] Translation: X:374.07, Y:-57.24, Z:-3.69 [[ 9.80098274e-01 1.97629832e-01 1.87035242e-02 3.74065340e+02] [-1.97596408e-01 9.80276712e-01 -3.63692530e-03 -5.72442478e+01] [-1.90533942e-02 -1.31204999e-04 9.99818459e-01 -3.69019414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.79576923100007 meters Centerline goodness [0,1] 0.9998499142367067 Centerline is valid? [True, True] Translation: X:374.10, Y:-57.25, Z:-3.69 [[ 9.79522986e-01 2.00355496e-01 1.98089684e-02 3.74097257e+02] [-2.00318493e-01 9.79723246e-01 -3.85520700e-03 -5.72483451e+01] [-2.01797187e-02 -1.91838829e-04 9.99796350e-01 -3.68937048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82576923100004 meters Centerline goodness [0,1] 0.9999355517841414 Centerline is valid? [True, True] Translation: X:374.13, Y:-57.25, Z:-3.69 [[ 9.78754482e-01 2.03991464e-01 2.06675219e-02 3.74128715e+02] [-2.03951916e-01 9.78972628e-01 -4.02600373e-03 -5.72531317e+01] [-2.10542086e-02 -2.74711493e-04 9.99778298e-01 -3.68926478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.85576923100007 meters Centerline goodness [0,1] 0.9999364164299945 Centerline is valid? [True, True] Translation: X:374.16, Y:-57.26, Z:-3.69 [[ 9.78582304e-01 2.04835727e-01 2.04694773e-02 3.74159887e+02] [-2.04797049e-01 9.78796323e-01 -3.99075136e-03 -5.72579449e+01] [-2.08528976e-02 -2.86809884e-04 9.99782514e-01 -3.69093608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88576923100004 meters Centerline goodness [0,1] 0.9998730910783028 Centerline is valid? [True, True] Translation: X:374.19, Y:-57.27, Z:-3.69 [[ 9.78956670e-01 2.03078484e-01 2.00740300e-02 3.74189434e+02] [-2.03040852e-01 9.79162433e-01 -3.91685071e-03 -5.72729559e+01] [-2.04511642e-02 -2.41421014e-04 9.99790824e-01 -3.69278311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.91576923100007 meters Centerline goodness [0,1] 0.9998941193909747 Centerline is valid? [True, True] Translation: X:374.22, Y:-57.28, Z:-3.69 [[ 9.79322126e-01 2.01256934e-01 2.05869003e-02 3.74219162e+02] [-2.01216876e-01 9.79538465e-01 -4.02050015e-03 -5.72848552e+01] [-2.09748143e-02 -2.05067012e-04 9.99779983e-01 -3.69240976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.94576923100004 meters Centerline goodness [0,1] 0.999850736720899 Centerline is valid? [True, True] Translation: X:374.25, Y:-57.30, Z:-3.69 [[ 9.79727950e-01 1.99222151e-01 2.10637025e-02 3.74249116e+02] [-1.99179673e-01 9.79954340e-01 -4.11695750e-03 -5.72984211e+01] [-2.14616558e-02 -1.61963057e-04 9.99769659e-01 -3.69170643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.9757692310001 meters Centerline goodness [0,1] 0.9998289940575436 Centerline is valid? [True, True] Translation: X:374.28, Y:-57.32, Z:-3.70 [[ 9.80318844e-01 1.96455791e-01 1.94957982e-02 3.74278572e+02] [-1.96418792e-01 9.80512679e-01 -3.81364996e-03 -5.73175657e+01] [-1.98650909e-02 -9.07482097e-05 9.99802665e-01 -3.69512656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.00576923100004 meters Centerline goodness [0,1] 0.9999152775718552 Centerline is valid? [True, True] Translation: X:374.31, Y:-57.33, Z:-3.70 [[ 9.80412860e-01 1.96167622e-01 1.75752115e-02 3.74308866e+02] [-1.96137489e-01 9.80570374e-01 -3.43905681e-03 -5.73278835e+01] [-1.79083633e-02 -7.54623132e-05 9.99839630e-01 -3.69985569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0357692310001 meters Centerline goodness [0,1] 0.9998290744380822 Centerline is valid? [True, True] Translation: X:374.34, Y:-57.34, Z:-3.70 [[ 9.80381935e-01 1.96480113e-01 1.57107166e-02 3.74339426e+02] [-1.96456033e-01 9.80507807e-01 -3.07683595e-03 -5.73387308e+01] [-1.60090174e-02 -6.99906832e-05 9.99871845e-01 -3.70059628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.06576923100005 meters Centerline goodness [0,1] 0.9999147230631475 Centerline is valid? [True, True] Translation: X:374.37, Y:-57.35, Z:-3.71 [[ 9.79548640e-01 2.00753849e-01 1.35038316e-02 3.74369498e+02] [-2.00736430e-01 9.79641709e-01 -2.64716103e-03 -5.73452144e+01] [-1.37603444e-02 -1.17687954e-04 9.99905315e-01 -3.70689353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0957692310001 meters Centerline goodness [0,1] 0.9999364797052658 Centerline is valid? [True, True] Translation: X:374.40, Y:-57.35, Z:-3.71 [[ 9.78834565e-01 2.04212452e-01 1.34226902e-02 3.74401676e+02] [-2.04195559e-01 9.78926579e-01 -2.63176792e-03 -5.73494105e+01] [-1.36772680e-02 -1.64788328e-04 9.99906448e-01 -3.70691540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.12576923100005 meters Centerline goodness [0,1] 0.9998940498389558 Centerline is valid? [True, True] Translation: X:374.43, Y:-57.35, Z:-3.71 [[ 9.77986699e-01 2.08163680e-01 1.44879097e-02 3.74433317e+02] [-2.08144390e-01 9.78093977e-01 -2.84351571e-03 -5.73496376e+01] [-1.47624539e-02 -2.34656593e-04 9.99891002e-01 -3.70672830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1557692310001 meters Centerline goodness [0,1] 0.9999147902775707 Centerline is valid? [True, True] Translation: X:374.47, Y:-57.35, Z:-3.70 [[ 9.77117233e-01 2.12125846e-01 1.56377116e-02 3.74465228e+02] [-2.12103825e-01 9.77242307e-01 -3.07260281e-03 -5.73540439e+01] [-1.59336118e-02 -3.14525279e-04 9.99873002e-01 -3.70436021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.18576923100005 meters Centerline goodness [0,1] 0.9999576594123126 Centerline is valid? [True, True] Translation: X:374.50, Y:-57.35, Z:-3.70 [[ 9.75621166e-01 2.18797872e-01 1.70538068e-02 3.74496915e+02] [-2.18772680e-01 9.75770095e-01 -3.35194651e-03 -5.73506071e+01] [-1.73739935e-02 -4.60677054e-04 9.99848955e-01 -3.70295007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2157692310001 meters Centerline goodness [0,1] 0.9998728032053592 Centerline is valid? [True, True] Translation: X:374.53, Y:-57.35, Z:-3.70 [[ 9.75134546e-01 2.20955729e-01 1.70641074e-02 3.74528026e+02] [-2.20930833e-01 9.75283711e-01 -3.35411461e-03 -5.73516073e+01] [-1.73834568e-02 -4.99274438e-04 9.99848772e-01 -3.70388670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.24576923100005 meters Centerline goodness [0,1] 0.9998520053278082 Centerline is valid? [True, True] Translation: X:374.56, Y:-57.36, Z:-3.70 [[ 9.74794542e-01 2.22429733e-01 1.73382260e-02 3.74560355e+02] [-2.22404268e-01 9.74948577e-01 -3.40781114e-03 -5.73558173e+01] [-1.76618773e-02 -5.34179759e-04 9.99843874e-01 -3.70450473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2757692310001 meters Centerline goodness [0,1] 0.9998508194275728 Centerline is valid? [True, True] Translation: X:374.59, Y:-57.36, Z:-3.70 [[ 9.74647634e-01 2.23053665e-01 1.75798805e-02 3.74591995e+02] [-2.23027532e-01 9.74806011e-01 -3.45830619e-03 -5.73593816e+01] [-1.79083611e-02 -5.50167426e-04 9.99839481e-01 -3.70378665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.30576923100006 meters Centerline goodness [0,1] 0.9998707954692277 Centerline is valid? [True, True] Translation: X:374.62, Y:-57.37, Z:-3.70 [[ 9.74774160e-01 2.22525485e-01 1.72553216e-02 3.74623175e+02] [-2.22500177e-01 9.74926730e-01 -3.39724144e-03 -5.73697168e+01] [-1.75786470e-02 -5.27768937e-04 9.99845344e-01 -3.70431275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.33576923100003 meters Centerline goodness [0,1] 0.9999785232593101 Centerline is valid? [True, True] Translation: X:374.65, Y:-57.38, Z:-3.70 [[ 9.74968256e-01 2.21674598e-01 1.72415788e-02 3.74654296e+02] [-2.21649145e-01 9.75120563e-01 -3.39754409e-03 -5.73774748e+01] [-1.75657673e-02 -5.09083567e-04 9.99845580e-01 -3.70488617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.36576923100006 meters Centerline goodness [0,1] 0.999936451448907 Centerline is valid? [True, True] Translation: X:374.69, Y:-57.38, Z:-3.70 [[ 9.75220102e-01 2.20409993e-01 1.91098679e-02 3.74686484e+02] [-2.20378406e-01 9.75407171e-01 -3.76952850e-03 -5.73785057e+01] [-1.94707440e-02 -5.35282271e-04 9.99810284e-01 -3.70375511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.39576923100003 meters Centerline goodness [0,1] 0.9999150255985384 Centerline is valid? [True, True] Translation: X:374.72, Y:-57.38, Z:-3.70 [[ 9.75081905e-01 2.20953882e-01 1.98660840e-02 3.74717756e+02] [-2.20919784e-01 9.75284094e-01 -3.92240718e-03 -5.73836730e+01] [-2.02417469e-02 -5.64142724e-04 9.99794956e-01 -3.70260817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.42576923100006 meters Centerline goodness [0,1] 0.9998514777959305 Centerline is valid? [True, True] Translation: X:374.75, Y:-57.39, Z:-3.70 [[ 9.74752530e-01 2.22320675e-01 2.07610817e-02 3.74750042e+02] [-2.22283674e-01 9.74973404e-01 -4.10244631e-03 -5.73873191e+01] [-2.11535612e-02 -6.15979606e-04 9.99776049e-01 -3.70219272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.45576923100003 meters Centerline goodness [0,1] 0.9997245003920572 Centerline is valid? [True, True] Translation: X:374.78, Y:-57.38, Z:-3.70 [[ 9.73591173e-01 2.27314800e-01 2.11709689e-02 3.74782632e+02] [-2.27277424e-01 9.73821052e-01 -4.18707198e-03 -5.73824204e+01] [-2.15685186e-02 -7.35186947e-04 9.99767102e-01 -3.70227790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.48576923100006 meters Centerline goodness [0,1] 0.9996582875937039 Centerline is valid? [True, True] Translation: X:374.81, Y:-57.38, Z:-3.70 [[ 9.72905871e-01 2.30301079e-01 2.03857418e-02 3.74812871e+02] [-2.30267075e-01 9.73119118e-01 -4.03191287e-03 -5.73815975e+01] [-2.07663090e-02 -7.71493437e-04 9.99784059e-01 -3.70394083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51576923100004 meters Centerline goodness [0,1] 0.9997004963203834 Centerline is valid? [True, True] Translation: X:374.84, Y:-57.39, Z:-3.71 [[ 9.72319701e-01 2.32863053e-01 1.92145090e-02 3.74843524e+02] [-2.32833350e-01 9.72509224e-01 -3.79996842e-03 -5.73886761e+01] [-1.95711595e-02 -7.78994333e-04 9.99808163e-01 -3.70692615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.54576923100007 meters Centerline goodness [0,1] 0.998287888395688 Centerline is valid? [True, True] Translation: X:374.88, Y:-57.38, Z:-3.71 [[ 9.71530167e-01 2.36193870e-01 1.84821460e-02 3.74875433e+02] [-2.36166980e-01 9.71705611e-01 -3.65563149e-03 -5.73765018e+01] [-1.88226427e-02 -8.13316327e-04 9.99822508e-01 -3.71011648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57576923100004 meters Centerline goodness [0,1] 0.9983886698045202 Centerline is valid? [True, True] Translation: X:374.90, Y:-57.38, Z:-3.71 [[ 9.71331199e-01 2.36971233e-01 1.89825155e-02 3.74904225e+02] [-2.36943010e-01 9.71516295e-01 -3.75484848e-03 -5.73774457e+01] [-1.93316142e-02 -8.50572883e-04 9.99812765e-01 -3.70981206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.60576923100007 meters Centerline goodness [0,1] 0.9992957596192834 Centerline is valid? [True, True] Translation: X:374.93, Y:-57.38, Z:-3.71 [[ 9.71131934e-01 2.37718640e-01 1.98145048e-02 3.74932560e+02] [-2.37688068e-01 9.71333635e-01 -3.91821161e-03 -5.73844308e+01] [-2.01779269e-02 -9.04570943e-04 9.99795996e-01 -3.70816455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63576923100004 meters Centerline goodness [0,1] 0.9963092586700605 Centerline is valid? [True, True] Translation: X:374.96, Y:-57.37, Z:-3.71 [[ 9.70965934e-01 2.38430454e-01 1.93926206e-02 3.74962851e+02] [-2.38401329e-01 9.71159157e-01 -3.83392507e-03 -5.73718690e+01] [-1.97474456e-02 -9.00615885e-04 9.99804595e-01 -3.70983774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.66576923100007 meters Centerline goodness [0,1] 0.9937128292268479 Centerline is valid? [True, True] Translation: X:374.99, Y:-57.37, Z:-3.71 [[ 9.71017576e-01 2.38285824e-01 1.85670132e-02 3.74990500e+02] [-2.38259122e-01 9.71194690e-01 -3.66951716e-03 -5.73713157e+01] [-1.89065785e-02 -8.60594589e-04 9.99820884e-01 -3.71226358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.69576923100004 meters Centerline goodness [0,1] 0.9945988308057273 Centerline is valid? [True, True] Translation: X:375.02, Y:-57.37, Z:-3.71 [[ 9.71155723e-01 2.37752050e-01 1.81803342e-02 3.75019315e+02] [-2.37726391e-01 9.71325520e-01 -3.59113855e-03 -5.73733570e+01] [-1.85128232e-02 -8.34390498e-04 9.99828275e-01 -3.71352079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7257692310001 meters Centerline goodness [0,1] 0.9995112622184446 Centerline is valid? [True, True] Translation: X:375.05, Y:-57.39, Z:-3.71 [[ 9.71403040e-01 2.36699575e-01 1.86934382e-02 3.75045773e+02] [-2.36672270e-01 9.71582528e-01 -3.69162984e-03 -5.73876481e+01] [-1.90360251e-02 -8.38157979e-04 9.99818447e-01 -3.71303108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.75576923100004 meters Centerline goodness [0,1] 0.999639379733141 Centerline is valid? [True, True] Translation: X:375.08, Y:-57.39, Z:-3.71 [[ 9.72477010e-01 2.32174725e-01 1.95796401e-02 3.75075531e+02] [-2.32143874e-01 9.72673778e-01 -3.86555582e-03 -5.73868163e+01] [-1.99420869e-02 -7.86129347e-04 9.99800828e-01 -3.71248842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7857692310001 meters Centerline goodness [0,1] 0.9998105462582886 Centerline is valid? [True, True] Translation: X:375.11, Y:-57.39, Z:-3.71 [[ 9.73287403e-01 2.28774015e-01 1.93411625e-02 3.75105132e+02] [-2.28743245e-01 9.73479301e-01 -3.81819541e-03 -5.73939016e+01] [-1.97017252e-02 -7.07958777e-04 9.99805652e-01 -3.71315039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.81576923100005 meters Centerline goodness [0,1] 0.9999785485981509 Centerline is valid? [True, True] Translation: X:375.13, Y:-57.41, Z:-3.71 [[ 9.74199839e-01 2.24872896e-01 1.91534572e-02 3.75133096e+02] [-2.24841972e-01 9.74387907e-01 -3.78091826e-03 -5.74073643e+01] [-1.95131231e-02 -6.23131116e-04 9.99809407e-01 -3.71343731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8457692310001 meters Centerline goodness [0,1] 0.9999788158034106 Centerline is valid? [True, True] Translation: X:375.16, Y:-57.42, Z:-3.72 [[ 9.75924048e-01 2.17363045e-01 1.80432695e-02 3.75161510e+02] [-2.17334321e-01 9.76090727e-01 -3.56156398e-03 -5.74168719e+01] [-1.83860204e-02 -4.45605783e-04 9.99830864e-01 -3.71587186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.87576923100005 meters Centerline goodness [0,1] 0.9999362962648377 Centerline is valid? [True, True] Translation: X:375.19, Y:-57.43, Z:-3.72 [[ 9.76555535e-01 2.14516373e-01 1.79447291e-02 3.75190473e+02] [-2.14487487e-01 9.76720315e-01 -3.54183790e-03 -5.74255242e+01] [-1.82867637e-02 -3.90118441e-04 9.99832707e-01 -3.71706629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.22, Y:-57.43, Z:-3.72 [[ 9.76881341e-01 2.12996569e-01 1.83113783e-02 3.75218864e+02] [-2.12966226e-01 9.77052878e-01 -3.61402432e-03 -5.74338217e+01] [-1.86609597e-02 -3.69232205e-04 9.99825801e-01 -3.71685597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.25, Y:-57.44, Z:-3.72 [[ 9.77011764e-01 2.12354286e-01 1.88061436e-02 3.75248217e+02] [-2.12322172e-01 9.77192674e-01 -3.71119092e-03 -5.74357916e+01] [-1.91653130e-02 -3.67084056e-04 9.99816261e-01 -3.71721401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.28, Y:-57.44, Z:-3.71 [[ 9.76986109e-01 2.12314847e-01 2.05072885e-02 3.75277910e+02] [-2.12276662e-01 9.77201231e-01 -4.04634019e-03 -5.74398204e+01] [-2.08988457e-02 -4.00000604e-04 9.99781515e-01 -3.71487814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.31, Y:-57.44, Z:-3.71 [[ 9.77010582e-01 2.12140902e-01 2.11319917e-02 3.75306282e+02] [-2.12100326e-01 9.77239004e-01 -4.16906856e-03 -5.74439501e+01] [-2.15354364e-02 -4.08878214e-04 9.99768002e-01 -3.71438295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.34, Y:-57.45, Z:-3.72 [[ 9.77021533e-01 2.12089870e-01 2.11378952e-02 3.75335333e+02] [-2.12049276e-01 9.77250081e-01 -4.16944817e-03 -5.74495556e+01] [-2.15413076e-02 -4.08634740e-04 9.99767876e-01 -3.71516426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.36, Y:-57.45, Z:-3.72 [[ 9.77007745e-01 2.12203940e-01 2.06241150e-02 3.75364208e+02] [-2.12165331e-01 9.77225320e-01 -4.06761135e-03 -5.74500738e+01] [-2.10175705e-02 -4.01634393e-04 9.99779026e-01 -3.71793951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.08576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.39, Y:-57.45, Z:-3.72 [[ 9.77051817e-01 2.12022739e-01 2.03986572e-02 3.75392498e+02] [-2.11984946e-01 9.77264653e-01 -4.02240277e-03 -5.74548740e+01] [-2.07877275e-02 -3.94112307e-04 9.99783834e-01 -3.71948350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.42, Y:-57.46, Z:-3.72 [[ 9.77130976e-01 2.11685778e-01 2.01043938e-02 3.75420139e+02] [-2.11649016e-01 9.77337703e-01 -3.96342952e-03 -5.74592329e+01] [-2.04877837e-02 -3.82285399e-04 9.99790030e-01 -3.72011331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.45, Y:-57.46, Z:-3.72 [[ 9.77353710e-01 2.10730549e-01 1.92966749e-02 3.75448445e+02] [-2.10696518e-01 9.77544124e-01 -3.80304468e-03 -5.74642169e+01] [-1.96647688e-02 -3.48822379e-04 9.99806569e-01 -3.72080590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.17576923100006 meters Centerline goodness [0,1] 0.9999785623941518 Centerline is valid? [True, True] Translation: X:375.48, Y:-57.47, Z:-3.72 [[ 9.77355627e-01 2.10618435e-01 2.03924926e-02 3.75477316e+02] [-2.10580427e-01 9.77568279e-01 -4.01796670e-03 -5.74682029e+01] [-2.07813117e-02 -3.67277428e-04 9.99783978e-01 -3.71901726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.20576923100003 meters Centerline goodness [0,1] 0.9999787179705457 Centerline is valid? [True, True] Translation: X:375.51, Y:-57.47, Z:-3.72 [[ 9.77113197e-01 2.11571804e-01 2.20719631e-02 3.75505243e+02] [-2.11527545e-01 9.77362366e-01 -4.34770914e-03 -5.74692503e+01] [-2.24921588e-02 -4.20624207e-04 9.99746931e-01 -3.71652460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.53, Y:-57.47, Z:-3.71 [[ 9.76639345e-01 2.13590990e-01 2.35473517e-02 3.75534117e+02] [-2.13541239e-01 9.76923047e-01 -4.63682145e-03 -5.74679332e+01] [-2.39943338e-02 -4.99828396e-04 9.99711970e-01 -3.71435002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.56, Y:-57.47, Z:-3.72 [[ 9.76148810e-01 2.15809389e-01 2.36602517e-02 3.75563693e+02] [-2.15759844e-01 9.76435352e-01 -4.65766090e-03 -5.74687732e+01] [-2.41078732e-02 -5.58362070e-04 9.99709207e-01 -3.71523007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.29576923100007 meters Centerline goodness [0,1] 0.9999574169097452 Centerline is valid? [True, True] Translation: X:375.59, Y:-57.47, Z:-3.72 [[ 9.75630222e-01 2.18369327e-01 2.14594138e-02 3.75593700e+02] [-2.18329210e-01 9.75866035e-01 -4.22347485e-03 -5.74662722e+01] [-2.18637904e-02 -5.64667154e-04 9.99760799e-01 -3.72148089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32576923100004 meters Centerline goodness [0,1] 0.9998940610632032 Centerline is valid? [True, True] Translation: X:375.62, Y:-57.46, Z:-3.73 [[ 9.75809260e-01 2.17696889e-01 2.01085414e-02 3.75622265e+02] [-2.17661539e-01 9.76016290e-01 -3.95674293e-03 -5.74640488e+01] [-2.04876346e-02 -5.15829685e-04 9.99789973e-01 -3.72533845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.35576923100007 meters Centerline goodness [0,1] 0.9998938428874734 Centerline is valid? [True, True] Translation: X:375.65, Y:-57.47, Z:-3.73 [[ 9.76228616e-01 2.15920616e-01 1.88673488e-02 3.75650216e+02] [-2.15889186e-01 9.76410818e-01 -3.71140539e-03 -5.74680651e+01] [-1.92236525e-02 -4.50076436e-04 9.99815107e-01 -3.72929202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38576923100004 meters Centerline goodness [0,1] 0.9999788762146177 Centerline is valid? [True, True] Translation: X:375.68, Y:-57.49, Z:-3.73 [[ 9.77662005e-01 2.09532355e-01 1.65286441e-02 3.75677331e+02] [-2.09507334e-01 9.77801673e-01 -3.25055225e-03 -5.74854817e+01] [-1.68428318e-02 -2.84930733e-04 9.99858109e-01 -3.73399023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.41576923100007 meters Centerline goodness [0,1] 0.9999786233433091 Centerline is valid? [True, True] Translation: X:375.70, Y:-57.50, Z:-3.73 [[ 9.78617272e-01 2.04997703e-01 1.68575162e-02 3.75704270e+02] [-2.04971004e-01 9.78762431e-01 -3.31514930e-03 -5.74999885e+01] [-1.71791016e-02 -2.11039672e-04 9.99852406e-01 -3.73306393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.44576923100004 meters Centerline goodness [0,1] 0.9998735324494656 Centerline is valid? [True, True] Translation: X:375.73, Y:-57.51, Z:-3.73 [[ 9.79682139e-01 1.99784561e-01 1.75794358e-02 3.75732023e+02] [-1.99754700e-01 9.79839841e-01 -3.45637039e-03 -5.75106122e+01] [-1.79155610e-02 -1.25430593e-04 9.99839496e-01 -3.73342822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.4757692310001 meters Centerline goodness [0,1] 0.9997461284589998 Centerline is valid? [True, True] Translation: X:375.76, Y:-57.53, Z:-3.73 [[ 9.81786807e-01 1.88881816e-01 2.04530123e-02 3.75759661e+02] [-1.88839036e-01 9.81999823e-01 -4.02068254e-03 -5.75338496e+01] [-2.08442883e-02 8.51259348e-05 9.99782731e-01 -3.72976685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.50576923100004 meters Centerline goodness [0,1] 0.9998081432530377 Centerline is valid? [True, True] Translation: X:375.79, Y:-57.55, Z:-3.73 [[ 9.82609648e-01 1.84495522e-01 2.09686005e-02 3.75789667e+02] [-1.84449544e-01 9.82833337e-01 -4.12275518e-03 -5.75489792e+01] [-2.13692695e-02 1.83410218e-04 9.99771634e-01 -3.72990197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5357692310001 meters Centerline goodness [0,1] 0.9998712280551144 Centerline is valid? [True, True] Translation: X:375.82, Y:-57.56, Z:-3.73 [[ 9.83262510e-01 1.81005983e-01 2.07766944e-02 3.75818982e+02] [-1.80959986e-01 9.83481960e-01 -4.08868292e-03 -5.75630632e+01] [-2.11735802e-02 2.60498306e-04 9.99775781e-01 -3.73130495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.56576923100005 meters Centerline goodness [0,1] 0.9998311416932266 Centerline is valid? [True, True] Translation: X:375.85, Y:-57.58, Z:-3.73 [[ 9.83695322e-01 1.78793476e-01 1.94012099e-02 3.75848226e+02] [-1.78752876e-01 9.83886583e-01 -3.82110793e-03 -5.75759332e+01] [-1.97717793e-02 2.90783920e-04 9.99804477e-01 -3.73396565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5957692310001 meters Centerline goodness [0,1] 0.9998311416932266 Centerline is valid? [True, True] Translation: X:375.88, Y:-57.58, Z:-3.73 [[ 9.83661395e-01 1.78980065e-01 1.94009130e-02 3.75880070e+02] [-1.78939472e-01 9.83852658e-01 -3.82261473e-03 -5.75824078e+01] [-1.97718117e-02 2.88569403e-04 9.99804477e-01 -3.73468107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.62576923100005 meters Centerline goodness [0,1] 0.9999151499724237 Centerline is valid? [True, True] Translation: X:375.91, Y:-57.60, Z:-3.74 [[ 9.84073336e-01 1.76937657e-01 1.71094741e-02 3.75908352e+02] [-1.76905720e-01 9.84222017e-01 -3.37447648e-03 -5.75989673e+01] [-1.74365930e-02 2.93968503e-04 9.99847928e-01 -3.73840511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6557692310001 meters Centerline goodness [0,1] 0.999914100416613 Centerline is valid? [True, True] Translation: X:375.94, Y:-57.61, Z:-3.74 [[ 9.84104666e-01 1.76806541e-01 1.66569503e-02 3.75939600e+02] [-1.76776237e-01 9.84245581e-01 -3.28614256e-03 -5.76096944e+01] [-1.69755413e-02 2.89355217e-04 9.99855863e-01 -3.73966299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.68576923100005 meters Centerline goodness [0,1] 0.999872185416356 Centerline is valid? [True, True] Translation: X:375.97, Y:-57.62, Z:-3.74 [[ 9.84048934e-01 1.77122239e-01 1.65954305e-02 3.75969956e+02] [-1.77092142e-01 9.84188818e-01 -3.27762183e-03 -5.76198820e+01] [-1.69135769e-02 2.86419914e-04 9.99856914e-01 -3.74058731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7157692310001 meters Centerline goodness [0,1] 0.9998510986790325 Centerline is valid? [True, True] Translation: X:376.00, Y:-57.63, Z:-3.74 [[ 9.83848614e-01 1.78189013e-01 1.70463904e-02 3.76001296e+02] [-1.78157384e-01 9.83996239e-01 -3.36863071e-03 -5.76272543e+01] [-1.73738371e-02 2.77282322e-04 9.99849025e-01 -3.74021455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.74576923100005 meters Centerline goodness [0,1] 0.9998703039211447 Centerline is valid? [True, True] Translation: X:376.03, Y:-57.63, Z:-3.74 [[ 9.83042859e-01 1.82440657e-01 1.84971163e-02 3.76032476e+02] [-1.82404093e-01 9.83216841e-01 -3.65921231e-03 -5.76330315e+01] [-1.88542654e-02 2.23212801e-04 9.99822218e-01 -3.73788160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7757692310001 meters Centerline goodness [0,1] 0.9999572813875005 Centerline is valid? [True, True] Translation: X:376.06, Y:-57.64, Z:-3.74 [[ 9.82576343e-01 1.84828487e-01 1.95489133e-02 3.76063258e+02] [-1.84788106e-01 9.82770774e-01 -3.86792085e-03 -5.76391315e+01] [-1.99270026e-02 1.88120857e-04 9.99801420e-01 -3.73664891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.80576923100006 meters Centerline goodness [0,1] 0.9999151913495177 Centerline is valid? [True, True] Translation: X:376.09, Y:-57.65, Z:-3.74 [[ 9.82207101e-01 1.86697575e-01 2.03279705e-02 3.76094514e+02] [-1.86654270e-01 9.82417422e-01 -4.02403753e-03 -5.76459551e+01] [-2.07218304e-02 1.58135746e-04 9.99785267e-01 -3.73578351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.83576923100003 meters Centerline goodness [0,1] 0.999851493550577 Centerline is valid? [True, True] Translation: X:376.13, Y:-57.65, Z:-3.74 [[ 9.81988847e-01 1.87833642e-01 2.04065614e-02 3.76125570e+02] [-1.87790175e-01 9.82200847e-01 -4.04305081e-03 -5.76533663e+01] [-2.08027628e-02 1.38079064e-04 9.99783590e-01 -3.73622293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.86576923100006 meters Centerline goodness [0,1] 0.9997863110883176 Centerline is valid? [True, True] Translation: X:376.16, Y:-57.66, Z:-3.74 [[ 9.81897271e-01 1.88398530e-01 1.95893625e-02 3.76157811e+02] [-1.88358526e-01 9.82092653e-01 -3.88422205e-03 -5.76609336e+01] [-1.99703507e-02 1.24083567e-04 9.99800565e-01 -3.73867263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.89576923100003 meters Centerline goodness [0,1] 0.9998093664612061 Centerline is valid? [True, True] Translation: X:376.19, Y:-57.67, Z:-3.74 [[ 9.81843379e-01 1.88864750e-01 1.77111474e-02 3.76188031e+02] [-1.88832070e-01 9.82003103e-01 -3.51489206e-03 -5.76710430e+01] [-1.80562409e-02 1.06640880e-04 9.99836967e-01 -3.74397772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.92576923100006 meters Centerline goodness [0,1] 0.9998503538063578 Centerline is valid? [True, True] Translation: X:376.22, Y:-57.68, Z:-3.75 [[ 9.81829488e-01 1.88976062e-01 1.72888564e-02 3.76219888e+02] [-1.88944886e-01 9.81981689e-01 -3.43409039e-03 -5.76798999e+01] [-1.76263013e-02 1.05050202e-04 9.99844639e-01 -3.74559313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.95576923100003 meters Centerline goodness [0,1] 0.9998100664767331 Centerline is valid? [True, True] Translation: X:376.25, Y:-57.69, Z:-3.75 [[ 9.81864625e-01 1.88796245e-01 1.72579459e-02 3.76250743e+02] [-1.88765094e-01 9.82016276e-01 -3.43127277e-03 -5.76889341e+01] [-1.75953952e-02 1.11347569e-04 9.99845183e-01 -3.74569714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.98576923100006 meters Centerline goodness [0,1] 0.9998092856688775 Centerline is valid? [True, True] Translation: X:376.28, Y:-57.70, Z:-3.74 [[ 9.81964606e-01 1.88208041e-01 1.79790324e-02 3.76281181e+02] [-1.88174073e-01 9.82129175e-01 -3.57799197e-03 -5.76980026e+01] [-1.83311391e-02 1.30273736e-04 9.99831962e-01 -3.74470492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01576923100004 meters Centerline goodness [0,1] 0.9997644741349777 Centerline is valid? [True, True] Translation: X:376.31, Y:-57.71, Z:-3.74 [[ 9.82377128e-01 1.85803292e-01 2.03055574e-02 3.76311726e+02] [-1.85759364e-01 9.82586941e-01 -4.04507237e-03 -5.77108861e+01] [-2.07035632e-02 2.01839161e-04 9.99785638e-01 -3.74084090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.04576923100007 meters Centerline goodness [0,1] 0.9997870210636168 Centerline is valid? [True, True] Translation: X:376.34, Y:-57.72, Z:-3.74 [[ 9.82523984e-01 1.84938292e-01 2.10819432e-02 3.76342476e+02] [-1.84890665e-01 9.82750108e-01 -4.20331373e-03 -5.77208448e+01] [-2.14956356e-02 2.32002061e-04 9.99768915e-01 -3.73962895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07576923100004 meters Centerline goodness [0,1] 0.9999570520529119 Centerline is valid? [True, True] Translation: X:376.37, Y:-57.73, Z:-3.74 [[ 9.82629830e-01 1.84400831e-01 2.08554767e-02 3.76373477e+02] [-1.84354029e-01 9.82851094e-01 -4.16151858e-03 -5.77304229e+01] [-2.12652156e-02 2.44441128e-04 9.99773840e-01 -3.74092209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.10576923100007 meters Centerline goodness [0,1] 0.9999148791283623 Centerline is valid? [True, True] Translation: X:376.40, Y:-57.74, Z:-3.74 [[ 9.82684185e-01 1.84259908e-01 1.94955945e-02 3.76402886e+02] [-1.84218921e-01 9.82877526e-01 -3.89329766e-03 -5.77393374e+01] [-1.98791604e-02 2.34424643e-04 9.99802362e-01 -3.74482093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13576923100004 meters Centerline goodness [0,1] 0.9997221569172241 Centerline is valid? [True, True] Translation: X:376.44, Y:-57.74, Z:-3.75 [[ 9.82576374e-01 1.84825506e-01 1.95755413e-02 3.76435612e+02] [-1.84784267e-01 9.82771327e-01 -3.91063026e-03 -5.77434797e+01] [-1.99610649e-02 2.25240855e-04 9.99800733e-01 -3.74566155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.16576923100007 meters Centerline goodness [0,1] 0.99961763956156 Centerline is valid? [True, True] Translation: X:376.47, Y:-57.75, Z:-3.75 [[ 9.82497746e-01 1.85231153e-01 1.96875225e-02 3.76467008e+02] [-1.85189443e-01 9.82694953e-01 -3.93697506e-03 -5.77511805e+01] [-2.00760794e-02 2.22147810e-04 9.99798431e-01 -3.74633172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.19576923100004 meters Centerline goodness [0,1] 0.9995727226115194 Centerline is valid? [True, True] Translation: X:376.50, Y:-57.76, Z:-3.75 [[ 9.82470539e-01 1.85382985e-01 1.96160097e-02 3.76499413e+02] [-1.85341535e-01 9.82666322e-01 -3.92628345e-03 -5.77594466e+01] [-2.00038583e-02 2.21796456e-04 9.99799878e-01 -3.74691178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2257692310001 meters Centerline goodness [0,1] 0.9998502994011976 Centerline is valid? [True, True] Translation: X:376.53, Y:-57.77, Z:-3.75 [[ 9.82537742e-01 1.85205705e-01 1.78446482e-02 3.76528959e+02] [-1.85171315e-01 9.82699752e-01 -3.57500293e-03 -5.77726173e+01] [-1.81980423e-02 2.08258330e-04 9.99834380e-01 -3.75067842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.25576923100004 meters Centerline goodness [0,1] 0.9995762352741758 Centerline is valid? [True, True] Translation: X:376.56, Y:-57.78, Z:-3.75 [[ 9.82467702e-01 1.85675644e-01 1.67859664e-02 3.76560868e+02] [-1.85645243e-01 9.82611072e-01 -3.36524101e-03 -5.77793413e+01] [-1.71189197e-02 1.90005802e-04 9.99853443e-01 -3.75292076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2857692310001 meters Centerline goodness [0,1] 0.999509123892861 Centerline is valid? [True, True] Translation: X:376.59, Y:-57.79, Z:-3.75 [[ 9.82363376e-01 1.86266799e-01 1.63363636e-02 3.76591866e+02] [-1.86238036e-01 9.82499185e-01 -3.27811830e-03 -5.77883437e+01] [-1.66610685e-02 1.77851087e-04 9.99861179e-01 -3.75471189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.31576923100005 meters Centerline goodness [0,1] 0.9994662795414274 Centerline is valid? [True, True] Translation: X:376.62, Y:-57.79, Z:-3.76 [[ 9.82161199e-01 1.87335928e-01 1.62674098e-02 3.76623410e+02] [-1.87307506e-01 9.82295894e-01 -3.26715791e-03 -5.77940006e+01] [-1.65914660e-02 1.61867768e-04 9.99862339e-01 -3.75503855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3457692310001 meters Centerline goodness [0,1] 0.9994727962884858 Centerline is valid? [True, True] Translation: X:376.65, Y:-57.80, Z:-3.76 [[ 9.81640673e-01 1.89999643e-01 1.67846401e-02 3.76654597e+02] [-1.89969724e-01 9.81784152e-01 -3.37394381e-03 -5.77982545e+01] [-1.71199418e-02 1.23427017e-04 9.99853435e-01 -3.75576615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.37576923100005 meters Centerline goodness [0,1] 0.9994286923402455 Centerline is valid? [True, True] Translation: X:376.69, Y:-57.80, Z:-3.75 [[ 9.81247354e-01 1.91986685e-01 1.71680997e-02 3.76687553e+02] [-1.91955642e-01 9.81397526e-01 -3.45360805e-03 -5.77995706e+01] [-1.75117773e-02 9.33301684e-05 9.99846653e-01 -3.75429728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4057692310001 meters Centerline goodness [0,1] 0.9995121433874218 Centerline is valid? [True, True] Translation: X:376.72, Y:-57.80, Z:-3.75 [[ 9.80711076e-01 1.94702879e-01 1.72213349e-02 3.76719827e+02] [-1.94672011e-01 9.80862267e-01 -3.46719283e-03 -5.78004417e+01] [-1.75668300e-02 4.78025168e-05 9.99845690e-01 -3.75480754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.43576923100005 meters Centerline goodness [0,1] 0.999469766060786 Centerline is valid? [True, True] Translation: X:376.75, Y:-57.79, Z:-3.76 [[ 9.79429267e-01 2.01158460e-01 1.59243680e-02 3.76752712e+02] [-2.01132880e-01 9.79558712e-01 -3.20851994e-03 -5.77931718e+01] [-1.62442744e-02 -6.03956682e-05 9.99868051e-01 -3.75702495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4657692310001 meters Centerline goodness [0,1] 0.9994822900038828 Centerline is valid? [True, True] Translation: X:376.79, Y:-57.79, Z:-3.76 [[ 9.78834665e-01 2.04094258e-01 1.51073730e-02 3.76785158e+02] [-2.04071553e-01 9.78951237e-01 -3.04592088e-03 -5.77940117e+01] [-1.54110364e-02 -1.01532114e-04 9.99881238e-01 -3.75780233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.49576923100005 meters Centerline goodness [0,1] 0.9996806744156341 Centerline is valid? [True, True] Translation: X:376.82, Y:-57.79, Z:-3.76 [[ 9.78439542e-01 2.05989537e-01 1.49790641e-02 3.76816279e+02] [-2.05967384e-01 9.78554186e-01 -3.02360884e-03 -5.77948337e+01] [-1.52806576e-02 -1.26780195e-04 9.99883236e-01 -3.75966129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5257692310001 meters Centerline goodness [0,1] 0.9996791306579961 Centerline is valid? [True, True] Translation: X:376.85, Y:-57.80, Z:-3.76 [[ 9.78405555e-01 2.06098156e-01 1.56882430e-02 3.76847258e+02] [-2.06073869e-01 9.78531314e-01 -3.16675370e-03 -5.77974364e+01] [-1.60040992e-02 -1.34567530e-04 9.99871917e-01 -3.76073083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.55576923100006 meters Centerline goodness [0,1] 0.9996604846581505 Centerline is valid? [True, True] Translation: X:376.88, Y:-57.81, Z:-3.75 [[ 9.79289908e-01 2.01589558e-01 1.87863427e-02 3.76877900e+02] [-2.01553863e-01 9.79470084e-01 -3.79413394e-03 -5.78090537e+01] [-1.91655184e-02 -7.09028590e-05 9.99816322e-01 -3.75494877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.58576923100003 meters Centerline goodness [0,1] 0.999614536265713 Centerline is valid? [True, True] Translation: X:376.91, Y:-57.82, Z:-3.75 [[ 9.79965675e-01 1.98179337e-01 1.98047122e-02 3.76908423e+02] [-1.98138897e-01 9.80165777e-01 -4.00341316e-03 -5.78191180e+01] [-2.02052949e-02 -8.76345834e-07 9.99795852e-01 -3.75371870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.61576923100006 meters Centerline goodness [0,1] 0.9994497936726272 Centerline is valid? [True, True] Translation: X:376.94, Y:-57.83, Z:-3.75 [[ 9.80571817e-01 1.95156192e-01 1.98235473e-02 3.76938874e+02] [-1.95114987e-01 9.80772174e-01 -4.01062456e-03 -5.78288567e+01] [-2.02250818e-02 6.48342330e-05 9.99795450e-01 -3.75452421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.64576923100003 meters Centerline goodness [0,1] 0.9994079837618404 Centerline is valid? [True, True] Translation: X:376.97, Y:-57.84, Z:-3.76 [[ 9.81119501e-01 1.92399637e-01 1.96698714e-02 3.76968265e+02] [-1.92358442e-01 9.81316648e-01 -3.98316403e-03 -5.78385341e+01] [-2.00687316e-02 1.24294103e-04 9.99798595e-01 -3.75586069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.67576923100006 meters Centerline goodness [0,1] 0.999297019789958 Centerline is valid? [True, True] Translation: X:377.00, Y:-57.85, Z:-3.76 [[ 9.81916012e-01 1.88235430e-01 2.02081269e-02 3.76997233e+02] [-1.88190995e-01 9.82123910e-01 -4.09563505e-03 -5.78502473e+01] [-2.06178282e-02 2.18582126e-04 9.99787406e-01 -3.75535902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.70576923100003 meters Centerline goodness [0,1] 0.9993152297190302 Centerline is valid? [True, True] Translation: X:377.03, Y:-57.86, Z:-3.75 [[ 9.82020526e-01 1.87650838e-01 2.05633262e-02 3.77029882e+02] [-1.87604692e-01 9.82235770e-01 -4.16795902e-03 -5.78577366e+01] [-2.09801556e-02 2.35244822e-04 9.99779865e-01 -3.75438102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.73576923100006 meters Centerline goodness [0,1] 0.9992839090143218 Centerline is valid? [True, True] Translation: X:377.06, Y:-57.86, Z:-3.75 [[ 9.81931812e-01 1.88085853e-01 2.08237326e-02 3.77060859e+02] [-1.88038540e-01 9.82152563e-01 -4.22494133e-03 -5.78634657e+01] [-2.12467340e-02 2.32940029e-04 9.99774236e-01 -3.75369862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76576923100004 meters Centerline goodness [0,1] 0.9993609951435631 Centerline is valid? [True, True] Translation: X:377.09, Y:-57.86, Z:-3.75 [[ 9.81109837e-01 1.92391491e-01 2.02238213e-02 3.77094452e+02] [-1.92347741e-01 9.81318244e-01 -4.10500085e-03 -5.78582555e+01] [-2.06357720e-02 1.37450362e-04 9.99787050e-01 -3.75479193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.79576923100007 meters Centerline goodness [0,1] 0.9993620007655991 Centerline is valid? [True, True] Translation: X:377.13, Y:-57.86, Z:-3.76 [[ 9.80589153e-01 1.95083798e-01 1.96780542e-02 3.77127869e+02] [-1.95042850e-01 9.80786575e-01 -3.99766444e-03 -5.78574667e+01] [-2.00798509e-02 8.20026052e-05 9.99798376e-01 -3.75662218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82576923100004 meters Centerline goodness [0,1] 0.9994456171773385 Centerline is valid? [True, True] Translation: X:377.16, Y:-57.86, Z:-3.76 [[ 9.80083863e-01 1.97677549e-01 1.89527779e-02 3.77160018e+02] [-1.97640030e-01 9.80267099e-01 -3.85132625e-03 -5.78570900e+01] [-1.93401053e-02 2.87951256e-05 9.99812962e-01 -3.75876271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.85576923100007 meters Centerline goodness [0,1] 0.9994258495300472 Centerline is valid? [True, True] Translation: X:377.19, Y:-57.86, Z:-3.76 [[ 9.79711234e-01 1.99563897e-01 1.84431346e-02 3.77191998e+02] [-1.99528667e-01 9.79884815e-01 -3.74967395e-03 -5.78571942e+01] [-1.88204471e-02 -6.33637495e-06 9.99822880e-01 -3.76137396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88576923100004 meters Centerline goodness [0,1] 0.9994671554627222 Centerline is valid? [True, True] Translation: X:377.22, Y:-57.85, Z:-3.76 [[ 9.79274710e-01 2.01703580e-01 1.83495992e-02 3.77223359e+02] [-2.01669072e-01 9.79446611e-01 -3.73120039e-03 -5.78529133e+01] [-1.87250492e-02 -4.66764538e-05 9.99824670e-01 -3.76271958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.91576923100007 meters Centerline goodness [0,1] 0.9996379897785349 Centerline is valid? [True, True] Translation: X:377.25, Y:-57.85, Z:-3.76 [[ 9.79030603e-01 2.02888226e-01 1.83151999e-02 3.77252352e+02] [-2.02854057e-01 9.79201901e-01 -3.72406665e-03 -5.78533850e+01] [-1.86898479e-02 -6.93373915e-05 9.99825327e-01 -3.76300431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.94576923100004 meters Centerline goodness [0,1] 0.9996402725464472 Centerline is valid? [True, True] Translation: X:377.28, Y:-57.85, Z:-3.76 [[ 9.78679203e-01 2.04608181e-01 1.79585657e-02 3.77282137e+02] [-2.04575629e-01 9.78843952e-01 -3.65098354e-03 -5.78524701e+01] [-1.83256545e-02 -1.00743211e-04 9.99832066e-01 -3.76318843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.9757692310001 meters Centerline goodness [0,1] 0.9996183772552845 Centerline is valid? [True, True] Translation: X:377.31, Y:-57.84, Z:-3.77 [[ 9.77964990e-01 2.08087012e-01 1.68604422e-02 3.77312644e+02] [-2.08058848e-01 9.78110306e-01 -3.42705531e-03 -5.78425662e+01] [-1.72044980e-02 -1.56424086e-04 9.99851979e-01 -3.76659653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.00576923100004 meters Centerline goodness [0,1] 0.9995761364840521 Centerline is valid? [True, True] Translation: X:377.34, Y:-57.84, Z:-3.77 [[ 9.77683327e-01 2.09396097e-01 1.69878557e-02 3.77341411e+02] [-2.09367721e-01 9.77830886e-01 -3.45194471e-03 -5.78405010e+01] [-1.73340737e-02 -1.81799836e-04 9.99849737e-01 -3.76778651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0357692310001 meters Centerline goodness [0,1] 0.9997427321842037 Centerline is valid? [True, True] Translation: X:377.37, Y:-57.84, Z:-3.77 [[ 9.77482358e-01 2.10334277e-01 1.69626652e-02 3.77370318e+02] [-2.10306144e-01 9.77629507e-01 -3.44581582e-03 -5.78408196e+01] [-1.73079752e-02 -1.99128535e-04 9.99850186e-01 -3.76746199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.06576923100005 meters Centerline goodness [0,1] 0.9997872249882974 Centerline is valid? [True, True] Translation: X:377.40, Y:-57.83, Z:-3.77 [[ 9.77174676e-01 2.11843108e-01 1.58792134e-02 3.77400164e+02] [-2.11818663e-01 9.77303664e-01 -3.22510396e-03 -5.78337791e+01] [-1.62020295e-02 -2.12023830e-04 9.99868716e-01 -3.77102291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0957692310001 meters Centerline goodness [0,1] 0.999830723656369 Centerline is valid? [True, True] Translation: X:377.43, Y:-57.84, Z:-3.77 [[ 9.77176188e-01 2.11902285e-01 1.49706307e-02 3.77428558e+02] [-2.11880578e-01 9.77290838e-01 -3.03968826e-03 -5.78364214e+01] [-1.52747771e-02 -2.01674882e-04 9.99883313e-01 -3.77309202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.12576923100005 meters Centerline goodness [0,1] 0.9997684844147917 Centerline is valid? [True, True] Translation: X:377.46, Y:-57.84, Z:-3.77 [[ 9.77251221e-01 2.11575557e-01 1.46913311e-02 3.77455595e+02] [-2.11554622e-01 9.77361625e-01 -2.98255053e-03 -5.78381327e+01] [-1.49897780e-02 -1.93317850e-04 9.99887628e-01 -3.77401394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1557692310001 meters Centerline goodness [0,1] 0.999700822737472 Centerline is valid? [True, True] Translation: X:377.48, Y:-57.84, Z:-3.77 [[ 9.77411840e-01 2.10773939e-01 1.55062010e-02 3.77483637e+02] [-2.10750541e-01 9.77534812e-01 -3.14644108e-03 -5.78449359e+01] [-1.58210391e-02 -1.92571487e-04 9.99874821e-01 -3.77167255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.18576923100005 meters Centerline goodness [0,1] 0.9996581342677663 Centerline is valid? [True, True] Translation: X:377.51, Y:-57.85, Z:-3.77 [[ 9.77556307e-01 2.09967894e-01 1.72380441e-02 3.77512376e+02] [-2.09938869e-01 9.77708261e-01 -3.49687088e-03 -5.78495845e+01] [-1.75880088e-02 -2.00547300e-04 9.99845299e-01 -3.76924356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2157692310001 meters Centerline goodness [0,1] 0.9998101385988228 Centerline is valid? [True, True] Translation: X:377.54, Y:-57.85, Z:-3.77 [[ 9.77830024e-01 2.08450369e-01 1.99220465e-02 3.77541484e+02] [-2.08411310e-01 9.78032925e-01 -4.04016880e-03 -5.78479506e+01] [-2.03265921e-02 -2.01381461e-04 9.99793373e-01 -3.76582368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.24576923100005 meters Centerline goodness [0,1] 0.9998293151269468 Centerline is valid? [True, True] Translation: X:377.57, Y:-57.85, Z:-3.76 [[ 9.77927666e-01 2.07921284e-01 2.06450822e-02 3.77570014e+02] [-2.07879249e-01 9.78145541e-01 -4.18541322e-03 -5.78512591e+01] [-2.10641316e-02 -1.98652788e-04 9.99778107e-01 -3.76466071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2757692310001 meters Centerline goodness [0,1] 0.999830504883578 Centerline is valid? [True, True] Translation: X:377.60, Y:-57.86, Z:-3.77 [[ 9.77912738e-01 2.08002322e-01 2.05355928e-02 3.77597173e+02] [-2.07960768e-01 9.78128312e-01 -4.16231622e-03 -5.78560790e+01] [-2.09522161e-02 -2.00215597e-04 9.99780458e-01 -3.76552308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.30576923100006 meters Centerline goodness [0,1] 0.9998727627449318 Centerline is valid? [True, True] Translation: X:377.63, Y:-57.85, Z:-3.77 [[ 9.77787696e-01 2.08731644e-01 1.90347630e-02 3.77625965e+02] [-2.08696107e-01 9.77972934e-01 -3.85679928e-03 -5.78540699e+01] [-1.94205191e-02 -2.01350055e-04 9.99811384e-01 -3.76929530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.33576923100003 meters Centerline goodness [0,1] 0.9996764661475745 Centerline is valid? [True, True] Translation: X:377.65, Y:-57.86, Z:-3.77 [[ 9.77673777e-01 2.09324385e-01 1.83653966e-02 3.77653952e+02] [-2.09291429e-01 9.77846235e-01 -3.72006414e-03 -5.78599263e+01] [-1.87372340e-02 -2.06710918e-04 9.99824421e-01 -3.76966601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.36576923100006 meters Centerline goodness [0,1] 0.9997229444610204 Centerline is valid? [True, True] Translation: X:377.68, Y:-57.86, Z:-3.77 [[ 9.77503743e-01 2.10133777e-01 1.81721619e-02 3.77682658e+02] [-2.10101667e-01 9.77672618e-01 -3.68002086e-03 -5.78615969e+01] [-1.85397217e-02 -2.20767332e-04 9.99828100e-01 -3.77019373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.39576923100003 meters Centerline goodness [0,1] 0.9997037475929492 Centerline is valid? [True, True] Translation: X:377.71, Y:-57.86, Z:-3.77 [[ 9.77311193e-01 2.11004775e-01 1.84341426e-02 3.77710994e+02] [-2.10971902e-01 9.77485001e-01 -3.73225518e-03 -5.78629326e+01] [-1.88066216e-02 -2.41511381e-04 9.99823111e-01 -3.77064502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.42576923100006 meters Centerline goodness [0,1] 0.9998726763432646 Centerline is valid? [True, True] Translation: X:377.74, Y:-57.86, Z:-3.77 [[ 9.77166017e-01 2.11544422e-01 1.98880193e-02 3.77739628e+02] [-2.11506310e-01 9.77368345e-01 -4.02468810e-03 -5.78634642e+01] [-2.02893209e-02 -2.73653151e-04 9.99794113e-01 -3.76916682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.45576923100003 meters Centerline goodness [0,1] 0.9998938586621946 Centerline is valid? [True, True] Translation: X:377.77, Y:-57.87, Z:-3.77 [[ 9.77297065e-01 2.10929056e-01 1.99844975e-02 3.77767574e+02] [-2.10890483e-01 9.77501337e-01 -4.04232464e-03 -5.78706913e+01] [-2.03875168e-02 -2.63988330e-04 9.99792118e-01 -3.77012102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.48576923100006 meters Centerline goodness [0,1] 0.9998938586621946 Centerline is valid? [True, True] Translation: X:377.79, Y:-57.88, Z:-3.77 [[ 9.77311941e-01 2.10860101e-01 1.99846800e-02 3.77794547e+02] [-2.10821533e-01 9.77516214e-01 -4.04142251e-03 -5.78760058e+01] [-2.03875235e-02 -2.63470390e-04 9.99792118e-01 -3.77072610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51576923100004 meters Centerline goodness [0,1] 0.9998496111373695 Centerline is valid? [True, True] Translation: X:377.82, Y:-57.88, Z:-3.77 [[ 9.77623479e-01 2.09503224e-01 1.89929813e-02 3.77822080e+02] [-2.09468159e-01 9.77807930e-01 -3.83949632e-03 -5.78830045e+01] [-1.93758746e-02 -2.24843087e-04 9.99812245e-01 -3.77331361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.54576923100007 meters Centerline goodness [0,1] 0.9997234866210065 Centerline is valid? [True, True] Translation: X:377.85, Y:-57.89, Z:-3.78 [[ 9.78602737e-01 2.05029984e-01 1.73028440e-02 3.77848410e+02] [-2.05000196e-01 9.78755685e-01 -3.49707371e-03 -5.78947266e+01] [-1.76522619e-02 -1.24840506e-04 9.99844179e-01 -3.77775051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57576923100004 meters Centerline goodness [0,1] 0.9996611389965478 Centerline is valid? [True, True] Translation: X:377.88, Y:-57.91, Z:-3.78 [[ 9.79245067e-01 2.01923630e-01 1.74913191e-02 3.77875406e+02] [-2.01892709e-01 9.79401268e-01 -3.53429815e-03 -5.79058232e+01] [-1.78446784e-02 -7.04257705e-05 9.99840769e-01 -3.77780404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.60576923100007 meters Centerline goodness [0,1] 0.9996998156010121 Centerline is valid? [True, True] Translation: X:377.90, Y:-57.92, Z:-3.78 [[ 9.79921700e-01 1.98556963e-01 1.81271869e-02 3.77902623e+02] [-1.98523193e-01 9.80089349e-01 -3.66186563e-03 -5.79184551e+01] [-1.84933517e-02 -1.03254366e-05 9.99828983e-01 -3.77667831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63576923100004 meters Centerline goodness [0,1] 0.9995950208883962 Centerline is valid? [True, True] Translation: X:377.93, Y:-57.94, Z:-3.78 [[ 9.80941322e-01 1.93370928e-01 1.90212371e-02 3.77928386e+02] [-1.93332788e-01 9.81125719e-01 -3.84146735e-03 -5.79351745e+01] [-1.94050530e-02 9.08252585e-05 9.99811700e-01 -3.77600617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.66576923100007 meters Centerline goodness [0,1] 0.9994876283597703 Centerline is valid? [True, True] Translation: X:377.95, Y:-57.94, Z:-3.78 [[ 9.81262572e-01 1.91794479e-01 1.84022392e-02 3.77954965e+02] [-1.91758521e-01 9.81435104e-01 -3.71562027e-03 -5.79446778e+01] [-1.87732390e-02 1.17212944e-04 9.99823760e-01 -3.77793461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.69576923100004 meters Centerline goodness [0,1] 0.9995082633143053 Centerline is valid? [True, True] Translation: X:377.98, Y:-57.95, Z:-3.78 [[ 9.81491513e-01 1.90709618e-01 1.74428102e-02 3.77982534e+02] [-1.90677161e-01 9.81646487e-01 -3.52069765e-03 -5.79534500e+01] [-1.77941043e-02 1.29589332e-04 9.99841664e-01 -3.78001974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7257692310001 meters Centerline goodness [0,1] 0.9994909106336042 Centerline is valid? [True, True] Translation: X:378.01, Y:-57.96, Z:-3.78 [[ 9.81648000e-01 1.89945151e-01 1.69718635e-02 3.78008777e+02] [-1.89914322e-01 9.81794694e-01 -3.42489162e-03 -5.79620816e+01] [-1.73134271e-02 1.38838041e-04 9.99850102e-01 -3.78212248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.75576923100004 meters Centerline goodness [0,1] 0.9993875395987328 Centerline is valid? [True, True] Translation: X:378.04, Y:-57.97, Z:-3.78 [[ 9.81781275e-01 1.89275692e-01 1.67403556e-02 3.78036538e+02] [-1.89245620e-01 9.81923974e-01 -3.37710619e-03 -5.79712382e+01] [-1.70769606e-02 1.47540656e-04 9.99854167e-01 -3.78260505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7857692310001 meters Centerline goodness [0,1] 0.9994042933429781 Centerline is valid? [True, True] Translation: X:378.06, Y:-57.98, Z:-3.78 [[ 9.81763821e-01 1.89319425e-01 1.72613881e-02 3.78064243e+02] [-1.89287474e-01 9.81915542e-01 -3.48135673e-03 -5.79773647e+01] [-1.76083137e-02 1.50505546e-04 9.99844950e-01 -3.78170685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.81576923100005 meters Centerline goodness [0,1] 0.9995529346645946 Centerline is valid? [True, True] Translation: X:378.09, Y:-57.98, Z:-3.78 [[ 9.81697256e-01 1.89638592e-01 1.75414404e-02 3.78092078e+02] [-1.89605663e-01 9.81853952e-01 -3.53690006e-03 -5.79836576e+01] [-1.78938653e-02 1.46208651e-04 9.99839881e-01 -3.78164368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8457692310001 meters Centerline goodness [0,1] 0.9995301554758244 Centerline is valid? [True, True] Translation: X:378.12, Y:-57.99, Z:-3.78 [[ 9.81504421e-01 1.90604161e-01 1.78640726e-02 3.78121010e+02] [-1.90570181e-01 9.81666968e-01 -3.60132137e-03 -5.79881394e+01] [-1.82229968e-02 1.30353312e-04 9.99833939e-01 -3.78141016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.87576923100005 meters Centerline goodness [0,1] 0.9995755247575185 Centerline is valid? [True, True] Translation: X:378.15, Y:-57.99, Z:-3.78 [[ 9.80856867e-01 1.93799190e-01 1.90178827e-02 3.78150321e+02] [-1.93761298e-01 9.81041216e-01 -3.83292640e-03 -5.79881517e+01] [-1.94001449e-02 7.46225409e-05 9.99811797e-01 -3.77904807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9057692310001 meters Centerline goodness [0,1] 0.9996798360760709 Centerline is valid? [True, True] Translation: X:378.18, Y:-57.99, Z:-3.78 [[ 9.80518633e-01 1.95446629e-01 1.95914772e-02 3.78178824e+02] [-1.95406764e-01 9.80714338e-01 -3.94755088e-03 -5.79909849e+01] [-1.99851781e-02 4.23400314e-05 9.99800275e-01 -3.77839323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.93576923100005 meters Centerline goodness [0,1] 0.9996159672292035 Centerline is valid? [True, True] Translation: X:378.21, Y:-57.99, Z:-3.78 [[ 9.80200948e-01 1.96981674e-01 2.01077616e-02 3.78206758e+02] [-1.96940024e-01 9.80407170e-01 -4.05054726e-03 -5.79942201e+01] [-2.05116772e-02 1.03272132e-05 9.99789613e-01 -3.77899504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9657692310001 meters Centerline goodness [0,1] 0.9996992158126544 Centerline is valid? [True, True] Translation: X:378.24, Y:-58.00, Z:-3.78 [[ 9.79941383e-01 1.98230276e-01 2.04851831e-02 3.78235726e+02] [-1.98187349e-01 9.80155476e-01 -4.12524176e-03 -5.79974903e+01] [-2.08964122e-02 -1.74090094e-05 9.99781646e-01 -3.78040895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.99576923100005 meters Centerline goodness [0,1] 0.9996176233164804 Centerline is valid? [True, True] Translation: X:378.26, Y:-58.00, Z:-3.78 [[ 9.79996047e-01 1.98065354e-01 1.94387082e-02 3.78263379e+02] [-1.98026686e-01 9.80188816e-01 -3.91358939e-03 -5.80031750e+01] [-1.98287508e-02 -1.40808396e-05 9.99803391e-01 -3.78354994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0257692310001 meters Centerline goodness [0,1] 0.9996194422715068 Centerline is valid? [True, True] Translation: X:378.29, Y:-58.01, Z:-3.79 [[ 9.80184629e-01 1.97315235e-01 1.74582848e-02 3.78291048e+02] [-1.97283945e-01 9.80340093e-01 -3.51383311e-03 -5.80100383e+01] [-1.78083894e-02 -3.41058161e-08 9.99841418e-01 -3.78812328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.05576923100006 meters Centerline goodness [0,1] 0.999636060028687 Centerline is valid? [True, True] Translation: X:378.32, Y:-58.02, Z:-3.79 [[ 9.80301003e-01 1.96896769e-01 1.55436824e-02 3.78318985e+02] [-1.96871923e-01 9.80424226e-01 -3.12784600e-03 -5.80171774e+01] [-1.58552655e-02 6.11592295e-06 9.99874297e-01 -3.79103346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.08576923100003 meters Centerline goodness [0,1] 0.9996168990103225 Centerline is valid? [True, True] Translation: X:378.35, Y:-58.02, Z:-3.79 [[ 9.80204582e-01 1.97429577e-01 1.48505355e-02 3.78346562e+02] [-1.97406969e-01 9.80317072e-01 -2.98775271e-03 -5.80230559e+01] [-1.51481042e-02 -2.99030410e-06 9.99885261e-01 -3.79162462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.11576923100006 meters Centerline goodness [0,1] 0.9997222578301928 Centerline is valid? [True, True] Translation: X:378.38, Y:-58.03, Z:-3.79 [[ 9.79977705e-01 1.98496203e-01 1.55870072e-02 3.78375197e+02] [-1.98471449e-01 9.80101656e-01 -3.13481132e-03 -5.80266867e+01] [-1.58990997e-02 -2.15307055e-05 9.99873601e-01 -3.79028120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.14576923100003 meters Centerline goodness [0,1] 0.9997239328944574 Centerline is valid? [True, True] Translation: X:378.40, Y:-58.03, Z:-3.79 [[ 9.79618634e-01 2.00153156e-01 1.69129094e-02 3.78403208e+02] [-2.00124273e-01 9.79764620e-01 -3.40059989e-03 -5.80289994e+01] [-1.72513111e-02 -5.33926933e-05 9.99851184e-01 -3.78850633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.17576923100006 meters Centerline goodness [0,1] 0.9998510226232787 Centerline is valid? [True, True] Translation: X:378.43, Y:-58.03, Z:-3.79 [[ 9.79060590e-01 2.02694191e-01 1.88527301e-02 3.78431730e+02] [-2.02658798e-01 9.79242081e-01 -3.78931451e-03 -5.80296006e+01] [-1.92294587e-02 -1.10703106e-04 9.99815091e-01 -3.78595428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.20576923100003 meters Centerline goodness [0,1] 0.9998727060570701 Centerline is valid? [True, True] Translation: X:378.46, Y:-58.03, Z:-3.78 [[ 9.78870332e-01 2.03526811e-01 1.97410772e-02 3.78459590e+02] [-2.03488199e-01 9.79069364e-01 -3.96660109e-03 -5.80326021e+01] [-2.01351936e-02 -1.34288112e-04 9.99797257e-01 -3.78488290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.23576923100006 meters Centerline goodness [0,1] 0.9998289136013687 Centerline is valid? [True, True] Translation: X:378.49, Y:-58.04, Z:-3.78 [[ 9.78795130e-01 2.03801177e-01 2.06197430e-02 3.78486770e+02] [-2.03759139e-01 9.79012287e-01 -4.14185771e-03 -5.80374663e+01] [-2.10310972e-02 -1.47430915e-04 9.99778811e-01 -3.78359520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26576923100004 meters Centerline goodness [0,1] 0.999807605977041 Centerline is valid? [True, True] Translation: X:378.51, Y:-58.04, Z:-3.78 [[ 9.78861899e-01 2.03459234e-01 2.08260208e-02 3.78513978e+02] [-2.03416305e-01 9.79083408e-01 -4.18178632e-03 -5.80428435e+01] [-2.12412345e-02 -1.42960911e-04 9.99774369e-01 -3.78358902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.29576923100007 meters Centerline goodness [0,1] 0.9998504049751031 Centerline is valid? [True, True] Translation: X:378.54, Y:-58.05, Z:-3.79 [[ 9.79159234e-01 2.02169707e-01 1.93547040e-02 3.78541960e+02] [-2.02132404e-01 9.79350498e-01 -3.88499227e-03 -5.80468480e+01] [-1.97404667e-02 -1.08186787e-04 9.99805132e-01 -3.78725764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32576923100004 meters Centerline goodness [0,1] 0.9998937345915158 Centerline is valid? [True, True] Translation: X:378.57, Y:-58.05, Z:-3.79 [[ 9.79397062e-01 2.01106150e-01 1.83769264e-02 3.78569325e+02] [-2.01072355e-01 9.79569451e-01 -3.68764670e-03 -5.80523839e+01] [-1.87430841e-02 -8.34215266e-05 9.99824329e-01 -3.78998014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.35576923100007 meters Centerline goodness [0,1] 0.999724628778411 Centerline is valid? [True, True] Translation: X:378.60, Y:-58.06, Z:-3.79 [[ 9.79655717e-01 1.99883427e-01 1.79246159e-02 3.78597686e+02] [-1.99851090e-01 9.79819683e-01 -3.59581082e-03 -5.80586498e+01] [-1.82816344e-02 -5.95973911e-05 9.99832875e-01 -3.79150467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38576923100004 meters Centerline goodness [0,1] 0.9998726141695505 Centerline is valid? [True, True] Translation: X:378.62, Y:-58.06, Z:-3.79 [[ 9.79949908e-01 1.98451872e-01 1.77491675e-02 3.78624699e+02] [-1.98419944e-01 9.80110633e-01 -3.55983263e-03 -5.80647277e+01] [-1.81026033e-02 -3.33311710e-05 9.99836134e-01 -3.79260094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.41576923100007 meters Centerline goodness [0,1] 0.9997222340925601 Centerline is valid? [True, True] Translation: X:378.65, Y:-58.07, Z:-3.79 [[ 9.80599153e-01 1.95210036e-01 1.78421580e-02 3.78651680e+02] [-1.95177254e-01 9.80761460e-01 -3.57743162e-03 -5.80733999e+01] [-1.81972515e-02 2.56430039e-05 9.99834416e-01 -3.79331505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.44576923100004 meters Centerline goodness [0,1] 0.9996153188579244 Centerline is valid? [True, True] Translation: X:378.68, Y:-58.08, Z:-3.79 [[ 9.80939825e-01 1.93477426e-01 1.79873701e-02 3.78679891e+02] [-1.93443838e-01 9.81104725e-01 -3.60544811e-03 -5.80808137e+01] [-1.83450666e-02 5.71817308e-05 9.99831713e-01 -3.79376275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.4757692310001 meters Centerline goodness [0,1] 0.9995352963541887 Centerline is valid? [True, True] Translation: X:378.71, Y:-58.09, Z:-3.79 [[ 9.81183843e-01 1.92222842e-01 1.81286047e-02 3.78707334e+02] [-1.92188525e-01 9.81351299e-01 -3.63290748e-03 -5.80881695e+01] [-1.84888576e-02 8.04403180e-05 9.99829063e-01 -3.79412272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.50576923100004 meters Centerline goodness [0,1] 0.999747160826784 Centerline is valid? [True, True] Translation: X:378.73, Y:-58.10, Z:-3.80 [[ 9.81408036e-01 1.91112046e-01 1.77328369e-02 3.78734167e+02] [-1.91079044e-01 9.81568223e-01 -3.55284180e-03 -5.80954119e+01] [-1.80849801e-02 9.84139679e-05 9.99836449e-01 -3.79546950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5357692310001 meters Centerline goodness [0,1] 0.9998306448198484 Centerline is valid? [True, True] Translation: X:378.76, Y:-58.10, Z:-3.80 [[ 9.81386894e-01 1.91236505e-01 1.75602838e-02 3.78763101e+02] [-1.91204181e-01 9.81543983e-01 -3.51723603e-03 -5.80988506e+01] [-1.79088148e-02 9.41696729e-05 9.99839620e-01 -3.79579185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.56576923100005 meters Centerline goodness [0,1] 0.9998519020014387 Centerline is valid? [True, True] Translation: X:378.79, Y:-58.10, Z:-3.80 [[ 9.81305143e-01 1.91589340e-01 1.82685866e-02 3.78790675e+02] [-1.91554434e-01 9.81475174e-01 -3.65820619e-03 -5.81031253e+01] [-1.86310376e-02 9.03877869e-05 9.99826423e-01 -3.79562454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5957692310001 meters Centerline goodness [0,1] 0.9999364272091544 Centerline is valid? [True, True] Translation: X:378.82, Y:-58.10, Z:-3.79 [[ 9.80799999e-01 1.93889204e-01 2.09365265e-02 3.78819934e+02] [-1.93843911e-01 9.81023432e-01 -4.19097303e-03 -5.81036473e+01] [-2.13518075e-02 5.20881433e-05 9.99772023e-01 -3.79026464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.62576923100005 meters Centerline goodness [0,1] 0.9999567576917255 Centerline is valid? [True, True] Translation: X:378.85, Y:-58.11, Z:-3.79 [[ 9.80425431e-01 1.95723315e-01 2.14093264e-02 3.78849160e+02] [-1.95676414e-01 9.80659158e-01 -4.28452899e-03 -5.81059150e+01] [-2.18338342e-02 1.13609797e-05 9.99761613e-01 -3.79006002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6557692310001 meters Centerline goodness [0,1] 0.9999362597203927 Centerline is valid? [True, True] Translation: X:378.88, Y:-58.11, Z:-3.79 [[ 9.80076799e-01 1.97557490e-01 2.05062505e-02 3.78877670e+02] [-1.97514884e-01 9.80291302e-01 -4.10285753e-03 -5.81067519e+01] [-2.09126492e-02 -2.91742093e-05 9.99781306e-01 -3.79131065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.68576923100005 meters Centerline goodness [0,1] 0.9999365495653645 Centerline is valid? [True, True] Translation: X:378.91, Y:-58.10, Z:-3.79 [[ 9.79119936e-01 2.02387841e-01 1.90607820e-02 3.78907857e+02] [-2.02351970e-01 9.79305441e-01 -3.81232073e-03 -5.80982702e+01] [-1.94378949e-02 -1.24267550e-04 9.99811059e-01 -3.79443885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.94, Y:-58.10, Z:-3.80 [[ 9.78468853e-01 2.05558153e-01 1.85620706e-02 3.78937632e+02] [-2.05524726e-01 9.78644886e-01 -3.71143458e-03 -5.80958048e+01] [-1.89285911e-02 -1.83441337e-04 9.99820821e-01 -3.79548242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.97, Y:-58.09, Z:-3.80 [[ 9.77714208e-01 2.09109166e-01 1.86623708e-02 3.78966300e+02] [-2.09076040e-01 9.77892270e-01 -3.73063572e-03 -5.80922514e+01] [-1.90298983e-02 -2.54359048e-04 9.99818883e-01 -3.79621822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7757692310001 meters Centerline goodness [0,1] 0.9999788032303877 Centerline is valid? [True, True] Translation: X:379.00, Y:-58.09, Z:-3.80 [[ 9.77065899e-01 2.12095190e-01 1.89171856e-02 3.78996195e+02] [-2.12061740e-01 9.77248960e-01 -3.78009795e-03 -5.80895083e+01] [-1.92885406e-02 -3.18206504e-04 9.99813908e-01 -3.79595988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.03, Y:-58.09, Z:-3.80 [[ 9.76651161e-01 2.13990915e-01 1.89841559e-02 3.79025939e+02] [-2.13957604e-01 9.76835585e-01 -3.79255339e-03 -5.80878093e+01] [-1.93559710e-02 -3.57802825e-04 9.99812592e-01 -3.79695246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.06, Y:-58.09, Z:-3.80 [[ 9.76663820e-01 2.13995031e-01 1.82731834e-02 3.79055673e+02] [-2.13964185e-01 9.76834688e-01 -3.64967904e-03 -5.80856792e+01] [-1.86308926e-02 -3.45297323e-04 9.99826370e-01 -3.79954364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.86576923100006 meters Centerline goodness [0,1] 0.9999152039345375 Centerline is valid? [True, True] Translation: X:379.08, Y:-58.09, Z:-3.80 [[ 9.77135000e-01 2.11870174e-01 1.78387621e-02 3.79083736e+02] [-2.11840439e-01 9.77297775e-01 -3.56206640e-03 -5.80916993e+01] [-1.81884781e-02 -2.98351429e-04 9.99834531e-01 -3.80112236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.11, Y:-58.10, Z:-3.80 [[ 9.77815777e-01 2.08725345e-01 1.76078693e-02 3.79112024e+02] [-2.08695880e-01 9.77974271e-01 -3.51506561e-03 -5.80999972e+01] [-1.79537264e-02 -2.37603162e-04 9.99838791e-01 -3.80229292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.14, Y:-58.11, Z:-3.80 [[ 9.79430229e-01 2.01013230e-01 1.76098891e-02 3.79137859e+02] [-2.00982520e-01 9.79588522e-01 -3.51491916e-03 -5.81122448e+01] [-1.79569905e-02 -9.66618163e-05 9.99838756e-01 -3.80251649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.95576923100003 meters Centerline goodness [0,1] 0.9999146684870722 Centerline is valid? [True, True] Translation: X:379.16, Y:-58.12, Z:-3.80 [[ 9.80189701e-01 1.97275913e-01 1.76171440e-02 3.79164959e+02] [-1.97244593e-01 9.80348006e-01 -3.51524796e-03 -5.81217784e+01] [-1.79644058e-02 -2.92765601e-05 9.99838627e-01 -3.80321229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.98576923100006 meters Centerline goodness [0,1] 0.9999149659863945 Centerline is valid? [True, True] Translation: X:379.19, Y:-58.13, Z:-3.80 [[ 9.80913134e-01 1.93634715e-01 1.77488282e-02 3.79190322e+02] [-1.93602343e-01 9.81073695e-01 -3.54078077e-03 -5.81311282e+01] [-1.80985265e-02 3.69836434e-05 9.99836208e-01 -3.80337971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01576923100004 meters Centerline goodness [0,1] 0.9998729513403634 Centerline is valid? [True, True] Translation: X:379.22, Y:-58.14, Z:-3.80 [[ 9.81840430e-01 1.88840511e-01 1.81282008e-02 3.79215939e+02] [-1.88805952e-01 9.82007762e-01 -3.61486056e-03 -5.81440224e+01] [-1.84846660e-02 1.26504036e-04 9.99829136e-01 -3.80342696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.04576923100007 meters Centerline goodness [0,1] 0.9998722044728434 Centerline is valid? [True, True] Translation: X:379.24, Y:-58.15, Z:-3.80 [[ 9.81922233e-01 1.88368638e-01 1.86006432e-02 3.79243037e+02] [-1.88332199e-01 9.82098385e-01 -3.70749584e-03 -5.81493261e+01] [-1.89660376e-02 1.37372562e-04 9.99820119e-01 -3.80280275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07576923100004 meters Centerline goodness [0,1] 0.9998721881390593 Centerline is valid? [True, True] Translation: X:379.27, Y:-58.15, Z:-3.80 [[ 9.81832025e-01 1.88768271e-01 1.92980425e-02 3.79271599e+02] [-1.88729155e-01 9.82021651e-01 -3.84497119e-03 -5.81536466e+01] [-1.96769041e-02 1.33012578e-04 9.99806382e-01 -3.80184851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.10576923100007 meters Centerline goodness [0,1] 0.9998288733448844 Centerline is valid? [True, True] Translation: X:379.30, Y:-58.16, Z:-3.80 [[ 9.81657226e-01 1.89557497e-01 2.04217241e-02 3.79299545e+02] [-1.89513885e-01 9.81869615e-01 -4.06781721e-03 -5.81580406e+01] [-2.08225556e-02 1.23001889e-04 9.99783180e-01 -3.80041650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13576923100004 meters Centerline goodness [0,1] 0.9997861557214037 Centerline is valid? [True, True] Translation: X:379.33, Y:-58.16, Z:-3.80 [[ 9.81309897e-01 1.91113329e-01 2.25073480e-02 3.79327447e+02] [-1.91060809e-01 9.81567973e-01 -4.48121161e-03 -5.81622354e+01] [-2.29489112e-02 9.71851824e-05 9.99736634e-01 -3.79689108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.16576923100007 meters Centerline goodness [0,1] 0.9998096164829818 Centerline is valid? [True, True] Translation: X:379.35, Y:-58.17, Z:-3.80 [[ 9.81287939e-01 1.91197961e-01 2.27446640e-02 3.79353755e+02] [-1.91144383e-01 9.81551492e-01 -4.52703010e-03 -5.81681748e+01] [-2.31906178e-02 9.48052695e-05 9.99731057e-01 -3.79687081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.19576923100004 meters Centerline goodness [0,1] 0.9998281971437775 Centerline is valid? [True, True] Translation: X:379.38, Y:-58.17, Z:-3.80 [[ 9.81388680e-01 1.90742175e-01 2.22189624e-02 3.79380651e+02] [-1.90690969e-01 9.81640164e-01 -4.42062394e-03 -5.81745978e+01] [-2.26542253e-02 1.01394826e-04 9.99743355e-01 -3.79905043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2257692310001 meters Centerline goodness [0,1] 0.9997889894705746 Centerline is valid? [True, True] Translation: X:379.41, Y:-58.18, Z:-3.80 [[ 9.81773050e-01 1.88853167e-01 2.13578809e-02 3.79408210e+02] [-1.88805438e-01 9.82005327e-01 -4.24785036e-03 -5.81849828e+01] [-2.17757728e-02 1.37940936e-04 9.99762870e-01 -3.80181123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.25576923100004 meters Centerline goodness [0,1] 0.999851253718657 Centerline is valid? [True, True] Translation: X:379.44, Y:-58.19, Z:-3.80 [[ 9.81954235e-01 1.87958735e-01 2.09139530e-02 3.79435074e+02] [-1.87912788e-01 9.82176914e-01 -4.15858972e-03 -5.81939586e+01] [-2.13228450e-02 1.53545572e-04 9.99772631e-01 -3.80300136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2857692310001 meters Centerline goodness [0,1] 0.9998941731750164 Centerline is valid? [True, True] Translation: X:379.46, Y:-58.20, Z:-3.80 [[ 9.82145019e-01 1.87044762e-01 2.01350155e-02 3.79462783e+02] [-1.87002005e-01 9.82351378e-01 -4.00254161e-03 -5.82018530e+01] [-2.05283146e-02 1.65788033e-04 9.99789258e-01 -3.80481686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.31576923100005 meters Centerline goodness [0,1] 0.9998520522466923 Centerline is valid? [True, True] Translation: X:379.49, Y:-58.21, Z:-3.81 [[ 9.82262352e-01 1.86568160e-01 1.87881209e-02 3.79490778e+02] [-1.86530861e-01 9.82442006e-01 -3.73403171e-03 -5.82069256e+01] [-1.91548906e-02 1.63234395e-04 9.99816515e-01 -3.80710615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3457692310001 meters Centerline goodness [0,1] 0.9999141962332146 Centerline is valid? [True, True] Translation: X:379.52, Y:-58.22, Z:-3.81 [[ 9.82308534e-01 1.86478381e-01 1.71976027e-02 3.79516976e+02] [-1.86447128e-01 9.82459053e-01 -3.41722318e-03 -5.82169951e+01] [-1.75331787e-02 1.50323861e-04 9.99846271e-01 -3.81145498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.37576923100005 meters Centerline goodness [0,1] 0.9998925978433647 Centerline is valid? [True, True] Translation: X:379.54, Y:-58.23, Z:-3.81 [[ 9.82322346e-01 1.86423432e-01 1.70033142e-02 3.79543328e+02] [-1.86392891e-01 9.82469481e-01 -3.37763578e-03 -5.82250117e+01] [-1.73349077e-02 1.48630222e-04 9.99849728e-01 -3.81302623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4057692310001 meters Centerline goodness [0,1] 0.9998925978433647 Centerline is valid? [True, True] Translation: X:379.57, Y:-58.23, Z:-3.81 [[ 9.82334958e-01 1.86356942e-01 1.70035423e-02 3.79570319e+02] [-1.86326410e-01 9.82482096e-01 -3.37648704e-03 -5.82302279e+01] [-1.73349076e-02 1.48632258e-04 9.99849728e-01 -3.81363128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.43576923100005 meters Centerline goodness [0,1] 0.9999573269608262 Centerline is valid? [True, True] Translation: X:379.60, Y:-58.24, Z:-3.81 [[ 9.82346214e-01 1.86249422e-01 1.75233850e-02 3.79597145e+02] [-1.86217001e-01 9.82502483e-01 -3.47843635e-03 -5.82370764e+01] [-1.78646260e-02 1.53876576e-04 9.99840403e-01 -3.81321386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4657692310001 meters Centerline goodness [0,1] 0.9999576001695993 Centerline is valid? [True, True] Translation: X:379.63, Y:-58.24, Z:-3.81 [[ 9.82268546e-01 1.86548805e-01 1.86560024e-02 3.79625642e+02] [-1.86512138e-01 9.82445682e-01 -3.70178333e-03 -5.82434729e+01] [-1.90190723e-02 1.56574432e-04 9.99819109e-01 -3.81212046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.49576923100005 meters Centerline goodness [0,1] 0.9999147194269146 Centerline is valid? [True, True] Translation: X:379.65, Y:-58.25, Z:-3.81 [[ 9.81977601e-01 1.87757210e-01 2.16152850e-02 3.79654305e+02] [-1.87708306e-01 9.82215458e-01 -4.28779471e-03 -5.82497478e+01] [-2.20359314e-02 1.53149833e-04 9.99757168e-01 -3.80700821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5257692310001 meters Centerline goodness [0,1] 0.9999153439153439 Centerline is valid? [True, True] Translation: X:379.68, Y:-58.26, Z:-3.81 [[ 9.81824324e-01 1.88585230e-01 2.13683678e-02 3.79681651e+02] [-1.88537655e-01 9.82056818e-01 -4.23782303e-03 -5.82550976e+01] [-2.17841421e-02 1.32055789e-04 9.99762689e-01 -3.80801984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.55576923100006 meters Centerline goodness [0,1] 0.9999575623832966 Centerline is valid? [True, True] Translation: X:379.71, Y:-58.26, Z:-3.81 [[ 9.81629142e-01 1.89735836e-01 2.01131929e-02 3.79710386e+02] [-1.89693951e-01 9.81835171e-01 -3.98777785e-03 -5.82592842e+01] [-2.05044646e-02 9.91679130e-05 9.99789756e-01 -3.81055603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5857692310001 meters Centerline goodness [0,1] 0.9999571899481998 Centerline is valid? [True, True] Translation: X:379.74, Y:-58.26, Z:-3.81 [[ 9.81021946e-01 1.93037792e-01 1.82305472e-02 3.79739144e+02] [-1.93003967e-01 9.81191322e-01 -3.61368123e-03 -5.82606702e+01] [-1.85852318e-02 2.65326551e-05 9.99827279e-01 -3.81452994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.61576923100006 meters Centerline goodness [0,1] 0.9999367582267007 Centerline is valid? [True, True] Translation: X:379.77, Y:-58.26, Z:-3.82 [[ 9.80750941e-01 1.94381801e-01 1.85285696e-02 3.79766395e+02] [-1.94347110e-01 9.80925948e-01 -3.67221146e-03 -5.82639872e+01] [-1.88889658e-02 5.50882544e-07 9.99821588e-01 -3.81513810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.64576923100003 meters Centerline goodness [0,1] 0.9999782858879986 Centerline is valid? [True, True] Translation: X:379.79, Y:-58.27, Z:-3.81 [[ 9.80528363e-01 1.95381874e-01 1.97497720e-02 3.79793955e+02] [-1.95342700e-01 9.80727242e-01 -3.91240644e-03 -5.82684009e+01] [-2.01335527e-02 -2.17482997e-05 9.99797299e-01 -3.81309461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.82, Y:-58.27, Z:-3.81 [[ 9.80259334e-01 1.96569044e-01 2.12661677e-02 3.79820896e+02] [-1.96523938e-01 9.80489984e-01 -4.21109753e-03 -5.82719231e+01] [-2.16790358e-02 -5.13433614e-05 9.99764981e-01 -3.81020200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.85, Y:-58.28, Z:-3.81 [[ 9.80044767e-01 1.97607105e-01 2.15333712e-02 3.79849732e+02] [-1.97561151e-01 9.80281299e-01 -4.26212015e-03 -5.82758511e+01] [-2.19509864e-02 -7.70890480e-05 9.99759045e-01 -3.80985841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.88, Y:-58.28, Z:-3.81 [[ 9.79795279e-01 1.98875814e-01 2.12042979e-02 3.79878111e+02] [-1.98831572e-01 9.80024693e-01 -4.19598163e-03 -5.82776209e+01] [-2.16152148e-02 -1.04880889e-04 9.99766358e-01 -3.81100432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76576923100004 meters Centerline goodness [0,1] 0.999830730819686 Centerline is valid? [True, True] Translation: X:379.91, Y:-58.27, Z:-3.81 [[ 9.79212591e-01 2.01802411e-01 2.04569871e-02 3.79907483e+02] [-2.01761907e-01 9.79426240e-01 -4.04638757e-03 -5.82745752e+01] [-2.08526807e-02 -1.65167069e-04 9.99782546e-01 -3.81405708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.79576923100007 meters Centerline goodness [0,1] 0.99987349511902 Centerline is valid? [True, True] Translation: X:379.94, Y:-58.27, Z:-3.82 [[ 9.78902595e-01 2.03291101e-01 2.05532991e-02 3.79935287e+02] [-2.03250581e-01 9.79118322e-01 -4.06361952e-03 -5.82749063e+01] [-2.09502094e-02 -1.99582281e-04 9.99780500e-01 -3.81555176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82576923100004 meters Centerline goodness [0,1] 0.9998312414302288 Centerline is valid? [True, True] Translation: X:379.97, Y:-58.27, Z:-3.81 [[ 9.78092814e-01 2.07048888e-01 2.15686198e-02 3.79965721e+02] [-2.07005214e-01 9.78330553e-01 -4.26272597e-03 -5.82691144e+01] [-2.19838324e-02 -2.95475105e-04 9.99758283e-01 -3.81298280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.85576923100007 meters Centerline goodness [0,1] 0.9997028673302629 Centerline is valid? [True, True] Translation: X:379.99, Y:-58.27, Z:-3.81 [[ 9.77635128e-01 2.09178279e-01 2.17716475e-02 3.79994706e+02] [-2.09134330e-01 9.77877460e-01 -4.30180241e-03 -5.82668433e+01] [-2.21898470e-02 -3.47605757e-04 9.99753715e-01 -3.81192571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88576923100004 meters Centerline goodness [0,1] 0.9997237979900992 Centerline is valid? [True, True] Translation: X:380.02, Y:-58.27, Z:-3.81 [[ 9.77221446e-01 2.11196530e-01 2.08391793e-02 3.80024726e+02] [-2.11156748e-01 9.77443545e-01 -4.11637001e-03 -5.82654221e+01] [-2.12384843e-02 -3.77728274e-04 9.99774367e-01 -3.81365655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.91576923100007 meters Centerline goodness [0,1] 0.9995766747804 Centerline is valid? [True, True] Translation: X:380.05, Y:-58.26, Z:-3.82 [[ 9.77024885e-01 2.12209626e-01 1.97344349e-02 3.80053255e+02] [-2.12174174e-01 9.77224094e-01 -3.89729248e-03 -5.82634413e+01] [-2.01120083e-02 -3.79385703e-04 9.99797661e-01 -3.81652037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.94576923100004 meters Centerline goodness [0,1] 0.999808441351127 Centerline is valid? [True, True] Translation: X:380.08, Y:-58.27, Z:-3.82 [[ 9.77412031e-01 2.10441717e-01 1.94937118e-02 3.80081349e+02] [-2.10406796e-01 9.77606346e-01 -3.84860779e-03 -5.82685224e+01] [-1.98670840e-02 -3.39933896e-04 9.99802572e-01 -3.81885313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.9757692310001 meters Centerline goodness [0,1] 0.9996421052631579 Centerline is valid? [True, True] Translation: X:380.11, Y:-58.27, Z:-3.82 [[ 9.77864258e-01 2.08199119e-01 2.08475558e-02 3.80109224e+02] [-2.08158692e-01 9.78086411e-01 -4.11482107e-03 -5.82717130e+01] [-2.12474132e-02 -3.15863496e-04 9.99774198e-01 -3.81801323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.00576923100004 meters Centerline goodness [0,1] 0.9999159133907926 Centerline is valid? [True, True] Translation: X:380.14, Y:-58.28, Z:-3.82 [[ 9.78357876e-01 2.05704338e-01 2.23962478e-02 3.80136832e+02] [-2.05657076e-01 9.78614145e-01 -4.41836712e-03 -5.82786066e+01] [-2.28261622e-02 -2.83202573e-04 9.99739409e-01 -3.81588138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0357692310001 meters Centerline goodness [0,1] 0.9998930527036276 Centerline is valid? [True, True] Translation: X:380.16, Y:-58.29, Z:-3.81 [[ 9.79416700e-01 2.00448600e-01 2.37336673e-02 3.80163602e+02] [-2.00394009e-01 9.79704205e-01 -4.68103656e-03 -5.82903532e+01] [-2.41902809e-02 -1.71399360e-04 9.99707358e-01 -3.81404366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.06576923100005 meters Centerline goodness [0,1] 0.9998512442357141 Centerline is valid? [True, True] Translation: X:380.19, Y:-58.30, Z:-3.82 [[ 9.79941080e-01 1.98048752e-01 2.21849244e-02 3.80191798e+02] [-1.98000461e-01 9.80192165e-01 -4.37454046e-03 -5.82970515e+01] [-2.26118613e-02 -1.05833349e-04 9.99744314e-01 -3.81664176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0957692310001 meters Centerline goodness [0,1] 0.9999567885230317 Centerline is valid? [True, True] Translation: X:380.22, Y:-58.30, Z:-3.82 [[ 9.80411989e-01 1.95868781e-01 2.06821956e-02 3.80219483e+02] [-1.95826346e-01 9.80630113e-01 -4.07727355e-03 -5.83032265e+01] [-2.10801944e-02 -5.27109218e-05 9.99777787e-01 -3.82039343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.25, Y:-58.31, Z:-3.83 [[ 9.81138992e-01 1.92482292e-01 1.78001768e-02 3.80246880e+02] [-1.92450317e-01 9.81300447e-01 -3.50838037e-03 -5.83108111e+01] [-1.81426225e-02 1.65591201e-05 9.99835409e-01 -3.82603141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.27, Y:-58.32, Z:-3.83 [[ 9.81327944e-01 1.91514252e-01 1.78257569e-02 3.80273280e+02] [-1.91482038e-01 9.81489832e-01 -3.51266829e-03 -5.83168074e+01] [-1.81685251e-02 3.37672949e-05 9.99834938e-01 -3.82690870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.30, Y:-58.32, Z:-3.82 [[ 9.81415485e-01 1.90933522e-01 1.91842780e-02 3.80300794e+02] [-1.90896136e-01 9.81602969e-01 -3.77848724e-03 -5.83221136e+01] [-1.95527841e-02 4.60613313e-05 9.99808825e-01 -3.82455121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.33, Y:-58.33, Z:-3.82 [[ 9.81552811e-01 1.90076424e-01 2.06163138e-02 3.80328043e+02] [-1.90033087e-01 9.81769295e-01 -4.05923803e-03 -5.83269103e+01] [-2.10120293e-02 6.65747486e-05 9.99779221e-01 -3.82238652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.24576923100005 meters Centerline goodness [0,1] 0.9999572695224869 Centerline is valid? [True, True] Translation: X:380.36, Y:-58.33, Z:-3.82 [[ 9.81998203e-01 1.87706026e-01 2.11181497e-02 3.80355756e+02] [-1.87660039e-01 9.82225246e-01 -4.15646031e-03 -5.83342229e+01] [-2.15229725e-02 1.18603759e-04 9.99768347e-01 -3.82294833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2757692310001 meters Centerline goodness [0,1] 0.9998934878469633 Centerline is valid? [True, True] Translation: X:380.38, Y:-58.34, Z:-3.82 [[ 9.82285916e-01 1.86262688e-01 2.05082881e-02 3.80382567e+02] [-1.86219024e-01 9.82499969e-01 -4.03547609e-03 -5.83425523e+01] [-2.09010510e-02 1.44957930e-04 9.99781539e-01 -3.82480700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.30576923100006 meters Centerline goodness [0,1] 0.9999361185639453 Centerline is valid? [True, True] Translation: X:380.41, Y:-58.35, Z:-3.83 [[ 9.82552616e-01 1.84955040e-01 1.95445803e-02 3.80409664e+02] [-1.84915146e-01 9.82746970e-01 -3.84478406e-03 -5.83508556e+01] [-1.99184893e-02 1.63613705e-04 9.99801594e-01 -3.82708601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3357692310001 meters Centerline goodness [0,1] 0.9999149370534195 Centerline is valid? [True, True] Translation: X:380.44, Y:-58.36, Z:-3.83 [[ 9.83044837e-01 1.82332168e-01 1.94378276e-02 3.80437130e+02] [-1.82292230e-01 9.83236968e-01 -3.82203208e-03 -5.83608319e+01] [-1.98088700e-02 2.13863958e-04 9.99803762e-01 -3.82818207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.36576923100006 meters Centerline goodness [0,1] 0.9998094592878012 Centerline is valid? [True, True] Translation: X:380.46, Y:-58.37, Z:-3.83 [[ 9.83330437e-01 1.80700863e-01 2.02101349e-02 3.80463334e+02] [-1.80657365e-01 9.83538069e-01 -3.97288023e-03 -5.83703795e+01] [-2.05953400e-02 2.55544336e-04 9.99787861e-01 -3.82751730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.39576923100003 meters Centerline goodness [0,1] 0.9998316994151555 Centerline is valid? [True, True] Translation: X:380.49, Y:-58.38, Z:-3.83 [[ 9.83619817e-01 1.79047908e-01 2.08303025e-02 3.80491052e+02] [-1.79001356e-01 9.83840311e-01 -4.09348154e-03 -5.83791700e+01] [-2.12266206e-02 2.97777190e-04 9.99774646e-01 -3.82714757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.42576923100006 meters Centerline goodness [0,1] 0.9998105183376143 Centerline is valid? [True, True] Translation: X:380.52, Y:-58.40, Z:-3.83 [[ 9.84232032e-01 1.75681340e-01 2.05760666e-02 3.80516334e+02] [-1.75635202e-01 9.84447019e-01 -4.04256715e-03 -5.83965619e+01] [-2.09662511e-02 3.64942462e-04 9.99780117e-01 -3.82880539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.45576923100003 meters Centerline goodness [0,1] 0.9998074372031324 Centerline is valid? [True, True] Translation: X:380.54, Y:-58.40, Z:-3.83 [[ 9.84637775e-01 1.73433303e-01 2.02321778e-02 3.80544217e+02] [-1.73388243e-01 9.84845534e-01 -3.97382788e-03 -5.84033986e+01] [-2.06147640e-02 4.04759287e-04 9.99787411e-01 -3.83005179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.48576923100006 meters Centerline goodness [0,1] 0.9997884761824182 Centerline is valid? [True, True] Translation: X:380.57, Y:-58.42, Z:-3.83 [[ 9.85077645e-01 1.70904947e-01 2.03354947e-02 3.80569348e+02] [-1.70858908e-01 9.85287414e-01 -3.99315469e-03 -5.84167139e+01] [-2.07187569e-02 4.59067001e-04 9.99785238e-01 -3.83014280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51576923100004 meters Centerline goodness [0,1] 0.9997007651861668 Centerline is valid? [True, True] Translation: X:380.60, Y:-58.43, Z:-3.83 [[ 9.85648113e-01 1.67231080e-01 2.30556405e-02 3.80595877e+02] [-1.67170937e-01 9.85917541e-01 -4.52545638e-03 -5.84330264e+01] [-2.34877574e-02 6.06274520e-04 9.99723941e-01 -3.82628835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.54576923100007 meters Centerline goodness [0,1] 0.9996627034319926 Centerline is valid? [True, True] Translation: X:380.62, Y:-58.45, Z:-3.83 [[ 9.85885872e-01 1.65730278e-01 2.37175739e-02 3.80622052e+02] [-1.65666218e-01 9.86170898e-01 -4.65446644e-03 -5.84476226e+01] [-2.41609671e-02 6.59571932e-04 9.99707864e-01 -3.82576779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57576923100004 meters Centerline goodness [0,1] 0.9997233395049905 Centerline is valid? [True, True] Translation: X:380.65, Y:-58.46, Z:-3.83 [[ 9.86080994e-01 1.64584143e-01 2.35867281e-02 3.80650225e+02] [-1.64520480e-01 9.86362810e-01 -4.62797332e-03 -5.84588899e+01] [-2.40267625e-02 6.83056687e-04 9.99711082e-01 -3.82693521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.60576923100007 meters Centerline goodness [0,1] 0.999745800410956 Centerline is valid? [True, True] Translation: X:380.68, Y:-58.47, Z:-3.83 [[ 9.86321972e-01 1.63305582e-01 2.23663747e-02 3.80676922e+02] [-1.63248020e-01 9.86575303e-01 -4.38802393e-03 -5.84731416e+01] [-2.27827017e-02 6.76738027e-04 9.99740212e-01 -3.82952189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63576923100004 meters Centerline goodness [0,1] 0.9996819608175728 Centerline is valid? [True, True] Translation: X:380.70, Y:-58.49, Z:-3.83 [[ 9.86417737e-01 1.62897478e-01 2.10822319e-02 3.80704507e+02] [-1.62846255e-01 9.86642789e-01 -4.13561040e-03 -5.84887278e+01] [-2.14743125e-02 6.46276943e-04 9.99769191e-01 -3.83208307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.66576923100007 meters Centerline goodness [0,1] 0.9997032263534998 Centerline is valid? [True, True] Translation: X:380.73, Y:-58.50, Z:-3.83 [[ 9.86264455e-01 1.63799971e-01 2.12601769e-02 3.80733769e+02] [-1.63748089e-01 9.86493371e-01 -4.17051712e-03 -5.84990973e+01] [-2.16561542e-02 6.31919443e-04 9.99765278e-01 -3.83185825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.69576923100004 meters Centerline goodness [0,1] 0.9996989117811519 Centerline is valid? [True, True] Translation: X:380.76, Y:-58.51, Z:-3.83 [[ 9.85998032e-01 1.65388477e-01 2.13197870e-02 3.80763405e+02] [-1.65336675e-01 9.86228317e-01 -4.18221058e-03 -5.85082214e+01] [-2.17178671e-02 5.98708703e-04 9.99763960e-01 -3.83029684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7257692310001 meters Centerline goodness [0,1] 0.9998735031202564 Centerline is valid? [True, True] Translation: X:380.79, Y:-58.52, Z:-3.84 [[ 9.85235362e-01 1.70125640e-01 1.91976228e-02 3.80791257e+02] [-1.70084538e-01 9.85422279e-01 -3.76580413e-03 -5.85186130e+01] [-1.95584251e-02 4.44984589e-04 9.99808617e-01 -3.83721424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.75576923100004 meters Centerline goodness [0,1] 0.9999156242748961 Centerline is valid? [True, True] Translation: X:380.82, Y:-58.52, Z:-3.84 [[ 9.84667478e-01 1.73392973e-01 1.91006447e-02 3.80820965e+02] [-1.73352880e-01 9.84852645e-01 -3.74777315e-03 -5.85245150e+01] [-1.94611580e-02 3.79158564e-04 9.99810542e-01 -3.83899045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7857692310001 meters Centerline goodness [0,1] 0.9999786530045897 Centerline is valid? [True, True] Translation: X:380.85, Y:-58.53, Z:-3.84 [[ 9.83935959e-01 1.77478332e-01 1.92735585e-02 3.80850615e+02] [-1.77438292e-01 9.84124662e-01 -3.78175440e-03 -5.85282683e+01] [-1.96387637e-02 3.01136855e-04 9.99807096e-01 -3.83949058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.81576923100005 meters Centerline goodness [0,1] 0.9999788753221514 Centerline is valid? [True, True] Translation: X:380.88, Y:-58.53, Z:-3.84 [[ 9.82428632e-01 1.85764353e-01 1.80440469e-02 3.80880283e+02] [-1.85730661e-01 9.82594316e-01 -3.54012140e-03 -5.85283822e+01] [-1.83876063e-02 1.26583856e-04 9.99830926e-01 -3.84233496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.91, Y:-58.53, Z:-3.84 [[ 9.81799496e-01 1.89118909e-01 1.74295342e-02 3.80909168e+02] [-1.89088006e-01 9.81954192e-01 -3.41926919e-03 -5.85311433e+01] [-1.77616527e-02 6.13208892e-05 9.99842248e-01 -3.84406094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.94, Y:-58.54, Z:-3.84 [[ 9.81214998e-01 1.92139170e-01 1.73108724e-02 3.80937979e+02] [-1.92109170e-01 9.81367688e-01 -3.39520777e-03 -5.85350576e+01] [-1.76406833e-02 5.85145996e-06 9.99844391e-01 -3.84437407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9057692310001 meters Centerline goodness [0,1] 0.9999787043741215 Centerline is valid? [True, True] Translation: X:380.97, Y:-58.54, Z:-3.84 [[ 9.80307760e-01 1.96567343e-01 1.89202252e-02 3.80966559e+02] [-1.96532348e-01 9.80490323e-01 -3.70989646e-03 -5.85390048e+01] [-1.92803422e-02 -8.15959883e-05 9.99814114e-01 -3.84219244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.93576923100005 meters Centerline goodness [0,1] 0.9999365039050099 Centerline is valid? [True, True] Translation: X:380.99, Y:-58.54, Z:-3.84 [[ 9.79890645e-01 1.98503574e-01 2.02646448e-02 3.80994282e+02] [-1.98463862e-01 9.80100155e-01 -3.97250438e-03 -5.85422687e+01] [-2.06499379e-02 -1.29179807e-04 9.99786759e-01 -3.84051361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9657692310001 meters Centerline goodness [0,1] 0.9999573597134572 Centerline is valid? [True, True] Translation: X:381.02, Y:-58.55, Z:-3.84 [[ 9.79430611e-01 2.00656192e-01 2.12784267e-02 3.81023465e+02] [-2.00612944e-01 9.79661706e-01 -4.16992894e-03 -5.85457204e+01] [-2.16823819e-02 -1.84571777e-04 9.99764892e-01 -3.83895003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.99576923100005 meters Centerline goodness [0,1] 0.9997892784895482 Centerline is valid? [True, True] Translation: X:381.05, Y:-58.54, Z:-3.84 [[ 9.78053613e-01 2.07311096e-01 2.08144140e-02 3.81053413e+02] [-2.07271238e-01 9.78275014e-01 -4.07805806e-03 -5.85384889e+01] [-2.12076479e-02 -3.25669938e-04 9.99775040e-01 -3.83989286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0257692310001 meters Centerline goodness [0,1] 0.9999570354457572 Centerline is valid? [True, True] Translation: X:381.08, Y:-58.54, Z:-3.84 [[ 9.77220704e-01 2.11230108e-01 2.05313587e-02 3.81083078e+02] [-2.11192212e-01 9.77436277e-01 -4.02157405e-03 -5.85423939e+01] [-2.09175723e-02 -4.06097629e-04 9.99781121e-01 -3.84041273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.05576923100006 meters Centerline goodness [0,1] 0.9995085365071903 Centerline is valid? [True, True] Translation: X:381.11, Y:-58.53, Z:-3.84 [[ 9.76280671e-01 2.15537039e-01 2.04898898e-02 3.81114721e+02] [-2.15500253e-01 9.76495539e-01 -4.01295231e-03 -5.85310752e+01] [-2.08732258e-02 -4.97808667e-04 9.99782007e-01 -3.84110425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0857692310001 meters Centerline goodness [0,1] 0.9991469032588296 Centerline is valid? [True, True] Translation: X:381.15, Y:-58.52, Z:-3.84 [[ 9.74700223e-01 2.22601006e-01 2.02056318e-02 3.81147646e+02] [-2.22566764e-01 9.74909422e-01 -3.95649046e-03 -5.85218450e+01] [-2.05793796e-02 -6.40709949e-04 9.99788017e-01 -3.84329932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.11576923100006 meters Centerline goodness [0,1] 0.9985889092479097 Centerline is valid? [True, True] Translation: X:381.18, Y:-58.52, Z:-3.85 [[ 9.74200604e-01 2.24811444e-01 1.98241827e-02 3.81176919e+02] [-2.24778940e-01 9.74402052e-01 -3.88180400e-03 -5.85182145e+01] [-2.01893983e-02 -6.74402963e-04 9.99795946e-01 -3.84546054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.14576923100003 meters Centerline goodness [0,1] 0.9986247170090768 Centerline is valid? [True, True] Translation: X:381.21, Y:-58.52, Z:-3.85 [[ 9.74033803e-01 2.25524370e-01 1.99225646e-02 3.81205669e+02] [-2.25491709e-01 9.74237280e-01 -3.90019466e-03 -5.85230185e+01] [-2.02888941e-02 -6.93451709e-04 9.99793919e-01 -3.84666546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.17576923100006 meters Centerline goodness [0,1] 0.9992154700818455 Centerline is valid? [True, True] Translation: X:381.23, Y:-58.53, Z:-3.84 [[ 9.74233712e-01 2.24541817e-01 2.12048926e-02 3.81233391e+02] [-2.24504661e-01 9.74464188e-01 -4.14765999e-03 -5.85344897e+01] [-2.15947315e-02 -7.19807027e-04 9.99766547e-01 -3.84461073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.20576923100003 meters Centerline goodness [0,1] 0.998912440823986 Centerline is valid? [True, True] Translation: X:381.26, Y:-58.53, Z:-3.85 [[ 9.74428298e-01 2.23711260e-01 2.10419537e-02 3.81262866e+02] [-2.23674495e-01 9.74655214e-01 -4.11504004e-03 -5.85288777e+01] [-2.14292307e-02 -6.96736905e-04 9.99770125e-01 -3.84520732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.23576923100006 meters Centerline goodness [0,1] 0.9980977743960434 Centerline is valid? [True, True] Translation: X:381.29, Y:-58.52, Z:-3.85 [[ 9.74521339e-01 2.23302754e-01 2.10722683e-02 3.81291666e+02] [-2.23265815e-01 9.74748893e-01 -4.11969145e-03 -5.85248714e+01] [-2.14601086e-02 -6.89989914e-04 9.99769467e-01 -3.84631170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26576923100004 meters Centerline goodness [0,1] 0.9991971095945403 Centerline is valid? [True, True] Translation: X:381.32, Y:-58.54, Z:-3.85 [[ 9.74481549e-01 2.23440877e-01 2.14449441e-02 3.81317996e+02] [-2.23402679e-01 9.74717228e-01 -4.19135523e-03 -5.85379637e+01] [-2.18392766e-02 -7.06459638e-04 9.99761245e-01 -3.84558758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.29576923100007 meters Centerline goodness [0,1] 0.9991971095945403 Centerline is valid? [True, True] Translation: X:381.35, Y:-58.54, Z:-3.85 [[ 9.74497048e-01 2.23373249e-01 2.14451867e-02 3.81345012e+02] [-2.23335062e-01 9.74732729e-01 -4.19011354e-03 -5.85431062e+01] [-2.18392847e-02 -7.06208840e-04 9.99761245e-01 -3.84619291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32576923100004 meters Centerline goodness [0,1] 0.9990290032507283 Centerline is valid? [True, True] Translation: X:381.37, Y:-58.54, Z:-3.85 [[ 9.74465725e-01 2.23456599e-01 2.19931483e-02 3.81373815e+02] [-2.23416493e-01 9.74713609e-01 -4.29554702e-03 -5.85404865e+01] [-2.23968893e-02 -7.27768720e-04 9.99748893e-01 -3.84574353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.35576923100007 meters Centerline goodness [0,1] 0.9994210357027983 Centerline is valid? [True, True] Translation: X:381.40, Y:-58.55, Z:-3.85 [[ 9.74597005e-01 2.22924087e-01 2.15761396e-02 3.81402601e+02] [-2.22885400e-01 9.74835553e-01 -4.21219297e-03 -5.85452213e+01] [-2.19721873e-02 -7.03815857e-04 9.99758335e-01 -3.84652106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38576923100004 meters Centerline goodness [0,1] 0.9993662998246763 Centerline is valid? [True, True] Translation: X:381.43, Y:-58.54, Z:-3.85 [[ 9.74770509e-01 2.22194243e-01 2.12643607e-02 3.81431838e+02] [-2.22156515e-01 9.75002184e-01 -4.15028494e-03 -5.85432233e+01] [-2.16549675e-02 -6.78440888e-04 9.99765274e-01 -3.84756491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.41576923100007 meters Centerline goodness [0,1] 0.9992363335525339 Centerline is valid? [True, True] Translation: X:381.46, Y:-58.55, Z:-3.85 [[ 9.74954988e-01 2.21337809e-01 2.17335041e-02 3.81461037e+02] [-2.21298209e-01 9.75196964e-01 -4.24075111e-03 -5.85457737e+01] [-2.21330857e-02 -6.75044086e-04 9.99754805e-01 -3.84755911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.44576923100004 meters Centerline goodness [0,1] 0.9992565845369583 Centerline is valid? [True, True] Translation: X:381.49, Y:-58.55, Z:-3.85 [[ 9.75194763e-01 2.20241619e-01 2.21089212e-02 3.81489569e+02] [-2.20200381e-01 9.75445124e-01 -4.31295463e-03 -5.85507072e+01] [-2.25159315e-02 -6.62422119e-04 9.99746265e-01 -3.84751285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.4757692310001 meters Centerline goodness [0,1] 0.9992633129867396 Centerline is valid? [True, True] Translation: X:381.52, Y:-58.55, Z:-3.85 [[ 9.75536308e-01 2.18700775e-01 2.23356931e-02 3.81517838e+02] [-2.18658308e-01 9.75791765e-01 -4.35611016e-03 -5.85527795e+01] [-2.27476700e-02 -6.34341223e-04 9.99741037e-01 -3.84786800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.50576923100004 meters Centerline goodness [0,1] 0.9994919559695173 Centerline is valid? [True, True] Translation: X:381.55, Y:-58.56, Z:-3.85 [[ 9.76345511e-01 2.15016800e-01 2.27424489e-02 3.81547447e+02] [-2.14971803e-01 9.76610190e-01 -4.43410266e-03 -5.85578952e+01] [-2.31639139e-02 -5.59769042e-04 9.99731524e-01 -3.84828246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5357692310001 meters Centerline goodness [0,1] 0.9995757678601731 Centerline is valid? [True, True] Translation: X:381.58, Y:-58.56, Z:-3.85 [[ 9.76682565e-01 2.13548546e-01 2.20949092e-02 3.81575497e+02] [-2.13505714e-01 9.76932320e-01 -4.30720417e-03 -5.85632226e+01] [-2.25050281e-02 -5.10618158e-04 9.99746599e-01 -3.84973469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.56576923100005 meters Centerline goodness [0,1] 0.9998095600837935 Centerline is valid? [True, True] Translation: X:381.60, Y:-58.56, Z:-3.85 [[ 9.77088364e-01 2.11911973e-01 1.97900402e-02 3.81603755e+02] [-2.11877293e-01 9.77288665e-01 -3.85705046e-03 -5.85619294e+01] [-2.01579372e-02 -4.24381040e-04 9.99796718e-01 -3.85347973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5957692310001 meters Centerline goodness [0,1] 0.9997455362822851 Centerline is valid? [True, True] Translation: X:381.63, Y:-58.57, Z:-3.85 [[ 9.77215148e-01 2.11382045e-01 1.91881671e-02 3.81632109e+02] [-2.11349352e-01 9.77403433e-01 -3.73918677e-03 -5.85651288e+01] [-1.95449774e-02 -4.01416728e-04 9.99808898e-01 -3.85495866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.62576923100005 meters Centerline goodness [0,1] 0.9999365186846672 Centerline is valid? [True, True] Translation: X:381.66, Y:-58.57, Z:-3.86 [[ 9.77404860e-01 2.10506462e-01 1.91512416e-02 3.81660368e+02] [-2.10473799e-01 9.77592389e-01 -3.72828820e-03 -5.85670987e+01] [-1.95069368e-02 -3.86787571e-04 9.99809647e-01 -3.85586735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6557692310001 meters Centerline goodness [0,1] 0.9998283372315087 Centerline is valid? [True, True] Translation: X:381.69, Y:-58.57, Z:-3.86 [[ 9.77734876e-01 2.08929644e-01 1.95682435e-02 3.81688735e+02] [-2.08895260e-01 9.77930606e-01 -3.80781886e-03 -5.85722200e+01] [-1.99319505e-02 -3.64676006e-04 9.99801272e-01 -3.85561973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.68576923100005 meters Centerline goodness [0,1] 0.9998932011876028 Centerline is valid? [True, True] Translation: X:381.72, Y:-58.57, Z:-3.85 [[ 9.78511617e-01 2.05022097e-01 2.19306845e-02 3.81717002e+02] [-2.04978016e-01 9.78757291e-01 -4.26356539e-03 -5.85747603e+01] [-2.23389425e-02 -3.23359932e-04 9.99750402e-01 -3.85266935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7157692310001 meters Centerline goodness [0,1] 0.9999153940522019 Centerline is valid? [True, True] Translation: X:381.74, Y:-58.58, Z:-3.85 [[ 9.78988493e-01 2.02656773e-01 2.26221879e-02 3.81744629e+02] [-2.02609263e-01 9.79249792e-01 -4.39682132e-03 -5.85792026e+01] [-2.30438185e-02 -2.79027339e-04 9.99734417e-01 -3.85195896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.74576923100005 meters Centerline goodness [0,1] 0.9999156705247402 Centerline is valid? [True, True] Translation: X:381.77, Y:-58.59, Z:-3.85 [[ 9.79490254e-01 2.00244804e-01 2.23799123e-02 3.81771618e+02] [-2.00197707e-01 9.79745870e-01 -4.34837185e-03 -5.85852507e+01] [-2.27973655e-02 -2.21219281e-04 9.99740082e-01 -3.85260067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.80, Y:-58.59, Z:-3.85 [[ 9.80562585e-01 1.95012740e-01 2.16113146e-02 3.81799639e+02] [-1.94967579e-01 9.80800704e-01 -4.19779919e-03 -5.85944811e+01] [-2.20150169e-02 -9.73008612e-05 9.99757635e-01 -3.85421241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.83, Y:-58.60, Z:-3.85 [[ 9.81161973e-01 1.91953236e-01 2.17976600e-02 3.81827822e+02] [-1.91906555e-01 9.81404073e-01 -4.23319970e-03 -5.86029549e+01] [-2.22048887e-02 -2.96592601e-05 9.99753441e-01 -3.85489871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.85, Y:-58.62, Z:-3.86 [[ 9.82484072e-01 1.85104202e-01 2.14821284e-02 3.81854767e+02] [-1.85057294e-01 9.82718892e-01 -4.16869963e-03 -5.86163839e+01] [-2.18825373e-02 1.20256430e-04 9.99760541e-01 -3.85717118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.88, Y:-58.63, Z:-3.86 [[ 9.83204203e-01 1.81237685e-01 2.15034295e-02 3.81881627e+02] [-1.81189782e-01 9.83439301e-01 -4.17177673e-03 -5.86273372e+01] [-2.19034009e-02 2.05506708e-04 9.99760071e-01 -3.85832957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.89576923100003 meters Centerline goodness [0,1] 0.9999789140748551 Centerline is valid? [True, True] Translation: X:381.91, Y:-58.64, Z:-3.86 [[ 9.83836188e-01 1.77733153e-01 2.18467634e-02 3.81906945e+02] [-1.77682868e-01 9.84078678e-01 -4.23728990e-03 -5.86412513e+01] [-2.22520410e-02 2.87003556e-04 9.99752351e-01 -3.85835721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.93, Y:-58.65, Z:-3.86 [[ 9.84456079e-01 1.74319625e-01 2.14218757e-02 3.81934419e+02] [-1.74270497e-01 9.84689058e-01 -4.15359801e-03 -5.86524286e+01] [-2.18179403e-02 3.55833888e-04 9.99761897e-01 -3.85960726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.95576923100003 meters Centerline goodness [0,1] 0.9998934583422118 Centerline is valid? [True, True] Translation: X:381.96, Y:-58.67, Z:-3.86 [[ 9.85611395e-01 1.67797817e-01 2.03487070e-02 3.81961262e+02] [-1.67752117e-01 9.85821316e-01 -3.94454686e-03 -5.86731259e+01] [-2.07220755e-02 4.74251652e-04 9.99785162e-01 -3.86192802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.98576923100006 meters Centerline goodness [0,1] 0.9998714955773061 Centerline is valid? [True, True] Translation: X:381.99, Y:-58.68, Z:-3.86 [[ 9.86085947e-01 1.64989319e-01 2.03231138e-02 3.81989292e+02] [-1.64943143e-01 9.86295210e-01 -3.93935713e-03 -5.86843145e+01] [-2.06945417e-02 5.32386438e-04 9.99785703e-01 -3.86255499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01576923100004 meters Centerline goodness [0,1] 0.999787618137411 Centerline is valid? [True, True] Translation: X:382.02, Y:-58.70, Z:-3.86 [[ 9.86377372e-01 1.63225618e-01 2.04224758e-02 3.82015318e+02] [-1.63178620e-01 9.86588603e-01 -3.95816077e-03 -5.86965638e+01] [-2.07946551e-02 5.71728802e-04 9.99783604e-01 -3.86310304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.04576923100007 meters Centerline goodness [0,1] 0.9995784592686269 Centerline is valid? [True, True] Translation: X:382.04, Y:-58.72, Z:-3.86 [[ 9.86468530e-01 1.62574536e-01 2.11981061e-02 3.82040618e+02] [-1.62523779e-01 9.86696079e-01 -4.10714578e-03 -5.87155257e+01] [-2.15838055e-02 6.06373749e-04 9.99766859e-01 -3.86320403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07576923100004 meters Centerline goodness [0,1] 0.9997674467770238 Centerline is valid? [True, True] Translation: X:382.07, Y:-58.72, Z:-3.86 [[ 9.86252252e-01 1.63865726e-01 2.13194386e-02 3.82068730e+02] [-1.63814704e-01 9.86482482e-01 -4.12989327e-03 -5.87220774e+01] [-2.17080007e-02 5.80679015e-04 9.99764185e-01 -3.86263354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.10576923100007 meters Centerline goodness [0,1] 0.9999574431866541 Centerline is valid? [True, True] Translation: X:382.10, Y:-58.72, Z:-3.86 [[ 9.85592386e-01 1.67889174e-01 2.05152309e-02 3.82099553e+02] [-1.67842819e-01 9.85805763e-01 -3.97320486e-03 -5.87212125e+01] [-2.08910909e-02 4.72626278e-04 9.99781646e-01 -3.86364572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13576923100004 meters Centerline goodness [0,1] 0.9999365723709248 Centerline is valid? [True, True] Translation: X:382.13, Y:-58.73, Z:-3.87 [[ 9.85241104e-01 1.70086596e-01 1.92487891e-02 3.82125715e+02] [-1.70046209e-01 9.85429039e-01 -3.72782448e-03 -5.87304949e+01] [-1.96023687e-02 3.99622300e-04 9.99807775e-01 -3.86773180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.16576923100007 meters Centerline goodness [0,1] 0.9999152111243005 Centerline is valid? [True, True] Translation: X:382.15, Y:-58.73, Z:-3.87 [[ 9.84938318e-01 1.71963257e-01 1.80318597e-02 3.82154600e+02] [-1.71928147e-01 9.85103306e-01 -3.49117612e-03 -5.87315591e+01] [-1.83635986e-02 3.38408909e-04 9.99831318e-01 -3.86999097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.19576923100004 meters Centerline goodness [0,1] 0.9999785504386435 Centerline is valid? [True, True] Translation: X:382.18, Y:-58.74, Z:-3.87 [[ 9.84277135e-01 1.75621588e-01 1.88568244e-02 3.82182387e+02] [-1.75583880e-01 9.84457708e-01 -3.64999428e-03 -5.87353092e+01] [-1.92047639e-02 2.81651527e-04 9.99815532e-01 -3.86932805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.21, Y:-58.74, Z:-3.87 [[ 9.83826346e-01 1.78055673e-01 1.95422222e-02 3.82210562e+02] [-1.78015678e-01 9.84020386e-01 -3.78146409e-03 -5.87380600e+01] [-1.99032561e-02 2.41482075e-04 9.99801881e-01 -3.86794716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.24, Y:-58.74, Z:-3.87 [[ 9.83387139e-01 1.80461892e-01 1.95765174e-02 3.82239414e+02] [-1.80422257e-01 9.83581958e-01 -3.78692639e-03 -5.87400435e+01] [-1.99385052e-02 1.91975275e-04 9.99801190e-01 -3.86817578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.27, Y:-58.74, Z:-3.87 [[ 9.82444757e-01 1.85672016e-01 1.81163399e-02 3.82269393e+02] [-1.85638972e-01 9.82611773e-01 -3.50366075e-03 -5.87367326e+01] [-1.84518606e-02 7.90544143e-05 9.99829747e-01 -3.87157167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.30, Y:-58.74, Z:-3.87 [[ 9.81917070e-01 1.88444593e-01 1.80970494e-02 3.82297968e+02] [-1.88412102e-01 9.82083823e-01 -3.49931587e-03 -5.87379550e+01] [-1.84322466e-02 2.63348721e-05 9.99830111e-01 -3.87293874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.33, Y:-58.73, Z:-3.87 [[ 9.80981685e-01 1.93192347e-01 1.87523540e-02 3.82326352e+02] [-1.93158340e-01 9.81160901e-01 -3.62530074e-03 -5.87339237e+01] [-1.90994569e-02 -6.58199418e-05 9.99817587e-01 -3.87154017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.37576923100005 meters Centerline goodness [0,1] 0.9999576558265583 Centerline is valid? [True, True] Translation: X:382.36, Y:-58.74, Z:-3.87 [[ 9.80615336e-01 1.94982768e-01 1.93722267e-02 3.82355124e+02] [-1.94946878e-01 9.80806662e-01 -3.74244640e-03 -5.87352854e+01] [-1.97301216e-02 -1.06654775e-04 9.99805337e-01 -3.87066650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4057692310001 meters Centerline goodness [0,1] 0.9999367061901346 Centerline is valid? [True, True] Translation: X:382.39, Y:-58.73, Z:-3.87 [[ 9.79989872e-01 1.97990731e-01 2.04822127e-02 3.82385055e+02] [-1.97951287e-01 9.80203876e-01 -3.95588382e-03 -5.87338975e+01] [-2.08599726e-02 -1.77754292e-04 9.99782391e-01 -3.86873372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.43576923100005 meters Centerline goodness [0,1] 0.9999578343734188 Centerline is valid? [True, True] Translation: X:382.41, Y:-58.73, Z:-3.87 [[ 9.79683323e-01 1.99490567e-01 2.05936924e-02 3.82413514e+02] [-1.99451045e-01 9.79899724e-01 -3.97641331e-03 -5.87329611e+01] [-2.09730105e-02 -2.11807670e-04 9.99780020e-01 -3.86959366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4657692310001 meters Centerline goodness [0,1] 0.9999572485143858 Centerline is valid? [True, True] Translation: X:382.44, Y:-58.74, Z:-3.87 [[ 9.79522164e-01 2.00328299e-01 2.01222105e-02 3.82441757e+02] [-2.00290768e-01 9.79728800e-01 -3.88416342e-03 -5.87380439e+01] [-2.04924170e-02 -2.25668829e-04 9.99789983e-01 -3.87103603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.47, Y:-58.74, Z:-3.87 [[ 9.79401033e-01 2.00947475e-01 1.98426158e-02 3.82469543e+02] [-2.00911126e-01 9.79601989e-01 -3.82925055e-03 -5.87405781e+01] [-2.02073441e-02 -2.36230336e-04 9.99795783e-01 -3.87238220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5257692310001 meters Centerline goodness [0,1] 0.9999789695057834 Centerline is valid? [True, True] Translation: X:382.50, Y:-58.74, Z:-3.87 [[ 9.79414063e-01 2.00849446e-01 2.01889510e-02 3.82496447e+02] [-2.00811820e-01 9.79622092e-01 -3.89492565e-03 -5.87436042e+01] [-2.05598360e-02 -2.39435032e-04 9.99788596e-01 -3.87279610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.55576923100006 meters Centerline goodness [0,1] 0.9999787591070328 Centerline is valid? [True, True] Translation: X:382.52, Y:-58.75, Z:-3.87 [[ 9.79786156e-01 1.98848357e-01 2.18728199e-02 3.82524932e+02] [-1.98803762e-01 9.80030246e-01 -4.21665168e-03 -5.87496140e+01] [-2.22744993e-02 -2.16981941e-04 9.99751869e-01 -3.87033651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5857692310001 meters Centerline goodness [0,1] 0.9999787735348432 Centerline is valid? [True, True] Translation: X:382.55, Y:-58.75, Z:-3.87 [[ 9.80154165e-01 1.97058026e-01 2.15858112e-02 3.82552381e+02] [-1.97014183e-01 9.80391811e-01 -4.16027535e-03 -5.87542243e+01] [-2.19823682e-02 -1.74999754e-04 9.99758343e-01 -3.87132715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.61576923100006 meters Centerline goodness [0,1] 0.9999787107212808 Centerline is valid? [True, True] Translation: X:382.58, Y:-58.76, Z:-3.88 [[ 9.80810011e-01 1.93945179e-01 1.99246060e-02 3.82580051e+02] [-1.93907206e-01 9.81012364e-01 -3.83896742e-03 -5.87641946e+01] [-2.02908341e-02 -9.82270113e-05 9.99794115e-01 -3.87546848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.61, Y:-58.77, Z:-3.88 [[ 9.81099256e-01 1.92537225e-01 1.93304809e-02 3.82608000e+02] [-1.92501227e-01 9.81289668e-01 -3.72361789e-03 -5.87713154e+01] [-1.96857362e-02 -6.79025464e-05 9.99806215e-01 -3.87666102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.64, Y:-58.78, Z:-3.88 [[ 9.81376986e-01 1.91077107e-01 1.97167307e-02 3.82635926e+02] [-1.91039381e-01 9.81575029e-01 -3.79705124e-03 -5.87782666e+01] [-2.00789801e-02 -4.03333159e-05 9.99798396e-01 -3.87671812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.66, Y:-58.79, Z:-3.88 [[ 9.81906002e-01 1.88211426e-01 2.09060565e-02 3.82662093e+02] [-1.88168383e-01 9.82128535e-01 -4.02502304e-03 -5.87882780e+01] [-2.12899900e-02 1.83354378e-05 9.99773342e-01 -3.87570361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.69, Y:-58.80, Z:-3.88 [[ 9.82201443e-01 1.86643509e-01 2.10837790e-02 3.82689752e+02] [-1.86599398e-01 9.82427706e-01 -4.05795540e-03 -5.87968886e+01] [-2.14706796e-02 5.15091963e-05 9.99769477e-01 -3.87550943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.72, Y:-58.81, Z:-3.88 [[ 9.82491618e-01 1.85069702e-01 2.14342094e-02 3.82716560e+02] [-1.85023760e-01 9.82725393e-01 -4.12435865e-03 -5.88053821e+01] [-2.18272357e-02 8.63097789e-05 9.99761754e-01 -3.87624625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.74, Y:-58.82, Z:-3.88 [[ 9.83042968e-01 1.82138941e-01 2.12586204e-02 3.82743311e+02] [-1.82093091e-01 9.83272792e-01 -4.08931473e-03 -5.88160837e+01] [-2.16478465e-02 1.48924199e-04 9.99765647e-01 -3.87708722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.77, Y:-58.82, Z:-3.88 [[ 9.83272213e-01 1.80926670e-01 2.10070266e-02 3.82771276e+02] [-1.80881649e-01 9.83496574e-01 -4.03965062e-03 -5.88243798e+01] [-2.13912192e-02 1.72290604e-04 9.99771167e-01 -3.87825657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.80, Y:-58.83, Z:-3.88 [[ 9.83407422e-01 1.80176405e-01 2.11259474e-02 3.82799225e+02] [-1.80130721e-01 9.83634296e-01 -4.06149623e-03 -5.88326250e+01] [-2.15119922e-02 1.88673388e-04 9.99768573e-01 -3.87869757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.83, Y:-58.84, Z:-3.88 [[ 9.83547049e-01 1.79411275e-01 2.11375454e-02 3.82825405e+02] [-1.79365387e-01 9.83774137e-01 -4.06271521e-03 -5.88424573e+01] [-2.15234674e-02 2.04527560e-04 9.99768322e-01 -3.87961370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.85, Y:-58.85, Z:-3.88 [[ 9.83593760e-01 1.79230983e-01 2.04834274e-02 3.82853949e+02] [-1.79187876e-01 9.83807001e-01 -3.93579585e-03 -5.88474885e+01] [-2.08571559e-02 2.00842382e-04 9.99782446e-01 -3.88100895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.88, Y:-58.85, Z:-3.88 [[ 9.83685617e-01 1.78845919e-01 1.94099253e-02 3.82881709e+02] [-1.78807155e-01 9.83877075e-01 -3.72864158e-03 -5.88534531e+01] [-1.97638328e-02 1.97177575e-04 9.99804657e-01 -3.88335606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.91, Y:-58.86, Z:-3.89 [[ 9.83820313e-01 1.78342797e-01 1.70716009e-02 3.82907848e+02] [-1.78312747e-01 9.83968401e-01 -3.27879626e-03 -5.88631008e+01] [-1.73826655e-02 1.81662324e-04 9.99848894e-01 -3.88828662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.94, Y:-58.87, Z:-3.89 [[ 9.83792690e-01 1.78536394e-01 1.66342588e-02 3.82935564e+02] [-1.78507907e-01 9.83933294e-01 -3.19388962e-03 -5.88663500e+01] [-1.69372266e-02 1.72778545e-04 9.99856540e-01 -3.88906868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.96, Y:-58.87, Z:-3.89 [[ 9.83688343e-01 1.79121517e-01 1.65144181e-02 3.82962930e+02] [-1.79093543e-01 9.83826944e-01 -3.16961183e-03 -5.88716009e+01] [-1.68150751e-02 1.60284571e-04 9.99858604e-01 -3.89007605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.99, Y:-58.87, Z:-3.89 [[ 9.83159530e-01 1.81891180e-01 1.76900331e-02 3.82992944e+02] [-1.81859551e-01 9.83318659e-01 -3.39402858e-03 -5.88688032e+01] [-1.80122835e-02 1.19770069e-04 9.99837758e-01 -3.88849132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.02, Y:-58.87, Z:-3.89 [[ 9.82919929e-01 1.83140387e-01 1.81111023e-02 3.83022359e+02] [-1.83107460e-01 9.83086766e-01 -3.47407041e-03 -5.88710839e+01] [-1.84410276e-02 9.84550893e-05 9.99829945e-01 -3.88822387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.05, Y:-58.87, Z:-3.89 [[ 9.82726655e-01 1.83949940e-01 2.02667247e-02 3.83049775e+02] [-1.83908925e-01 9.82935609e-01 -3.88534980e-03 -5.88738750e+01] [-2.06355952e-02 9.10052571e-05 9.99787059e-01 -3.88549359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.08, Y:-58.88, Z:-3.89 [[ 9.82829104e-01 1.83366874e-01 2.05801270e-02 3.83077735e+02] [-1.83324480e-01 9.83044546e-01 -3.94413424e-03 -5.88793160e+01] [-2.09544051e-02 1.03568840e-04 9.99780427e-01 -3.88521318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.11, Y:-58.89, Z:-3.89 [[ 9.83214437e-01 1.81416948e-01 1.94232338e-02 3.83105849e+02] [-1.81378824e-01 9.83406260e-01 -3.72152817e-03 -5.88879224e+01] [-1.97760780e-02 1.36096917e-04 9.99804425e-01 -3.88746243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.13, Y:-58.89, Z:-3.89 [[ 9.83227212e-01 1.81347678e-01 1.94233997e-02 3.83132871e+02] [-1.81309557e-01 9.83419036e-01 -3.72066221e-03 -5.88929604e+01] [-1.97760745e-02 1.36608332e-04 9.99804425e-01 -3.88806746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.16, Y:-58.90, Z:-3.89 [[ 9.83383672e-01 1.80534153e-01 1.90780570e-02 3.83161215e+02] [-1.80497251e-01 9.83568705e-01 -3.65308255e-03 -5.88996656e+01] [-1.94240859e-02 1.48844898e-04 9.99811324e-01 -3.88925812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.19, Y:-58.90, Z:-3.89 [[ 9.83375711e-01 1.80585200e-01 1.90051868e-02 3.83187688e+02] [-1.80548604e-01 9.83559334e-01 -3.63830398e-03 -5.89041971e+01] [-1.93497527e-02 1.46459807e-04 9.99812765e-01 -3.88937744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.22, Y:-58.91, Z:-3.89 [[ 9.83373029e-01 1.80541207e-01 1.95539986e-02 3.83215301e+02] [-1.80502493e-01 9.83567410e-01 -3.74163923e-03 -5.89082981e+01] [-1.99081959e-02 1.49881591e-04 9.99801801e-01 -3.88925031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.24, Y:-58.91, Z:-3.89 [[ 9.83376284e-01 1.80364399e-01 2.09706587e-02 3.83243070e+02] [-1.80319866e-01 9.83599846e-01 -4.01109235e-03 -5.89124088e+01] [-2.13501949e-02 1.62986724e-04 9.99772045e-01 -3.88794260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.27, Y:-58.92, Z:-3.89 [[ 9.83385955e-01 1.80212859e-01 2.18034260e-02 3.83269831e+02] [-1.80164718e-01 9.83627621e-01 -4.16874493e-03 -5.89181160e+01] [-2.21977134e-02 1.71277131e-04 9.99753586e-01 -3.88716502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.30, Y:-58.92, Z:-3.89 [[ 9.83443298e-01 1.79824741e-01 2.24129787e-02 3.83298208e+02] [-1.79773812e-01 9.83698647e-01 -4.28340091e-03 -5.89234909e+01] [-2.28178783e-02 1.83215295e-04 9.99739622e-01 -3.88631206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.32, Y:-58.93, Z:-3.89 [[ 9.83929759e-01 1.77362492e-01 2.06100693e-02 3.83324424e+02] [-1.77318907e-01 9.84145567e-01 -3.93793893e-03 -5.89349319e+01] [-2.09817510e-02 2.20100360e-04 9.99779835e-01 -3.89083553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.35, Y:-58.95, Z:-3.89 [[ 9.84366159e-01 1.75077998e-01 1.92603187e-02 3.83351491e+02] [-1.75039519e-01 9.84554535e-01 -3.67894010e-03 -5.89453688e+01] [-1.96069356e-02 2.50107204e-04 9.99807734e-01 -3.89462543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.38, Y:-58.96, Z:-3.90 [[ 9.84781670e-01 1.72769417e-01 1.88624388e-02 3.83378356e+02] [-1.72732105e-01 9.84962256e-01 -3.60207883e-03 -5.89562901e+01] [-1.92011194e-02 2.89112440e-04 9.99815600e-01 -3.89613949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.41, Y:-58.97, Z:-3.90 [[ 9.85077732e-01 1.71017210e-01 1.93643152e-02 3.83405808e+02] [-1.70977565e-01 9.85267986e-01 -3.69699327e-03 -5.89661394e+01] [-1.97112893e-02 3.30962283e-04 9.99805659e-01 -3.89571465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.43, Y:-58.97, Z:-3.89 [[ 9.85142643e-01 1.70276121e-01 2.23610288e-02 3.83434478e+02] [-1.70223091e-01 9.85396308e-01 -4.26792956e-03 -5.89724723e+01] [-2.27612017e-02 3.98155979e-04 9.99740851e-01 -3.89017445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.46, Y:-58.98, Z:-3.89 [[ 9.84974753e-01 1.71211253e-01 2.26150772e-02 3.83461993e+02] [-1.71157283e-01 9.85234268e-01 -4.31531611e-03 -5.89781898e+01] [-2.30199797e-02 3.79742252e-04 9.99734933e-01 -3.88949835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.49, Y:-58.98, Z:-3.89 [[ 9.84680758e-01 1.72956966e-01 2.21289871e-02 3.83490780e+02] [-1.72905761e-01 9.84929327e-01 -4.22128727e-03 -5.89817323e+01] [-2.25255895e-02 3.30390995e-04 9.99746212e-01 -3.89120984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.52, Y:-58.98, Z:-3.89 [[ 9.84402690e-01 1.74742583e-01 2.04052542e-02 3.83520037e+02] [-1.74699445e-01 9.84614117e-01 -3.89164288e-03 -5.89846689e+01] [-2.07713371e-02 2.66157131e-04 9.99784217e-01 -3.89477213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.55, Y:-58.98, Z:-3.90 [[ 9.83646903e-01 1.79206772e-01 1.79917287e-02 3.83548466e+02] [-1.79174002e-01 9.83811420e-01 -3.43026763e-03 -5.89820118e+01] [-1.83151953e-02 1.50522102e-04 9.99832251e-01 -3.89999043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.58, Y:-58.98, Z:-3.90 [[ 9.83223732e-01 1.81543659e-01 1.76915889e-02 3.83577617e+02] [-1.81512370e-01 9.83382880e-01 -3.37202554e-03 -5.89816676e+01] [-1.80097755e-02 1.04213308e-04 9.99837805e-01 -3.90094137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.61, Y:-58.98, Z:-3.90 [[ 9.82775042e-01 1.83949312e-01 1.77726459e-02 3.83606528e+02] [-1.83918144e-01 9.82935729e-01 -3.38663834e-03 -5.89819714e+01] [-1.80923384e-02 5.95916055e-05 9.99836318e-01 -3.90109860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.64, Y:-58.98, Z:-3.90 [[ 9.81831373e-01 1.88833378e-01 1.86845007e-02 3.83636965e+02] [-1.88799830e-01 9.82009142e-01 -3.55947214e-03 -5.89776165e+01] [-1.90204977e-02 -3.28291492e-05 9.99819093e-01 -3.90049964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.67, Y:-58.98, Z:-3.90 [[ 9.81553930e-01 1.90223246e-01 1.91572192e-02 3.83665463e+02] [-1.90188261e-01 9.81740858e-01 -3.64863948e-03 -5.89786396e+01] [-1.95014809e-02 -6.21417729e-05 9.99809826e-01 -3.90100705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.81576923100005 meters Centerline goodness [0,1] 0.9999788323949028 Centerline is valid? [True, True] Translation: X:383.69, Y:-58.98, Z:-3.90 [[ 9.81433315e-01 1.90878904e-01 1.88120141e-02 3.83694311e+02] [-1.90845310e-01 9.81613589e-01 -3.58179336e-03 -5.89817587e+01] [-1.91498175e-02 -7.48933275e-05 9.99816623e-01 -3.90231518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.72, Y:-58.99, Z:-3.91 [[ 9.81601603e-01 1.90225835e-01 1.65052784e-02 3.83721723e+02] [-1.90199892e-01 9.81740357e-01 -3.14201278e-03 -5.89856893e+01] [-1.68015899e-02 -5.50973794e-05 9.99858842e-01 -3.90804247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.75, Y:-58.99, Z:-3.91 [[ 9.81679522e-01 1.89810494e-01 1.66521087e-02 3.83749006e+02] [-1.89784043e-01 9.81820744e-01 -3.16907373e-03 -5.89918257e+01] [-1.69509092e-02 -4.92897303e-05 9.99856322e-01 -3.90737660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.78, Y:-59.00, Z:-3.91 [[ 9.81696242e-01 1.89617940e-01 1.78192571e-02 3.83776242e+02] [-1.89587646e-01 9.81857950e-01 -3.38974874e-03 -5.89967452e+01] [-1.81387364e-02 -5.06073952e-05 9.99835478e-01 -3.90637740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.80, Y:-59.00, Z:-3.90 [[ 9.81712585e-01 1.89423044e-01 1.89555246e-02 3.83804243e+02] [-1.89388750e-01 9.81895569e-01 -3.60465508e-03 -5.90022587e+01] [-1.92951504e-02 -5.12278583e-05 9.99813830e-01 -3.90419219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.83, Y:-59.01, Z:-3.90 [[ 9.81651152e-01 1.89731496e-01 1.90519018e-02 3.83830872e+02] [-1.89696927e-01 9.81836013e-01 -3.62213364e-03 -5.90068005e+01] [-1.93930761e-02 -5.84155655e-05 9.99811935e-01 -3.90486591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.86, Y:-59.01, Z:-3.91 [[ 9.81683985e-01 1.89622153e-01 1.84389133e-02 3.83857389e+02] [-1.89589782e-01 9.81857136e-01 -3.50406322e-03 -5.90121736e+01] [-1.87688266e-02 -5.59468136e-05 9.99823848e-01 -3.90667857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.88, Y:-59.02, Z:-3.91 [[ 9.81768123e-01 1.89177522e-01 1.85261428e-02 3.83884826e+02] [-1.89144794e-01 9.81942902e-01 -3.51907088e-03 -5.90182676e+01] [-1.88573435e-02 -4.92118538e-05 9.99822183e-01 -3.90734821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.91, Y:-59.02, Z:-3.91 [[ 9.81853453e-01 1.88676116e-01 1.91080876e-02 3.83913531e+02] [-1.88641234e-01 9.82039369e-01 -3.62816834e-03 -5.90242746e+01] [-1.94494430e-02 -4.22435951e-05 9.99810841e-01 -3.90674884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.94, Y:-59.03, Z:-3.90 [[ 9.81714042e-01 1.89194068e-01 2.10510023e-02 3.83941547e+02] [-1.89151872e-01 9.81939714e-01 -3.99600490e-03 -5.90291225e+01] [-2.14268356e-02 -5.89023784e-05 9.99770417e-01 -3.90402314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.97, Y:-59.03, Z:-3.90 [[ 9.81662843e-01 1.89452628e-01 2.11131479e-02 3.83967617e+02] [-1.89410276e-01 9.81889860e-01 -4.00628001e-03 -5.90338082e+01] [-2.14897862e-02 -6.62309478e-05 9.99769066e-01 -3.90473171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.99, Y:-59.04, Z:-3.91 [[ 9.82006041e-01 1.87818610e-01 1.97054838e-02 3.83993955e+02] [-1.87781419e-01 9.82203731e-01 -3.73764244e-03 -5.90411628e+01] [-2.00567985e-02 -2.99362546e-05 9.99798842e-01 -3.90818426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.02, Y:-59.05, Z:-3.91 [[ 9.82356914e-01 1.86063737e-01 1.88461842e-02 3.84020977e+02] [-1.86029424e-01 9.82537677e-01 -3.57318926e-03 -5.90487879e+01] [-1.91819270e-02 4.20237921e-06 9.99816010e-01 -3.91034624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.05, Y:-59.06, Z:-3.91 [[ 9.82802571e-01 1.83796099e-01 1.78353816e-02 3.84048444e+02] [-1.83765018e-01 9.82964390e-01 -3.38025913e-03 -5.90572531e+01] [-1.81528235e-02 4.46081416e-05 9.99835223e-01 -3.91328773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.08, Y:-59.07, Z:-3.92 [[ 9.83311433e-01 1.81143886e-01 1.68972572e-02 3.84075167e+02] [-1.81115610e-01 9.83456600e-01 -3.20174580e-03 -5.90671502e+01] [-1.71976958e-02 8.79562236e-05 9.99852105e-01 -3.91621972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.10, Y:-59.08, Z:-3.92 [[ 9.83845480e-01 1.78249823e-01 1.65852710e-02 3.84102775e+02] [-1.78222188e-01 9.83985255e-01 -3.14158413e-03 -5.90779264e+01] [-1.68796489e-02 1.34970069e-04 9.99857519e-01 -3.91796309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.13, Y:-59.09, Z:-3.92 [[ 9.84921051e-01 1.72158906e-01 1.70831318e-02 3.84129774e+02] [-1.72128686e-01 9.85069160e-01 -3.23492907e-03 -5.90946012e+01] [-1.73849881e-02 2.45652713e-04 9.99848839e-01 -3.91799023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.16, Y:-59.11, Z:-3.92 [[ 9.85358161e-01 1.69571367e-01 1.77439149e-02 3.84157277e+02] [-1.69538350e-01 9.85517864e-01 -3.35970598e-03 -5.91053184e+01] [-1.80566550e-02 3.02239653e-04 9.99836920e-01 -3.91727665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.18, Y:-59.12, Z:-3.92 [[ 9.85684675e-01 1.67595892e-01 1.83667970e-02 3.84184371e+02] [-1.67560190e-01 9.85855717e-01 -3.47673757e-03 -5.91158360e+01] [-1.86896987e-02 3.49422951e-04 9.99825271e-01 -3.91622321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.21, Y:-59.13, Z:-3.92 [[ 9.85867845e-01 1.66460792e-01 1.88519588e-02 3.84210096e+02] [-1.66422989e-01 9.86048001e-01 -3.56769326e-03 -5.91295245e+01] [-1.91828173e-02 3.79874737e-04 9.99815921e-01 -3.91641882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.41576923100007 meters Centerline goodness [0,1] 0.9999787011991225 Centerline is valid? [True, True] Translation: X:384.24, Y:-59.14, Z:-3.92 [[ 9.85875133e-01 1.66511392e-01 1.80049804e-02 3.84237263e+02] [-1.66476937e-01 9.86039465e-01 -3.40636009e-03 -5.91384723e+01] [-1.83208190e-02 3.60831717e-04 9.99832095e-01 -3.91879615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.44576923100004 meters Centerline goodness [0,1] 0.9999786379560797 Centerline is valid? [True, True] Translation: X:384.27, Y:-59.15, Z:-3.92 [[ 9.85820679e-01 1.66954118e-01 1.68496672e-02 3.84265047e+02] [-1.66924021e-01 9.85964611e-01 -3.18700931e-03 -5.91474415e+01] [-1.71452599e-02 3.29205469e-04 9.99852955e-01 -3.92174963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.29, Y:-59.16, Z:-3.92 [[ 9.85676161e-01 1.67877804e-01 1.61105337e-02 3.84290964e+02] [-1.67850420e-01 9.85807767e-01 -3.04681967e-03 -5.91574001e+01] [-1.63933826e-02 2.99017674e-04 9.99865575e-01 -3.92433215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.32, Y:-59.16, Z:-3.92 [[ 9.85170808e-01 1.70846918e-01 1.58053752e-02 3.84319603e+02] [-1.70820961e-01 9.85297555e-01 -2.98803291e-03 -5.91631638e+01] [-1.60834938e-02 2.43833425e-04 9.99870623e-01 -3.92384520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.35, Y:-59.17, Z:-3.92 [[ 9.84809511e-01 1.72853331e-01 1.64910102e-02 3.84347134e+02] [-1.72825361e-01 9.84947551e-01 -3.11715816e-03 -5.91693103e+01] [-1.67815913e-02 2.19742205e-04 9.99859155e-01 -3.92348773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.38, Y:-59.17, Z:-3.92 [[ 9.84333396e-01 1.75486557e-01 1.70948397e-02 3.84375310e+02] [-1.75456918e-01 9.84481811e-01 -3.23019338e-03 -5.91735853e+01] [-1.73964143e-02 1.80179328e-04 9.99848655e-01 -3.92246981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.40, Y:-59.18, Z:-3.92 [[ 9.83240488e-01 1.81523362e-01 1.69532025e-02 3.84404760e+02] [-1.81495122e-01 9.83386630e-01 -3.20259988e-03 -5.91758337e+01] [-1.72528994e-02 7.20023033e-05 9.99851155e-01 -3.92396674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.43, Y:-59.18, Z:-3.93 [[ 9.82748549e-01 1.84201037e-01 1.65911922e-02 3.84433233e+02] [-1.84174381e-01 9.82888588e-01 -3.13371077e-03 -5.91796796e+01] [-1.68845262e-02 2.39771716e-05 9.99857446e-01 -3.92548608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.46, Y:-59.18, Z:-3.93 [[ 9.82258978e-01 1.86833596e-01 1.61402459e-02 3.84461878e+02] [-1.86808736e-01 9.82391575e-01 -3.04781866e-03 -5.91834902e+01] [-1.64254765e-02 -2.13916874e-05 9.99865093e-01 -3.92669525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.49, Y:-59.18, Z:-3.93 [[ 9.81242781e-01 1.92063253e-01 1.65623575e-02 3.84489794e+02] [-1.92037832e-01 9.81382542e-01 -3.12680232e-03 -5.91834392e+01] [-1.68545523e-02 -1.12447034e-04 9.99857946e-01 -3.92549064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.52, Y:-59.18, Z:-3.92 [[ 9.80608977e-01 1.95190027e-01 1.75181877e-02 3.84518937e+02] [-1.95162107e-01 9.80765427e-01 -3.30606917e-03 -5.91843792e+01] [-1.78265446e-02 -1.76925308e-04 9.99841079e-01 -3.92461914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.55, Y:-59.19, Z:-3.92 [[ 9.80025114e-01 1.97991708e-01 1.87098779e-02 3.84547975e+02] [-1.97960387e-01 9.80203665e-01 -3.53004229e-03 -5.91853223e+01] [-1.90384100e-02 -2.44284565e-04 9.99818723e-01 -3.92311121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.58, Y:-59.19, Z:-3.92 [[ 9.79483193e-01 2.00600938e-01 1.92857184e-02 3.84576140e+02] [-2.00568181e-01 9.79672992e-01 -3.63786031e-03 -5.91854185e+01] [-1.96234556e-02 -3.04878414e-04 9.99807395e-01 -3.92261398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.80576923100006 meters Centerline goodness [0,1] 0.9999360313872659 Centerline is valid? [True, True] Translation: X:384.60, Y:-59.19, Z:-3.92 [[ 9.79045111e-01 2.02736836e-01 1.91949392e-02 3.84604292e+02] [-2.02704829e-01 9.79233197e-01 -3.61909093e-03 -5.91903780e+01] [-1.95300447e-02 -3.47653580e-04 9.99809210e-01 -3.92303919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.63, Y:-59.19, Z:-3.93 [[ 9.78579228e-01 2.05124966e-01 1.75055331e-02 3.84633283e+02] [-2.05098740e-01 9.78735724e-01 -3.29985839e-03 -5.91872924e+01] [-1.78101740e-02 -3.61189906e-04 9.99841321e-01 -3.92843225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.86576923100006 meters Centerline goodness [0,1] 0.9999153940522019 Centerline is valid? [True, True] Translation: X:384.66, Y:-59.19, Z:-3.93 [[ 9.78604245e-01 2.04990314e-01 1.76833813e-02 3.84661256e+02] [-2.04963551e-01 9.78763934e-01 -3.33225622e-03 -5.91923493e+01] [-1.79909361e-02 -3.63488538e-04 9.99838084e-01 -3.92989127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.89576923100003 meters Centerline goodness [0,1] 0.9998721254875216 Centerline is valid? [True, True] Translation: X:384.69, Y:-59.20, Z:-3.93 [[ 9.78796678e-01 2.04036964e-01 1.80549501e-02 3.84688945e+02] [-2.04008917e-01 9.78963121e-01 -3.40145473e-03 -5.91997347e+01] [-1.83691528e-02 -3.54038236e-04 9.99831210e-01 -3.93021958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.92576923100006 meters Centerline goodness [0,1] 0.9999578601377973 Centerline is valid? [True, True] Translation: X:384.72, Y:-59.21, Z:-3.93 [[ 9.79074245e-01 2.02710421e-01 1.79473774e-02 3.84715393e+02] [-2.02682498e-01 9.79238672e-01 -3.38044022e-03 -5.92075553e+01] [-1.82600165e-02 -3.27917335e-04 9.99833218e-01 -3.93140888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.74, Y:-59.22, Z:-3.93 [[ 9.79677823e-01 1.99913490e-01 1.63082536e-02 3.84741339e+02] [-1.99890060e-01 9.79813520e-01 -3.07091331e-03 -5.92199062e+01] [-1.65929643e-02 -2.51352118e-04 9.99862296e-01 -3.93369835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.77, Y:-59.23, Z:-3.93 [[ 9.79826612e-01 1.99188394e-01 1.62417597e-02 3.84769338e+02] [-1.99165071e-01 9.79961186e-01 -3.05745106e-03 -5.92269247e+01] [-1.65253028e-02 -2.39019302e-04 9.99863419e-01 -3.93369038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01576923100004 meters Centerline goodness [0,1] 0.9998949027850762 Centerline is valid? [True, True] Translation: X:384.80, Y:-59.23, Z:-3.93 [[ 9.79467010e-01 2.00773361e-01 1.82875190e-02 3.84797310e+02] [-2.00744084e-01 9.79637672e-01 -3.44167391e-03 -5.92271736e+01] [-1.86061389e-02 -3.00105197e-04 9.99826846e-01 -3.93003088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.82, Y:-59.23, Z:-3.93 [[ 9.79076523e-01 2.02587350e-01 1.91709890e-02 3.84824889e+02] [-2.02555544e-01 9.79264133e-01 -3.60691265e-03 -5.92339590e+01] [-1.95041768e-02 -3.51746599e-04 9.99809714e-01 -3.92828698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07576923100004 meters Centerline goodness [0,1] 0.9999578379289991 Centerline is valid? [True, True] Translation: X:384.85, Y:-59.23, Z:-3.93 [[ 9.78639186e-01 2.04689622e-01 1.91703633e-02 3.84853738e+02] [-2.04658254e-01 9.78826850e-01 -3.60508717e-03 -5.92296427e+01] [-1.95023902e-02 -3.95293504e-04 9.99809732e-01 -3.92934252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.10576923100007 meters Centerline goodness [0,1] 0.9999578379289991 Centerline is valid? [True, True] Translation: X:384.88, Y:-59.23, Z:-3.93 [[ 9.78651940e-01 2.04628616e-01 1.91705655e-02 3.84880785e+02] [-2.04597258e-01 9.78839605e-01 -3.60401142e-03 -5.92345781e+01] [-1.95023927e-02 -3.95172372e-04 9.99809732e-01 -3.92994766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13576923100004 meters Centerline goodness [0,1] 0.9999151031496731 Centerline is valid? [True, True] Translation: X:384.91, Y:-59.24, Z:-3.93 [[ 9.78285727e-01 2.06433433e-01 1.85006504e-02 3.84909630e+02] [-2.06404573e-01 9.78460558e-01 -3.47685703e-03 -5.92358542e+01] [-1.88198963e-02 -4.17259250e-04 9.99822803e-01 -3.93212629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.16576923100007 meters Centerline goodness [0,1] 0.9998527679623086 Centerline is valid? [True, True] Translation: X:384.94, Y:-59.24, Z:-3.94 [[ 9.77850755e-01 2.08595790e-01 1.71958292e-02 3.84939262e+02] [-2.08571204e-01 9.78001848e-01 -3.23091805e-03 -5.92362603e+01] [-1.74915087e-02 -4.27199147e-04 9.99846921e-01 -3.93606445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.19576923100004 meters Centerline goodness [0,1] 0.999894372148048 Centerline is valid? [True, True] Translation: X:384.97, Y:-59.25, Z:-3.94 [[ 9.77794587e-01 2.08840373e-01 1.74196637e-02 3.84966348e+02] [-2.08815191e-01 9.77949644e-01 -3.27245929e-03 -5.92469622e+01] [-1.77189755e-02 -4.37697418e-04 9.99842911e-01 -3.93541971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.99, Y:-59.26, Z:-3.93 [[ 9.77919951e-01 2.08212312e-01 1.78942016e-02 3.84993624e+02] [-2.08185649e-01 9.78083555e-01 -3.36077108e-03 -5.92570883e+01] [-1.82017783e-02 -4.38750893e-04 9.99834238e-01 -3.93455423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.02, Y:-59.26, Z:-3.93 [[ 9.78163281e-01 2.07034485e-01 1.82570148e-02 3.85020746e+02] [-2.07006541e-01 9.78333553e-01 -3.42804123e-03 -5.92627634e+01] [-1.85711729e-02 -4.26137434e-04 9.99827450e-01 -3.93435438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.05, Y:-59.27, Z:-3.93 [[ 9.78683068e-01 2.04488629e-01 1.90749074e-02 3.85048954e+02] [-2.04457667e-01 9.78868859e-01 -3.58033228e-03 -5.92723270e+01] [-1.94039701e-02 -3.96000483e-04 9.99811647e-01 -3.93292887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.31576923100005 meters Centerline goodness [0,1] 0.9999787324542748 Centerline is valid? [True, True] Translation: X:385.08, Y:-59.28, Z:-3.93 [[ 9.78819618e-01 2.03766808e-01 1.97798985e-02 3.85076389e+02] [-2.03733381e-01 9.79019372e-01 -3.71195000e-03 -5.92782480e+01] [-2.01212760e-02 -3.96496107e-04 9.99797468e-01 -3.93255474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3457692310001 meters Centerline goodness [0,1] 0.9999786739459597 Centerline is valid? [True, True] Translation: X:385.10, Y:-59.28, Z:-3.93 [[ 9.78890769e-01 2.03456846e-01 1.94466783e-02 3.85104295e+02] [-2.03424498e-01 9.79083839e-01 -3.64825556e-03 -5.92826380e+01] [-1.97821910e-02 -3.84687077e-04 9.99804239e-01 -3.93391510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.37576923100005 meters Centerline goodness [0,1] 0.9999577978941149 Centerline is valid? [True, True] Translation: X:385.13, Y:-59.28, Z:-3.94 [[ 9.78986015e-01 2.03039905e-01 1.90047372e-02 3.85131900e+02] [-2.03008954e-01 9.79170394e-01 -3.56423072e-03 -5.92845048e+01] [-1.93325571e-02 -3.68799798e-04 9.99813041e-01 -3.93634900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4057692310001 meters Centerline goodness [0,1] 0.9999578423726313 Centerline is valid? [True, True] Translation: X:385.16, Y:-59.29, Z:-3.94 [[ 9.79323276e-01 2.01415039e-01 1.89183145e-02 3.85159704e+02] [-2.01384088e-01 9.79505931e-01 -3.54688724e-03 -5.92912139e+01] [-1.92449977e-02 -3.36298268e-04 9.99814741e-01 -3.93830302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.19, Y:-59.30, Z:-3.94 [[ 9.79698611e-01 1.99564265e-01 1.90980764e-02 3.85186866e+02] [-1.99532386e-01 9.79884693e-01 -3.57975280e-03 -5.93035170e+01] [-1.94283034e-02 -3.03605906e-04 9.99811207e-01 -3.93838716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.21, Y:-59.32, Z:-3.94 [[ 9.80885402e-01 1.93721414e-01 1.83259745e-02 3.85213136e+02] [-1.93691056e-01 9.81056564e-01 -3.43418917e-03 -5.93202077e+01] [-1.86440935e-02 -1.81031327e-04 9.99826167e-01 -3.94055419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.24, Y:-59.33, Z:-3.94 [[ 9.81655424e-01 1.89850618e-01 1.75889379e-02 3.85239160e+02] [-1.89822045e-01 9.81812982e-01 -3.29533208e-03 -5.93329296e+01] [-1.78946684e-02 -1.03887545e-04 9.99839872e-01 -3.94281643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.27, Y:-59.35, Z:-3.94 [[ 9.82388404e-01 1.86094931e-01 1.67839102e-02 3.85265401e+02] [-1.86068382e-01 9.82531768e-01 -3.14354083e-03 -5.93461490e+01] [-1.70757220e-02 -3.47769498e-05 9.99854199e-01 -3.94439626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.29, Y:-59.36, Z:-3.94 [[ 9.82975796e-01 1.82960147e-01 1.68572889e-02 3.85293344e+02] [-1.82932924e-01 9.83120330e-01 -3.15611352e-03 -5.93583712e+01] [-1.71501864e-02 1.86300539e-05 9.99852925e-01 -3.94453839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.32, Y:-59.37, Z:-3.94 [[ 9.83466049e-01 1.80139732e-01 1.85528107e-02 3.85321474e+02] [-1.80106264e-01 9.83641028e-01 -3.47305677e-03 -5.93717341e+01] [-1.88749413e-02 7.41559952e-05 9.99821850e-01 -3.94157401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.35, Y:-59.38, Z:-3.94 [[ 9.83500070e-01 1.79883140e-01 1.92267438e-02 3.85350500e+02] [-1.79847157e-01 9.83687984e-01 -3.59870395e-03 -5.93795770e+01] [-1.95604630e-02 8.14503614e-05 9.99808673e-01 -3.94068029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.38, Y:-59.39, Z:-3.94 [[ 9.83463956e-01 1.80102587e-01 1.90185712e-02 3.85379238e+02] [-1.80067425e-01 9.83647829e-01 -3.55951383e-03 -5.93871822e+01] [-1.93486539e-02 7.60284079e-05 9.99812794e-01 -3.94224640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.41, Y:-59.40, Z:-3.95 [[ 9.83407806e-01 1.80597288e-01 1.71378770e-02 3.85407919e+02] [-1.80568816e-01 9.83557124e-01 -3.20729176e-03 -5.93971249e+01] [-1.74353092e-02 5.95095977e-05 9.99847992e-01 -3.94612918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.44, Y:-59.40, Z:-3.95 [[ 9.83379011e-01 1.80841510e-01 1.61885560e-02 3.85436623e+02] [-1.80816137e-01 9.83512250e-01 -3.02969448e-03 -5.94049527e+01] [-1.64695377e-02 5.21857933e-05 9.99864367e-01 -3.94812555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.46, Y:-59.41, Z:-3.95 [[ 9.83281878e-01 1.81375034e-01 1.61197308e-02 3.85464975e+02] [-1.81349951e-01 9.83414000e-01 -3.01668724e-03 -5.94120395e+01] [-1.63995207e-02 4.29415154e-05 9.99865518e-01 -3.94850723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.49, Y:-59.42, Z:-3.95 [[ 9.82927496e-01 1.83135233e-01 1.77489256e-02 3.85492753e+02] [-1.83105117e-01 9.83087731e-01 -3.32111917e-03 -5.94191671e+01] [-1.80569649e-02 1.45002453e-05 9.99836960e-01 -3.94651652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.52, Y:-59.42, Z:-3.95 [[ 9.82558287e-01 1.85001130e-01 1.88094177e-02 3.85521955e+02] [-1.84967660e-01 9.82738308e-01 -3.51902786e-03 -5.94236682e+01] [-1.91357595e-02 -2.14839934e-05 9.99816894e-01 -3.94531440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.55, Y:-59.43, Z:-3.94 [[ 9.82062042e-01 1.87549616e-01 1.94753090e-02 3.85551033e+02] [-1.87514243e-01 9.82255128e-01 -3.64316116e-03 -5.94267570e+01] [-1.98129956e-02 -7.40875396e-05 9.99803701e-01 -3.94447294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.58, Y:-59.42, Z:-3.94 [[ 9.80644133e-01 1.94817534e-01 1.95758260e-02 3.85581932e+02] [-1.94783255e-01 9.80839477e-01 -3.66125889e-03 -5.94223458e+01] [-1.99140203e-02 -2.22651051e-04 9.99801671e-01 -3.94415242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.61, Y:-59.42, Z:-3.94 [[ 9.79800038e-01 1.99068727e-01 1.90663920e-02 3.85611223e+02] [-1.99037021e-01 9.79985485e-01 -3.56558293e-03 -5.94200941e+01] [-1.93945835e-02 -3.01359573e-04 9.99811862e-01 -3.94485973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.91576923100007 meters Centerline goodness [0,1] 0.999935952177626 Centerline is valid? [True, True] Translation: X:385.64, Y:-59.42, Z:-3.95 [[ 9.78909366e-01 2.03436803e-01 1.87061315e-02 3.85641299e+02] [-2.03407092e-01 9.79088005e-01 -3.49758217e-03 -5.94187060e+01] [-1.90264859e-02 -3.81143860e-04 9.99818907e-01 -3.94617493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.94576923100004 meters Centerline goodness [0,1] 0.9999147557752962 Centerline is valid? [True, True] Translation: X:385.67, Y:-59.42, Z:-3.95 [[ 9.78140389e-01 2.07114401e-01 1.85742963e-02 3.85670372e+02] [-2.07085781e-01 9.78316627e-01 -3.47234084e-03 -5.94172359e+01] [-1.88907147e-02 -4.50035845e-04 9.99821453e-01 -3.94748518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.9757692310001 meters Centerline goodness [0,1] 0.9998935354739801 Centerline is valid? [True, True] Translation: X:385.70, Y:-59.42, Z:-3.95 [[ 9.77499205e-01 2.10059969e-01 1.92383513e-02 3.85699307e+02] [-2.10029854e-01 9.77688362e-01 -3.59550877e-03 -5.94227554e+01] [-1.95643847e-02 -5.26021155e-04 9.99808461e-01 -3.94708779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.00576923100004 meters Centerline goodness [0,1] 0.9997052073024363 Centerline is valid? [True, True] Translation: X:385.73, Y:-59.42, Z:-3.95 [[ 9.77033902e-01 2.12137210e-01 2.00638666e-02 3.85729481e+02] [-2.12104902e-01 9.77239711e-01 -3.74932266e-03 -5.94173108e+01] [-2.04025780e-02 -5.92429111e-04 9.99791670e-01 -3.94638924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0357692310001 meters Centerline goodness [0,1] 0.9996169316222946 Centerline is valid? [True, True] Translation: X:385.76, Y:-59.42, Z:-3.94 [[ 9.76412350e-01 2.14819053e-01 2.17185810e-02 3.85759374e+02] [-2.14781883e-01 9.76653613e-01 -4.05741746e-03 -5.94182739e+01] [-2.20831412e-02 -7.03045212e-04 9.99755891e-01 -3.94379419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.06576923100005 meters Centerline goodness [0,1] 0.998984513835999 Centerline is valid? [True, True] Translation: X:385.79, Y:-59.42, Z:-3.94 [[ 9.76123038e-01 2.16124006e-01 2.17768072e-02 3.85788145e+02] [-2.16086971e-01 9.76365646e-01 -4.06779135e-03 -5.94160516e+01] [-2.21412738e-02 -7.35019466e-04 9.99754582e-01 -3.94415767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0957692310001 meters Centerline goodness [0,1] 0.9990321901956659 Centerline is valid? [True, True] Translation: X:385.82, Y:-59.42, Z:-3.95 [[ 9.75856183e-01 2.17381028e-01 2.12178731e-02 3.85816043e+02] [-2.17346192e-01 9.76086540e-01 -3.96221487e-03 -5.94161498e+01] [-2.15717907e-02 -7.45072057e-04 9.99767024e-01 -3.94593827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.12576923100005 meters Centerline goodness [0,1] 0.9995322532635965 Centerline is valid? [True, True] Translation: X:385.85, Y:-59.42, Z:-3.95 [[ 9.75318595e-01 2.19978590e-01 1.90540781e-02 3.85845342e+02] [-2.19951016e-01 9.75504433e-01 -3.55693102e-03 -5.94207405e+01] [-1.93697863e-02 -7.21822872e-04 9.99812128e-01 -3.95088910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1557692310001 meters Centerline goodness [0,1] 0.9987940846679502 Centerline is valid? [True, True] Translation: X:385.87, Y:-59.42, Z:-3.95 [[ 9.75117863e-01 2.20961214e-01 1.79247139e-02 3.85873695e+02] [-2.20936981e-01 9.75282346e-01 -3.34588659e-03 -5.94174462e+01] [-1.82209682e-02 -6.97598398e-04 9.99833741e-01 -3.95322519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.18576923100005 meters Centerline goodness [0,1] 0.9985413495687468 Centerline is valid? [True, True] Translation: X:385.90, Y:-59.42, Z:-3.95 [[ 9.74933973e-01 2.21805618e-01 1.74933360e-02 3.85902536e+02] [-2.21782697e-01 9.75090653e-01 -3.26405941e-03 -5.94198995e+01] [-1.77815751e-02 -6.97476819e-04 9.99841652e-01 -3.95473299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2157692310001 meters Centerline goodness [0,1] 0.9984356502621343 Centerline is valid? [True, True] Translation: X:385.93, Y:-59.42, Z:-3.96 [[ 9.74788489e-01 2.22414932e-01 1.78605761e-02 3.85931181e+02] [-2.22391155e-01 9.74951831e-01 -3.33177256e-03 -5.94178576e+01] [-1.81542373e-02 -7.24260612e-04 9.99834936e-01 -3.95584181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.24576923100005 meters Centerline goodness [0,1] 0.9988060719768037 Centerline is valid? [True, True] Translation: X:385.96, Y:-59.42, Z:-3.96 [[ 9.75040259e-01 2.21307571e-01 1.78732473e-02 3.85959300e+02] [-2.21283594e-01 9.75203805e-01 -3.33305833e-03 -5.94232380e+01] [-1.81676899e-02 -7.05190350e-04 9.99834705e-01 -3.95643366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2757692310001 meters Centerline goodness [0,1] 0.9992777789578775 Centerline is valid? [True, True] Translation: X:385.99, Y:-59.43, Z:-3.96 [[ 9.75419673e-01 2.19601065e-01 1.82163052e-02 3.85987703e+02] [-2.19575878e-01 9.75589514e-01 -3.39616020e-03 -5.94274635e+01] [-1.85174367e-02 -6.87179726e-04 9.99828301e-01 -3.95616554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.30576923100006 meters Centerline goodness [0,1] 0.9995122778743798 Centerline is valid? [True, True] Translation: X:386.02, Y:-59.43, Z:-3.96 [[ 9.75924643e-01 2.17279169e-01 1.89961448e-02 3.86016404e+02] [-2.17251358e-01 9.76109272e-01 -3.54055708e-03 -5.94326377e+01] [-1.93116024e-02 -6.71621354e-04 9.99813288e-01 -3.95513698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3357692310001 meters Centerline goodness [0,1] 0.9999154780771262 Centerline is valid? [True, True] Translation: X:386.04, Y:-59.44, Z:-3.95 [[ 9.77134043e-01 2.11608907e-01 2.07540724e-02 3.86044540e+02] [-2.11574443e-01 9.77354233e-01 -3.86766701e-03 -5.94413953e+01] [-2.11025133e-02 -6.11802206e-04 9.99777130e-01 -3.95194022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.36576923100006 meters Centerline goodness [0,1] 0.9999788117637088 Centerline is valid? [True, True] Translation: X:386.07, Y:-59.45, Z:-3.95 [[ 9.77769549e-01 2.08591141e-01 2.13645551e-02 3.86072195e+02] [-2.08553906e-01 9.78002770e-01 -3.98113166e-03 -5.94490261e+01] [-2.17250229e-02 -5.63032108e-04 9.99763825e-01 -3.95193905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.39576923100003 meters Centerline goodness [0,1] 0.999915252441789 Centerline is valid? [True, True] Translation: X:386.10, Y:-59.46, Z:-3.95 [[ 9.78417918e-01 2.05519990e-01 2.14455356e-02 3.86101300e+02] [-2.05481750e-01 9.78652792e-01 -3.99547716e-03 -5.94583781e+01] [-2.18088837e-02 -4.97419751e-04 9.99762034e-01 -3.95315147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.42576923100006 meters Centerline goodness [0,1] 0.9999366005198758 Centerline is valid? [True, True] Translation: X:386.13, Y:-59.47, Z:-3.96 [[ 9.79043964e-01 2.02569259e-01 2.09430597e-02 3.86128866e+02] [-2.02532121e-01 9.79267848e-01 -3.90165106e-03 -5.94672505e+01] [-2.12992195e-02 -4.21754365e-04 9.99773057e-01 -3.95509292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.16, Y:-59.47, Z:-3.96 [[ 9.79928480e-01 1.98416046e-01 1.92677919e-02 3.86155809e+02] [-1.98383823e-01 9.80117840e-01 -3.58877334e-03 -5.94728517e+01] [-1.95967768e-02 -3.05677012e-04 9.99807918e-01 -3.95936116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.18, Y:-59.49, Z:-3.96 [[ 9.80100231e-01 1.97599004e-01 1.89253832e-02 3.86183042e+02] [-1.97567786e-01 9.80282894e-01 -3.52388842e-03 -5.94868370e+01] [-1.92485462e-02 -2.85282192e-04 9.99814689e-01 -3.95969881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51576923100004 meters Centerline goodness [0,1] 0.9999365079365079 Centerline is valid? [True, True] Translation: X:386.21, Y:-59.48, Z:-3.96 [[ 9.80130197e-01 1.97446696e-01 1.89630789e-02 3.86210497e+02] [-1.97415336e-01 9.80313583e-01 -3.53034058e-03 -5.94841806e+01] [-1.92868179e-02 -2.83409177e-04 9.99813952e-01 -3.96176136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.24, Y:-59.49, Z:-3.96 [[ 9.79736325e-01 1.99370167e-01 1.91903419e-02 3.86238332e+02] [-1.99338454e-01 9.79924196e-01 -3.57090665e-03 -5.94907969e+01] [-1.95170126e-02 -3.26826125e-04 9.99809472e-01 -3.96004139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57576923100004 meters Centerline goodness [0,1] 0.9999365535910667 Centerline is valid? [True, True] Translation: X:386.27, Y:-59.49, Z:-3.96 [[ 9.79306020e-01 2.01516704e-01 1.87279893e-02 3.86266918e+02] [-2.01486909e-01 9.79485011e-01 -3.48403201e-03 -5.94887517e+01] [-1.90458755e-02 -3.61511158e-04 9.99818546e-01 -3.96157702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.30, Y:-59.49, Z:-3.96 [[ 9.78703621e-01 2.04460832e-01 1.83027184e-02 3.86296836e+02] [-2.04432911e-01 9.78874660e-01 -3.40373992e-03 -5.94912799e+01] [-1.86119988e-02 -4.10425411e-04 9.99826698e-01 -3.96197529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.33, Y:-59.49, Z:-3.96 [[ 9.77963449e-01 2.07959963e-01 1.84430670e-02 3.86326876e+02] [-2.07932240e-01 9.78137221e-01 -3.42941926e-03 -5.94862273e+01] [-1.87530322e-02 -4.81061544e-04 9.99824031e-01 -3.96284588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.66576923100007 meters Centerline goodness [0,1] 0.9998725086056691 Centerline is valid? [True, True] Translation: X:386.36, Y:-59.48, Z:-3.96 [[ 9.76502635e-01 2.14708226e-01 1.85197660e-02 3.86359416e+02] [-2.14681498e-01 9.76678044e-01 -3.44288751e-03 -5.94780063e+01] [-1.88270651e-02 -6.13862387e-04 9.99822567e-01 -3.96231530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.69576923100004 meters Centerline goodness [0,1] 0.9998288623625551 Centerline is valid? [True, True] Translation: X:386.39, Y:-59.48, Z:-3.96 [[ 9.75887435e-01 2.17512373e-01 1.82230981e-02 3.86389229e+02] [-2.17486981e-01 9.76057342e-01 -3.38784364e-03 -5.94760776e+01] [-1.85236866e-02 -6.57132536e-04 9.99828206e-01 -3.96336548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7257692310001 meters Centerline goodness [0,1] 0.9969274154513121 Centerline is valid? [True, True] Translation: X:386.42, Y:-59.46, Z:-3.97 [[ 9.75535124e-01 2.19108108e-01 1.79682689e-02 3.86421003e+02] [-2.19083703e-01 9.75700352e-01 -3.33981945e-03 -5.94620332e+01] [-1.82634278e-02 -6.78443706e-04 9.99832980e-01 -3.96610785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.75576923100004 meters Centerline goodness [0,1] 0.9984676420579777 Centerline is valid? [True, True] Translation: X:386.45, Y:-59.46, Z:-3.96 [[ 9.75519482e-01 2.19080246e-01 1.91202903e-02 3.86449029e+02] [-2.19052613e-01 9.75706577e-01 -3.55357686e-03 -5.94636683e+01] [-1.94343115e-02 -7.21766081e-04 9.99810875e-01 -3.96464580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7857692310001 meters Centerline goodness [0,1] 0.9985249183436941 Centerline is valid? [True, True] Translation: X:386.48, Y:-59.46, Z:-3.96 [[ 9.75758285e-01 2.17923402e-01 2.01285880e-02 3.86477399e+02] [-2.17892615e-01 9.75965596e-01 -3.73685917e-03 -5.94649298e+01] [-2.04591585e-02 -7.39599399e-04 9.99790416e-01 -3.96336558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.81576923100005 meters Centerline goodness [0,1] 0.9989795267555329 Centerline is valid? [True, True] Translation: X:386.51, Y:-59.47, Z:-3.96 [[ 9.76111354e-01 2.16245190e-01 2.10865561e-02 3.86506450e+02] [-2.16211039e-01 9.76338810e-01 -3.91344749e-03 -5.94691833e+01] [-2.14338873e-02 -7.39185688e-04 9.99769995e-01 -3.96201428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8457692310001 meters Centerline goodness [0,1] 0.9997893938755739 Centerline is valid? [True, True] Translation: X:386.54, Y:-59.47, Z:-3.96 [[ 9.76916093e-01 2.12583823e-01 2.10491216e-02 3.86535648e+02] [-2.12548979e-01 9.77142612e-01 -3.90484527e-03 -5.94744083e+01] [-2.13981006e-02 -6.59263126e-04 9.99770817e-01 -3.96257697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.87576923100005 meters Centerline goodness [0,1] 0.9997870981477539 Centerline is valid? [True, True] Translation: X:386.56, Y:-59.48, Z:-3.97 [[ 9.77489167e-01 2.10040427e-01 1.99486053e-02 3.86564168e+02] [-2.10008607e-01 9.77692534e-01 -3.70046574e-03 -5.94803758e+01] [-2.02808499e-02 -5.72213634e-04 9.99794159e-01 -3.96559871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9057692310001 meters Centerline goodness [0,1] 0.9998936079666355 Centerline is valid? [True, True] Translation: X:386.59, Y:-59.48, Z:-3.97 [[ 9.78068943e-01 2.07364093e-01 1.95262832e-02 3.86593079e+02] [-2.07333132e-01 9.78263704e-01 -3.61915194e-03 -5.94848554e+01] [-1.98523363e-02 -5.08665334e-04 9.99802794e-01 -3.96739584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.93576923100005 meters Centerline goodness [0,1] 0.9999575605822688 Centerline is valid? [True, True] Translation: X:386.62, Y:-59.49, Z:-3.97 [[ 9.78594797e-01 2.04904931e-01 1.91361354e-02 3.86620675e+02] [-2.04874785e-01 9.78781776e-01 -3.54373768e-03 -5.94878395e+01] [-1.94562299e-02 -4.52628373e-04 9.99810607e-01 -3.96843035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.65, Y:-59.49, Z:-3.97 [[ 9.78978880e-01 2.03082467e-01 1.89173188e-02 3.86649678e+02] [-2.03052692e-01 9.79161550e-01 -3.50184336e-03 -5.94918517e+01] [-1.92342742e-02 -4.12981827e-04 9.99814919e-01 -3.96914410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.99576923100005 meters Centerline goodness [0,1] 0.9999786388687145 Centerline is valid? [True, True] Translation: X:386.68, Y:-59.49, Z:-3.97 [[ 9.79522702e-01 2.00416418e-01 1.91972797e-02 3.86677656e+02] [-2.00385307e-01 9.79710734e-01 -3.55043229e-03 -5.94942726e+01] [-1.95193459e-02 -3.69123756e-04 9.99809411e-01 -3.96818000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0257692310001 meters Centerline goodness [0,1] 0.9999786388687145 Centerline is valid? [True, True] Translation: X:386.70, Y:-59.50, Z:-3.97 [[ 9.79536343e-01 2.00349722e-01 1.91974303e-02 3.86704712e+02] [-2.00318615e-01 9.79724376e-01 -3.54961769e-03 -5.94991294e+01] [-1.95193554e-02 -3.68623116e-04 9.99809411e-01 -3.96878510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.73, Y:-59.50, Z:-3.97 [[ 9.79789701e-01 1.99033157e-01 1.99485437e-02 3.86732236e+02] [-1.98999324e-01 9.79992691e-01 -3.68701448e-03 -5.95037424e+01] [-2.02832651e-02 -3.57247891e-04 9.99794210e-01 -3.96833742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.76, Y:-59.51, Z:-3.97 [[ 9.80042054e-01 1.97739798e-01 2.04094417e-02 3.86760848e+02] [-1.97704129e-01 9.80254486e-01 -3.77096509e-03 -5.95084707e+01] [-2.07521166e-02 -3.39326509e-04 9.99784594e-01 -3.96833871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.79, Y:-59.51, Z:-3.97 [[ 9.80527219e-01 1.95342578e-01 2.01903513e-02 3.86789705e+02] [-1.95307180e-01 9.80735028e-01 -3.72961093e-03 -5.95131751e+01] [-2.05299365e-02 -2.86335547e-04 9.99789198e-01 -3.97009193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.82, Y:-59.52, Z:-3.97 [[ 9.80810670e-01 1.93939515e-01 1.99472776e-02 3.86817247e+02] [-1.93904709e-01 9.81013455e-01 -3.68297841e-03 -5.95212150e+01] [-2.02828228e-02 -2.55566552e-04 9.99794250e-01 -3.97088889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.84, Y:-59.53, Z:-3.97 [[ 9.81127565e-01 1.92304809e-01 2.01881667e-02 3.86843999e+02] [-1.92268832e-01 9.81335218e-01 -3.72647256e-03 -5.95272197e+01] [-2.05279775e-02 -2.25410265e-04 9.99789253e-01 -3.97128822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.87, Y:-59.54, Z:-3.97 [[ 9.81493674e-01 1.90286663e-01 2.14744787e-02 3.86872069e+02] [-1.90245502e-01 9.81728551e-01 -3.96254312e-03 -5.95365869e+01] [-2.18361279e-02 -1.96211964e-04 9.99761544e-01 -3.96916055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.90, Y:-59.54, Z:-3.97 [[ 9.81464892e-01 1.90454584e-01 2.13006308e-02 3.86900307e+02] [-1.90414201e-01 9.81695987e-01 -3.92703655e-03 -5.95402441e+01] [-2.16586659e-02 -2.01694094e-04 9.99765403e-01 -3.96998149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.93, Y:-59.54, Z:-3.97 [[ 9.81342742e-01 1.91216567e-01 2.00660586e-02 3.86928557e+02] [-1.91180907e-01 9.81547850e-01 -3.69852846e-03 -5.95425953e+01] [-2.04030166e-02 -2.06723215e-04 9.99791815e-01 -3.97327699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.96, Y:-59.55, Z:-3.98 [[ 9.81136000e-01 1.92448949e-01 1.83180450e-02 3.86957171e+02] [-1.92419466e-01 9.81306963e-01 -3.37530076e-03 -5.95457048e+01] [-1.86251982e-02 -2.13119356e-04 9.99826513e-01 -3.97766784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.99, Y:-59.55, Z:-3.98 [[ 9.81053648e-01 1.92986357e-01 1.70295723e-02 3.86986140e+02] [-1.92960960e-01 9.81201418e-01 -3.13769028e-03 -5.95488701e+01] [-1.73149719e-02 -2.07800125e-04 9.99850063e-01 -3.98058483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.01, Y:-59.55, Z:-3.98 [[ 9.81273059e-01 1.91704704e-01 1.87747389e-02 3.87013726e+02] [-1.91673675e-01 9.81452629e-01 -3.45533562e-03 -5.95533916e+01] [-1.90889209e-02 -2.07995439e-04 9.99817768e-01 -3.97858456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.04, Y:-59.56, Z:-3.98 [[ 9.81669057e-01 1.89424254e-01 2.10787701e-02 3.87041634e+02] [-1.89384644e-01 9.81895319e-01 -3.87799085e-03 -5.95643407e+01] [-2.14317312e-02 -1.85091741e-04 9.99770297e-01 -3.97552974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.07, Y:-59.57, Z:-3.97 [[ 9.82116977e-01 1.86972416e-01 2.20807464e-02 3.87068708e+02] [-1.86928416e-01 9.82365154e-01 -4.05852569e-03 -5.95720666e+01] [-2.24501882e-02 -1.41571975e-04 9.99747953e-01 -3.97419954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.09, Y:-59.59, Z:-3.98 [[ 9.83051845e-01 1.82117009e-01 2.10348356e-02 3.87094592e+02] [-1.82075995e-01 9.83276865e-01 -3.86500396e-03 -5.95871905e+01] [-2.13869502e-02 -3.04393422e-05 9.99771273e-01 -3.97787478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.12, Y:-59.60, Z:-3.98 [[ 9.83493434e-01 1.79842979e-01 1.99290529e-02 3.87121659e+02] [-1.79805714e-01 9.83695330e-01 -3.66096562e-03 -5.95968061e+01] [-2.02625153e-02 1.71780488e-05 9.99794694e-01 -3.98062333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.15, Y:-59.61, Z:-3.98 [[ 9.83865892e-01 1.77880689e-01 1.91407261e-02 3.87149279e+02] [-1.77845969e-01 9.84052060e-01 -3.51480186e-03 -5.96057087e+01] [-1.94606863e-02 5.39926997e-05 9.99810621e-01 -3.98194108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.18, Y:-59.62, Z:-3.98 [[ 9.84276345e-01 1.75604357e-01 1.90574451e-02 3.87175120e+02] [-1.75569528e-01 9.84460817e-01 -3.49867552e-03 -5.96162064e+01] [-1.93756906e-02 9.77569255e-05 9.99812269e-01 -3.98236880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.20, Y:-59.62, Z:-3.98 [[ 9.84369187e-01 1.75069704e-01 1.91807634e-02 3.87203123e+02] [-1.75034349e-01 9.84556036e-01 -3.51990849e-03 -5.96237177e+01] [-1.95007657e-02 1.07597034e-04 9.99809836e-01 -3.98286131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.23, Y:-59.63, Z:-3.98 [[ 9.84386797e-01 1.74976245e-01 1.91297617e-02 3.87228944e+02] [-1.74941076e-01 9.84572649e-01 -3.50971709e-03 -5.96319189e+01] [-1.94487573e-02 1.08338073e-04 9.99810849e-01 -3.98398595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.26, Y:-59.64, Z:-3.98 [[ 9.84303779e-01 1.75421515e-01 1.93225748e-02 3.87256798e+02] [-1.75385753e-01 9.84493414e-01 -3.54335625e-03 -5.96383886e+01] [-1.96445285e-02 9.88346219e-05 9.99807023e-01 -3.98366533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.28, Y:-59.65, Z:-3.98 [[ 9.84117666e-01 1.76487452e-01 1.90944565e-02 3.87283938e+02] [-1.76452747e-01 9.84302887e-01 -3.50064595e-03 -5.96462506e+01] [-1.94125488e-02 7.57782234e-05 9.99811556e-01 -3.98415970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.31, Y:-59.65, Z:-3.99 [[ 9.84055321e-01 1.76896235e-01 1.85161366e-02 3.87310152e+02] [-1.76863692e-01 9.84229505e-01 -3.39361365e-03 -5.96524299e+01] [-1.88244455e-02 6.46712753e-05 9.99822802e-01 -3.98613052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.34, Y:-59.66, Z:-3.99 [[ 9.83923319e-01 1.77667397e-01 1.81438410e-02 3.87337028e+02] [-1.77636307e-01 9.84090592e-01 -3.32391623e-03 -5.96581599e+01] [-1.84457348e-02 4.74737633e-05 9.99829862e-01 -3.98786809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.36, Y:-59.66, Z:-3.99 [[ 9.83460846e-01 1.80226290e-01 1.79791356e-02 3.87364948e+02] [-1.80196213e-01 9.83625175e-01 -3.29249135e-03 -5.96627958e+01] [-1.82781239e-02 -1.73581755e-06 9.99832941e-01 -3.98837990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.39, Y:-59.67, Z:-3.99 [[ 9.83197012e-01 1.81528804e-01 1.92594932e-02 3.87392183e+02] [-1.81494568e-01 9.83385628e-01 -3.52553091e-03 -5.96664232e+01] [-1.95794942e-02 -2.92019281e-05 9.99808303e-01 -3.98717270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.42, Y:-59.67, Z:-3.99 [[ 9.82919064e-01 1.82927352e-01 2.01915315e-02 3.87419496e+02] [-1.82890052e-01 9.83126431e-01 -3.69441095e-03 -5.96693885e+01] [-2.05266371e-02 -6.15233001e-05 9.99789304e-01 -3.98521584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.45, Y:-59.67, Z:-3.99 [[ 9.82643136e-01 1.84459423e-01 1.96771199e-02 3.87447488e+02] [-1.84424339e-01 9.82840126e-01 -3.59871961e-03 -5.96747878e+01] [-2.00032807e-02 -9.26826998e-05 9.99799910e-01 -3.98810792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.48, Y:-59.68, Z:-3.99 [[ 9.82686801e-01 1.84326398e-01 1.87197839e-02 3.87475574e+02] [-1.84294636e-01 9.82865083e-01 -3.42281423e-03 -5.96810189e+01] [-1.90299370e-02 -8.64013963e-05 9.99818911e-01 -3.99076818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.50, Y:-59.69, Z:-3.99 [[ 9.82753639e-01 1.83995310e-01 1.84664912e-02 3.87503163e+02] [-1.83964358e-01 9.82927118e-01 -3.37573080e-03 -5.96860861e+01] [-1.87723336e-02 -7.96644627e-05 9.99823781e-01 -3.99211327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.53, Y:-59.69, Z:-3.99 [[ 9.82760322e-01 1.83889266e-01 1.91542876e-02 3.87531034e+02] [-1.83855972e-01 9.82946963e-01 -3.50007427e-03 -5.96900414e+01] [-1.94712749e-02 -8.18960313e-05 9.99810413e-01 -3.99140187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.95576923100003 meters Centerline goodness [0,1] 0.9999788279132791 Centerline is valid? [True, True] Translation: X:387.56, Y:-59.69, Z:-3.99 [[ 9.82423568e-01 1.85521341e-01 2.06340732e-02 3.87560325e+02] [-1.85483096e-01 9.82640227e-01 -3.76890192e-03 -5.96912984e+01] [-2.09750822e-02 -1.24613712e-04 9.99779991e-01 -3.98839030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.59, Y:-59.69, Z:-3.99 [[ 9.82196719e-01 1.86728749e-01 2.05421285e-02 3.87589431e+02] [-1.86691129e-01 9.82411498e-01 -3.75111222e-03 -5.96941796e+01] [-2.08812637e-02 -1.50703035e-04 9.99781951e-01 -3.98896680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.62, Y:-59.70, Z:-3.99 [[ 9.81996718e-01 1.87780881e-01 2.05130625e-02 3.87617440e+02] [-1.87743617e-01 9.82210930e-01 -3.74480565e-03 -5.96952376e+01] [-2.08513571e-02 -1.73809704e-04 9.99782572e-01 -3.98983877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.65, Y:-59.69, Z:-3.99 [[ 9.81712642e-01 1.89317157e-01 1.99825815e-02 3.87645548e+02] [-1.89282137e-01 9.81915971e-01 -3.64681394e-03 -5.96936070e+01] [-2.03116203e-02 -2.02222379e-04 9.99793677e-01 -3.99179268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.68, Y:-59.69, Z:-4.00 [[ 9.81235045e-01 1.91898721e-01 1.87794324e-02 3.87675456e+02] [-1.91868297e-01 9.81414705e-01 -3.42553862e-03 -5.96917887e+01] [-1.90877676e-02 -2.41919165e-04 9.99817783e-01 -3.99553770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.70, Y:-59.70, Z:-4.00 [[ 9.81129153e-01 1.92436212e-01 1.88119686e-02 3.87704462e+02] [-1.92405798e-01 9.81309452e-01 -3.43057849e-03 -5.96950709e+01] [-1.91205301e-02 -2.53691260e-04 9.99817154e-01 -3.99638086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.73, Y:-59.70, Z:-4.00 [[ 9.81177617e-01 1.92069598e-01 1.99938445e-02 3.87732343e+02] [-1.92035187e-01 9.81381272e-01 -3.64509791e-03 -5.96981558e+01] [-2.03216970e-02 -2.63033181e-04 9.99793458e-01 -3.99593861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.76, Y:-59.71, Z:-3.99 [[ 9.81763423e-01 1.88894708e-01 2.14329548e-02 3.87760205e+02] [-1.88854437e-01 9.81997324e-01 -3.90608511e-03 -5.97073262e+01] [-2.17849430e-02 -2.12857129e-04 9.99762657e-01 -3.99385176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.79, Y:-59.71, Z:-4.00 [[ 9.82166168e-01 1.86881711e-01 2.06117715e-02 3.87787977e+02] [-1.86844045e-01 9.82382410e-01 -3.75546624e-03 -5.97141540e+01] [-2.09504698e-02 -1.62694879e-04 9.99780502e-01 -3.99613716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.82, Y:-59.72, Z:-4.00 [[ 9.82501367e-01 1.85260020e-01 1.92298773e-02 3.87815508e+02] [-1.85226941e-01 9.82689529e-01 -3.50283885e-03 -5.97202876e+01] [-1.95459350e-02 -1.20347375e-04 9.99808953e-01 -3.99874931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.84, Y:-59.73, Z:-4.00 [[ 9.82663386e-01 1.84476644e-01 1.84672047e-02 3.87841526e+02] [-1.84446017e-01 9.82836893e-01 -3.36291020e-03 -5.97256603e+01] [-1.87706285e-02 -1.01593634e-04 9.99823811e-01 -4.00106816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.87, Y:-59.73, Z:-4.00 [[ 9.82814710e-01 1.83699601e-01 1.81577241e-02 3.87870049e+02] [-1.83669890e-01 9.82982426e-01 -3.30492059e-03 -5.97314871e+01] [-1.84558363e-02 -8.69026167e-05 9.99829673e-01 -4.00195466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.90, Y:-59.74, Z:-4.00 [[ 9.82847039e-01 1.83453172e-01 1.88846745e-02 3.87898066e+02] [-1.83421008e-01 9.83028446e-01 -3.43626672e-03 -5.97364023e+01] [-1.91945662e-02 -8.65214493e-05 9.99815764e-01 -4.00185666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.93, Y:-59.74, Z:-4.00 [[ 9.82917158e-01 1.82972538e-01 1.98723488e-02 3.87926171e+02] [-1.82936843e-01 9.83118021e-01 -3.61495153e-03 -5.97418208e+01] [-2.01983011e-02 -8.21868747e-05 9.99795990e-01 -4.00111718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.95, Y:-59.75, Z:-4.00 [[ 9.83048912e-01 1.82219167e-01 2.02734302e-02 3.87953516e+02] [-1.82181877e-01 9.83257937e-01 -3.68691275e-03 -5.97484453e+01] [-2.06058373e-02 -6.90359907e-05 9.99787675e-01 -4.00119461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.98, Y:-59.76, Z:-4.00 [[ 9.83233032e-01 1.81284300e-01 1.97182118e-02 3.87980568e+02] [-1.81248859e-01 9.83430730e-01 -3.58478869e-03 -5.97552386e+01] [-2.00413614e-02 -4.92207487e-05 9.99799151e-01 -4.00259746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.01, Y:-59.76, Z:-4.00 [[ 9.83495985e-01 1.79897413e-01 1.93020414e-02 3.88007994e+02] [-1.79863210e-01 9.83685377e-01 -3.50790362e-03 -5.97631090e+01] [-1.96181987e-02 -2.17180026e-05 9.99807544e-01 -4.00376366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.03, Y:-59.78, Z:-4.00 [[ 9.84706940e-01 1.73114822e-01 1.95832001e-02 3.88034148e+02] [-1.73078302e-01 9.84901643e-01 -3.55749168e-03 -5.97791210e+01] [-1.99033805e-02 1.13659721e-04 9.99801902e-01 -4.00442275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.06, Y:-59.79, Z:-4.00 [[ 9.85501273e-01 1.68488959e-01 1.99677796e-02 3.88061332e+02] [-1.68450061e-01 9.85703519e-01 -3.62635787e-03 -5.97929619e+01] [-2.02933119e-02 2.10206599e-04 9.99794047e-01 -4.00435513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.09, Y:-59.81, Z:-4.00 [[ 9.86210705e-01 1.64248087e-01 2.02733985e-02 3.88088175e+02] [-1.64207113e-01 9.86419016e-01 -3.68085732e-03 -5.98075346e+01] [-2.06026395e-02 3.01064673e-04 9.99787698e-01 -4.00450253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.11, Y:-59.83, Z:-4.00 [[ 9.87382036e-01 1.56897058e-01 2.14482614e-02 3.88113357e+02] [-1.56849486e-01 9.87614845e-01 -3.89306051e-03 -5.98308752e+01] [-2.17934311e-02 4.79789247e-04 9.99762380e-01 -4.00324081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.14, Y:-59.84, Z:-4.00 [[ 9.87862369e-01 1.53854018e-01 2.13747662e-02 3.88140757e+02] [-1.53806070e-01 9.88093439e-01 -3.87920440e-03 -5.98449647e+01] [-2.17170975e-02 5.44551255e-04 9.99764008e-01 -4.00343921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.61576923100006 meters Centerline goodness [0,1] 0.9999573569859918 Centerline is valid? [True, True] Translation: X:388.17, Y:-59.86, Z:-4.01 [[ 9.88228723e-01 1.51577031e-01 2.06977145e-02 3.88169740e+02] [-1.51531578e-01 9.88445281e-01 -3.75607965e-03 -5.98574096e+01] [-2.10278936e-02 5.75508437e-04 9.99778724e-01 -4.00540798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.64576923100003 meters Centerline goodness [0,1] 0.9999787206877474 Centerline is valid? [True, True] Translation: X:388.20, Y:-59.88, Z:-4.01 [[ 9.88676724e-01 1.48969576e-01 1.80665439e-02 3.88196789e+02] [-1.48934514e-01 9.88841626e-01 -3.27846629e-03 -5.98764850e+01] [-1.83533424e-02 5.50611383e-04 9.99831412e-01 -4.01100793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.67576923100006 meters Centerline goodness [0,1] 0.9998735857404715 Centerline is valid? [True, True] Translation: X:388.23, Y:-59.89, Z:-4.01 [[ 9.88735984e-01 1.48589499e-01 1.79531474e-02 3.88226248e+02] [-1.48554801e-01 9.88898808e-01 -3.25856073e-03 -5.98886918e+01] [-1.82380340e-02 5.54830003e-04 9.99833519e-01 -4.01200967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.70576923100003 meters Centerline goodness [0,1] 0.9998922111798564 Centerline is valid? [True, True] Translation: X:388.26, Y:-59.90, Z:-4.01 [[ 9.88695887e-01 1.48709271e-01 1.91310049e-02 3.88256710e+02] [-1.48669890e-01 9.88880784e-01 -3.47246826e-03 -5.98995961e+01] [-1.94346714e-02 5.89010695e-04 9.99810955e-01 -4.01080536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.73576923100006 meters Centerline goodness [0,1] 0.9999573524394405 Centerline is valid? [True, True] Translation: X:388.29, Y:-59.91, Z:-4.01 [[ 9.88571035e-01 1.49331735e-01 2.06722220e-02 3.88285950e+02] [-1.49285810e-01 9.88786954e-01 -3.75597789e-03 -5.99128254e+01] [-2.10013101e-02 6.26981551e-04 9.99779252e-01 -4.00873325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76576923100004 meters Centerline goodness [0,1] 0.9999147212450699 Centerline is valid? [True, True] Translation: X:388.31, Y:-59.93, Z:-4.01 [[ 9.88291039e-01 1.51074178e-01 2.13872751e-02 3.88314952e+02] [-1.51025353e-01 9.88522238e-01 -3.88931668e-03 -5.99290987e+01] [-2.17293724e-02 6.13756043e-04 9.99763701e-01 -4.00667210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.79576923100007 meters Centerline goodness [0,1] 0.9999788708586883 Centerline is valid? [True, True] Translation: X:388.34, Y:-59.94, Z:-4.01 [[ 9.88056051e-01 1.52702608e-01 2.06677039e-02 3.88344645e+02] [-1.52657306e-01 9.88272026e-01 -3.76147867e-03 -5.99387407e+01] [-2.09997012e-02 5.61475768e-04 9.99779324e-01 -4.00847410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.38, Y:-59.94, Z:-4.01 [[ 9.87711688e-01 1.54931950e-01 2.05356561e-02 3.88375648e+02] [-1.54887639e-01 9.87925011e-01 -3.74064860e-03 -5.99448930e+01] [-2.08672343e-02 5.13963050e-04 9.99782123e-01 -4.00879172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.41, Y:-59.95, Z:-4.01 [[ 9.86584790e-01 1.61773233e-01 2.19060011e-02 3.88407240e+02] [-1.61724482e-01 9.86827880e-01 -3.99081190e-03 -5.99455960e+01] [-2.22630592e-02 3.94537631e-04 9.99752070e-01 -4.00687699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.44, Y:-59.95, Z:-4.01 [[ 9.85827201e-01 1.66287263e-01 2.22098259e-02 3.88437668e+02] [-1.66238287e-01 9.86077308e-01 -4.04645145e-03 -5.99512063e+01] [-2.25734787e-02 2.96978489e-04 9.99745142e-01 -4.00676986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.47, Y:-59.96, Z:-4.01 [[ 9.85801232e-01 1.66441157e-01 2.22097139e-02 3.88468791e+02] [-1.66392207e-01 9.86051345e-01 -4.04706625e-03 -5.99570449e+01] [-2.25735166e-02 2.94079600e-04 9.99745142e-01 -4.00746687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.50, Y:-59.96, Z:-4.01 [[ 9.84993883e-01 1.71167493e-01 2.21074625e-02 3.88500212e+02] [-1.71120103e-01 9.85241927e-01 -4.03191566e-03 -5.99573482e+01] [-2.24713319e-02 1.88380992e-04 9.99747470e-01 -4.00845207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.53, Y:-59.96, Z:-4.01 [[ 9.84270309e-01 1.75337118e-01 2.16530494e-02 3.88530422e+02] [-1.75292659e-01 9.84508449e-01 -3.94928808e-03 -5.99585472e+01] [-2.20100669e-02 9.15463807e-05 9.99757745e-01 -4.01036653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.56, Y:-59.96, Z:-4.01 [[ 9.83121043e-01 1.81837268e-01 2.02045278e-02 3.88560356e+02] [-1.81799929e-01 9.83328635e-01 -3.68515931e-03 -5.99556205e+01] [-2.05377901e-02 -5.02240727e-05 9.99789076e-01 -4.01374084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.59, Y:-59.96, Z:-4.02 [[ 9.82819397e-01 1.83524279e-01 1.96181772e-02 3.88589115e+02] [-1.83489429e-01 9.83015174e-01 -3.57734198e-03 -5.99588687e+01] [-1.99414950e-02 -8.38470424e-05 9.99801145e-01 -4.01579511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.62, Y:-59.96, Z:-4.02 [[ 9.82629876e-01 1.84768976e-01 1.72902324e-02 3.88617727e+02] [-1.84742113e-01 9.82781978e-01 -3.15206549e-03 -5.99646202e+01] [-1.75749327e-02 -9.69203567e-05 9.99845544e-01 -4.02043806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.65, Y:-59.97, Z:-4.02 [[ 9.82607613e-01 1.85031152e-01 1.56764569e-02 3.88646889e+02] [-1.85009109e-01 9.82732651e-01 -2.85753961e-03 -5.99706427e+01] [-1.59344999e-02 -9.24471462e-05 9.99873034e-01 -4.02441652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.68, Y:-59.98, Z:-4.03 [[ 9.82477535e-01 1.85795450e-01 1.47629406e-02 3.88675841e+02] [-1.85775992e-01 9.82588439e-01 -2.69069434e-03 -5.99750975e+01] [-1.50058136e-02 -9.90532033e-05 9.99887402e-01 -4.02626589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.70, Y:-59.98, Z:-4.02 [[ 9.81962435e-01 1.88157696e-01 1.86133563e-02 3.88702952e+02] [-1.88321991e-01 9.82078767e-01 7.49153990e-03 -5.99816600e+01] [-1.68701911e-02 -1.08617151e-02 9.99798690e-01 -4.02498844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.73, Y:-59.98, Z:-4.02 [[ 9.82047529e-01 1.87921340e-01 1.63774611e-02 3.88734403e+02] [-1.87707230e-01 9.82128523e-01 -1.37681039e-02 -5.99757302e+01] [-1.86720922e-02 1.04467646e-02 9.99771083e-01 -4.02265624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.76, Y:-59.98, Z:-4.02 [[ 9.81675992e-01 1.89493799e-01 2.01083607e-02 3.88762109e+02] [-1.89458522e-01 9.81881894e-01 -3.66256974e-03 -5.99767854e+01] [-2.04380696e-02 -2.14243513e-04 9.99791098e-01 -4.01956356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.24576923100005 meters Centerline goodness [0,1] 0.9999789331760344 Centerline is valid? [True, True] Translation: X:388.79, Y:-59.98, Z:-4.02 [[ 9.80888546e-01 1.93419324e-01 2.11335024e-02 3.88791862e+02] [-1.93381304e-01 9.81116133e-01 -3.84762237e-03 -5.99752022e+01] [-2.14786247e-02 -3.12735535e-04 9.99769259e-01 -4.01828782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2757692310001 meters Centerline goodness [0,1] 0.9999787631668365 Centerline is valid? [True, True] Translation: X:388.82, Y:-59.98, Z:-4.02 [[ 9.80674090e-01 1.94563951e-01 2.05717718e-02 3.88820260e+02] [-1.94528196e-01 9.80889780e-01 -3.74442241e-03 -5.99794003e+01] [-2.09071703e-02 -3.29731616e-04 9.99781367e-01 -4.02046832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.85, Y:-59.98, Z:-4.02 [[ 9.80656246e-01 1.94685983e-01 2.02656154e-02 3.88848533e+02] [-1.94651330e-01 9.80865567e-01 -3.68772479e-03 -5.99835932e+01] [-2.05957927e-02 -3.28338642e-04 9.99787830e-01 -4.02218003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.88, Y:-59.99, Z:-4.02 [[ 9.81185650e-01 1.91920706e-01 2.10038626e-02 3.88875281e+02] [-1.91882871e-01 9.81410395e-01 -3.82100537e-03 -5.99909654e+01] [-2.13467391e-02 -2.81165810e-04 9.99772093e-01 -4.02138236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.90, Y:-60.00, Z:-4.02 [[ 9.81660890e-01 1.89345047e-01 2.21438508e-02 3.88903531e+02] [-1.89302370e-01 9.81910585e-01 -4.02698480e-03 -5.99996468e+01] [-2.25057711e-02 -2.38749955e-04 9.99746685e-01 -4.01971950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.93, Y:-60.01, Z:-4.02 [[ 9.82125320e-01 1.86712221e-01 2.38411805e-02 3.88931153e+02] [-1.86661997e-01 9.82414632e-01 -4.33470365e-03 -6.00073072e+01] [-2.42312668e-02 -1.93020163e-04 9.99706361e-01 -4.01749489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.96, Y:-60.01, Z:-4.02 [[ 9.82416787e-01 1.84993872e-01 2.51897744e-02 3.88960306e+02] [-1.84937270e-01 9.82739661e-01 -4.57870237e-03 -6.00143704e+01] [-2.56020222e-02 -1.60334039e-04 9.99672202e-01 -4.01627852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.99, Y:-60.02, Z:-4.02 [[ 9.82710239e-01 1.83507190e-01 2.46109173e-02 3.88989154e+02] [-1.83452708e-01 9.83018360e-01 -4.47291379e-03 -6.00187431e+01] [-2.50137954e-02 -1.19361249e-04 9.99687099e-01 -4.01711660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.48576923100006 meters Centerline goodness [0,1] 0.9999788592448522 Centerline is valid? [True, True] Translation: X:389.02, Y:-60.02, Z:-4.02 [[ 9.82826762e-01 1.83120511e-01 2.27691568e-02 3.89017328e+02] [-1.83073782e-01 9.83090468e-01 -4.13790518e-03 -6.00227604e+01] [-2.31418763e-02 -1.01591682e-04 9.99732186e-01 -4.02120553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.05, Y:-60.03, Z:-4.03 [[ 9.82872233e-01 1.83140857e-01 2.05329175e-02 3.89046631e+02] [-1.83102870e-01 9.83086679e-01 -3.73108524e-03 -6.00280606e+01] [-2.08689518e-02 -9.24560387e-05 9.99782215e-01 -4.02579649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.07, Y:-60.03, Z:-4.03 [[ 9.82791119e-01 1.83721305e-01 1.91859058e-02 3.89074005e+02] [-1.83688256e-01 9.82978368e-01 -3.48597364e-03 -6.00301742e+01] [-1.94997780e-02 -9.82416464e-05 9.99809856e-01 -4.02886337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.10, Y:-60.03, Z:-4.03 [[ 9.82378464e-01 1.85966643e-01 1.86805251e-02 3.89103580e+02] [-1.85935740e-01 9.82556048e-01 -3.39301416e-03 -6.00294533e+01] [-1.89856504e-02 -1.40153217e-04 9.99819746e-01 -4.02992065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.13, Y:-60.03, Z:-4.03 [[ 9.82123527e-01 1.87228639e-01 1.94631480e-02 3.89131625e+02] [-1.87195359e-01 9.82316348e-01 -3.53422763e-03 -6.00307781e+01] [-1.97806771e-02 -1.72362872e-04 9.99804328e-01 -4.02927730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.16, Y:-60.03, Z:-4.03 [[ 9.81863621e-01 1.88489378e-01 2.03858860e-02 3.89160719e+02] [-1.88453164e-01 9.82075206e-01 -3.70050474e-03 -6.00323908e+01] [-2.07179791e-02 -2.08393749e-04 9.99785338e-01 -4.02772980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.66576923100007 meters Centerline goodness [0,1] 0.9999789602137642 Centerline is valid? [True, True] Translation: X:389.19, Y:-60.03, Z:-4.03 [[ 9.81423741e-01 1.90793909e-01 2.01276940e-02 3.89190119e+02] [-1.90759110e-01 9.81630083e-01 -3.65271000e-03 -6.00296419e+01] [-2.04548647e-02 -2.54684691e-04 9.99790745e-01 -4.02906262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.22, Y:-60.03, Z:-4.03 [[ 9.81200165e-01 1.92028920e-01 1.92647096e-02 3.89217994e+02] [-1.91997296e-01 9.81389230e-01 -3.49529168e-03 -6.00299313e+01] [-1.95773756e-02 -2.69191378e-04 9.99808309e-01 -4.03170582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.25, Y:-60.04, Z:-4.03 [[ 9.81045164e-01 1.92869743e-01 1.87522756e-02 3.89246714e+02] [-1.92839957e-01 9.81224329e-01 -3.40099811e-03 -6.00352254e+01] [-1.90561387e-02 -2.79655280e-04 9.99818376e-01 -4.03326323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.28, Y:-60.03, Z:-4.03 [[ 9.80776360e-01 1.94144124e-01 1.96415335e-02 3.89275754e+02] [-1.94111723e-01 9.80972964e-01 -3.56124941e-03 -6.00346954e+01] [-1.99592090e-02 -3.19862663e-04 9.99800744e-01 -4.03204131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7857692310001 meters Centerline goodness [0,1] 0.9999788095187642 Centerline is valid? [True, True] Translation: X:389.30, Y:-60.03, Z:-4.03 [[ 9.80655243e-01 1.94692858e-01 2.02480876e-02 3.89304641e+02] [-1.94658562e-01 9.80864198e-01 -3.67020359e-03 -6.00334624e+01] [-2.05751867e-02 -3.42259219e-04 9.99788250e-01 -4.03163084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.33, Y:-60.04, Z:-4.03 [[ 9.80578804e-01 1.95060934e-01 2.04068897e-02 3.89333038e+02] [-1.95026204e-01 9.80791062e-01 -3.69769992e-03 -6.00369627e+01] [-2.07361718e-02 -3.53992059e-04 9.99784920e-01 -4.03164691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.36, Y:-60.04, Z:-4.03 [[ 9.80616169e-01 1.94873283e-01 2.04042416e-02 3.89361063e+02] [-1.94838541e-01 9.80828364e-01 -3.69628814e-03 -6.00359682e+01] [-2.07333668e-02 -3.50892748e-04 9.99784979e-01 -4.03258217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.39, Y:-60.04, Z:-4.03 [[ 9.80731631e-01 1.94279978e-01 2.05123878e-02 3.89389257e+02] [-1.94244782e-01 9.80946060e-01 -3.71370647e-03 -6.00410437e+01] [-2.08430448e-02 -3.42274898e-04 9.99782702e-01 -4.03281383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.42, Y:-60.04, Z:-4.03 [[ 9.80831110e-01 1.93764404e-01 2.06322471e-02 3.89418355e+02] [-1.93728702e-01 9.81048034e-01 -3.73440697e-03 -6.00446484e+01] [-2.09648206e-02 -3.34235922e-04 9.99780158e-01 -4.03320021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.45, Y:-60.05, Z:-4.04 [[ 9.80731857e-01 1.94323153e-01 2.00882404e-02 3.89447149e+02] [-1.94289446e-01 9.80937510e-01 -3.63499055e-03 -6.00453928e+01] [-2.04116713e-02 -3.37982081e-04 9.99791603e-01 -4.03555449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9657692310001 meters Centerline goodness [0,1] 0.999978879783729 Centerline is valid? [True, True] Translation: X:389.47, Y:-60.04, Z:-4.04 [[ 9.80779021e-01 1.94104226e-01 1.99012801e-02 3.89474299e+02] [-1.94071118e-01 9.80980856e-01 -3.60024737e-03 -6.00442500e+01] [-2.02215980e-02 -3.31216573e-04 9.99795468e-01 -4.03699045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.50, Y:-60.05, Z:-4.04 [[ 9.80949283e-01 1.93221686e-01 2.00968805e-02 3.89502285e+02] [-1.93187775e-01 9.81155074e-01 -3.63381833e-03 -6.00527860e+01] [-2.04202888e-02 -3.17880152e-04 9.99791434e-01 -4.03734944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.53, Y:-60.06, Z:-4.04 [[ 9.81493669e-01 1.90480323e-01 1.96831191e-02 3.89530320e+02] [-1.90447261e-01 9.81690980e-01 -3.55807674e-03 -6.00608114e+01] [-2.00004841e-02 -2.56366334e-04 9.99799937e-01 -4.03818218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.56, Y:-60.07, Z:-4.04 [[ 9.81816681e-01 1.88809938e-01 1.96675457e-02 3.89557004e+02] [-1.88776607e-01 9.82013624e-01 -3.55459799e-03 -6.00671214e+01] [-1.99849413e-02 -2.22808942e-04 9.99800256e-01 -4.03883701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.58, Y:-60.07, Z:-4.04 [[ 9.82101948e-01 1.87307553e-01 1.97899975e-02 3.89584619e+02] [-1.87273525e-01 9.82301299e-01 -3.57550429e-03 -6.00747475e+01] [-2.01094592e-02 -1.94632863e-04 9.99797765e-01 -4.03887508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.61, Y:-60.08, Z:-4.04 [[ 9.82273410e-01 1.86358097e-01 2.02387548e-02 3.89612547e+02] [-1.86322327e-01 9.82481871e-01 -3.65557643e-03 -6.00816850e+01] [-2.05654560e-02 -1.80156366e-04 9.99788492e-01 -4.03837869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.64, Y:-60.09, Z:-4.04 [[ 9.82297961e-01 1.86061269e-01 2.17237141e-02 3.89640548e+02] [-1.86020010e-01 9.82538126e-01 -3.92265695e-03 -6.00865507e+01] [-2.20742318e-02 -1.87827573e-04 9.99756317e-01 -4.03542458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.67, Y:-60.09, Z:-4.04 [[ 9.82194669e-01 1.86550755e-01 2.21911524e-02 3.89668694e+02] [-1.86507850e-01 9.82445303e-01 -4.00593503e-03 -6.00903584e+01] [-2.25489037e-02 -2.04216106e-04 9.99745720e-01 -4.03514331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.70, Y:-60.09, Z:-4.04 [[ 9.82010888e-01 1.87536320e-01 2.20169276e-02 3.89696994e+02] [-1.87494360e-01 9.82257643e-01 -3.97337658e-03 -6.00922635e+01] [-2.23714479e-02 -2.26150683e-04 9.99749702e-01 -4.03620790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.73, Y:-60.09, Z:-4.04 [[ 9.81583860e-01 1.89955705e-01 2.02473434e-02 3.89725549e+02] [-1.89920758e-01 9.81792627e-01 -3.65285759e-03 -6.00933598e+01] [-2.05725736e-02 -2.59804735e-04 9.99788328e-01 -4.03941793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.75, Y:-60.09, Z:-4.04 [[ 9.81406501e-01 1.90880838e-01 2.01440927e-02 3.89753971e+02] [-1.90846466e-01 9.81613176e-01 -3.63298684e-03 -6.00944411e+01] [-2.04671744e-02 -2.78991996e-04 9.99790487e-01 -4.04008579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.78, Y:-60.10, Z:-4.04 [[ 9.81287969e-01 1.91451495e-01 2.04999421e-02 3.89782697e+02] [-1.91416050e-01 9.81502031e-01 -3.69586141e-03 -6.00969682e+01] [-2.08283130e-02 -2.97313598e-04 9.99783023e-01 -4.04039510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.81, Y:-60.10, Z:-4.04 [[ 9.81230512e-01 1.91715137e-01 2.07843326e-02 3.89811261e+02] [-1.91678782e-01 9.81450565e-01 -3.74609433e-03 -6.01003149e+01] [-2.11169779e-02 -3.08133493e-04 9.99776964e-01 -4.04052237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.35576923100007 meters Centerline goodness [0,1] 0.9999788628196998 Centerline is valid? [True, True] Translation: X:389.84, Y:-60.10, Z:-4.04 [[ 9.81308579e-01 1.91320616e-01 2.07338820e-02 3.89838939e+02] [-1.91284371e-01 9.81527550e-01 -3.73600040e-03 -6.01022582e+01] [-2.10656503e-02 -2.99898320e-04 9.99778050e-01 -4.04192075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.87, Y:-60.11, Z:-4.04 [[ 9.81348822e-01 1.91086316e-01 2.09883153e-02 3.89866302e+02] [-1.91049149e-01 9.81573191e-01 -3.78056548e-03 -6.01052165e+01] [-2.13239819e-02 -2.99746291e-04 9.99772573e-01 -4.04187103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.90, Y:-60.11, Z:-4.04 [[ 9.81279740e-01 1.91358065e-01 2.17293001e-02 3.89895017e+02] [-1.91318334e-01 9.81520244e-01 -3.91220752e-03 -6.01070265e+01] [-2.20763804e-02 -3.18243520e-04 9.99756236e-01 -4.04089193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.92, Y:-60.11, Z:-4.04 [[ 9.81022186e-01 1.92602304e-01 2.23567123e-02 3.89924334e+02] [-1.92560593e-01 9.81276834e-01 -4.02410107e-03 -6.01076676e+01] [-2.27131750e-02 -3.57289351e-04 9.99741959e-01 -4.04084147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.95, Y:-60.11, Z:-4.04 [[ 9.81026151e-01 1.92558893e-01 2.25557721e-02 3.89951796e+02] [-1.92516450e-01 9.81285352e-01 -4.05881565e-03 -6.01110609e+01] [-2.29152098e-02 -3.60552864e-04 9.99737347e-01 -4.04233669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.98, Y:-60.12, Z:-4.04 [[ 9.81117971e-01 1.92121087e-01 2.22938173e-02 3.89980626e+02] [-1.92079546e-01 9.81371167e-01 -4.01010257e-03 -6.01163595e+01] [-2.26489348e-02 -3.47802622e-04 9.99743419e-01 -4.04359138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.01, Y:-60.12, Z:-4.05 [[ 9.81346998e-01 1.91025608e-01 2.16168227e-02 3.90007646e+02] [-1.90986303e-01 9.81585003e-01 -3.88755844e-03 -6.01213812e+01] [-2.19613722e-02 -3.13473248e-04 9.99758771e-01 -4.04569812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.03, Y:-60.13, Z:-4.05 [[ 9.82019721e-01 1.87640730e-01 2.06935808e-02 3.90034632e+02] [-1.87603985e-01 9.82237702e-01 -3.72031646e-03 -6.01297534e+01] [-2.10240982e-02 -2.28774087e-04 9.99778943e-01 -4.04730077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.06, Y:-60.14, Z:-4.05 [[ 9.82499746e-01 1.85210080e-01 1.97857447e-02 3.90061158e+02] [-1.85176018e-01 9.82698935e-01 -3.55600505e-03 -6.01381419e+01] [-2.01020382e-02 -1.70071353e-04 9.99797919e-01 -4.04890195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.09, Y:-60.15, Z:-4.05 [[ 9.83049298e-01 1.82314988e-01 1.93732520e-02 3.90088379e+02] [-1.82281800e-01 9.83240171e-01 -3.48026802e-03 -6.01501399e+01] [-1.96830646e-02 -1.10116219e-04 9.99806264e-01 -4.05006889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.11, Y:-60.17, Z:-4.05 [[ 9.84035511e-01 1.76731019e-01 2.09823802e-02 3.90114763e+02] [-1.76690841e-01 9.84259187e-01 -3.76825053e-03 -6.01666432e+01] [-2.13180673e-02 6.97921685e-07 9.99772744e-01 -4.04741799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.14, Y:-60.18, Z:-4.05 [[ 9.84368813e-01 1.74666842e-01 2.25728778e-02 3.90142898e+02] [-1.74619826e-01 9.84627591e-01 -4.05269238e-03 -6.01754325e+01] [-2.29337492e-02 4.76720050e-05 9.99736986e-01 -4.04578204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.17, Y:-60.18, Z:-4.04 [[ 9.84648486e-01 1.72946502e-01 2.35980317e-02 3.90169953e+02] [-1.72894654e-01 9.84931216e-01 -4.23549961e-03 -6.01828610e+01] [-2.39749529e-02 9.05047669e-05 9.99712555e-01 -4.04439549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.20, Y:-60.19, Z:-4.05 [[ 9.84907478e-01 1.71482612e-01 2.34728482e-02 3.90197135e+02] [-1.71430931e-01 9.85187139e-01 -4.21158863e-03 -6.01909933e+01] [-2.38473624e-02 1.24052925e-04 9.99715604e-01 -4.04573472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.22, Y:-60.20, Z:-4.05 [[ 9.85547813e-01 1.68040651e-01 2.13973857e-02 3.90224034e+02] [-1.67996921e-01 9.85780049e-01 -3.83802283e-03 -6.02039932e+01] [-2.17380598e-02 1.87860098e-04 9.99763683e-01 -4.05110187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.25, Y:-60.21, Z:-4.05 [[ 9.85901653e-01 1.66079568e-01 2.03839823e-02 3.90251678e+02] [-1.66039482e-01 9.86112331e-01 -3.65531225e-03 -6.02147710e+01] [-2.07079690e-02 2.19232523e-04 9.99785543e-01 -4.05326297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.28, Y:-60.22, Z:-4.05 [[ 9.85909443e-01 1.66033297e-01 2.03841535e-02 3.90279574e+02] [-1.65993221e-01 9.86120123e-01 -3.65435730e-03 -6.02196802e+01] [-2.07079689e-02 2.19234084e-04 9.99785543e-01 -4.05388631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.31, Y:-60.23, Z:-4.06 [[ 9.86199635e-01 1.64466175e-01 1.90041399e-02 3.90306269e+02] [-1.64431068e-01 9.86382696e-01 -3.40610619e-03 -6.02299704e+01] [-1.93055440e-02 2.34229661e-04 9.99813603e-01 -4.05606094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.33, Y:-60.24, Z:-4.06 [[ 9.86296779e-01 1.63945354e-01 1.84549187e-02 3.90334279e+02] [-1.63912174e-01 9.86469394e-01 -3.30673380e-03 -6.02406105e+01] [-1.87473361e-02 2.36435060e-04 9.99824225e-01 -4.05737803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.36, Y:-60.25, Z:-4.06 [[ 9.86105422e-01 1.64973784e-01 1.94871248e-02 3.90362526e+02] [-1.64936997e-01 9.86297926e-01 -3.49120472e-03 -6.02477788e+01] [-1.97960680e-02 2.28548058e-04 9.99804013e-01 -4.05635896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.39, Y:-60.25, Z:-4.05 [[ 9.85854384e-01 1.66304078e-01 2.08347430e-02 3.90391871e+02] [-1.66262341e-01 9.86074494e-01 -3.73181550e-03 -6.02539471e+01] [-2.11652248e-02 2.14993520e-04 9.99775968e-01 -4.05495034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.42, Y:-60.26, Z:-4.05 [[ 9.85580737e-01 1.67832861e-01 2.15114464e-02 3.90419621e+02] [-1.67788745e-01 9.85815447e-01 -3.85247717e-03 -6.02605824e+01] [-2.18528884e-02 1.87548696e-04 9.99761180e-01 -4.05457952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.45, Y:-60.26, Z:-4.06 [[ 9.84780577e-01 1.72615719e-01 2.02738449e-02 3.90449067e+02] [-1.72577560e-01 9.84989242e-01 -3.63014838e-03 -6.02615045e+01] [-2.05961398e-02 7.60889204e-05 9.99787874e-01 -4.05699389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.48, Y:-60.26, Z:-4.06 [[ 9.84299958e-01 1.75528750e-01 1.85270469e-02 3.90477607e+02] [-1.75497415e-01 9.84474305e-01 -3.31658284e-03 -6.02627917e+01] [-1.88215572e-02 1.30635269e-05 9.99822859e-01 -4.06085610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.51, Y:-60.26, Z:-4.06 [[ 9.83820694e-01 1.78352020e-01 1.69528260e-02 3.90506566e+02] [-1.78326215e-01 9.83966745e-01 -3.03405098e-03 -6.02643727e+01] [-1.72221461e-02 -3.81711484e-05 9.99851687e-01 -4.06451195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.53, Y:-60.27, Z:-4.07 [[ 9.83343795e-01 1.80992252e-01 1.66368544e-02 3.90534313e+02] [-1.80967790e-01 9.83484518e-01 -2.97677080e-03 -6.02655350e+01] [-1.69008612e-02 -8.35456767e-05 9.99857167e-01 -4.06631018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.56, Y:-60.26, Z:-4.06 [[ 9.82446035e-01 1.85503898e-01 1.97000637e-02 3.90563749e+02] [-1.85470533e-01 9.82643510e-01 -3.52340729e-03 -6.02638652e+01] [-2.00117455e-02 -1.92223792e-04 9.99799726e-01 -4.06001667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.59, Y:-60.26, Z:-4.06 [[ 9.82113388e-01 1.87061144e-01 2.14807321e-02 3.90591726e+02] [-1.87021873e-01 9.82348242e-01 -3.84069362e-03 -6.02647768e+01] [-2.18200040e-02 -2.45370135e-04 9.99761885e-01 -4.05731211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.62, Y:-60.27, Z:-4.06 [[ 9.81913430e-01 1.87965674e-01 2.26918640e-02 3.90619514e+02] [-1.87922126e-01 9.82175558e-01 -4.05573078e-03 -6.02657613e+01] [-2.30497323e-02 -2.81926786e-04 9.99734280e-01 -4.05656433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.65, Y:-60.26, Z:-4.06 [[ 9.82010245e-01 1.87629303e-01 2.12396778e-02 3.90647861e+02] [-1.87591098e-01 9.82239878e-01 -3.79494681e-03 -6.02647894e+01] [-2.15745017e-02 -2.57697830e-04 9.99767210e-01 -4.06047486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.68, Y:-60.27, Z:-4.06 [[ 9.82239988e-01 1.86560279e-01 1.99967140e-02 3.90676533e+02] [-1.86526222e-01 9.82443491e-01 -3.57145883e-03 -6.02696909e+01] [-2.03119338e-02 -2.21881838e-04 9.99793667e-01 -4.06365555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.70, Y:-60.27, Z:-4.07 [[ 9.82517160e-01 1.85169766e-01 1.92921573e-02 3.90704313e+02] [-1.85137817e-01 9.82706529e-01 -3.44474114e-03 -6.02730322e+01] [-1.95963909e-02 -1.87190609e-04 9.99807955e-01 -4.06601933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.73, Y:-60.28, Z:-4.07 [[ 9.83021700e-01 1.82435319e-01 1.96390482e-02 3.90731272e+02] [-1.82401689e-01 9.83217848e-01 -3.50546047e-03 -6.02784188e+01] [-1.99489825e-02 -1.36251836e-04 9.99800990e-01 -4.06554173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.76, Y:-60.29, Z:-4.06 [[ 9.83277775e-01 1.80962677e-01 2.04285706e-02 3.90759847e+02] [-1.80925999e-01 9.83489958e-01 -3.64497006e-03 -6.02854934e+01] [-2.07508976e-02 -1.12041506e-04 9.99784671e-01 -4.06399875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.79, Y:-60.29, Z:-4.06 [[ 9.83495155e-01 1.79699420e-01 2.11044717e-02 3.90787586e+02] [-1.79660001e-01 9.83721561e-01 -3.76476780e-03 -6.02894665e+01] [-2.14374504e-02 -8.89985251e-05 9.99770187e-01 -4.06312591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.82, Y:-60.29, Z:-4.06 [[ 9.83614449e-01 1.78974750e-01 2.16945656e-02 3.90816886e+02] [-1.78932952e-01 9.83853664e-01 -3.86853927e-03 -6.02921165e+01] [-2.20366488e-02 -7.67215625e-05 9.99757161e-01 -4.06175573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.84, Y:-60.29, Z:-4.06 [[ 9.83587235e-01 1.78958849e-01 2.30191670e-02 3.90844871e+02] [-1.78911815e-01 9.83856556e-01 -4.10351762e-03 -6.02943984e+01] [-2.33819191e-02 -8.22334011e-05 9.99726602e-01 -4.06011700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.87, Y:-60.30, Z:-4.06 [[ 9.83555123e-01 1.78982024e-01 2.41816979e-02 3.90874003e+02] [-1.78930170e-01 9.83852340e-01 -4.30896508e-03 -6.02966398e+01] [-2.45624473e-02 -8.87306247e-05 9.99698294e-01 -4.05844781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.90, Y:-60.30, Z:-4.06 [[ 9.83528245e-01 1.79015096e-01 2.50157172e-02 3.90901816e+02] [-1.78959647e-01 9.83846323e-01 -4.45628245e-03 -6.02985069e+01] [-2.54093632e-02 -9.39242452e-05 9.99677126e-01 -4.05818122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.93, Y:-60.30, Z:-4.06 [[ 9.83642220e-01 1.78654206e-01 2.30359870e-02 3.90930547e+02] [-1.78607118e-01 9.83911921e-01 -4.10233520e-03 -6.02989522e+01] [-2.33982816e-02 -7.91611328e-05 9.99726220e-01 -4.06319613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.96, Y:-60.30, Z:-4.07 [[ 9.83885264e-01 1.77491055e-01 2.16035238e-02 3.90959252e+02] [-1.77449383e-01 9.84122413e-01 -3.84625055e-03 -6.03026499e+01] [-2.19431870e-02 -4.92627194e-05 9.99759218e-01 -4.06632484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.99, Y:-60.31, Z:-4.07 [[ 9.84341954e-01 1.75016037e-01 2.09834345e-02 3.90987002e+02] [-1.74976181e-01 9.84565583e-01 -3.73488075e-03 -6.03083253e+01] [-2.13132315e-02 4.79857564e-06 9.99772847e-01 -4.06751738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.01, Y:-60.32, Z:-4.07 [[ 9.84899065e-01 1.71914941e-01 2.04715395e-02 3.91014955e+02] [-1.71876367e-01 9.85111795e-01 -3.64229300e-03 -6.03161464e+01] [-2.07929196e-02 6.87171566e-05 9.99783802e-01 -4.06886478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.04, Y:-60.33, Z:-4.07 [[ 9.86191784e-01 1.64503079e-01 1.90919555e-02 3.91041074e+02] [-1.64468155e-01 9.86376547e-01 -3.39595925e-03 -6.03312510e+01] [-1.93905029e-02 2.09048406e-04 9.99811965e-01 -4.07224257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.07, Y:-60.34, Z:-4.07 [[ 9.86793547e-01 1.60925595e-01 1.84783325e-02 3.91068101e+02] [-1.60892264e-01 9.86966504e-01 -3.28624981e-03 -6.03404309e+01] [-1.87663369e-02 2.69829362e-04 9.99823860e-01 -4.07442718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.10, Y:-60.35, Z:-4.08 [[ 9.87356443e-01 1.57460732e-01 1.82584746e-02 3.91096493e+02] [-1.57427617e-01 9.87525194e-01 -3.24600632e-03 -6.03476139e+01] [-1.85418222e-02 3.30577095e-04 9.99828031e-01 -4.07538460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.73576923100006 meters Centerline goodness [0,1] 0.9999787744359306 Centerline is valid? [True, True] Translation: X:391.12, Y:-60.36, Z:-4.08 [[ 9.87791316e-01 1.54656172e-01 1.87025102e-02 3.91124049e+02] [-1.54620938e-01 9.87968276e-01 -3.32424865e-03 -6.03572101e+01] [-1.89916024e-02 3.91864269e-04 9.99819566e-01 -4.07522924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76576923100004 meters Centerline goodness [0,1] 0.9999570916736392 Centerline is valid? [True, True] Translation: X:391.15, Y:-60.37, Z:-4.07 [[ 9.88404756e-01 1.50394622e-01 2.09164079e-02 3.91151718e+02] [-1.50349616e-01 9.88625904e-01 -3.71688270e-03 -6.03681016e+01] [-2.12375018e-02 5.29010655e-04 9.99774319e-01 -4.07152867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.79576923100007 meters Centerline goodness [0,1] 0.9999576665819998 Centerline is valid? [True, True] Translation: X:391.18, Y:-60.38, Z:-4.07 [[ 9.88592558e-01 1.49074458e-01 2.14839643e-02 3.91180752e+02] [-1.49026665e-01 9.88825808e-01 -3.81771229e-03 -6.03754197e+01] [-2.18130218e-02 5.72478399e-04 9.99761904e-01 -4.07068738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82576923100004 meters Centerline goodness [0,1] 0.9998718332122869 Centerline is valid? [True, True] Translation: X:391.21, Y:-60.38, Z:-4.07 [[ 9.88721297e-01 1.48177764e-01 2.17611543e-02 3.91208941e+02] [-1.48128524e-01 9.88960561e-01 -3.86646175e-03 -6.03825671e+01] [-2.20938470e-02 5.99405411e-04 9.99755721e-01 -4.07134199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.85576923100007 meters Centerline goodness [0,1] 0.9999366326595273 Centerline is valid? [True, True] Translation: X:391.24, Y:-60.39, Z:-4.08 [[ 9.88915128e-01 1.47344682e-01 1.83415830e-02 3.91237789e+02] [-1.47309565e-01 9.89085069e-01 -3.25854045e-03 -6.03881609e+01] [-1.86215145e-02 5.20529331e-04 9.99826469e-01 -4.07866690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.88576923100004 meters Centerline goodness [0,1] 0.9998509782215316 Centerline is valid? [True, True] Translation: X:391.27, Y:-60.39, Z:-4.08 [[ 9.88953084e-01 1.47258096e-01 1.69366874e-02 3.91266113e+02] [-1.47228147e-01 9.89097983e-01 -3.00865334e-03 -6.03938377e+01] [-1.71950919e-02 4.81859908e-04 9.99852037e-01 -4.08196278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.91576923100007 meters Centerline goodness [0,1] 0.9999788583509513 Centerline is valid? [True, True] Translation: X:391.30, Y:-60.40, Z:-4.08 [[ 9.88947219e-01 1.47287040e-01 1.70272204e-02 3.91295884e+02] [-1.47256784e-01 9.89093673e-01 -3.02410382e-03 -6.03973022e+01] [-1.72869272e-02 4.83305349e-04 9.99850453e-01 -4.08212675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.94576923100004 meters Centerline goodness [0,1] 0.9998938135791196 Centerline is valid? [True, True] Translation: X:391.32, Y:-60.41, Z:-4.08 [[ 9.88936799e-01 1.47227241e-01 1.81148243e-02 3.91324041e+02] [-1.47192993e-01 9.89102560e-01 -3.21685461e-03 -6.04052599e+01] [-1.83910277e-02 5.14890693e-04 9.99830738e-01 -4.08065761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.9757692310001 meters Centerline goodness [0,1] 0.9999575164092869 Centerline is valid? [True, True] Translation: X:391.35, Y:-60.41, Z:-4.08 [[ 9.88976750e-01 1.46788713e-01 1.94438149e-02 3.91353319e+02] [-1.46749186e-01 9.89167710e-01 -3.45210285e-03 -6.04088944e+01] [-1.97399236e-02 5.60685435e-04 9.99804992e-01 -4.07831915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.00576923100004 meters Centerline goodness [0,1] 0.9996590303676078 Centerline is valid? [True, True] Translation: X:391.38, Y:-60.42, Z:-4.08 [[ 9.89186146e-01 1.45341356e-01 1.96636174e-02 3.91381572e+02] [-1.45300654e-01 9.89381390e-01 -3.49064592e-03 -6.04192445e+01] [-1.99621523e-02 5.95762108e-04 9.99800559e-01 -4.07847343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0357692310001 meters Centerline goodness [0,1] 0.9994742597577388 Centerline is valid? [True, True] Translation: X:391.41, Y:-60.43, Z:-4.08 [[ 9.89392548e-01 1.44081024e-01 1.85214426e-02 3.91410457e+02] [-1.44044696e-01 9.89565721e-01 -3.28772463e-03 -6.04260865e+01] [-1.88018835e-02 5.84934672e-04 9.99823058e-01 -4.08117120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.06576923100005 meters Centerline goodness [0,1] 0.999238804076627 Centerline is valid? [True, True] Translation: X:391.44, Y:-60.43, Z:-4.08 [[ 9.89587650e-01 1.42742905e-01 1.84592966e-02 3.91439300e+02] [-1.42706595e-01 9.89759614e-01 -3.27628829e-03 -6.04336564e+01] [-1.87379331e-02 6.07911063e-04 9.99824245e-01 -4.08200803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0957692310001 meters Centerline goodness [0,1] 0.9987512170342463 Centerline is valid? [True, True] Translation: X:391.47, Y:-60.44, Z:-4.08 [[ 9.89822636e-01 1.40988578e-01 1.93228005e-02 3.91469025e+02] [-1.40948467e-01 9.90010995e-01 -3.42904933e-03 -6.04426716e+01] [-1.96132417e-02 6.70631528e-04 9.99807417e-01 -4.08102370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.12576923100005 meters Centerline goodness [0,1] 0.9996377892359484 Centerline is valid? [True, True] Translation: X:391.50, Y:-60.44, Z:-4.08 [[ 9.90188015e-01 1.38113479e-01 2.12688092e-02 3.91500418e+02] [-1.38064219e-01 9.90416087e-01 -3.77438577e-03 -6.04440415e+01] [-2.15862644e-02 8.00890021e-04 9.99766669e-01 -4.07853251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1557692310001 meters Centerline goodness [0,1] 0.9983324890239784 Centerline is valid? [True, True] Translation: X:391.53, Y:-60.46, Z:-4.08 [[ 9.90364632e-01 1.36896885e-01 2.09078355e-02 3.91529095e+02] [-1.36849009e-01 9.90584969e-01 -3.71046739e-03 -6.04613053e+01] [-2.12189390e-02 8.13499096e-04 9.99774522e-01 -4.07975014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.18576923100005 meters Centerline goodness [0,1] 0.999427578018996 Centerline is valid? [True, True] Translation: X:391.56, Y:-60.46, Z:-4.08 [[ 9.90508302e-01 1.35980765e-01 2.00632821e-02 3.91561134e+02] [-1.35936431e-01 9.90711152e-01 -3.56358646e-03 -6.04626943e+01] [-2.03614966e-02 8.02431002e-04 9.99792361e-01 -4.08089130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2157692310001 meters Centerline goodness [0,1] 0.9992586630517665 Centerline is valid? [True, True] Translation: X:391.59, Y:-60.47, Z:-4.08 [[ 9.90637820e-01 1.35022083e-01 2.01431553e-02 3.91590307e+02] [-1.34977129e-01 9.90842243e-01 -3.58109196e-03 -6.04743829e+01] [-2.04422157e-02 8.28699859e-04 9.99790693e-01 -4.08134021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.24576923100005 meters Centerline goodness [0,1] 0.9978277832844761 Centerline is valid? [True, True] Translation: X:391.62, Y:-60.49, Z:-4.08 [[ 9.90558559e-01 1.35477627e-01 2.09655435e-02 3.91620352e+02] [-1.35428991e-01 9.90780037e-01 -3.72910577e-03 -6.04864842e+01] [-2.12774524e-02 8.54555236e-04 9.99773244e-01 -4.08082364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2757692310001 meters Centerline goodness [0,1] 0.9992956092979572 Centerline is valid? [True, True] Translation: X:391.65, Y:-60.49, Z:-4.08 [[ 9.90460866e-01 1.36060215e-01 2.17919808e-02 3.91652519e+02] [-1.36007725e-01 9.90700179e-01 -3.87987927e-03 -6.04885864e+01] [-2.21172165e-02 8.78990852e-04 9.99754998e-01 -4.08078813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.30576923100006 meters Centerline goodness [0,1] 0.999169169808909 Centerline is valid? [True, True] Translation: X:391.68, Y:-60.50, Z:-4.08 [[ 9.90403038e-01 1.36697039e-01 2.03897328e-02 3.91683677e+02] [-1.36651157e-01 9.90612568e-01 -3.63338549e-03 -6.04985905e+01] [-2.06949986e-02 8.12235439e-04 9.99785506e-01 -4.08412255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3357692310001 meters Centerline goodness [0,1] 0.9992555725710397 Centerline is valid? [True, True] Translation: X:391.72, Y:-60.51, Z:-4.09 [[ 9.90407375e-01 1.36816602e-01 1.93506891e-02 3.91715998e+02] [-1.36775242e-01 9.90596094e-01 -3.45122222e-03 -6.05074710e+01] [-1.96409015e-02 7.71420753e-04 9.99806801e-01 -4.08595990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.36576923100006 meters Centerline goodness [0,1] 0.9978109871605978 Centerline is valid? [True, True] Translation: X:391.75, Y:-60.52, Z:-4.09 [[ 9.90410334e-01 1.36855594e-01 1.89186867e-02 3.91745955e+02] [-1.36815999e-01 9.90590719e-01 -3.37774589e-03 -6.05234326e+01] [-1.92029388e-02 7.56975425e-04 9.99815320e-01 -4.08766131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.39576923100003 meters Centerline goodness [0,1] 0.9995086729898317 Centerline is valid? [True, True] Translation: X:391.78, Y:-60.53, Z:-4.09 [[ 9.90466921e-01 1.36410307e-01 1.91704463e-02 3.91777540e+02] [-1.36369498e-01 9.90652119e-01 -3.42622762e-03 -6.05270379e+01] [-1.94586160e-02 7.79300977e-04 9.99810359e-01 -4.08724563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.42576923100006 meters Centerline goodness [0,1] 0.9975444538526672 Centerline is valid? [True, True] Translation: X:391.81, Y:-60.54, Z:-4.09 [[ 9.90446300e-01 1.36496696e-01 1.96157778e-02 3.91806876e+02] [-1.36453924e-01 9.90640204e-01 -3.50894928e-03 -6.05445211e+01] [-1.99111381e-02 7.98775992e-04 9.99801435e-01 -4.08783003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.45576923100003 meters Centerline goodness [0,1] 0.9989478778696631 Centerline is valid? [True, True] Translation: X:391.84, Y:-60.55, Z:-4.09 [[ 9.90391803e-01 1.36847614e-01 1.99200355e-02 3.91839326e+02] [-1.36803500e-01 9.90591782e-01 -3.56709363e-03 -6.05480079e+01] [-2.02207717e-02 8.07689722e-04 9.99795213e-01 -4.08760181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.48576923100006 meters Centerline goodness [0,1] 0.9991707068129625 Centerline is valid? [True, True] Translation: X:391.87, Y:-60.56, Z:-4.09 [[ 9.90355398e-01 1.37048697e-01 2.03430910e-02 3.91871797e+02] [-1.37002661e-01 9.90563969e-01 -3.64625307e-03 -6.05564488e+01] [-2.06508471e-02 8.24028816e-04 9.99786409e-01 -4.08814688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51576923100004 meters Centerline goodness [0,1] 0.9992849481587415 Centerline is valid? [True, True] Translation: X:391.90, Y:-60.57, Z:-4.09 [[ 9.90260747e-01 1.37743131e-01 2.02603643e-02 3.91901290e+02] [-1.37697533e-01 9.90467654e-01 -3.63533385e-03 -6.05697397e+01] [-2.05679778e-02 8.10126224e-04 9.99788129e-01 -4.08937839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.54576923100007 meters Centerline goodness [0,1] 0.9992390454247606 Centerline is valid? [True, True] Translation: X:391.93, Y:-60.58, Z:-4.09 [[ 9.90166952e-01 1.38475406e-01 1.98486378e-02 3.91932122e+02] [-1.38431730e-01 9.90365564e-01 -3.56444480e-03 -6.05795988e+01] [-2.01509953e-02 7.81714160e-04 9.99796642e-01 -4.09072883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57576923100004 meters Centerline goodness [0,1] 0.9994251527603313 Centerline is valid? [True, True] Translation: X:391.96, Y:-60.59, Z:-4.09 [[ 9.90073741e-01 1.39267586e-01 1.89348114e-02 3.91962996e+02] [-1.39227927e-01 9.90254514e-01 -3.40329307e-03 -6.05886452e+01] [-1.92242509e-02 7.33256559e-04 9.99814928e-01 -4.09273159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.60576923100007 meters Centerline goodness [0,1] 0.9998936283374109 Centerline is valid? [True, True] Translation: X:391.99, Y:-60.60, Z:-4.09 [[ 9.89655698e-01 1.42386450e-01 1.75413428e-02 3.91991796e+02] [-1.42352844e-01 9.89810945e-01 -3.15616521e-03 -6.06003853e+01] [-1.78120082e-02 6.26456854e-04 9.99841157e-01 -4.09458220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.63576923100004 meters Centerline goodness [0,1] 0.9998728085981388 Centerline is valid? [True, True] Translation: X:392.02, Y:-60.61, Z:-4.10 [[ 9.89292383e-01 1.44911067e-01 1.73598311e-02 3.92021245e+02] [-1.44878543e-01 9.89444517e-01 -3.12340462e-03 -6.06075545e+01] [-1.76292056e-02 5.74893353e-04 9.99844428e-01 -4.09519233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.66576923100007 meters Centerline goodness [0,1] 0.9999576683740422 Centerline is valid? [True, True] Translation: X:392.05, Y:-60.61, Z:-4.10 [[ 9.88752278e-01 1.48466042e-01 1.80767154e-02 3.92051205e+02] [-1.48431359e-01 9.88917363e-01 -3.25292140e-03 -6.06117623e+01] [-1.83593261e-02 5.33182011e-04 9.99831311e-01 -4.09521783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.69576923100004 meters Centerline goodness [0,1] 0.99991559756921 Centerline is valid? [True, True] Translation: X:392.08, Y:-60.61, Z:-4.09 [[ 9.88077010e-01 1.52743030e-01 1.93232668e-02 3.92082299e+02] [-1.52704216e-01 9.88265820e-01 -3.47721228e-03 -6.06119810e+01] [-1.96276440e-02 4.85009213e-04 9.99807242e-01 -4.09417477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7257692310001 meters Centerline goodness [0,1] 0.99991559756921 Centerline is valid? [True, True] Translation: X:392.11, Y:-60.62, Z:-4.09 [[ 9.88049394e-01 1.52921565e-01 1.93232986e-02 3.92114254e+02] [-1.52882788e-01 9.88238212e-01 -3.47703553e-03 -6.06179363e+01] [-1.96277358e-02 4.81283083e-04 9.99807242e-01 -4.09489014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.15, Y:-60.61, Z:-4.09 [[ 9.86379343e-01 1.63190056e-01 2.06105935e-02 3.92145631e+02] [-1.63148086e-01 9.86594606e-01 -3.71298143e-03 -6.06098166e+01] [-2.09402220e-02 2.99829292e-04 9.99780685e-01 -4.09233097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.18, Y:-60.61, Z:-4.09 [[ 9.85600041e-01 1.67914260e-01 1.99338876e-02 3.92176802e+02] [-1.67875966e-01 9.85801585e-01 -3.59107120e-03 -6.06082516e+01] [-2.02538500e-02 1.92939287e-04 9.99794851e-01 -4.09380375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.21, Y:-60.61, Z:-4.10 [[ 9.84937211e-01 1.71873938e-01 1.89219266e-02 3.92206673e+02] [-1.71840163e-01 9.85118946e-01 -3.40883032e-03 -6.06069320e+01] [-1.92262375e-02 1.05936873e-04 9.99815153e-01 -4.09658202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.24, Y:-60.61, Z:-4.10 [[ 9.84414419e-01 1.74916754e-01 1.82313311e-02 3.92237311e+02] [-1.74885929e-01 9.84583225e-01 -3.28402109e-03 -6.06060345e+01] [-1.85246931e-02 4.44344324e-05 9.99828402e-01 -4.09896221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.27, Y:-60.61, Z:-4.10 [[ 9.83968075e-01 1.77429435e-01 1.80450432e-02 3.92266655e+02] [-1.77399667e-01 9.84133525e-01 -3.25002732e-03 -6.06058500e+01] [-1.83353825e-02 -3.26153327e-06 9.99831893e-01 -4.10112206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.30, Y:-60.60, Z:-4.10 [[ 9.83478565e-01 1.79922099e-01 1.99486976e-02 3.92296167e+02] [-1.79886240e-01 9.83680861e-01 -3.59239231e-03 -6.06036215e+01] [-2.02695028e-02 -5.54553793e-05 9.99794551e-01 -4.09707485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.32, Y:-60.61, Z:-4.10 [[ 9.83354105e-01 1.80465323e-01 2.11417017e-02 3.92323862e+02] [-1.80425196e-01 9.83581345e-01 -3.80611952e-03 -6.06050115e+01] [-2.14814560e-02 -7.17324143e-05 9.99769244e-01 -4.09524272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.35, Y:-60.61, Z:-4.09 [[ 9.83290182e-01 1.80741961e-01 2.17431022e-02 3.92352628e+02] [-1.80699616e-01 9.83530547e-01 -3.91301277e-03 -6.06065611e+01] [-2.20922508e-02 -8.13431781e-05 9.99755933e-01 -4.09458786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.38, Y:-60.61, Z:-4.10 [[ 9.83293609e-01 1.80696438e-01 2.19653145e-02 3.92380454e+02] [-1.80653236e-01 9.83538912e-01 -3.95192435e-03 -6.06074961e+01] [-2.23178402e-02 -8.22032026e-05 9.99750923e-01 -4.09503098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.41, Y:-60.61, Z:-4.10 [[ 9.83533347e-01 1.79358497e-01 2.21965165e-02 3.92408837e+02] [-1.79314070e-01 9.83783780e-01 -3.99218297e-03 -6.06097636e+01] [-2.25526048e-02 -5.37026328e-05 9.99745656e-01 -4.09620299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.44, Y:-60.62, Z:-4.10 [[ 9.83738348e-01 1.78230763e-01 2.21958820e-02 3.92437296e+02] [-1.78186074e-01 9.83988717e-01 -3.99106744e-03 -6.06153061e+01] [-2.25518284e-02 -2.88309743e-05 9.99745675e-01 -4.09716070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.47, Y:-60.62, Z:-4.10 [[ 9.83967315e-01 1.76973902e-01 2.21034318e-02 3.92466081e+02] [-1.76929292e-01 9.84215544e-01 -3.97336737e-03 -6.06204680e+01] [-2.24577235e-02 -1.08091836e-06 9.99747794e-01 -4.09774202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.49, Y:-60.63, Z:-4.10 [[ 9.84367548e-01 1.74752232e-01 2.19587806e-02 3.92494643e+02] [-1.74707675e-01 9.84612439e-01 -3.94630042e-03 -6.06258308e+01] [-2.23105133e-02 4.82425686e-05 9.99751088e-01 -4.09869851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.52, Y:-60.63, Z:-4.10 [[ 9.84517180e-01 1.73932885e-01 2.17548559e-02 3.92523197e+02] [-1.73888974e-01 9.84757507e-01 -3.90860273e-03 -6.06302895e+01] [-2.21030922e-02 6.51569559e-05 9.99755695e-01 -4.09912692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.55, Y:-60.63, Z:-4.10 [[ 9.84585868e-01 1.73568934e-01 2.15521229e-02 3.92551756e+02] [-1.73525774e-01 9.84821720e-01 -3.87114442e-03 -6.06340142e+01] [-2.18969092e-02 7.16252867e-05 9.99760231e-01 -4.10046698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.58, Y:-60.64, Z:-4.11 [[ 9.84627337e-01 1.73562966e-01 1.96189529e-02 3.92580045e+02] [-1.73527217e-01 9.84822772e-01 -3.52307926e-03 -6.06354978e+01] [-1.99326676e-02 6.44978534e-05 9.99801323e-01 -4.10538145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.61, Y:-60.64, Z:-4.11 [[ 9.84587132e-01 1.73871180e-01 1.88942337e-02 3.92608472e+02] [-1.73838103e-01 9.84768404e-01 -3.39181056e-03 -6.06383727e+01] [-1.91961824e-02 5.49952987e-05 9.99815735e-01 -4.10750242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.64, Y:-60.64, Z:-4.11 [[ 9.84502322e-01 1.74381122e-01 1.86119014e-02 3.92637731e+02] [-1.74349133e-01 9.84678233e-01 -3.34024308e-03 -6.06411213e+01] [-1.89092095e-02 4.35081845e-05 9.99821204e-01 -4.10809518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.67, Y:-60.64, Z:-4.11 [[ 9.84499045e-01 1.74348725e-01 1.90827752e-02 3.92666221e+02] [-1.74315110e-01 9.84683970e-01 -3.42380859e-03 -6.06445322e+01] [-1.93874395e-02 4.43202242e-05 9.99812045e-01 -4.10770707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.69, Y:-60.65, Z:-4.11 [[ 9.84812796e-01 1.72353257e-01 2.09311330e-02 3.92693881e+02] [-1.72312385e-01 9.85035201e-01 -3.75434372e-03 -6.06492376e+01] [-2.12649762e-02 9.06322733e-05 9.99773871e-01 -4.10512268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.72, Y:-60.65, Z:-4.11 [[ 9.85096235e-01 1.70663003e-01 2.14370345e-02 3.92722644e+02] [-1.70619760e-01 9.85329449e-01 -3.84377668e-03 -6.06548450e+01] [-2.17785318e-02 1.28908259e-04 9.99762811e-01 -4.10500910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.75, Y:-60.66, Z:-4.11 [[ 9.85404765e-01 1.68886502e-01 2.13260164e-02 3.92749973e+02] [-1.68843313e-01 9.85635491e-01 -3.82283461e-03 -6.06612301e+01] [-2.16653039e-02 1.66284171e-04 9.99765266e-01 -4.10567848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.78, Y:-60.67, Z:-4.11 [[ 9.85683008e-01 1.67311367e-01 2.08785496e-02 3.92777378e+02] [-1.67269645e-01 9.85904087e-01 -3.74136468e-03 -6.06683140e+01] [-2.12102203e-02 1.95452013e-04 9.99775019e-01 -4.10676629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.81, Y:-60.68, Z:-4.11 [[ 9.86229863e-01 1.64044759e-01 2.09755819e-02 3.92805098e+02] [-1.64001925e-01 9.86452861e-01 -3.75798797e-03 -6.06763283e+01] [-2.13079010e-02 2.66204152e-04 9.99772925e-01 -4.10690830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.83, Y:-60.68, Z:-4.11 [[ 9.86481907e-01 1.62416225e-01 2.17811087e-02 3.92834036e+02] [-1.62369658e-01 9.86722287e-01 -3.90151645e-03 -6.06809936e+01] [-2.21255750e-02 3.12184211e-04 9.99755151e-01 -4.10619822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.86, Y:-60.69, Z:-4.11 [[ 9.86664258e-01 1.61227517e-01 2.23456949e-02 3.92862006e+02] [-1.61178212e-01 9.86917204e-01 -4.00207630e-03 -6.06880578e+01] [-2.26985956e-02 3.47066493e-04 9.99742293e-01 -4.10576597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5357692310001 meters Centerline goodness [0,1] 0.9998715588474547 Centerline is valid? [True, True] Translation: X:392.89, Y:-60.70, Z:-4.10 [[ 9.86982792e-01 1.59241833e-01 2.25168136e-02 3.92890134e+02] [-1.59191271e-01 9.87239527e-01 -4.03191293e-03 -6.06970674e+01] [-2.28715376e-02 3.94948485e-04 9.99738334e-01 -4.10377757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.92, Y:-60.70, Z:-4.11 [[ 9.87038537e-01 1.58951839e-01 2.21187345e-02 3.92920670e+02] [-1.58902983e-01 9.87286259e-01 -3.96037485e-03 -6.07006223e+01] [-2.24670315e-02 3.94309701e-04 9.99747507e-01 -4.10802570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.95, Y:-60.71, Z:-4.11 [[ 9.87007364e-01 1.59296132e-01 2.10049049e-02 3.92949755e+02] [-1.59252151e-01 9.87230777e-01 -3.76093391e-03 -6.07075749e+01] [-2.13357908e-02 3.66993172e-04 9.99772299e-01 -4.10989384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.98, Y:-60.71, Z:-4.11 [[ 9.86833919e-01 1.60617854e-01 1.89926716e-02 3.92980315e+02] [-1.60582136e-01 9.87016621e-01 -3.40094558e-03 -6.07053880e+01] [-1.92923352e-02 3.06284674e-04 9.99813839e-01 -4.11370825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.01, Y:-60.71, Z:-4.12 [[ 9.86732229e-01 1.61310173e-01 1.83993673e-02 3.93008612e+02] [-1.61276775e-01 9.86903718e-01 -3.29456365e-03 -6.07113881e+01] [-1.86898506e-02 2.83461509e-04 9.99825289e-01 -4.11588020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.04, Y:-60.71, Z:-4.12 [[ 9.86685524e-01 1.61568502e-01 1.86358510e-02 3.93037514e+02] [-1.61534299e-01 9.86861459e-01 -3.33622599e-03 -6.07137558e+01] [-1.89300322e-02 2.81476764e-04 9.99820771e-01 -4.11591274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.07, Y:-60.72, Z:-4.12 [[ 9.86553344e-01 1.62341353e-01 1.89151696e-02 3.93065180e+02] [-1.62306276e-01 9.86734621e-01 -3.38532149e-03 -6.07153688e+01] [-1.92138304e-02 2.69749502e-04 9.99815361e-01 -4.11690954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.09, Y:-60.72, Z:-4.12 [[ 9.86545493e-01 1.62406385e-01 1.87658105e-02 3.93093298e+02] [-1.62371894e-01 9.86723921e-01 -3.35742340e-03 -6.07190649e+01] [-1.90619411e-02 2.65210743e-04 9.99818270e-01 -4.11867759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.12, Y:-60.72, Z:-4.12 [[ 9.86565119e-01 1.62317067e-01 1.85049914e-02 3.93121891e+02] [-1.62283529e-01 9.86738618e-01 -3.30988236e-03 -6.07232089e+01] [-1.87968400e-02 2.62359171e-04 9.99823289e-01 -4.11971279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.15, Y:-60.73, Z:-4.12 [[ 9.86630631e-01 1.61914880e-01 1.85356475e-02 3.93148966e+02] [-1.61881176e-01 9.86804691e-01 -3.31449196e-03 -6.07293057e+01] [-1.88277295e-02 2.69606882e-04 9.99822706e-01 -4.11994460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.18, Y:-60.74, Z:-4.12 [[ 9.87003894e-01 1.59452925e-01 1.99518834e-02 3.93175936e+02] [-1.59413398e-01 9.87205475e-01 -3.56638123e-03 -6.07397545e+01] [-2.02652785e-02 3.39434643e-04 9.99794581e-01 -4.11772489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.20, Y:-60.75, Z:-4.12 [[ 9.87329024e-01 1.57355234e-01 2.05116758e-02 3.93204478e+02] [-1.57313021e-01 9.87541987e-01 -3.66567299e-03 -6.07488795e+01] [-2.08329539e-02 3.92471657e-04 9.99782893e-01 -4.11694914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.89576923100003 meters Centerline goodness [0,1] 0.9999787667742484 Centerline is valid? [True, True] Translation: X:393.23, Y:-60.76, Z:-4.12 [[ 9.87635469e-01 1.55390659e-01 2.07345802e-02 3.93233124e+02] [-1.55347101e-01 9.87853001e-01 -3.70499015e-03 -6.07593274e+01] [-2.10584381e-02 4.38122756e-04 9.99778151e-01 -4.11677767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.26, Y:-60.77, Z:-4.12 [[ 9.87971567e-01 1.53450501e-01 1.91082928e-02 3.93261767e+02] [-1.53413151e-01 9.88156237e-01 -3.41415424e-03 -6.07713152e+01] [-1.94058824e-02 4.41623900e-04 9.99811591e-01 -4.12037304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.29, Y:-60.78, Z:-4.12 [[ 9.87872575e-01 1.54218925e-01 1.80082790e-02 3.93290671e+02] [-1.54185878e-01 9.88036620e-01 -3.21765393e-03 -6.07774184e+01] [-1.82890622e-02 4.02009754e-04 9.99832660e-01 -4.12255870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.98576923100006 meters Centerline goodness [0,1] 0.9999788431430626 Centerline is valid? [True, True] Translation: X:393.32, Y:-60.78, Z:-4.12 [[ 9.87581395e-01 1.56032794e-01 1.83508792e-02 3.93319476e+02] [-1.55998795e-01 9.87751804e-01 -3.27868375e-03 -6.07819146e+01] [-1.86376962e-02 3.75252029e-04 9.99826233e-01 -4.12221345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.35, Y:-60.79, Z:-4.12 [[ 9.87262569e-01 1.57900816e-01 1.94923798e-02 3.93349354e+02] [-1.57862828e-01 9.87454911e-01 -3.48213817e-03 -6.07853283e+01] [-1.97976786e-02 3.60662473e-04 9.99803942e-01 -4.12024654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.38, Y:-60.78, Z:-4.12 [[ 9.86413439e-01 1.62845277e-01 2.16781697e-02 3.93379438e+02] [-1.62799496e-01 9.86651575e-01 -3.87204202e-03 -6.07842486e+01] [-2.20193440e-02 2.90239187e-04 9.99757503e-01 -4.11550070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.41, Y:-60.79, Z:-4.12 [[ 9.85913126e-01 1.65818361e-01 2.18992795e-02 3.93408215e+02] [-1.65772385e-01 9.86156286e-01 -3.91101277e-03 -6.07867186e+01] [-2.22446298e-02 2.25623027e-04 9.99752532e-01 -4.11608832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.44, Y:-60.79, Z:-4.12 [[ 9.85469195e-01 1.68524633e-01 2.12111618e-02 3.93437851e+02] [-1.68482144e-01 9.85697430e-01 -3.78740351e-03 -6.07876305e+01] [-2.15460585e-02 1.58667472e-04 9.99767844e-01 -4.11882588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.47, Y:-60.79, Z:-4.12 [[ 9.85103141e-01 1.70729866e-01 2.05697310e-02 3.93466136e+02] [-1.70690403e-01 9.85317868e-01 -3.67219049e-03 -6.07906533e+01] [-2.08946761e-02 1.06430714e-04 9.99781677e-01 -4.12099544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.50, Y:-60.79, Z:-4.12 [[ 9.84736730e-01 1.72821429e-01 2.06476609e-02 3.93495091e+02] [-1.72782146e-01 9.84953171e-01 -3.68509554e-03 -6.07943972e+01] [-2.09738425e-02 6.13017695e-05 9.99780023e-01 -4.12137933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.52, Y:-60.79, Z:-4.12 [[ 9.83858677e-01 1.77530966e-01 2.24690745e-02 3.93523432e+02] [-1.77485700e-01 9.84115214e-01 -4.00897825e-03 -6.07932804e+01] [-2.28238759e-02 -4.36713834e-05 9.99739500e-01 -4.11787772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.55, Y:-60.80, Z:-4.12 [[ 9.83485081e-01 1.79534347e-01 2.29022651e-02 3.93552548e+02] [-1.79487894e-01 9.83751701e-01 -4.08486757e-03 -6.07952589e+01] [-2.32635163e-02 -9.32730262e-05 9.99729363e-01 -4.11726799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.58, Y:-60.80, Z:-4.12 [[ 9.83284669e-01 1.80650567e-01 2.27295255e-02 3.93580330e+02] [-1.80605137e-01 9.83547334e-01 -4.05294594e-03 -6.07975183e+01] [-2.30877312e-02 -1.19869456e-04 9.99733436e-01 -4.11753882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.61, Y:-60.80, Z:-4.12 [[ 9.83174999e-01 1.81337720e-01 2.19898331e-02 3.93609327e+02] [-1.81295399e-01 9.83420873e-01 -3.91976651e-03 -6.08011484e+01] [-2.23360624e-02 -1.32839139e-04 9.99750510e-01 -4.11990536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.64, Y:-60.80, Z:-4.13 [[ 9.83026930e-01 1.82343047e-01 2.02254197e-02 3.93638016e+02] [-1.82307477e-01 9.83234963e-01 -3.60435665e-03 -6.08046947e+01] [-2.05435691e-02 -1.44065579e-04 9.99788948e-01 -4.12517972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.67, Y:-60.81, Z:-4.13 [[ 9.82937662e-01 1.82868225e-01 1.98183000e-02 3.93666469e+02] [-1.82834198e-01 9.83137421e-01 -3.53086736e-03 -6.08091195e+01] [-2.01297958e-02 -1.52840484e-04 9.99797363e-01 -4.12690439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.69, Y:-60.81, Z:-4.13 [[ 9.82849466e-01 1.83328420e-01 1.99403576e-02 3.93694838e+02] [-1.83294087e-01 9.83051709e-01 -3.55164873e-03 -6.08131549e+01] [-2.02535208e-02 -1.64213589e-04 9.99794863e-01 -4.12683494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.72, Y:-60.81, Z:-4.13 [[ 9.82718464e-01 1.84049794e-01 1.97507799e-02 3.93723159e+02] [-1.84016275e-01 9.82916905e-01 -3.51695554e-03 -6.08141870e+01] [-2.00606704e-02 -1.78287800e-04 9.99798749e-01 -4.12794361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.75, Y:-60.82, Z:-4.13 [[ 9.82710969e-01 1.84156261e-01 1.91212661e-02 3.93752039e+02] [-1.84124887e-01 9.82896963e-01 -3.40371727e-03 -6.08189929e+01] [-1.94210502e-02 -1.75830657e-04 9.99811378e-01 -4.12964208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.78, Y:-60.82, Z:-4.13 [[ 9.82730644e-01 1.84134385e-01 1.83032527e-02 3.93779137e+02] [-1.84105649e-01 9.82901063e-01 -3.25729112e-03 -6.08228675e+01] [-1.85900659e-02 -1.68692430e-04 9.99827176e-01 -4.13242051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.81, Y:-60.83, Z:-4.14 [[ 9.82869308e-01 1.83503083e-01 1.71622130e-02 3.93805275e+02] [-1.83477737e-01 9.83019123e-01 -3.05343794e-03 -6.08283126e+01] [-1.74310988e-02 -1.47753567e-04 9.99848056e-01 -4.13543135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.83, Y:-60.84, Z:-4.14 [[ 9.83330355e-01 1.81165132e-01 1.55115220e-02 3.93832248e+02] [-1.81144163e-01 9.83452686e-01 -2.75806355e-03 -6.08384293e+01] [-1.57545129e-02 -9.77340605e-05 9.99875885e-01 -4.13874090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.86, Y:-60.85, Z:-4.14 [[ 9.83536804e-01 1.80041715e-01 1.55027763e-02 3.93860243e+02] [-1.80020642e-01 9.83658973e-01 -2.75575499e-03 -6.08454338e+01] [-1.57455959e-02 -8.04332909e-05 9.99876027e-01 -4.13908005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.89, Y:-60.85, Z:-4.14 [[ 9.83687516e-01 1.79199539e-01 1.56970267e-02 3.93887168e+02] [-1.79177838e-01 9.83812747e-01 -2.78957925e-03 -6.08515727e+01] [-1.59428263e-02 -6.84850246e-05 9.99872903e-01 -4.13929249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.92, Y:-60.86, Z:-4.14 [[ 9.83662538e-01 1.79291007e-01 1.62094316e-02 3.93915498e+02] [-1.79267897e-01 9.83796081e-01 -2.87955559e-03 -6.08568472e+01] [-1.64630537e-02 -7.33197482e-05 9.99864472e-01 -4.13823747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.94, Y:-60.86, Z:-4.14 [[ 9.83671115e-01 1.79243933e-01 1.62095688e-02 3.93943401e+02] [-1.79220828e-01 9.83804659e-01 -2.87878280e-03 -6.08617095e+01] [-1.64630537e-02 -7.33168709e-05 9.99864472e-01 -4.13886080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.97, Y:-60.86, Z:-4.14 [[ 9.83456542e-01 1.80402030e-01 1.63809901e-02 3.93971543e+02] [-1.80378608e-01 9.83592954e-01 -2.90847050e-03 -6.08631890e+01] [-1.66369205e-02 -9.44258482e-05 9.99861592e-01 -4.13964285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.00, Y:-60.86, Z:-4.14 [[ 9.83120740e-01 1.82231808e-01 1.62843203e-02 3.94000236e+02] [-1.82208929e-01 9.83255589e-01 -2.89030177e-03 -6.08637288e+01] [-1.65383538e-02 -1.25632936e-04 9.99863224e-01 -4.14043703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.03, Y:-60.86, Z:-4.14 [[ 9.82727945e-01 1.84319101e-01 1.65001589e-02 3.94029378e+02] [-1.84295923e-01 9.82866442e-01 -2.92756062e-03 -6.08642615e+01] [-1.67570578e-02 -1.63916379e-04 9.99859577e-01 -4.14051877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.06, Y:-60.86, Z:-4.14 [[ 9.81967848e-01 1.88218911e-01 1.76857647e-02 3.94059008e+02] [-1.88192929e-01 9.82127069e-01 -3.13705677e-03 -6.08587613e+01] [-1.79601217e-02 -2.47846980e-04 9.99838673e-01 -4.13894264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.09, Y:-60.86, Z:-4.14 [[ 9.81713742e-01 1.89406460e-01 1.90610112e-02 3.94087616e+02] [-1.89376528e-01 9.81898726e-01 -3.37977180e-03 -6.08599508e+01] [-1.93561332e-02 -2.91739706e-04 9.99812610e-01 -4.13678001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.12, Y:-60.86, Z:-4.14 [[ 9.81562323e-01 1.90099065e-01 1.99437016e-02 3.94116551e+02] [-1.90066463e-01 9.81764861e-01 -3.53510570e-03 -6.08636886e+01] [-2.02520457e-02 -3.20702252e-04 9.99794855e-01 -4.13513402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.14, Y:-60.86, Z:-4.14 [[ 9.81483897e-01 1.90483599e-01 2.01335083e-02 3.94144686e+02] [-1.90450473e-01 9.81690322e-01 -3.56782584e-03 -6.08631236e+01] [-2.04444826e-02 -3.32672577e-04 9.99790934e-01 -4.13601169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.17, Y:-60.87, Z:-4.14 [[ 9.81553363e-01 1.90175488e-01 1.96539779e-02 3.94173206e+02] [-1.90143883e-01 9.81750061e-01 -3.48172647e-03 -6.08678307e+01] [-1.99574330e-02 -3.19583342e-04 9.99800780e-01 -4.13715860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.20, Y:-60.87, Z:-4.14 [[ 9.81742136e-01 1.89163963e-01 1.99843128e-02 3.94201832e+02] [-1.89131096e-01 9.81945468e-01 -3.53926306e-03 -6.08709447e+01] [-2.02930064e-02 -3.05011316e-04 9.99794029e-01 -4.13637982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.23, Y:-60.87, Z:-4.14 [[ 9.82641391e-01 1.84377444e-01 2.05147211e-02 3.94229362e+02] [-1.84341787e-01 9.82855489e-01 -3.63219354e-03 -6.08739769e+01] [-2.08327008e-02 -2.12576635e-04 9.99782953e-01 -4.13606796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.26, Y:-60.89, Z:-4.14 [[ 9.83281751e-01 1.80993986e-01 1.99543108e-02 3.94256293e+02] [-1.80959577e-01 9.83484193e-01 -3.53178516e-03 -6.08850280e+01] [-2.02639811e-02 -1.38183745e-04 9.99794655e-01 -4.13845243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.28, Y:-60.89, Z:-4.14 [[ 9.84011612e-01 1.77078393e-01 1.90889850e-02 3.94283279e+02] [-1.77046183e-01 9.84196748e-01 -3.37778182e-03 -6.08946014e+01] [-1.93854492e-02 -5.58554079e-05 9.99812083e-01 -4.14167948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.31, Y:-60.91, Z:-4.14 [[ 9.84746463e-01 1.72930209e-01 1.92236149e-02 3.94310213e+02] [-1.72896770e-01 9.84934080e-01 -3.40070098e-03 -6.09060221e+01] [-1.95220773e-02 2.51273466e-05 9.99809426e-01 -4.14219293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.34, Y:-60.92, Z:-4.14 [[ 9.85806453e-01 1.66721777e-01 1.97354187e-02 3.94337278e+02] [-1.66685306e-01 9.86003969e-01 -3.49034057e-03 -6.09175399e+01] [-2.00411169e-02 1.51195959e-04 9.99799145e-01 -4.14113369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.37, Y:-60.92, Z:-4.14 [[ 9.86044351e-01 1.65340004e-01 1.94735763e-02 3.94365975e+02] [-1.65304243e-01 9.86236611e-01 -3.44312490e-03 -6.09233385e+01] [-1.97748402e-02 1.76009064e-04 9.99804443e-01 -4.14151994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.39, Y:-60.93, Z:-4.14 [[ 9.86139584e-01 1.64805382e-01 1.91809225e-02 3.94392709e+02] [-1.64770604e-01 9.86326088e-01 -3.39050945e-03 -6.09290412e+01] [-1.94774184e-02 1.83063399e-04 9.99810280e-01 -4.14311769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.42, Y:-60.93, Z:-4.15 [[ 9.86180862e-01 1.64652894e-01 1.83502318e-02 3.94420946e+02] [-1.64621057e-01 9.86351557e-01 -3.24259523e-03 -6.09337711e+01] [-1.86336824e-02 1.76950805e-04 9.99826362e-01 -4.14513391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.45, Y:-60.94, Z:-4.15 [[ 9.86048412e-01 1.65588286e-01 1.70014531e-02 3.94448235e+02] [-1.65561108e-01 9.86194959e-01 -3.00359799e-03 -6.09380232e+01] [-1.72641080e-02 1.46913618e-04 9.99850953e-01 -4.14803223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.48, Y:-60.94, Z:-4.15 [[ 9.86045745e-01 1.65618888e-01 1.68574348e-02 3.94476476e+02] [-1.65592191e-01 9.86189821e-01 -2.97713811e-03 -6.09434650e+01] [-1.71177009e-02 1.44134808e-04 9.99853471e-01 -4.14885693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.51, Y:-60.95, Z:-4.15 [[ 9.86036834e-01 1.65682955e-01 1.67487195e-02 3.94505097e+02] [-1.65656623e-01 9.86179060e-01 -2.95716395e-03 -6.09499001e+01] [-1.70071881e-02 1.41336283e-04 9.99855357e-01 -4.14939096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.53, Y:-60.96, Z:-4.15 [[ 9.86112828e-01 1.65210802e-01 1.69375771e-02 3.94533010e+02] [-1.65183818e-01 9.86258267e-01 -2.98965794e-03 -6.09573781e+01] [-1.71987492e-02 1.50326403e-04 9.99852079e-01 -4.15039517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.56, Y:-60.97, Z:-4.15 [[ 9.86216079e-01 1.64444806e-01 1.83235024e-02 3.94560127e+02] [-1.64413104e-01 9.86386271e-01 -3.23366929e-03 -6.09661333e+01] [-1.86058113e-02 1.76472746e-04 9.99826881e-01 -4.14856271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.59, Y:-60.97, Z:-4.15 [[ 9.86268038e-01 1.64117029e-01 1.84650467e-02 3.94588380e+02] [-1.64084798e-01 9.86440859e-01 -3.25754329e-03 -6.09707193e+01] [-1.87492949e-02 1.82977357e-04 9.99824200e-01 -4.14781659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.62, Y:-60.98, Z:-4.15 [[ 9.86266927e-01 1.64128157e-01 1.84254634e-02 3.94615771e+02] [-1.64096082e-01 9.86439007e-01 -3.24971978e-03 -6.09766312e+01] [-1.87089664e-02 1.81544785e-04 9.99824955e-01 -4.14857068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.64, Y:-60.98, Z:-4.15 [[ 9.85945060e-01 1.66086139e-01 1.81034027e-02 3.94644669e+02] [-1.66055528e-01 9.86111239e-01 -3.19165876e-03 -6.09818343e+01] [-1.83820591e-02 1.40630096e-04 9.99831026e-01 -4.14906538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.67, Y:-60.99, Z:-4.15 [[ 9.85632781e-01 1.67941143e-01 1.79942669e-02 3.94672503e+02] [-1.67911220e-01 9.85797018e-01 -3.17184915e-03 -6.09863871e+01] [-1.82713786e-02 1.04839187e-04 9.99833059e-01 -4.15061287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.70, Y:-60.99, Z:-4.15 [[ 9.85300714e-01 1.69851408e-01 1.82483266e-02 3.94702007e+02] [-1.69820983e-01 9.85469682e-01 -3.21546253e-03 -6.09874905e+01] [-1.85293235e-02 6.92487603e-05 9.99828315e-01 -4.14999052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.73, Y:-60.99, Z:-4.15 [[ 9.84902316e-01 1.72136980e-01 1.83381770e-02 3.94730054e+02] [-1.72106667e-01 9.85073022e-01 -3.23042719e-03 -6.09892503e+01] [-1.86205194e-02 2.55327038e-05 9.99826623e-01 -4.15122088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.76, Y:-60.99, Z:-4.15 [[ 9.84187023e-01 1.76218349e-01 1.79720923e-02 3.94760101e+02] [-1.76189935e-01 9.84351101e-01 -3.16481394e-03 -6.09872526e+01] [-1.82485472e-02 -5.17329732e-05 9.99833480e-01 -4.15138784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.79, Y:-60.99, Z:-4.15 [[ 9.83832827e-01 1.78218463e-01 1.76393888e-02 3.94788968e+02] [-1.78191427e-01 9.83990941e-01 -3.10538866e-03 -6.09887194e+01] [-1.79104363e-02 -8.80045540e-05 9.99839591e-01 -4.15175478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.82, Y:-60.99, Z:-4.15 [[ 9.83592801e-01 1.79497742e-01 1.80488982e-02 3.94817960e+02] [-1.79469669e-01 9.83758379e-01 -3.17657989e-03 -6.09910811e+01] [-1.83259438e-02 -1.14768676e-04 9.99832059e-01 -4.15118504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.85, Y:-60.99, Z:-4.15 [[ 9.83452079e-01 1.80165087e-01 1.90407467e-02 3.94845457e+02] [-1.80133986e-01 9.83636377e-01 -3.35020827e-03 -6.09940609e+01] [-1.93327617e-02 -1.35116323e-04 9.99813096e-01 -4.15000271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.87, Y:-61.00, Z:-4.15 [[ 9.83384725e-01 1.80304890e-01 2.10862513e-02 3.94873646e+02] [-1.80266818e-01 9.83610758e-01 -3.70833988e-03 -6.09972718e+01] [-2.14092955e-02 -1.54426627e-04 9.99770783e-01 -4.14715673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.90, Y:-61.00, Z:-4.15 [[ 9.83418369e-01 1.80089597e-01 2.13552722e-02 3.94900682e+02] [-1.80050532e-01 9.83650199e-01 -3.75401694e-03 -6.10000156e+01] [-2.16821771e-02 -1.53258887e-04 9.99764902e-01 -4.14795115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.93, Y:-61.00, Z:-4.15 [[ 9.83436879e-01 1.79990098e-01 2.13417401e-02 3.94928376e+02] [-1.79951099e-01 9.83668410e-01 -3.74976119e-03 -6.10030975e+01] [-2.16681155e-02 -1.52816137e-04 9.99765207e-01 -4.14882573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.96, Y:-61.00, Z:-4.15 [[ 9.83337384e-01 1.80571188e-01 2.10151192e-02 3.94957819e+02] [-1.80533539e-01 9.83561904e-01 -3.69081892e-03 -6.10046672e+01] [-2.13361262e-02 -1.64613620e-04 9.99772345e-01 -4.14954244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.99, Y:-61.01, Z:-4.15 [[ 9.83269071e-01 1.80955455e-01 2.09059190e-02 3.94986747e+02] [-1.80918306e-01 9.83491278e-01 -3.67061102e-03 -6.10061719e+01] [-2.12250061e-02 -1.73065159e-04 9.99774709e-01 -4.15083810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.01, Y:-61.01, Z:-4.15 [[ 9.83271473e-01 1.80980939e-01 2.05696459e-02 3.95014240e+02] [-1.80945001e-01 9.83486589e-01 -3.61060669e-03 -6.10094374e+01] [-2.08834219e-02 -1.71768053e-04 9.99781903e-01 -4.15222450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.04, Y:-61.01, Z:-4.15 [[ 9.83443954e-01 1.80186980e-01 1.92520397e-02 3.95043019e+02] [-1.80155375e-01 9.83632366e-01 -3.37790198e-03 -6.10125415e+01] [-1.95455833e-02 -1.46381153e-04 9.99808956e-01 -4.15485272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.07, Y:-61.02, Z:-4.16 [[ 9.83636196e-01 1.79225352e-01 1.83876938e-02 3.95070471e+02] [-1.79196369e-01 9.83808039e-01 -3.22539939e-03 -6.10167851e+01] [-1.86680343e-02 -1.22388364e-04 9.99825730e-01 -4.15741318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.10, Y:-61.02, Z:-4.16 [[ 9.83840576e-01 1.78148127e-01 1.79155369e-02 3.95096999e+02] [-1.78120451e-01 9.84003676e-01 -3.14170495e-03 -6.10221720e+01] [-1.81886431e-02 -1.00186705e-04 9.99834568e-01 -4.15987171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.13, Y:-61.03, Z:-4.16 [[ 9.84092868e-01 1.76781824e-01 1.75901768e-02 3.95125152e+02] [-1.76754968e-01 9.84250060e-01 -3.08225392e-03 -6.10297996e+01] [-1.78580190e-02 -7.59270401e-05 9.99840530e-01 -4.16092671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.15, Y:-61.04, Z:-4.16 [[ 9.84490862e-01 1.74591077e-01 1.71958745e-02 3.95152267e+02] [-1.74565091e-01 9.84641028e-01 -3.01238090e-03 -6.10367349e+01] [-1.74576984e-02 -3.61379282e-05 9.99847602e-01 -4.16177569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.18, Y:-61.04, Z:-4.16 [[ 9.84640119e-01 1.73729466e-01 1.73755398e-02 3.95180235e+02] [-1.73702819e-01 9.84793416e-01 -3.04281206e-03 -6.10419291e+01] [-1.76399434e-02 -2.21054146e-05 9.99844404e-01 -4.16102009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.21, Y:-61.05, Z:-4.16 [[ 9.84762607e-01 1.72945734e-01 1.82313327e-02 3.95207818e+02] [-1.72916289e-01 9.84931355e-01 -3.19120241e-03 -6.10470981e+01] [-1.85085161e-02 -9.91759662e-06 9.99828703e-01 -4.16011027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.24, Y:-61.05, Z:-4.16 [[ 9.84820683e-01 1.72408408e-01 2.00888817e-02 3.95236174e+02] [-1.72372574e-01 9.85025553e-01 -3.51495788e-03 -6.10537627e+01] [-2.03940701e-02 -1.16902356e-06 9.99792019e-01 -4.15750668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.26, Y:-61.06, Z:-4.16 [[ 9.84773186e-01 1.72651505e-01 2.03280592e-02 3.95262782e+02] [-1.72614885e-01 9.84982973e-01 -3.55583761e-03 -6.10589518e+01] [-2.06367129e-02 -7.23206113e-06 9.99787040e-01 -4.15783803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.29, Y:-61.06, Z:-4.16 [[ 9.84789503e-01 1.72579610e-01 2.01473072e-02 3.95289610e+02] [-1.72543657e-01 9.84995573e-01 -3.52250411e-03 -6.10645294e+01] [-2.04529208e-02 -7.36499029e-06 9.99790817e-01 -4.15896700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.32, Y:-61.07, Z:-4.16 [[ 9.85049942e-01 1.71033157e-01 2.05978234e-02 3.95316251e+02] [-1.70995279e-01 9.85265273e-01 -3.59945195e-03 -6.10733189e+01] [-2.09099458e-02 2.35093690e-05 9.99781363e-01 -4.15919189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.14576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.34, Y:-61.08, Z:-4.16 [[ 9.85267416e-01 1.69702519e-01 2.11937371e-02 3.95343757e+02] [-1.69662144e-01 9.85495334e-01 -3.70198152e-03 -6.10815283e+01] [-2.15145646e-02 5.16669040e-05 9.99768534e-01 -4.15873969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.37, Y:-61.09, Z:-4.16 [[ 9.85521154e-01 1.68216482e-01 2.12431229e-02 3.95370305e+02] [-1.68175595e-01 9.85750074e-01 -3.70957811e-03 -6.10901534e+01] [-2.15644221e-02 8.32928712e-05 9.99767457e-01 -4.15907036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.40, Y:-61.10, Z:-4.16 [[ 9.85757756e-01 1.66850220e-01 2.10392675e-02 3.95397673e+02] [-1.66809830e-01 9.85982247e-01 -3.67271244e-03 -6.10982539e+01] [-2.13571371e-02 1.10848143e-04 9.99771904e-01 -4.15956111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.43, Y:-61.11, Z:-4.16 [[ 9.85999298e-01 1.65468590e-01 2.06283571e-02 3.95425440e+02] [-1.65429481e-01 9.86215051e-01 -3.60001387e-03 -6.11075038e+01] [-2.09396854e-02 1.37072752e-04 9.99780731e-01 -4.16125611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.45, Y:-61.11, Z:-4.16 [[ 9.86088099e-01 1.65004125e-01 2.00972456e-02 3.95454066e+02] [-1.64966926e-01 9.86292866e-01 -3.50638751e-03 -6.11135708e+01] [-2.04003384e-02 1.42226158e-04 9.99791881e-01 -4.16229459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.29576923100007 meters Centerline goodness [0,1] 0.9999576037647857 Centerline is valid? [True, True] Translation: X:395.48, Y:-61.12, Z:-4.16 [[ 9.86158271e-01 1.64635660e-01 1.96714015e-02 3.95481620e+02] [-1.64599966e-01 9.86354438e-01 -3.43117668e-03 -6.11201188e+01] [-1.99678682e-02 1.45771241e-04 9.99800612e-01 -4.16421634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.51, Y:-61.13, Z:-4.17 [[ 9.86283432e-01 1.63860801e-01 1.98652671e-02 3.95508686e+02] [-1.63824268e-01 9.86483457e-01 -3.46377315e-03 -6.11272570e+01] [-2.01643341e-02 1.61849232e-04 9.99796666e-01 -4.16500376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.35576923100007 meters Centerline goodness [0,1] 0.9999569188350853 Centerline is valid? [True, True] Translation: X:395.54, Y:-61.13, Z:-4.16 [[ 9.86376493e-01 1.63188626e-01 2.07578122e-02 3.95537422e+02] [-1.63148614e-01 9.86594871e-01 -3.61809434e-03 -6.11318938e+01] [-2.10699829e-02 1.82194911e-04 9.99777987e-01 -4.16133037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.56, Y:-61.14, Z:-4.16 [[ 9.86442080e-01 1.62638998e-01 2.19221061e-02 3.95564471e+02] [-1.62594260e-01 9.86685621e-01 -3.81988810e-03 -6.11379341e+01] [-2.22514896e-02 2.03689741e-04 9.99752384e-01 -4.16275508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.59, Y:-61.14, Z:-4.16 [[ 9.86550606e-01 1.61826663e-01 2.30224488e-02 3.95592881e+02] [-1.61777134e-01 9.86819172e-01 -4.01015922e-03 -6.11445865e+01] [-2.33679445e-02 2.31719214e-04 9.99726905e-01 -4.16150327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.62, Y:-61.15, Z:-4.16 [[ 9.86617316e-01 1.61370440e-01 2.33634957e-02 3.95620955e+02] [-1.61319332e-01 9.86893875e-01 -4.06844058e-03 -6.11531235e+01] [-2.37138169e-02 2.45010413e-04 9.99718758e-01 -4.16038338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.65, Y:-61.16, Z:-4.16 [[ 9.86634363e-01 1.61343443e-01 2.28238278e-02 3.95650091e+02] [-1.61294680e-01 9.86898291e-01 -3.97367480e-03 -6.11593481e+01] [-2.31659230e-02 2.39202108e-04 9.99731605e-01 -4.16205070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.68, Y:-61.17, Z:-4.16 [[ 9.86659428e-01 1.61332849e-01 2.17918359e-02 3.95677626e+02] [-1.61288405e-01 9.86900025e-01 -3.79349166e-03 -6.11668859e+01] [-2.21183783e-02 2.28113846e-04 9.99755333e-01 -4.16375664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.71, Y:-61.17, Z:-4.16 [[ 9.86663163e-01 1.61309996e-01 2.17919259e-02 3.95706361e+02] [-1.61265558e-01 9.86903761e-01 -3.79297454e-03 -6.11718414e+01] [-2.21183784e-02 2.28101160e-04 9.99755333e-01 -4.16439836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.73, Y:-61.18, Z:-4.17 [[ 9.86586679e-01 1.61838201e-01 2.13335849e-02 3.95734693e+02] [-1.61795746e-01 9.86817284e-01 -3.71270871e-03 -6.11784136e+01] [-2.16532084e-02 2.11225668e-04 9.99765519e-01 -4.16655062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.76, Y:-61.18, Z:-4.17 [[ 9.86417590e-01 1.62881797e-01 2.12098841e-02 3.95762539e+02] [-1.62840097e-01 9.86645572e-01 -3.69016659e-03 -6.11831362e+01] [-2.15276992e-02 1.86225650e-04 9.99768235e-01 -4.16792381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.79, Y:-61.19, Z:-4.17 [[ 9.86224105e-01 1.64127322e-01 2.05970337e-02 3.95791584e+02] [-1.64088294e-01 9.86439151e-01 -3.58231056e-03 -6.11873098e+01] [-2.09056755e-02 1.53228896e-04 9.99781441e-01 -4.16888138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.82, Y:-61.19, Z:-4.17 [[ 9.86011940e-01 1.65455809e-01 2.01203543e-02 3.95818941e+02] [-1.65418858e-01 9.86217197e-01 -3.49872502e-03 -6.11913940e+01] [-2.04219238e-02 1.21498623e-04 9.99791443e-01 -4.16996749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.85, Y:-61.19, Z:-4.17 [[ 9.85712906e-01 1.67362876e-01 1.89666778e-02 3.95847953e+02] [-1.67330415e-01 9.85895361e-01 -3.29700513e-03 -6.11948081e+01] [-1.92509559e-02 7.61984389e-05 9.99814680e-01 -4.17273475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.88, Y:-61.20, Z:-4.18 [[ 9.85699623e-01 1.67536145e-01 1.81078315e-02 3.95876388e+02] [-1.67506603e-01 9.85865932e-01 -3.14685453e-03 -6.12001410e+01] [-1.83791061e-02 6.86719878e-05 9.99831088e-01 -4.17521383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.90, Y:-61.21, Z:-4.18 [[ 9.85725069e-01 1.67457561e-01 1.74371356e-02 3.95903587e+02] [-1.67430168e-01 9.85879283e-01 -3.02952287e-03 -6.12063782e+01] [-1.76982273e-02 6.67740895e-05 9.99843372e-01 -4.17801489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.93, Y:-61.21, Z:-4.18 [[ 9.85979962e-01 1.65941573e-01 1.75188031e-02 3.95931455e+02] [-1.65913704e-01 9.86135582e-01 -3.04257115e-03 -6.12147822e+01] [-1.77808042e-02 9.33046670e-05 9.99841905e-01 -4.17741005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.96, Y:-61.22, Z:-4.18 [[ 9.86155937e-01 1.64854426e-01 1.78741980e-02 3.95958295e+02] [-1.64825251e-01 9.86317903e-01 -3.10344588e-03 -6.12225481e+01] [-1.81412583e-02 1.14362404e-04 9.99835427e-01 -4.17708173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.99, Y:-61.23, Z:-4.18 [[ 9.86401246e-01 1.63237147e-01 1.91367602e-02 3.95986357e+02] [-1.63203426e-01 9.86586849e-01 -3.32134026e-03 -6.12312885e+01] [-1.94222420e-02 1.52989338e-04 9.99811359e-01 -4.17593644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.01, Y:-61.24, Z:-4.17 [[ 9.86588658e-01 1.61912608e-01 2.06670609e-02 3.96014916e+02] [-1.61873004e-01 9.86805082e-01 -3.58612284e-03 -6.12380914e+01] [-2.09749993e-02 1.92588875e-04 9.99779982e-01 -4.17429369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.04, Y:-61.24, Z:-4.17 [[ 9.86600519e-01 1.61592295e-01 2.25243314e-02 3.96042597e+02] [-1.61545183e-01 9.86857580e-01 -3.90779373e-03 -6.12438306e+01] [-2.28597765e-02 2.16734100e-04 9.99738658e-01 -4.17167078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.07, Y:-61.25, Z:-4.17 [[ 9.86509181e-01 1.62202454e-01 2.21359193e-02 3.96071160e+02] [-1.62157124e-01 9.86757480e-01 -3.83962512e-03 -6.12488829e+01] [-2.24655806e-02 1.98328425e-04 9.99747597e-01 -4.17304290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.10, Y:-61.25, Z:-4.17 [[ 9.86493675e-01 1.62411969e-01 2.12739623e-02 3.96100184e+02] [-1.62370165e-01 9.86723020e-01 -3.68938095e-03 -6.12534146e+01] [-2.15907079e-02 1.85294197e-04 9.99766876e-01 -4.17452221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.13, Y:-61.26, Z:-4.18 [[ 9.86593097e-01 1.61966541e-01 2.00225222e-02 3.96129177e+02] [-1.61929428e-01 9.86796233e-01 -3.47190724e-03 -6.12595036e+01] [-2.03204823e-02 1.83124137e-04 9.99793501e-01 -4.17698685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01576923100004 meters Centerline goodness [0,1] 0.9999364042990694 Centerline is valid? [True, True] Translation: X:396.16, Y:-61.27, Z:-4.18 [[ 9.86784468e-01 1.60766320e-01 2.02633752e-02 3.96157754e+02] [-1.60728067e-01 9.86992475e-01 -3.51314979e-03 -6.12685533e+01] [-2.05645950e-02 2.09828525e-04 9.99788504e-01 -4.17754484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.04576923100007 meters Centerline goodness [0,1] 0.9998310846477059 Centerline is valid? [True, True] Translation: X:396.19, Y:-61.28, Z:-4.18 [[ 9.87040508e-01 1.59045968e-01 2.13404727e-02 3.96187076e+02] [-1.59003143e-01 9.87271145e-01 -3.69961150e-03 -6.12767532e+01] [-2.16572412e-02 2.58464171e-04 9.99765421e-01 -4.17677119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07576923100004 meters Centerline goodness [0,1] 0.9998093018328212 Centerline is valid? [True, True] Translation: X:396.22, Y:-61.29, Z:-4.18 [[ 9.87381578e-01 1.56692330e-01 2.29157846e-02 3.96216635e+02] [-1.56642314e-01 9.87647408e-01 -3.97273954e-03 -6.12901147e+01] [-2.32552131e-02 3.33028309e-04 9.99729505e-01 -4.17505073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.10576923100007 meters Centerline goodness [0,1] 0.9998729163577829 Centerline is valid? [True, True] Translation: X:396.25, Y:-61.30, Z:-4.18 [[ 9.87434856e-01 1.56461337e-01 2.21868410e-02 3.96246326e+02] [-1.56414383e-01 9.87684030e-01 -3.84690481e-03 -6.12969170e+01] [-2.25154804e-02 3.28226866e-04 9.99746441e-01 -4.17694582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.13576923100004 meters Centerline goodness [0,1] 0.9998312378702219 Centerline is valid? [True, True] Translation: X:396.28, Y:-61.30, Z:-4.18 [[ 9.87354261e-01 1.57157029e-01 2.08142088e-02 3.96276096e+02] [-1.57115836e-01 9.87573583e-01 -3.61002767e-03 -6.13027435e+01] [-2.11229040e-02 2.94134384e-04 9.99776843e-01 -4.17975264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.16576923100007 meters Centerline goodness [0,1] 0.9996823985263291 Centerline is valid? [True, True] Translation: X:396.31, Y:-61.31, Z:-4.18 [[ 9.87255878e-01 1.57887320e-01 1.99355284e-02 3.96306879e+02] [-1.57849677e-01 9.87457099e-01 -3.45783351e-03 -6.13086176e+01] [-2.02314271e-02 2.66949739e-04 9.99795288e-01 -4.18246007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.19576923100004 meters Centerline goodness [0,1] 0.9996382516917053 Centerline is valid? [True, True] Translation: X:396.34, Y:-61.32, Z:-4.18 [[ 9.87313868e-01 1.57464523e-01 2.04021899e-02 3.96337124e+02] [-1.57424996e-01 9.87524604e-01 -3.53928820e-03 -6.13172091e+01] [-2.07049768e-02 2.82573674e-04 9.99785589e-01 -4.18259844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2257692310001 meters Centerline goodness [0,1] 0.9996782634807602 Centerline is valid? [True, True] Translation: X:396.37, Y:-61.33, Z:-4.18 [[ 9.87419132e-01 1.56695828e-01 2.12102528e-02 3.96367927e+02] [-1.56652920e-01 9.87646860e-01 -3.67993770e-03 -6.13255446e+01] [-2.15248705e-02 3.10992859e-04 9.99768265e-01 -4.18203500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.25576923100004 meters Centerline goodness [0,1] 0.9995743231738464 Centerline is valid? [True, True] Translation: X:396.40, Y:-61.34, Z:-4.18 [[ 9.87521253e-01 1.55959365e-01 2.18735106e-02 3.96397798e+02] [-1.55913462e-01 9.87763413e-01 -3.79898633e-03 -6.13364444e+01] [-2.21983410e-02 3.41204977e-04 9.99753528e-01 -4.18182544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2857692310001 meters Centerline goodness [0,1] 0.9994896223205172 Centerline is valid? [True, True] Translation: X:396.43, Y:-61.35, Z:-4.18 [[ 9.87681846e-01 1.54696701e-01 2.35266244e-02 3.96426342e+02] [-1.54643181e-01 9.87961928e-01 -4.08851076e-03 -6.13517404e+01] [-2.38758883e-02 3.99915818e-04 9.99714850e-01 -4.17986514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.31576923100005 meters Centerline goodness [0,1] 0.9995718536595809 Centerline is valid? [True, True] Translation: X:396.46, Y:-61.36, Z:-4.18 [[ 9.87711798e-01 1.54545807e-01 2.32593407e-02 3.96458790e+02] [-1.54493405e-01 9.87985543e-01 -4.04416783e-03 -6.13601727e+01] [-2.36049015e-02 4.01057555e-04 9.99721285e-01 -4.18094034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3457692310001 meters Centerline goodness [0,1] 0.9994307280355901 Centerline is valid? [True, True] Translation: X:396.49, Y:-61.37, Z:-4.18 [[ 9.87725063e-01 1.54706644e-01 2.15651210e-02 3.96490686e+02] [-1.54661552e-01 9.87960382e-01 -3.75343607e-03 -6.13691390e+01] [-2.18861667e-02 3.72067782e-04 9.99760400e-01 -4.18433898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.37576923100005 meters Centerline goodness [0,1] 0.9996381746977695 Centerline is valid? [True, True] Translation: X:396.52, Y:-61.38, Z:-4.19 [[ 9.87502020e-01 1.56390570e-01 1.95384409e-02 3.96522369e+02] [-1.56353819e-01 9.87695244e-01 -3.40408614e-03 -6.13758573e+01] [-1.98303921e-02 3.06632092e-04 9.99803311e-01 -4.18891762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4057692310001 meters Centerline goodness [0,1] 0.9996158770806658 Centerline is valid? [True, True] Translation: X:396.55, Y:-61.38, Z:-4.19 [[ 9.87210134e-01 1.58239596e-01 1.94005449e-02 3.96552689e+02] [-1.58203652e-01 9.87400707e-01 -3.38340696e-03 -6.13816337e+01] [-1.96915007e-02 2.70896577e-04 9.99806067e-01 -4.18994977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.43576923100005 meters Centerline goodness [0,1] 0.9995973808565193 Centerline is valid? [True, True] Translation: X:396.58, Y:-61.39, Z:-4.19 [[ 9.86854615e-01 1.60404500e-01 1.97070045e-02 3.96584309e+02] [-1.60367780e-01 9.87051337e-01 -3.44001663e-03 -6.13864532e+01] [-2.00036193e-02 2.34427727e-04 9.99799880e-01 -4.19046896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4657692310001 meters Centerline goodness [0,1] 0.9995786546442792 Centerline is valid? [True, True] Translation: X:396.62, Y:-61.39, Z:-4.19 [[ 9.86032207e-01 1.65240678e-01 2.08807245e-02 3.96616226e+02] [-1.65200454e-01 9.86253262e-01 -3.64878860e-03 -6.13885521e+01] [-2.11966109e-02 1.48317918e-04 9.99775316e-01 -4.18876313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.49576923100005 meters Centerline goodness [0,1] 0.9996185066655363 Centerline is valid? [True, True] Translation: X:396.65, Y:-61.39, Z:-4.19 [[ 9.85576991e-01 1.67863622e-01 2.14429188e-02 3.96645984e+02] [-1.67821805e-01 9.85810223e-01 -3.74784058e-03 -6.13918635e+01] [-2.17677747e-02 9.51960994e-05 9.99763049e-01 -4.18851415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5257692310001 meters Centerline goodness [0,1] 0.9996424440004207 Centerline is valid? [True, True] Translation: X:396.68, Y:-61.40, Z:-4.19 [[ 9.85262894e-01 1.69681987e-01 2.15651024e-02 3.96677618e+02] [-1.69640122e-01 9.85498869e-01 -3.76945610e-03 -6.13956567e+01] [-2.18919928e-02 5.55986190e-05 9.99760340e-01 -4.18923676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.55576923100006 meters Centerline goodness [0,1] 0.9997019437525282 Centerline is valid? [True, True] Translation: X:396.71, Y:-61.40, Z:-4.19 [[ 9.85050523e-01 1.70904146e-01 2.16157172e-02 3.96708202e+02] [-1.70862361e-01 9.85287660e-01 -3.77909013e-03 -6.14006238e+01] [-2.19435615e-02 2.92822336e-05 9.99759211e-01 -4.19029424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5857692310001 meters Centerline goodness [0,1] 0.9996179966044143 Centerline is valid? [True, True] Translation: X:396.74, Y:-61.40, Z:-4.19 [[ 9.84654602e-01 1.73288907e-01 2.06462837e-02 3.96738731e+02] [-1.73251300e-01 9.84871034e-01 -3.61010595e-03 -6.14038800e+01] [-2.09595181e-02 -2.22880515e-05 9.99780325e-01 -4.19239329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.61576923100006 meters Centerline goodness [0,1] 0.9998090307248345 Centerline is valid? [True, True] Translation: X:396.77, Y:-61.41, Z:-4.19 [[ 9.84295526e-01 1.75311833e-01 2.06900563e-02 3.96769124e+02] [-1.75274513e-01 9.84512954e-01 -3.61775981e-03 -6.14059570e+01] [-2.10038645e-02 -6.54947366e-05 9.99779392e-01 -4.19333851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.64576923100003 meters Centerline goodness [0,1] 0.9998300800747648 Centerline is valid? [True, True] Translation: X:396.80, Y:-61.41, Z:-4.19 [[ 9.83847693e-01 1.77833056e-01 2.04724294e-02 3.96798773e+02] [-1.77797062e-01 9.84060664e-01 -3.57972109e-03 -6.14058056e+01] [-2.07827052e-02 -1.18037464e-04 9.99784009e-01 -4.19422436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.67576923100006 meters Centerline goodness [0,1] 0.999936625966454 Centerline is valid? [True, True] Translation: X:396.83, Y:-61.40, Z:-4.20 [[ 9.82936446e-01 1.82839104e-01 2.01446226e-02 3.96829466e+02] [-1.82805308e-01 9.83142825e-01 -3.52218207e-03 -6.14010926e+01] [-2.04490338e-02 -2.20462819e-04 9.99790872e-01 -4.19515028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.70576923100003 meters Centerline goodness [0,1] 0.9999787107212808 Centerline is valid? [True, True] Translation: X:396.86, Y:-61.40, Z:-4.20 [[ 9.82693028e-01 1.84120021e-01 2.03526719e-02 3.96858809e+02] [-1.84085809e-01 9.82903736e-01 -3.55807259e-03 -6.14043114e+01] [-2.06598297e-02 -2.50144951e-04 9.99786532e-01 -4.19621889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.73576923100006 meters Centerline goodness [0,1] 0.9999576504467877 Centerline is valid? [True, True] Translation: X:396.89, Y:-61.41, Z:-4.20 [[ 9.82597473e-01 1.84635117e-01 2.02997392e-02 3.96887368e+02] [-1.84601202e-01 9.82807105e-01 -3.54834519e-03 -6.14079354e+01] [-2.06058770e-02 -2.60761227e-04 9.99787642e-01 -4.19766921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76576923100004 meters Centerline goodness [0,1] 0.999914354230901 Centerline is valid? [True, True] Translation: X:396.92, Y:-61.41, Z:-4.20 [[ 9.82722037e-01 1.84058676e-01 1.94884912e-02 3.96916459e+02] [-1.84027318e-01 9.82915228e-01 -3.40584101e-03 -6.14131322e+01] [-1.97824093e-02 -2.39419750e-04 9.99804280e-01 -4.19956220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.79576923100007 meters Centerline goodness [0,1] 0.9999576647898056 Centerline is valid? [True, True] Translation: X:396.94, Y:-61.42, Z:-4.20 [[ 9.82891348e-01 1.83252217e-01 1.85262682e-02 3.96944706e+02] [-1.83223743e-01 9.83065908e-01 -3.23729041e-03 -6.14159247e+01] [-1.88057833e-02 -2.12547476e-04 9.99823133e-01 -4.20230485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82576923100004 meters Centerline goodness [0,1] 0.9999147739378702 Centerline is valid? [True, True] Translation: X:396.97, Y:-61.42, Z:-4.20 [[ 9.83080832e-01 1.82254965e-01 1.83086204e-02 3.96973569e+02] [-1.82226995e-01 9.83251286e-01 -3.19863011e-03 -6.14207088e+01] [-1.85849407e-02 -1.91812919e-04 9.99827267e-01 -4.20329867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.85576923100007 meters Centerline goodness [0,1] 0.999894398918645 Centerline is valid? [True, True] Translation: X:397.00, Y:-61.42, Z:-4.20 [[ 9.83277836e-01 1.81161720e-01 1.85776176e-02 3.97001116e+02] [-1.81132743e-01 9.83453304e-01 -3.24477068e-03 -6.14235990e+01] [-1.88580476e-02 -1.74503742e-04 9.99822156e-01 -4.20401259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.88576923100004 meters Centerline goodness [0,1] 0.9998291036486371 Centerline is valid? [True, True] Translation: X:397.03, Y:-61.43, Z:-4.20 [[ 9.83567811e-01 1.79282315e-01 2.12653002e-02 3.97029520e+02] [-1.79243938e-01 9.83797655e-01 -3.71275525e-03 -6.14323923e+01] [-2.15863838e-02 -1.59929610e-04 9.99766974e-01 -4.19889450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.91576923100007 meters Centerline goodness [0,1] 0.9998937368499352 Centerline is valid? [True, True] Translation: X:397.06, Y:-61.44, Z:-4.20 [[ 9.83708917e-01 1.78409789e-01 2.20615764e-02 3.97057685e+02] [-1.78368284e-01 9.83956262e-01 -3.85094529e-03 -6.14378228e+01] [-2.23946726e-02 -1.46876302e-04 9.99749197e-01 -4.19828835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.94576923100004 meters Centerline goodness [0,1] 0.9999158284583982 Centerline is valid? [True, True] Translation: X:397.09, Y:-61.44, Z:-4.20 [[ 9.83857069e-01 1.77659526e-01 2.15025814e-02 3.97086807e+02] [-1.77619935e-01 9.84092006e-01 -3.75260737e-03 -6.14434361e+01] [-2.18272050e-02 -1.27257833e-04 9.99761750e-01 -4.19980203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.9757692310001 meters Centerline goodness [0,1] 0.9998941552530748 Centerline is valid? [True, True] Translation: X:397.12, Y:-61.45, Z:-4.21 [[ 9.84151869e-01 1.76230665e-01 1.96939373e-02 3.97115500e+02] [-1.76197178e-01 9.84348894e-01 -3.43651220e-03 -6.14496238e+01] [-1.99913242e-02 -8.79662664e-05 9.99800150e-01 -4.20500274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.00576923100004 meters Centerline goodness [0,1] 0.9999152111243005 Centerline is valid? [True, True] Translation: X:397.14, Y:-61.46, Z:-4.21 [[ 9.84249153e-01 1.75716581e-01 1.94239288e-02 3.97144441e+02] [-1.75683910e-01 9.84440794e-01 -3.38919025e-03 -6.14555165e+01] [-1.97172448e-02 -7.66641177e-05 9.99805593e-01 -4.20636757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0357692310001 meters Centerline goodness [0,1] 0.9998720273008425 Centerline is valid? [True, True] Translation: X:397.17, Y:-61.46, Z:-4.21 [[ 9.84416812e-01 1.74756667e-01 1.95869162e-02 3.97173167e+02] [-1.74723265e-01 9.84611651e-01 -3.41714398e-03 -6.14623120e+01] [-1.98826746e-02 -5.83959664e-05 9.99802318e-01 -4.20581758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.06576923100005 meters Centerline goodness [0,1] 0.9998317383531391 Centerline is valid? [True, True] Translation: X:397.20, Y:-61.47, Z:-4.20 [[ 9.84800296e-01 1.72341905e-01 2.16019596e-02 3.97201358e+02] [-1.72300707e-01 9.85037191e-01 -3.76810205e-03 -6.14709222e+01] [-2.19281355e-02 -1.12048992e-05 9.99759549e-01 -4.20280537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0957692310001 meters Centerline goodness [0,1] 0.999872106407469 Centerline is valid? [True, True] Translation: X:397.23, Y:-61.48, Z:-4.20 [[ 9.84920950e-01 1.71572920e-01 2.22138524e-02 3.97231686e+02] [-1.71529152e-01 9.85171423e-01 -3.87514734e-03 -6.14767949e+01] [-2.25493229e-02 6.39054168e-06 9.99745732e-01 -4.20229323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.12576923100005 meters Centerline goodness [0,1] 0.999809342230696 Centerline is valid? [True, True] Translation: X:397.26, Y:-61.48, Z:-4.20 [[ 9.85052957e-01 1.70852825e-01 2.19085401e-02 3.97261404e+02] [-1.70810074e-01 9.85296560e-01 -3.82188644e-03 -6.14825656e+01] [-2.22393893e-02 2.25611715e-05 9.99752674e-01 -4.20391124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1557692310001 meters Centerline goodness [0,1] 0.9998301522260674 Centerline is valid? [True, True] Translation: X:397.29, Y:-61.49, Z:-4.21 [[ 9.85382002e-01 1.69155215e-01 2.02193744e-02 3.97290618e+02] [-1.69118446e-01 9.85589423e-01 -3.52719829e-03 -6.14917776e+01] [-2.05246456e-02 5.61685237e-05 9.99789346e-01 -4.20765331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.18576923100005 meters Centerline goodness [0,1] 0.9998512221041446 Centerline is valid? [True, True] Translation: X:397.32, Y:-61.50, Z:-4.21 [[ 9.85460739e-01 1.68714615e-01 2.00626865e-02 3.97320317e+02] [-1.68678317e-01 9.85664940e-01 -3.50012606e-03 -6.14985924e+01] [-2.03656091e-02 6.50966270e-05 9.99792597e-01 -4.20776716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2157692310001 meters Centerline goodness [0,1] 0.9997463163012916 Centerline is valid? [True, True] Translation: X:397.35, Y:-61.51, Z:-4.21 [[ 9.85490582e-01 1.68514106e-01 2.02807337e-02 3.97349134e+02] [-1.68476972e-01 9.85699240e-01 -3.53818318e-03 -6.15050491e+01] [-2.05869376e-02 7.00096016e-05 9.99788064e-01 -4.20784343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.24576923100005 meters Centerline goodness [0,1] 0.9997666079650336 Centerline is valid? [True, True] Translation: X:397.38, Y:-61.51, Z:-4.21 [[ 9.85439535e-01 1.68758694e-01 2.07225840e-02 3.97379462e+02] [-1.68719984e-01 9.85657394e-01 -3.61500317e-03 -6.15106075e+01] [-2.10354313e-02 6.60530054e-05 9.99778729e-01 -4.20759904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2757692310001 meters Centerline goodness [0,1] 0.9997855733767904 Centerline is valid? [True, True] Translation: X:397.41, Y:-61.52, Z:-4.21 [[ 9.85331662e-01 1.69429116e-01 2.03786842e-02 3.97408359e+02] [-1.69391823e-01 9.85542375e-01 -3.55502607e-03 -6.15162054e+01] [-2.06863818e-02 5.08972660e-05 9.99786013e-01 -4.20961861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.30576923100006 meters Centerline goodness [0,1] 0.9998727060570701 Centerline is valid? [True, True] Translation: X:397.44, Y:-61.52, Z:-4.21 [[ 9.85248898e-01 1.70030133e-01 1.93484777e-02 3.97438432e+02] [-1.69996636e-01 9.85438863e-01 -3.37506460e-03 -6.15217256e+01] [-1.96406045e-02 3.61025523e-05 9.99807104e-01 -4.21261362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3357692310001 meters Centerline goodness [0,1] 0.9998074454428755 Centerline is valid? [True, True] Translation: X:397.47, Y:-61.53, Z:-4.21 [[ 9.85030817e-01 1.71379473e-01 1.85301495e-02 3.97468356e+02] [-1.71348989e-01 9.85205093e-01 -3.23231898e-03 -6.15256702e+01] [-1.88099508e-02 8.81142649e-06 9.99823077e-01 -4.21399502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.36576923100006 meters Centerline goodness [0,1] 0.9998728193823261 Centerline is valid? [True, True] Translation: X:397.50, Y:-61.52, Z:-4.22 [[ 9.84410565e-01 1.74993801e-01 1.76920661e-02 3.97498073e+02] [-1.74966594e-01 9.84569534e-01 -3.08617620e-03 -6.15247864e+01] [-1.79591310e-02 -5.74560941e-05 9.99838720e-01 -4.21590966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.39576923100003 meters Centerline goodness [0,1] 0.9998523767345734 Centerline is valid? [True, True] Translation: X:397.53, Y:-61.52, Z:-4.22 [[ 9.83985836e-01 1.77369766e-01 1.76590368e-02 3.97527162e+02] [-1.77343045e-01 9.84144276e-01 -3.08029399e-03 -6.15247351e+01] [-1.79253910e-02 -1.00741709e-04 9.99839322e-01 -4.21622501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.56, Y:-61.52, Z:-4.22 [[ 9.82875220e-01 1.83376849e-01 1.81447573e-02 3.97558270e+02] [-1.83349674e-01 9.83042667e-01 -3.16430248e-03 -6.15176647e+01] [-1.84173304e-02 -2.16720827e-04 9.99830363e-01 -4.21600831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.59, Y:-61.52, Z:-4.22 [[ 9.82883900e-01 1.83330316e-01 1.81448178e-02 3.97586191e+02] [-1.83303139e-01 9.83051346e-01 -3.16395530e-03 -6.15224413e+01] [-1.84173365e-02 -2.16201331e-04 9.99830363e-01 -4.21663169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.48576923100006 meters Centerline goodness [0,1] 0.9999365750528542 Centerline is valid? [True, True] Translation: X:397.62, Y:-61.52, Z:-4.22 [[ 9.82372687e-01 1.86032887e-01 1.83212529e-02 3.97615295e+02] [-1.86005665e-01 9.82543481e-01 -3.19388901e-03 -6.15205959e+01] [-1.85955960e-02 -2.70267505e-04 9.99827050e-01 -4.21668923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.64, Y:-61.51, Z:-4.22 [[ 9.81884736e-01 1.88549438e-01 1.87476728e-02 3.97644721e+02] [-1.88521418e-01 9.82063645e-01 -3.26684170e-03 -6.15142797e+01] [-1.90273691e-02 -3.26675860e-04 9.99818910e-01 -4.21702362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.54576923100007 meters Centerline goodness [0,1] 0.9999147048788809 Centerline is valid? [True, True] Translation: X:397.68, Y:-61.50, Z:-4.21 [[ 9.80846060e-01 1.93741922e-01 2.01264467e-02 3.97676379e+02] [-1.93710748e-01 9.81052423e-01 -3.50572570e-03 -6.15032475e+01] [-2.04243053e-02 -4.60131807e-04 9.99791296e-01 -4.21491879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57576923100004 meters Centerline goodness [0,1] 0.9998730239349882 Centerline is valid? [True, True] Translation: X:397.71, Y:-61.50, Z:-4.22 [[ 9.80410057e-01 1.95915042e-01 2.03326475e-02 3.97707134e+02] [-1.95883702e-01 9.80620740e-01 -3.54118328e-03 -6.15003735e+01] [-2.06323869e-02 -5.11022567e-04 9.99786999e-01 -4.21518576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.60576923100007 meters Centerline goodness [0,1] 0.9998717674716819 Centerline is valid? [True, True] Translation: X:397.74, Y:-61.51, Z:-4.22 [[ 9.79990704e-01 1.98004386e-01 2.03096782e-02 3.97736357e+02] [-1.97973574e-01 9.80200977e-01 -3.53673596e-03 -6.15050494e+01] [-2.06078556e-02 -5.54811219e-04 9.99787482e-01 -4.21522908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.63576923100004 meters Centerline goodness [0,1] 0.9999152165158227 Centerline is valid? [True, True] Translation: X:397.77, Y:-61.50, Z:-4.22 [[ 9.79869460e-01 1.98646382e-01 1.98860867e-02 3.97765387e+02] [-1.98616983e-01 9.80071071e-01 -3.46254379e-03 -6.15048665e+01] [-2.01776001e-02 -5.56873634e-04 9.99796256e-01 -4.21655732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.66576923100007 meters Centerline goodness [0,1] 0.999788802297831 Centerline is valid? [True, True] Translation: X:397.80, Y:-61.50, Z:-4.22 [[ 9.80367549e-01 1.96226957e-01 1.93507235e-02 3.97795317e+02] [-1.96198666e-01 9.80558380e-01 -3.36841485e-03 -6.14983867e+01] [-1.96354879e-02 -4.94301532e-04 9.99807083e-01 -4.21952661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.69576923100004 meters Centerline goodness [0,1] 0.9999787573021773 Centerline is valid? [True, True] Translation: X:397.82, Y:-61.51, Z:-4.22 [[ 9.80739026e-01 1.94340301e-01 1.95655519e-02 3.97822976e+02] [-1.94311023e-01 9.80934062e-01 -3.40482932e-03 -6.15102016e+01] [-1.98542119e-02 -4.62553427e-04 9.99802779e-01 -4.21906737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7257692310001 meters Centerline goodness [0,1] 0.9999787654216126 Centerline is valid? [True, True] Translation: X:397.85, Y:-61.51, Z:-4.22 [[ 9.81036672e-01 1.92764891e-01 2.02174248e-02 3.97851878e+02] [-1.92733310e-01 9.81244872e-01 -3.51752698e-03 -6.15139718e+01] [-2.05163001e-02 -4.45748244e-04 9.99789419e-01 -4.21840464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.75576923100004 meters Centerline goodness [0,1] 0.9999156135946499 Centerline is valid? [True, True] Translation: X:397.88, Y:-61.51, Z:-4.22 [[ 9.81258451e-01 1.91502876e-01 2.14126435e-02 3.97880582e+02] [-1.91467174e-01 9.81491951e-01 -3.72438859e-03 -6.15135847e+01] [-2.17295683e-02 -4.45230542e-04 9.99763786e-01 -4.21500811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7857692310001 meters Centerline goodness [0,1] 0.9999356375104589 Centerline is valid? [True, True] Translation: X:397.91, Y:-61.51, Z:-4.21 [[ 9.81183308e-01 1.91839593e-01 2.18377410e-02 3.97909538e+02] [-1.91802572e-01 9.81426185e-01 -3.79699577e-03 -6.15144538e+01] [-2.21605449e-02 -4.62986005e-04 9.99754318e-01 -4.21455370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.81576923100005 meters Centerline goodness [0,1] 0.9998731608320649 Centerline is valid? [True, True] Translation: X:397.94, Y:-61.52, Z:-4.22 [[ 9.81206642e-01 1.91734914e-01 2.17082734e-02 3.97936680e+02] [-1.91698328e-01 9.81446643e-01 -3.77345183e-03 -6.15152903e+01] [-2.20290145e-02 -4.58903711e-04 9.99757226e-01 -4.21576938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8457692310001 meters Centerline goodness [0,1] 0.9999576531368439 Centerline is valid? [True, True] Translation: X:397.97, Y:-61.52, Z:-4.22 [[ 9.81272396e-01 1.91436474e-01 2.13672960e-02 3.97965376e+02] [-1.91401013e-01 9.81504904e-01 -3.71166454e-03 -6.15179394e+01] [-2.16826538e-02 -4.47568142e-04 9.99764803e-01 -4.21769243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.87576923100005 meters Centerline goodness [0,1] 0.9999787446595957 Centerline is valid? [True, True] Translation: X:397.99, Y:-61.52, Z:-4.22 [[ 9.81514700e-01 1.90365171e-01 1.97482896e-02 3.97993227e+02] [-1.90334680e-01 9.81713272e-01 -3.42959672e-03 -6.15190140e+01] [-2.00400337e-02 -3.92584774e-04 9.99799101e-01 -4.22164829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.02, Y:-61.52, Z:-4.22 [[ 9.81683581e-01 1.89480897e-01 1.98579140e-02 3.98021737e+02] [-1.89449909e-01 9.81884335e-01 -3.44743628e-03 -6.15233748e+01] [-2.01513980e-02 -3.77788406e-04 9.99796869e-01 -4.22155036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.93576923100005 meters Centerline goodness [0,1] 0.9999367288832648 Centerline is valid? [True, True] Translation: X:398.05, Y:-61.53, Z:-4.22 [[ 9.81875027e-01 1.88425624e-01 2.04258688e-02 3.98049683e+02] [-1.88392630e-01 9.82087394e-01 -3.54506418e-03 -6.15272227e+01] [-2.07279692e-02 -3.67273166e-04 9.99785085e-01 -4.22060982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9657692310001 meters Centerline goodness [0,1] 0.9998939824434926 Centerline is valid? [True, True] Translation: X:398.08, Y:-61.53, Z:-4.22 [[ 9.82042208e-01 1.87454082e-01 2.13088957e-02 3.98077425e+02] [-1.87417973e-01 9.82273300e-01 -3.69701946e-03 -6.15337600e+01] [-2.16241806e-02 -3.63040887e-04 9.99766104e-01 -4.21893318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.99576923100005 meters Centerline goodness [0,1] 0.9999366112367147 Centerline is valid? [True, True] Translation: X:398.10, Y:-61.54, Z:-4.22 [[ 9.82762005e-01 1.83542923e-01 2.21548533e-02 3.98104470e+02] [-1.83502920e-01 9.83011654e-01 -3.84271481e-03 -6.15431576e+01] [-2.24837820e-02 -2.89006160e-04 9.99747166e-01 -4.21814733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0257692310001 meters Centerline goodness [0,1] 0.9999151301691032 Centerline is valid? [True, True] Translation: X:398.13, Y:-61.55, Z:-4.22 [[ 9.83296454e-01 1.80674552e-01 2.20179490e-02 3.98130814e+02] [-1.80634346e-01 9.83542910e-01 -3.81795045e-03 -6.15518933e+01] [-2.23454042e-02 -2.23020678e-04 9.99750285e-01 -4.21995348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.05576923100006 meters Centerline goodness [0,1] 0.9999364716345849 Centerline is valid? [True, True] Translation: X:398.16, Y:-61.57, Z:-4.22 [[ 9.84370676e-01 1.74760706e-01 2.17500998e-02 3.98156625e+02] [-1.74720054e-01 9.84610932e-01 -3.77026392e-03 -6.15653807e+01] [-2.20742800e-02 -8.88413720e-05 9.99756329e-01 -4.22124967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0857692310001 meters Centerline goodness [0,1] 0.9999154870061272 Centerline is valid? [True, True] Translation: X:398.18, Y:-61.57, Z:-4.22 [[ 9.84822572e-01 1.72120092e-01 2.23422305e-02 3.98183034e+02] [-1.72076546e-01 9.85075973e-01 -3.87159653e-03 -6.15742841e+01] [-2.26751740e-02 -3.17381905e-05 9.99742885e-01 -4.22035868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.11576923100006 meters Centerline goodness [0,1] 0.9999153331639996 Centerline is valid? [True, True] Translation: X:398.21, Y:-61.58, Z:-4.22 [[ 9.85258051e-01 1.69524261e-01 2.29803865e-02 3.98210894e+02] [-1.69477517e-01 9.85526014e-01 -3.98085141e-03 -6.15837078e+01] [-2.33226196e-02 2.75070619e-05 9.99727990e-01 -4.21976864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.14576923100003 meters Centerline goodness [0,1] 0.9999574069341511 Centerline is valid? [True, True] Translation: X:398.24, Y:-61.59, Z:-4.22 [[ 9.85686615e-01 1.66979773e-01 2.32304185e-02 3.98238690e+02] [-1.66931325e-01 9.85960318e-01 -4.02304188e-03 -6.15926368e+01] [-2.35760374e-02 8.75739935e-05 9.99722043e-01 -4.22034648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.17576923100006 meters Centerline goodness [0,1] 0.9999786520931623 Centerline is valid? [True, True] Translation: X:398.26, Y:-61.61, Z:-4.22 [[ 9.86332958e-01 1.63209713e-01 2.25806564e-02 3.98264923e+02] [-1.63162974e-01 9.86591385e-01 -3.90943780e-03 -6.16063883e+01] [-2.29159393e-02 1.71680289e-04 9.99737381e-01 -4.22173773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.20576923100003 meters Centerline goodness [0,1] 0.9999575767860173 Centerline is valid? [True, True] Translation: X:398.29, Y:-61.62, Z:-4.22 [[ 9.86651318e-01 1.61385993e-01 2.17655096e-02 3.98292462e+02] [-1.61342147e-01 9.86891341e-01 -3.76728922e-03 -6.16151321e+01] [-2.20881807e-02 2.05306827e-04 9.99756005e-01 -4.22360975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.23576923100006 meters Centerline goodness [0,1] 0.9999571853659581 Centerline is valid? [True, True] Translation: X:398.32, Y:-61.62, Z:-4.22 [[ 9.86947538e-01 1.59630945e-01 2.12724794e-02 3.98320635e+02] [-1.59588676e-01 9.87176734e-01 -3.68103238e-03 -6.16209351e+01] [-2.15873034e-02 2.38139026e-04 9.99766939e-01 -4.22469378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26576923100004 meters Centerline goodness [0,1] 0.9999147430568877 Centerline is valid? [True, True] Translation: X:398.35, Y:-61.63, Z:-4.23 [[ 9.87218476e-01 1.57968431e-01 2.11105677e-02 3.98348416e+02] [-1.57926445e-01 9.87444126e-01 -3.65197716e-03 -6.16300077e+01] [-2.14224032e-02 2.71382424e-04 9.99770477e-01 -4.22601814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.29576923100007 meters Centerline goodness [0,1] 0.9999147012410969 Centerline is valid? [True, True] Translation: X:398.38, Y:-61.64, Z:-4.23 [[ 9.87618408e-01 1.55370217e-01 2.16789027e-02 3.98376430e+02] [-1.55325327e-01 9.87856256e-01 -3.74967417e-03 -6.16439847e+01] [-2.19982274e-02 3.35964577e-04 9.99757953e-01 -4.22609052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32576923100004 meters Centerline goodness [0,1] 0.999850828964753 Centerline is valid? [True, True] Translation: X:398.41, Y:-61.65, Z:-4.23 [[ 9.87712482e-01 1.54715323e-01 2.20731205e-02 3.98405579e+02] [-1.54668619e-01 9.87959028e-01 -3.81796029e-03 -6.16531474e+01] [-2.23980357e-02 3.57027964e-04 9.99749069e-01 -4.22620138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.35576923100007 meters Centerline goodness [0,1] 0.9999785803024461 Centerline is valid? [True, True] Translation: X:398.43, Y:-61.66, Z:-4.23 [[ 9.87764147e-01 1.54408448e-01 2.19093974e-02 3.98433564e+02] [-1.54362359e-01 9.88007035e-01 -3.78963854e-03 -6.16616026e+01] [-2.22317909e-02 3.61282815e-04 9.99752778e-01 -4.22720699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.38576923100004 meters Centerline goodness [0,1] 0.9999145299145299 Centerline is valid? [True, True] Translation: X:398.46, Y:-61.67, Z:-4.23 [[ 9.87823764e-01 1.54223506e-01 2.04773495e-02 3.98461851e+02] [-1.54183211e-01 9.88035927e-01 -3.54170936e-03 -6.16696594e+01] [-2.07785718e-02 3.41321172e-04 9.99784044e-01 -4.23061504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.49, Y:-61.68, Z:-4.24 [[ 9.87794063e-01 1.54742527e-01 1.78224571e-02 3.98490026e+02] [-1.54712092e-01 9.87954790e-01 -3.08234679e-03 -6.16802869e+01] [-1.80847520e-02 2.87374229e-04 9.99836416e-01 -4.23655129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.44576923100004 meters Centerline goodness [0,1] 0.9999365951600973 Centerline is valid? [True, True] Translation: X:398.52, Y:-61.69, Z:-4.24 [[ 9.87709223e-01 1.55284193e-01 1.78131778e-02 3.98517770e+02] [-1.55253881e-01 9.87869800e-01 -3.08053147e-03 -6.16920897e+01] [-1.80754583e-02 2.77104346e-04 9.99836587e-01 -4.23821935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.4757692310001 meters Centerline goodness [0,1] 0.9998941104216523 Centerline is valid? [True, True] Translation: X:398.55, Y:-61.70, Z:-4.24 [[ 9.87396508e-01 1.57141121e-01 1.88362359e-02 3.98547909e+02] [-1.57107570e-01 9.87576125e-01 -3.25718530e-03 -6.16961815e+01] [-1.91140546e-02 2.56818139e-04 9.99817277e-01 -4.23564645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.50576923100004 meters Centerline goodness [0,1] 0.9999786036758885 Centerline is valid? [True, True] Translation: X:398.58, Y:-61.70, Z:-4.24 [[ 9.87262504e-01 1.57985570e-01 1.87964848e-02 3.98577719e+02] [-1.57952314e-01 9.87441392e-01 -3.25031148e-03 -6.17017283e+01] [-1.90739294e-02 2.39962398e-04 9.99818047e-01 -4.23612646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5357692310001 meters Centerline goodness [0,1] 0.9998947634281866 Centerline is valid? [True, True] Translation: X:398.61, Y:-61.71, Z:-4.24 [[ 9.87180120e-01 1.58511823e-01 1.86925578e-02 3.98606836e+02] [-1.58479028e-01 9.87357053e-01 -3.23230395e-03 -6.17104646e+01] [-1.89685872e-02 2.28487801e-04 9.99820054e-01 -4.23748207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.56576923100005 meters Centerline goodness [0,1] 0.9999787523372429 Centerline is valid? [True, True] Translation: X:398.63, Y:-61.72, Z:-4.24 [[ 9.86965565e-01 1.59709537e-01 1.97949027e-02 3.98634008e+02] [-1.59672995e-01 9.87164027e-01 -3.42320000e-03 -6.17241294e+01] [-2.00875335e-02 2.17869126e-04 9.99798201e-01 -4.23708068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5957692310001 meters Centerline goodness [0,1] 0.999957677331979 Centerline is valid? [True, True] Translation: X:398.67, Y:-61.73, Z:-4.24 [[ 9.86786774e-01 1.60676627e-01 2.08538957e-02 3.98665416e+02] [-1.60636287e-01 9.87007081e-01 -3.60631520e-03 -6.17270812e+01] [-2.11623933e-02 2.08771763e-04 9.99776030e-01 -4.23555199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.69, Y:-61.74, Z:-4.23 [[ 9.86552012e-01 1.62049424e-01 2.13333352e-02 3.98694052e+02] [-1.62007516e-01 9.86782626e-01 -3.68976048e-03 -6.17369850e+01] [-2.16492880e-02 1.83979991e-04 9.99765610e-01 -4.23499877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6557692310001 meters Centerline goodness [0,1] 0.9999363260108246 Centerline is valid? [True, True] Translation: X:398.73, Y:-61.74, Z:-4.24 [[ 9.86055239e-01 1.65034896e-01 2.14137498e-02 3.98725276e+02] [-1.64993370e-01 9.86287721e-01 -3.70392431e-03 -6.17392748e+01] [-2.17313952e-02 1.19147234e-04 9.99763838e-01 -4.23599462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.68576923100005 meters Centerline goodness [0,1] 0.9998512568793694 Centerline is valid? [True, True] Translation: X:398.76, Y:-61.75, Z:-4.24 [[ 9.85869680e-01 1.66180118e-01 2.10984079e-02 3.98755105e+02] [-1.66140058e-01 9.86095411e-01 -3.64985847e-03 -6.17457855e+01] [-2.14115771e-02 9.29940846e-05 9.99770742e-01 -4.23728070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7157692310001 meters Centerline goodness [0,1] 0.9998930069331508 Centerline is valid? [True, True] Translation: X:398.79, Y:-61.75, Z:-4.24 [[ 9.85744066e-01 1.66938567e-01 2.09797742e-02 3.98785484e+02] [-1.66899100e-01 9.85967296e-01 -3.63066219e-03 -6.17528422e+01] [-2.12914688e-02 7.73982830e-05 9.99773308e-01 -4.23818981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.74576923100005 meters Centerline goodness [0,1] 0.9999577068662903 Centerline is valid? [True, True] Translation: X:398.82, Y:-61.76, Z:-4.24 [[ 9.85571714e-01 1.67981206e-01 2.07535860e-02 3.98815853e+02] [-1.67942806e-01 9.85790196e-01 -3.59201117e-03 -6.17627966e+01] [-2.10620720e-02 5.47691349e-05 9.99778168e-01 -4.23899586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7757692310001 meters Centerline goodness [0,1] 0.9998107016658253 Centerline is valid? [True, True] Translation: X:398.85, Y:-61.77, Z:-4.24 [[ 9.85473020e-01 1.68617103e-01 2.02780698e-02 3.98845676e+02] [-1.68580567e-01 9.85681628e-01 -3.51020078e-03 -6.17700734e+01] [-2.05796007e-02 4.07196486e-05 9.99788217e-01 -4.24025215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.80576923100006 meters Centerline goodness [0,1] 0.9998521740966781 Centerline is valid? [True, True] Translation: X:398.88, Y:-61.78, Z:-4.24 [[ 9.85319722e-01 1.69617414e-01 1.93643857e-02 3.98876321e+02] [-1.69584285e-01 9.85509986e-01 -3.35223147e-03 -6.17765958e+01] [-1.96523924e-02 1.91242557e-05 9.99806873e-01 -4.24257112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8357692310001 meters Centerline goodness [0,1] 0.9998521085100989 Centerline is valid? [True, True] Translation: X:398.91, Y:-61.78, Z:-4.24 [[ 9.85129260e-01 1.70773183e-01 1.88907776e-02 3.98905210e+02] [-1.70741859e-01 9.85310367e-01 -3.27071013e-03 -6.17824999e+01] [-1.91718286e-02 -3.37422821e-06 9.99816204e-01 -4.24443169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.86576923100006 meters Centerline goodness [0,1] 0.999893417462483 Centerline is valid? [True, True] Translation: X:398.94, Y:-61.79, Z:-4.24 [[ 9.84534076e-01 1.74122130e-01 1.93426182e-02 3.98935422e+02] [-1.74089930e-01 9.84724062e-01 -3.34920764e-03 -6.17865430e+01] [-1.96303128e-02 -6.99460059e-05 9.99807304e-01 -4.24379545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.89576923100003 meters Centerline goodness [0,1] 0.9998519928110794 Centerline is valid? [True, True] Translation: X:398.97, Y:-61.79, Z:-4.24 [[ 9.84216286e-01 1.75815236e-01 2.01818198e-02 3.98965995e+02] [-1.75780537e-01 9.84423177e-01 -3.49451684e-03 -6.17902302e+01] [-2.04818405e-02 -1.08210747e-04 9.99790219e-01 -4.24219799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.92576923100006 meters Centerline goodness [0,1] 0.9998729136660172 Centerline is valid? [True, True] Translation: X:399.00, Y:-61.79, Z:-4.24 [[ 9.83903623e-01 1.77383045e-01 2.16544715e-02 3.98995599e+02] [-1.77343477e-01 9.84141876e-01 -3.74950931e-03 -6.17927981e+01] [-2.19761716e-02 -1.51123473e-04 9.99758483e-01 -4.23977424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.95576923100003 meters Centerline goodness [0,1] 0.9998306949970371 Centerline is valid? [True, True] Translation: X:399.03, Y:-61.80, Z:-4.24 [[ 9.83513870e-01 1.79177982e-01 2.44073392e-02 3.99025943e+02] [-1.79128270e-01 9.83816652e-01 -4.22595784e-03 -6.18007226e+01] [-2.47695453e-02 -2.15756303e-04 9.99693164e-01 -4.23628987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.98576923100006 meters Centerline goodness [0,1] 0.9999158302295731 Centerline is valid? [True, True] Translation: X:399.06, Y:-61.80, Z:-4.24 [[ 9.83406097e-01 1.79749055e-01 2.45504806e-02 3.99056845e+02] [-1.79698911e-01 9.83712470e-01 -4.25174354e-03 -6.18049391e+01] [-2.49148608e-02 -2.30504088e-04 9.99689550e-01 -4.23727906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01576923100004 meters Centerline goodness [0,1] 0.9998726303946335 Centerline is valid? [True, True] Translation: X:399.09, Y:-61.81, Z:-4.24 [[ 9.83367016e-01 1.80087289e-01 2.36194704e-02 3.99087516e+02] [-1.80040893e-01 9.83650607e-01 -4.09389871e-03 -6.18122310e+01] [-2.39705655e-02 -2.26665577e-04 9.99712639e-01 -4.24052273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.04576923100007 meters Centerline goodness [0,1] 0.9999786352177071 Centerline is valid? [True, True] Translation: X:399.12, Y:-61.82, Z:-4.25 [[ 9.83302722e-01 1.80673809e-01 2.17424139e-02 3.99116870e+02] [-1.80634628e-01 9.83543047e-01 -3.76901420e-03 -6.18175553e+01] [-2.20655622e-02 -2.21350924e-04 9.99756501e-01 -4.24504170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07576923100004 meters Centerline goodness [0,1] 0.999978696207925 Centerline is valid? [True, True] Translation: X:399.15, Y:-61.82, Z:-4.25 [[ 9.83024191e-01 1.82601946e-01 1.78876660e-02 3.99145857e+02] [-1.82575741e-01 9.83186901e-01 -3.10108911e-03 -6.18211869e+01] [-1.81531838e-02 -2.17408263e-04 9.99835194e-01 -4.25229106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.10576923100007 meters Centerline goodness [0,1] 0.999872413719778 Centerline is valid? [True, True] Translation: X:399.18, Y:-61.83, Z:-4.25 [[ 9.82854520e-01 1.83533207e-01 1.76792155e-02 3.99175615e+02] [-1.83507769e-01 9.83013483e-01 -3.06447043e-03 -6.18274747e+01] [-1.79413393e-02 -2.32344786e-04 9.99839014e-01 -4.25227548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.13576923100004 meters Centerline goodness [0,1] 0.9998734016964173 Centerline is valid? [True, True] Translation: X:399.20, Y:-61.83, Z:-4.25 [[ 9.82634493e-01 1.84633971e-01 1.84322985e-02 3.99204955e+02] [-1.84606512e-01 9.82807320e-01 -3.19504751e-03 -6.18298936e+01] [-1.87053122e-02 -2.63158442e-04 9.99825006e-01 -4.25173959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.16576923100007 meters Centerline goodness [0,1] 0.9998735111204806 Centerline is valid? [True, True] Translation: X:399.23, Y:-61.83, Z:-4.25 [[ 9.82466794e-01 1.85367754e-01 1.99447948e-02 3.99234854e+02] [-1.85335759e-01 9.82669174e-01 -3.45697853e-03 -6.18337107e+01] [-2.02399474e-02 -3.00117064e-04 9.99795106e-01 -4.25005184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.27, Y:-61.84, Z:-4.25 [[ 9.82276158e-01 1.86024993e-01 2.29837078e-02 3.99265183e+02] [-1.85982698e-01 9.82544946e-01 -3.98310749e-03 -6.18389698e+01] [-2.33234834e-02 -3.62060448e-04 9.99727905e-01 -4.24595548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.29, Y:-61.84, Z:-4.24 [[ 9.82241113e-01 1.86116604e-01 2.37277282e-02 3.99294620e+02] [-1.86071554e-01 9.82527592e-01 -4.11202256e-03 -6.18422119e+01] [-2.40784633e-02 -3.76057630e-04 9.99710001e-01 -4.24473769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.25576923100004 meters Centerline goodness [0,1] 0.9999789242960715 Centerline is valid? [True, True] Translation: X:399.33, Y:-61.85, Z:-4.25 [[ 9.82197634e-01 1.86360637e-01 2.36118865e-02 3.99325066e+02] [-1.86316101e-01 9.82481332e-01 -4.09168735e-03 -6.18463232e+01] [-2.39607672e-02 -3.80429018e-04 9.99712827e-01 -4.24547501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2857692310001 meters Centerline goodness [0,1] 0.9999360859005496 Centerline is valid? [True, True] Translation: X:399.36, Y:-61.85, Z:-4.25 [[ 9.82022236e-01 1.87601288e-01 2.09304886e-02 3.99355093e+02] [-1.87566576e-01 9.82245196e-01 -3.62704790e-03 -6.18457005e+01] [-2.12393107e-02 -3.64018393e-04 9.99774354e-01 -4.25051812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.31576923100005 meters Centerline goodness [0,1] 0.9999788104167991 Centerline is valid? [True, True] Translation: X:399.39, Y:-61.85, Z:-4.25 [[ 9.82036151e-01 1.87674471e-01 1.95778050e-02 3.99385193e+02] [-1.87644124e-01 9.82231223e-01 -3.39220117e-03 -6.18473820e+01] [-1.98665609e-02 -3.42395872e-04 9.99802582e-01 -4.25389566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3457692310001 meters Centerline goodness [0,1] 0.9999788104167991 Centerline is valid? [True, True] Translation: X:399.41, Y:-61.85, Z:-4.25 [[ 9.82040565e-01 1.87651365e-01 1.95778848e-02 3.99413936e+02] [-1.87621022e-01 9.82235638e-01 -3.39174020e-03 -6.18523160e+01] [-1.98665609e-02 -3.42396302e-04 9.99802582e-01 -4.25453745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.37576923100005 meters Centerline goodness [0,1] 0.9999365589578751 Centerline is valid? [True, True] Translation: X:399.44, Y:-61.85, Z:-4.26 [[ 9.82157433e-01 1.87116941e-01 1.88155958e-02 3.99442599e+02] [-1.87088825e-01 9.82337594e-01 -3.25927734e-03 -6.18527976e+01] [-1.90931331e-02 -3.19064240e-04 9.99817659e-01 -4.25773115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.47, Y:-61.86, Z:-4.26 [[ 9.82598516e-01 1.84765244e-01 1.90252915e-02 3.99471475e+02] [-1.84736070e-01 9.82782645e-01 -3.29493594e-03 -6.18567695e+01] [-1.93065159e-02 -2.77058421e-04 9.99813573e-01 -4.25811512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.50, Y:-61.86, Z:-4.26 [[ 9.82880099e-01 1.83173685e-01 1.98522593e-02 3.99501062e+02] [-1.83141615e-01 9.83080533e-01 -3.43711432e-03 -6.18617221e+01] [-2.01459585e-02 -2.57503573e-04 9.99797016e-01 -4.25695011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4657692310001 meters Centerline goodness [0,1] 0.9998943118645501 Centerline is valid? [True, True] Translation: X:399.53, Y:-61.87, Z:-4.26 [[ 9.83677105e-01 1.78692681e-01 2.11726124e-02 3.99530207e+02] [-1.78655177e-01 9.83904921e-01 -3.66517233e-03 -6.18687074e+01] [-2.14867770e-02 -1.77250703e-04 9.99769117e-01 -4.25517678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.49576923100005 meters Centerline goodness [0,1] 0.9998950131233596 Centerline is valid? [True, True] Translation: X:399.56, Y:-61.88, Z:-4.26 [[ 9.84260242e-01 1.75466102e-01 2.10576072e-02 3.99558874e+02] [-1.75428277e-01 9.84485467e-01 -3.64474678e-03 -6.18756677e+01] [-2.13704377e-02 -1.06720384e-04 9.99771620e-01 -4.25661693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5257692310001 meters Centerline goodness [0,1] 0.9998503634031638 Centerline is valid? [True, True] Translation: X:399.59, Y:-61.89, Z:-4.26 [[ 9.84927711e-01 1.71753076e-01 2.04519982e-02 3.99588483e+02] [-1.71716599e-01 9.85140031e-01 -3.53966997e-03 -6.18852226e+01] [-2.07560313e-02 -2.56285248e-05 9.99784570e-01 -4.25828594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.55576923100006 meters Centerline goodness [0,1] 0.9998725952350618 Centerline is valid? [True, True] Translation: X:399.62, Y:-61.90, Z:-4.26 [[ 9.86256522e-01 1.63977849e-01 2.02320752e-02 3.99616806e+02] [-1.63940520e-01 9.86464012e-01 -3.50137487e-03 -6.19036932e+01] [-2.05323620e-02 1.36396873e-04 9.99789180e-01 -4.26057850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5857692310001 meters Centerline goodness [0,1] 0.9997473524643662 Centerline is valid? [True, True] Translation: X:399.65, Y:-61.92, Z:-4.26 [[ 9.86850878e-01 1.60352198e-01 2.03105302e-02 3.99647016e+02] [-1.60313743e-01 9.87059839e-01 -3.51822179e-03 -6.19164135e+01] [-2.06118632e-02 2.15903148e-04 9.99787530e-01 -4.26133897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.61576923100006 meters Centerline goodness [0,1] 0.99980950365118 Centerline is valid? [True, True] Translation: X:399.68, Y:-61.93, Z:-4.26 [[ 9.87412016e-01 1.56855905e-01 2.03404745e-02 3.99675727e+02] [-1.56816522e-01 9.87621456e-01 -3.52688856e-03 -6.19304728e+01] [-2.06419023e-02 2.92769684e-04 9.99786890e-01 -4.26218096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.64576923100003 meters Centerline goodness [0,1] 0.9997882387819494 Centerline is valid? [True, True] Translation: X:399.71, Y:-61.94, Z:-4.26 [[ 9.87921581e-01 1.53613181e-01 2.03455298e-02 3.99706653e+02] [-1.53573056e-01 9.88130993e-01 -3.52947854e-03 -6.19421467e+01] [-2.06462230e-02 3.62322832e-04 9.99786778e-01 -4.26296977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.67576923100006 meters Centerline goodness [0,1] 0.9997889226612631 Centerline is valid? [True, True] Translation: X:399.73, Y:-61.96, Z:-4.26 [[ 9.88668766e-01 1.48658380e-01 2.08508286e-02 3.99734745e+02] [-1.48615112e-01 9.88888496e-01 -3.61820969e-03 -6.19614570e+01] [-2.11570217e-02 4.78462680e-04 9.99776051e-01 -4.26243184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.70576923100003 meters Centerline goodness [0,1] 0.999788175983393 Centerline is valid? [True, True] Translation: X:399.77, Y:-61.97, Z:-4.26 [[ 9.88772711e-01 1.47903704e-01 2.12842979e-02 3.99765758e+02] [-1.47858438e-01 9.89001638e-01 -3.69363306e-03 -6.19725066e+01] [-2.15965075e-02 5.05100512e-04 9.99766641e-01 -4.26172197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.73576923100006 meters Centerline goodness [0,1] 0.9997026274984601 Centerline is valid? [True, True] Translation: X:399.80, Y:-61.98, Z:-4.26 [[ 9.88704087e-01 1.48299579e-01 2.17132090e-02 3.99797486e+02] [-1.48252482e-01 9.88942351e-01 -3.77186588e-03 -6.19803365e+01] [-2.20324781e-02 5.10222077e-04 9.99757125e-01 -4.26133293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76576923100004 meters Centerline goodness [0,1] 0.9997259985246074 Centerline is valid? [True, True] Translation: X:399.83, Y:-61.99, Z:-4.26 [[ 9.88473936e-01 1.49716385e-01 2.24562281e-02 3.99827898e+02] [-1.49666270e-01 9.88728858e-01 -3.90552286e-03 -6.19903850e+01] [-2.27878415e-02 4.99567656e-04 9.99740199e-01 -4.26048650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.79576923100007 meters Centerline goodness [0,1] 0.9997455794428189 Centerline is valid? [True, True] Translation: X:399.86, Y:-62.00, Z:-4.26 [[ 9.87823213e-01 1.53915516e-01 2.27005378e-02 3.99857646e+02] [-1.53865324e-01 9.88083926e-01 -3.95183190e-03 -6.19987018e+01] [-2.30382848e-02 4.10885679e-04 9.99734499e-01 -4.25994486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82576923100004 meters Centerline goodness [0,1] 0.9998937391082586 Centerline is valid? [True, True] Translation: X:399.89, Y:-62.00, Z:-4.26 [[ 9.87363278e-01 1.56953742e-01 2.18924478e-02 3.99889277e+02] [-1.56907782e-01 9.87605900e-01 -3.81226957e-03 -6.20030023e+01] [-2.22194606e-02 3.28999560e-04 9.99753063e-01 -4.26196644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.85576923100007 meters Centerline goodness [0,1] 0.999827738420792 Centerline is valid? [True, True] Translation: X:399.92, Y:-62.01, Z:-4.27 [[ 9.86878316e-01 1.60158501e-01 2.05047197e-02 3.99921424e+02] [-1.60118807e-01 9.87091280e-01 -3.57387529e-03 -6.20071636e+01] [-2.08124165e-02 2.43788780e-04 9.99783368e-01 -4.26528440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.88576923100004 meters Centerline goodness [0,1] 0.999873766594433 Centerline is valid? [True, True] Translation: X:399.95, Y:-62.02, Z:-4.27 [[ 9.86084043e-01 1.65185897e-01 1.87584756e-02 3.99951299e+02] [-1.65153528e-01 9.86262441e-01 -3.27250116e-03 -6.20150204e+01] [-1.90413510e-02 1.28932741e-04 9.99818689e-01 -4.27078045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.91576923100007 meters Centerline goodness [0,1] 0.9998713660921019 Centerline is valid? [True, True] Translation: X:399.98, Y:-62.02, Z:-4.27 [[ 9.85835485e-01 1.66674956e-01 1.86508939e-02 3.99983479e+02] [-1.66643168e-01 9.86011891e-01 -3.25668569e-03 -6.20198512e+01] [-1.89328111e-02 1.02512256e-04 9.99820753e-01 -4.27102994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.94576923100004 meters Centerline goodness [0,1] 0.9999152362788727 Centerline is valid? [True, True] Translation: X:400.01, Y:-62.03, Z:-4.27 [[ 9.85611142e-01 1.68023390e-01 1.84069787e-02 4.00014766e+02] [-1.67992605e-01 9.85783006e-01 -3.21719338e-03 -6.20275730e+01] [-1.86858505e-02 7.86653359e-05 9.99825401e-01 -4.27225876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.9757692310001 meters Centerline goodness [0,1] 0.9999138358141438 Centerline is valid? [True, True] Translation: X:400.05, Y:-62.04, Z:-4.27 [[ 9.85261759e-01 1.70220530e-01 1.68593438e-02 4.00046290e+02] [-1.70194980e-01 9.85405992e-01 -2.94939563e-03 -6.20360041e+01] [-1.71153461e-02 3.65510457e-05 9.99853521e-01 -4.27465914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.00576923100004 meters Centerline goodness [0,1] 0.9998729082821436 Centerline is valid? [True, True] Translation: X:400.08, Y:-62.04, Z:-4.28 [[ 9.85030085e-01 1.71601012e-01 1.63958431e-02 4.00077429e+02] [-1.71576985e-01 9.85166530e-01 -2.87156006e-03 -6.20427193e+01] [-1.66453984e-02 1.54237338e-05 9.99861456e-01 -4.27715681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0357692310001 meters Centerline goodness [0,1] 0.9999577818588647 Centerline is valid? [True, True] Translation: X:400.11, Y:-62.05, Z:-4.28 [[ 9.84653504e-01 1.73744542e-01 1.64411538e-02 4.00110289e+02] [-1.73720629e-01 9.84790756e-01 -2.88256669e-03 -6.20477032e+01] [-1.66919265e-02 -1.78381982e-05 9.99860680e-01 -4.27724417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.06576923100005 meters Centerline goodness [0,1] 0.999978948697977 Centerline is valid? [True, True] Translation: X:400.14, Y:-62.05, Z:-4.28 [[ 9.83673166e-01 1.79104450e-01 1.75698292e-02 4.00142413e+02] [-1.79077923e-01 9.83830058e-01 -3.08449910e-03 -6.20466551e+01] [-1.78381736e-02 -1.12229526e-04 9.99840881e-01 -4.27616177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.18, Y:-62.05, Z:-4.28 [[ 9.83070362e-01 1.82362446e-01 1.77932940e-02 4.00175192e+02] [-1.82335749e-01 9.83231361e-01 -3.12507178e-03 -6.20483150e+01] [-1.80648204e-02 -1.72188136e-04 9.99836803e-01 -4.27650253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.21, Y:-62.05, Z:-4.28 [[ 9.82461156e-01 1.85627206e-01 1.76809645e-02 4.00206718e+02] [-1.85601314e-01 9.82620216e-01 -3.10859644e-03 -6.20472577e+01] [-1.79507133e-02 -2.27535001e-04 9.99838847e-01 -4.27772821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1557692310001 meters Centerline goodness [0,1] 0.9999788511970222 Centerline is valid? [True, True] Translation: X:400.24, Y:-62.04, Z:-4.28 [[ 9.81347056e-01 1.91377579e-01 1.82367283e-02 4.00239220e+02] [-1.91350990e-01 9.81516432e-01 -3.20828416e-03 -6.20415641e+01] [-1.85136422e-02 -3.41175801e-04 9.99828550e-01 -4.27639172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.27, Y:-62.04, Z:-4.27 [[ 9.80927660e-01 1.93433051e-01 1.90939953e-02 4.00271055e+02] [-1.93404294e-01 9.81113396e-01 -3.35896131e-03 -6.20432908e+01] [-1.93831087e-02 -3.97962641e-04 9.99812051e-01 -4.27499711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.30, Y:-62.04, Z:-4.27 [[ 9.80661036e-01 1.94671921e-01 2.01686788e-02 4.00301583e+02] [-1.94640023e-01 9.80868313e-01 -3.55163267e-03 -6.20396603e+01] [-2.04742211e-02 -4.42684329e-04 9.99790283e-01 -4.27415312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.33, Y:-62.04, Z:-4.27 [[ 9.80529894e-01 1.95292434e-01 2.05424440e-02 4.00332416e+02] [-1.95259476e-01 9.80744947e-01 -3.61759014e-03 -6.20446703e+01] [-2.08533861e-02 -4.63951575e-04 9.99782437e-01 -4.27345459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2757692310001 meters Centerline goodness [0,1] 0.9999785880992655 Centerline is valid? [True, True] Translation: X:400.36, Y:-62.05, Z:-4.28 [[ 9.80639533e-01 1.94820701e-01 1.97737262e-02 4.00362630e+02] [-1.94790058e-01 9.80838776e-01 -3.48269896e-03 -6.20487785e+01] [-2.00733393e-02 -4.36453003e-04 9.99798415e-01 -4.27576875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.39, Y:-62.05, Z:-4.28 [[ 9.80760777e-01 1.94266486e-01 1.92049626e-02 4.00392891e+02] [-1.94237470e-01 9.80948705e-01 -3.38277752e-03 -6.20542886e+01] [-1.94962435e-02 -4.12627845e-04 9.99809845e-01 -4.27762872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3357692310001 meters Centerline goodness [0,1] 0.999957153262779 Centerline is valid? [True, True] Translation: X:400.42, Y:-62.06, Z:-4.28 [[ 9.80854599e-01 1.93789316e-01 1.92342615e-02 4.00423534e+02] [-1.93760120e-01 9.81043087e-01 -3.38787836e-03 -6.20603912e+01] [-1.95261739e-02 -4.03816745e-04 9.99809265e-01 -4.27836214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.36576923100006 meters Centerline goodness [0,1] 0.9999788806758184 Centerline is valid? [True, True] Translation: X:400.45, Y:-62.06, Z:-4.28 [[ 9.80726797e-01 1.94314438e-01 2.04168933e-02 4.00453764e+02] [-1.94281643e-01 9.80939196e-01 -3.59676551e-03 -6.20581517e+01] [-2.07266344e-02 -4.39183266e-04 9.99785084e-01 -4.27727567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.39576923100003 meters Centerline goodness [0,1] 0.9999574404698572 Centerline is valid? [True, True] Translation: X:400.48, Y:-62.06, Z:-4.28 [[ 9.80548789e-01 1.95224324e-01 2.02863584e-02 4.00483633e+02] [-1.95192147e-01 9.80758510e-01 -3.57350477e-03 -6.20621071e+01] [-2.05936537e-02 -4.55742079e-04 9.99787824e-01 -4.27840251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.51, Y:-62.06, Z:-4.28 [[ 9.80415253e-01 1.95964657e-01 1.95904024e-02 4.00512607e+02] [-1.95934797e-01 9.80610854e-01 -3.45098410e-03 -6.20641579e+01] [-1.98868321e-02 -4.55044062e-04 9.99802134e-01 -4.27996638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.54, Y:-62.07, Z:-4.28 [[ 9.80412546e-01 1.96032327e-01 1.90411627e-02 4.00541716e+02] [-1.96004144e-01 9.80597333e-01 -3.35354351e-03 -6.20685633e+01] [-1.93291163e-02 -4.44290671e-04 9.99813076e-01 -4.28156373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.57, Y:-62.08, Z:-4.28 [[ 9.80869581e-01 1.93826398e-01 1.80607991e-02 4.00570673e+02] [-1.93800679e-01 9.81035770e-01 -3.18030163e-03 -6.20756714e+01] [-1.83347164e-02 -3.80734001e-04 9.99831832e-01 -4.28432751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.60, Y:-62.09, Z:-4.29 [[ 9.81291139e-01 1.91709448e-01 1.77535468e-02 4.00599552e+02] [-1.91684241e-01 9.81451667e-01 -3.12671376e-03 -6.20851048e+01] [-1.80236687e-02 -3.34858658e-04 9.99837504e-01 -4.28678537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.63, Y:-62.10, Z:-4.29 [[ 9.82549175e-01 1.85095852e-01 1.83478769e-02 4.00626782e+02] [-1.85067779e-01 9.82720447e-01 -3.23115276e-03 -6.21043423e+01] [-1.86289068e-02 -2.20834349e-04 9.99826442e-01 -4.28742022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.66, Y:-62.12, Z:-4.29 [[ 9.83311312e-01 1.80939200e-01 1.89702177e-02 4.00655914e+02] [-1.80908394e-01 9.83494273e-01 -3.34190833e-03 -6.21186593e+01] [-1.92617826e-02 -1.45735353e-04 9.99814464e-01 -4.28618163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.60576923100007 meters Centerline goodness [0,1] 0.9999788538803129 Centerline is valid? [True, True] Translation: X:400.69, Y:-62.13, Z:-4.29 [[ 9.83991670e-01 1.77154575e-01 1.94074672e-02 4.00686111e+02] [-1.77121536e-01 9.84183038e-01 -3.42196534e-03 -6.21330361e+01] [-1.97067168e-02 -7.02950090e-05 9.99805801e-01 -4.28554229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.63576923100004 meters Centerline goodness [0,1] 0.9999787609115817 Centerline is valid? [True, True] Translation: X:400.72, Y:-62.15, Z:-4.29 [[ 9.84987176e-01 1.71702764e-01 1.78444148e-02 4.00715691e+02] [-1.71673891e-01 9.85148801e-01 -3.14890495e-03 -6.21534402e+01] [-1.81200795e-02 3.82108704e-05 9.99835817e-01 -4.28776907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.75, Y:-62.16, Z:-4.29 [[ 9.85250474e-01 1.70332705e-01 1.63790288e-02 4.00746243e+02] [-1.70308142e-01 9.85386607e-01 -2.89322007e-03 -6.21643705e+01] [-1.66324857e-02 6.10644771e-05 9.99861669e-01 -4.29080612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.78, Y:-62.17, Z:-4.29 [[ 9.85280681e-01 1.70277126e-01 1.50890384e-02 4.00775992e+02] [-1.70256238e-01 9.85396213e-01 -2.66772613e-03 -6.21746982e+01] [-1.53229341e-02 5.94561064e-05 9.99882595e-01 -4.29485502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.81, Y:-62.18, Z:-4.29 [[ 9.85030782e-01 1.71677201e-01 1.55337716e-02 4.00808318e+02] [-1.71655186e-01 9.85153256e-01 -2.74953946e-03 -6.21797474e+01] [-1.57751789e-02 4.19285433e-05 9.99875563e-01 -4.29390856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.84, Y:-62.18, Z:-4.29 [[ 9.84673240e-01 1.73624726e-01 1.65246788e-02 4.00840417e+02] [-1.73600079e-01 9.84811888e-01 -2.92544419e-03 -6.21847689e+01] [-1.67816296e-02 1.19210679e-05 9.99859178e-01 -4.29182559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.87, Y:-62.19, Z:-4.29 [[ 9.84259212e-01 1.75858928e-01 1.75339686e-02 4.00870933e+02] [-1.75831472e-01 9.84415378e-01 -3.10754832e-03 -6.21894743e+01] [-1.78071985e-02 -2.43904444e-05 9.99841439e-01 -4.29049656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.90, Y:-62.19, Z:-4.29 [[ 9.83574145e-01 1.79581362e-01 1.82328325e-02 4.00902439e+02] [-1.79552284e-01 9.83743120e-01 -3.23289989e-03 -6.21939156e+01] [-1.85169921e-02 -9.39499858e-05 9.99828541e-01 -4.28984905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.93, Y:-62.20, Z:-4.29 [[ 9.83199846e-01 1.81595990e-01 1.84650612e-02 4.00933260e+02] [-1.81566457e-01 9.83373215e-01 -3.27756074e-03 -6.21967357e+01] [-1.87532384e-02 -1.30138505e-04 9.99824134e-01 -4.29059520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.97, Y:-62.20, Z:-4.29 [[ 9.82830991e-01 1.83561320e-01 1.86677497e-02 4.00965520e+02] [-1.83531459e-01 9.83008247e-01 -3.31511856e-03 -6.22012072e+01] [-1.89590794e-02 -1.67918083e-04 9.99820246e-01 -4.29142487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.00, Y:-62.21, Z:-4.29 [[ 9.82468625e-01 1.85498641e-01 1.85918209e-02 4.00996397e+02] [-1.85469312e-01 9.82644500e-01 -3.30465408e-03 -6.22083002e+01] [-1.88821594e-02 -2.01493285e-04 9.99821696e-01 -4.29107657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.03, Y:-62.21, Z:-4.29 [[ 9.81773673e-01 1.89202980e-01 1.79635166e-02 4.01027618e+02] [-1.89176163e-01 9.81937964e-01 -3.19603274e-03 -6.22109662e+01] [-1.82437578e-02 -2.60488346e-04 9.99833535e-01 -4.29263678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.06, Y:-62.22, Z:-4.29 [[ 9.81429511e-01 1.90951442e-01 1.82663816e-02 4.01059606e+02] [-1.90923990e-01 9.81599439e-01 -3.25132577e-03 -6.22157038e+01] [-1.85511153e-02 -2.96543399e-04 9.99827869e-01 -4.29298406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.09, Y:-62.22, Z:-4.29 [[ 9.81131999e-01 1.92470180e-01 1.83092796e-02 4.01090951e+02] [-1.92442804e-01 9.81302770e-01 -3.26211081e-03 -6.22187753e+01] [-1.85948058e-02 -3.22927814e-04 9.99827050e-01 -4.29350967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0257692310001 meters Centerline goodness [0,1] 0.9999575929773971 Centerline is valid? [True, True] Translation: X:401.12, Y:-62.22, Z:-4.29 [[ 9.80629313e-01 1.95103705e-01 1.73405492e-02 4.01122849e+02] [-1.95079509e-01 9.80782556e-01 -3.09251607e-03 -6.22220039e+01] [-1.76106695e-02 -3.50173906e-04 9.99844859e-01 -4.29491491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.05576923100006 meters Centerline goodness [0,1] 0.99991544949164 Centerline is valid? [True, True] Translation: X:401.15, Y:-62.22, Z:-4.30 [[ 9.80377090e-01 1.96409623e-01 1.68529429e-02 4.01153757e+02] [-1.96386946e-01 9.80521865e-01 -3.00645914e-03 -6.22228359e+01] [-1.71151765e-02 -3.62234325e-04 9.99853459e-01 -4.29706033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.19, Y:-62.23, Z:-4.30 [[ 9.80140715e-01 1.97582669e-01 1.68898590e-02 4.01185438e+02] [-1.97560071e-01 9.80286153e-01 -3.01276036e-03 -6.22289956e+01] [-1.71521641e-02 -3.83832637e-04 9.99852817e-01 -4.29678822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.11576923100006 meters Centerline goodness [0,1] 0.9999576576195114 Centerline is valid? [True, True] Translation: X:401.22, Y:-62.23, Z:-4.30 [[ 9.79671975e-01 1.99765931e-01 1.83410672e-02 4.01217358e+02] [-1.99739600e-01 9.79843542e-01 -3.27508678e-03 -6.22280345e+01] [-1.86256270e-02 -4.54926701e-04 9.99826424e-01 -4.29523888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.14576923100003 meters Centerline goodness [0,1] 0.9998731581506458 Centerline is valid? [True, True] Translation: X:401.25, Y:-62.23, Z:-4.29 [[ 9.79373657e-01 2.01169064e-01 1.89274406e-02 4.01249207e+02] [-2.01141222e-01 9.79556412e-01 -3.38304007e-03 -6.22301348e+01] [-1.92210588e-02 -4.93828194e-04 9.99815136e-01 -4.29465952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.17576923100006 meters Centerline goodness [0,1] 0.9999789314006405 Centerline is valid? [True, True] Translation: X:401.28, Y:-62.23, Z:-4.30 [[ 9.79058988e-01 2.02724328e-01 1.86103410e-02 4.01280329e+02] [-2.02697659e-01 9.79235714e-01 -3.32812767e-03 -6.22316511e+01] [-1.88986030e-02 -5.13839242e-04 9.99821273e-01 -4.29599975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.20576923100003 meters Centerline goodness [0,1] 0.9999359890754689 Centerline is valid? [True, True] Translation: X:401.31, Y:-62.23, Z:-4.30 [[ 9.78432510e-01 2.06000097e-01 1.52900049e-02 4.01311981e+02] [-2.05982485e-01 9.78551857e-01 -2.73498546e-03 -6.22305683e+01] [-1.55254699e-02 -4.73474503e-04 9.99879361e-01 -4.30282877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.23576923100006 meters Centerline goodness [0,1] 0.9996833438885371 Centerline is valid? [True, True] Translation: X:401.34, Y:-62.23, Z:-4.31 [[ 9.78044759e-01 2.07924660e-01 1.39922885e-02 4.01341949e+02] [-2.07910101e-01 9.78144735e-01 -2.50328577e-03 -6.22275139e+01] [-1.42069782e-02 -4.60812585e-04 9.99898970e-01 -4.30673431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26576923100004 meters Centerline goodness [0,1] 0.9996833438885371 Centerline is valid? [True, True] Translation: X:401.37, Y:-62.23, Z:-4.31 [[ 9.78049447e-01 2.07902617e-01 1.39921665e-02 4.01370677e+02] [-2.07888047e-01 9.78149421e-01 -2.50396736e-03 -6.22326085e+01] [-1.42070110e-02 -4.59800270e-04 9.99898970e-01 -4.30737644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.29576923100007 meters Centerline goodness [0,1] 0.9997863430476027 Centerline is valid? [True, True] Translation: X:401.40, Y:-62.23, Z:-4.31 [[ 9.77265669e-01 2.11516960e-01 1.45735126e-02 4.01402029e+02] [-2.11501562e-01 9.77374181e-01 -2.60747698e-03 -6.22317637e+01] [-1.47953005e-02 -5.34122945e-04 9.99890401e-01 -4.30609877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32576923100004 meters Centerline goodness [0,1] 0.9993218614902094 Centerline is valid? [True, True] Translation: X:401.43, Y:-62.23, Z:-4.30 [[ 9.76856283e-01 2.13323131e-01 1.56538979e-02 4.01431418e+02] [-2.13305592e-01 9.76981514e-01 -2.80106660e-03 -6.22283059e+01] [-1.58911011e-02 -6.02824449e-04 9.99873547e-01 -4.30495098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.35576923100007 meters Centerline goodness [0,1] 0.9993413924238883 Centerline is valid? [True, True] Translation: X:401.46, Y:-62.23, Z:-4.30 [[ 9.76563659e-01 2.14559192e-01 1.69638996e-02 4.01459436e+02] [-2.14538795e-01 9.76710754e-01 -3.03461857e-03 -6.22289111e+01] [-1.72199285e-02 -6.75916381e-04 9.99851498e-01 -4.30329828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.38576923100004 meters Centerline goodness [0,1] 0.9995740511990459 Centerline is valid? [True, True] Translation: X:401.49, Y:-62.23, Z:-4.30 [[ 9.76361012e-01 2.15332021e-01 1.87428352e-02 4.01488030e+02] [-2.15307289e-01 9.76540597e-01 -3.35160542e-03 -6.22334605e+01] [-1.90248475e-02 -7.63092170e-04 9.99818720e-01 -4.30067331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.41576923100007 meters Centerline goodness [0,1] 0.999595615622007 Centerline is valid? [True, True] Translation: X:401.52, Y:-62.23, Z:-4.30 [[ 9.76340521e-01 2.15276452e-01 2.03773726e-02 4.01516333e+02] [-2.15247226e-01 9.76552795e-01 -3.64285591e-03 -6.22333980e+01] [-2.06838013e-02 -8.29505093e-04 9.99785723e-01 -4.29797398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.44576923100004 meters Centerline goodness [0,1] 0.999639883915521 Centerline is valid? [True, True] Translation: X:401.54, Y:-62.24, Z:-4.30 [[ 9.76361605e-01 2.15197295e-01 2.02025071e-02 4.01544206e+02] [-2.15168577e-01 9.76570248e-01 -3.61041075e-03 -6.22355519e+01] [-2.05061180e-02 -8.21878254e-04 9.99789390e-01 -4.29850262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.4757692310001 meters Centerline goodness [0,1] 0.9987779182469448 Centerline is valid? [True, True] Translation: X:401.57, Y:-62.23, Z:-4.30 [[ 9.76421191e-01 2.14939863e-01 2.00627062e-02 4.01572623e+02] [-2.14911510e-01 9.76626948e-01 -3.58426769e-03 -6.22342512e+01] [-2.03641815e-02 -8.11951552e-04 9.99792299e-01 -4.29987846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.50576923100004 meters Centerline goodness [0,1] 0.999509123892861 Centerline is valid? [True, True] Translation: X:401.60, Y:-62.24, Z:-4.30 [[ 9.76519942e-01 2.14480189e-01 2.01755420e-02 4.01600423e+02] [-2.14451444e-01 9.76728005e-01 -3.60313253e-03 -6.22416646e+01] [-2.04788175e-02 -8.08143355e-04 9.99789960e-01 -4.30032584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5357692310001 meters Centerline goodness [0,1] 0.9992304897077998 Centerline is valid? [True, True] Translation: X:401.63, Y:-62.24, Z:-4.30 [[ 9.76580164e-01 2.14146869e-01 2.07918664e-02 4.01628449e+02] [-2.14116287e-01 9.76801124e-01 -3.71221630e-03 -6.22408192e+01] [-2.11044780e-02 -8.26600432e-04 9.99776934e-01 -4.30002530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.56576923100005 meters Centerline goodness [0,1] 0.999303371260898 Centerline is valid? [True, True] Translation: X:401.66, Y:-62.24, Z:-4.30 [[ 9.76461069e-01 2.14726487e-01 2.04038571e-02 4.01656811e+02] [-2.14697187e-01 9.76673874e-01 -3.64171104e-03 -6.22415335e+01] [-2.07098859e-02 -8.24661666e-04 9.99785187e-01 -4.30150387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5957692310001 meters Centerline goodness [0,1] 0.9993622177813682 Centerline is valid? [True, True] Translation: X:401.69, Y:-62.24, Z:-4.30 [[ 9.76428662e-01 2.14920538e-01 1.99055357e-02 4.01685337e+02] [-2.14892720e-01 9.76631203e-01 -3.55138545e-03 -6.22433101e+01] [-2.02036329e-02 -8.09880164e-04 9.99795558e-01 -4.30340583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.62576923100005 meters Centerline goodness [0,1] 0.9995134952195617 Centerline is valid? [True, True] Translation: X:401.71, Y:-62.24, Z:-4.30 [[ 9.76558991e-01 2.14351810e-01 1.96427663e-02 4.01714178e+02] [-2.14324625e-01 9.76756203e-01 -3.50361800e-03 -6.22433469e+01] [-1.99372007e-02 -7.88438847e-04 9.99800923e-01 -4.30471483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6557692310001 meters Centerline goodness [0,1] 0.9991342539803201 Centerline is valid? [True, True] Translation: X:401.74, Y:-62.24, Z:-4.31 [[ 9.76772324e-01 2.13372302e-01 1.96999438e-02 4.01743048e+02] [-2.13344776e-01 9.76970658e-01 -3.51293818e-03 -6.22417784e+01] [-1.99958307e-02 -7.71539313e-04 9.99799766e-01 -4.30556039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.68576923100005 meters Centerline goodness [0,1] 0.9996211403674938 Centerline is valid? [True, True] Translation: X:401.77, Y:-62.25, Z:-4.31 [[ 9.77166326e-01 2.11489565e-01 2.04483673e-02 4.01772255e+02] [-2.11459523e-01 9.77379958e-01 -3.64516311e-03 -6.22453149e+01] [-2.07567384e-02 -7.62071357e-04 9.99784265e-01 -4.30527988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7157692310001 meters Centerline goodness [0,1] 0.9998062015503876 Centerline is valid? [True, True] Translation: X:401.80, Y:-62.25, Z:-4.30 [[ 9.77360203e-01 2.10531042e-01 2.10645074e-02 4.01800403e+02] [-2.10498955e-01 9.77586874e-01 -3.75427388e-03 -6.22544399e+01] [-2.13827771e-02 -7.64778901e-04 9.99771070e-01 -4.30468191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.74576923100005 meters Centerline goodness [0,1] 0.9993889462483406 Centerline is valid? [True, True] Translation: X:401.83, Y:-62.25, Z:-4.31 [[ 9.77569082e-01 2.09583241e-01 2.08219894e-02 4.01829428e+02] [-2.09551689e-01 9.77790531e-01 -3.71032576e-03 -6.22502986e+01] [-2.11371661e-02 -7.36183297e-04 9.99776314e-01 -4.30549756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7757692310001 meters Centerline goodness [0,1] 0.9995983256521923 Centerline is valid? [True, True] Translation: X:401.86, Y:-62.25, Z:-4.31 [[ 9.78286099e-01 2.06399217e-01 1.88592586e-02 4.01857996e+02] [-2.06372764e-01 9.78467678e-01 -3.35946703e-03 -6.22538630e+01] [-1.91465663e-02 -6.05517414e-04 9.99816504e-01 -4.30998232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.89, Y:-62.27, Z:-4.31 [[ 9.78827279e-01 2.03896639e-01 1.79810354e-02 4.01885713e+02] [-2.03872175e-01 9.78992277e-01 -3.20269761e-03 -6.22655084e+01] [-1.82563141e-02 -5.30945014e-04 9.99833199e-01 -4.31177835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8357692310001 meters Centerline goodness [0,1] 0.9999572558238939 Centerline is valid? [True, True] Translation: X:401.91, Y:-62.27, Z:-4.31 [[ 9.79408426e-01 2.01127725e-01 1.75149260e-02 4.01913446e+02] [-2.01104081e-01 9.79564913e-01 -3.11912227e-03 -6.22711004e+01] [-1.77843489e-02 -4.67428468e-04 9.99841737e-01 -4.31310621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.94, Y:-62.28, Z:-4.31 [[ 9.79990294e-01 1.98270304e-01 1.75473427e-02 4.01941169e+02] [-1.98246129e-01 9.80147291e-01 -3.12406687e-03 -6.22780782e+01] [-1.78183901e-02 -4.17137563e-04 9.99841153e-01 -4.31380622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.89576923100003 meters Centerline goodness [0,1] 0.9999787098147754 Centerline is valid? [True, True] Translation: X:401.97, Y:-62.29, Z:-4.31 [[ 9.81062170e-01 1.92810330e-01 1.84714703e-02 4.01969140e+02] [-1.92782592e-01 9.81235988e-01 -3.28759020e-03 -6.22884226e+01] [-1.87587528e-02 -3.35647558e-04 9.99823983e-01 -4.31347808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.00, Y:-62.30, Z:-4.31 [[ 9.81561961e-01 1.90222594e-01 1.87478441e-02 4.01996752e+02] [-1.90193555e-01 9.81740943e-01 -3.33639718e-03 -6.22968034e+01] [-1.90401843e-02 -2.90838570e-04 9.99818677e-01 -4.31385316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.02, Y:-62.31, Z:-4.31 [[ 9.81952670e-01 1.88156562e-01 1.91327460e-02 4.02024707e+02] [-1.88125944e-01 9.82139014e-01 -3.40398462e-03 -6.23053337e+01] [-1.94314983e-02 -2.56814109e-04 9.99811158e-01 -4.31430749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.05, Y:-62.32, Z:-4.31 [[ 9.82506025e-01 1.85216926e-01 1.94062364e-02 4.02052241e+02] [-1.85184871e-01 9.82697639e-01 -3.45170102e-03 -6.23184933e+01] [-1.97097761e-02 -2.02424320e-04 9.99805723e-01 -4.31429450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.08, Y:-62.33, Z:-4.32 [[ 9.82669383e-01 1.84388719e-01 1.90180062e-02 4.02079677e+02] [-1.84357791e-01 9.82853380e-01 -3.38202836e-03 -6.23261051e+01] [-1.93155195e-02 -1.82701880e-04 9.99813421e-01 -4.31535082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.04576923100007 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:402.11, Y:-62.33, Z:-4.32 [[ 9.82708660e-01 1.84219766e-01 1.86216864e-02 4.02107136e+02] [-1.84190098e-01 9.82885063e-01 -3.31073734e-03 -6.23317025e+01] [-1.89128806e-02 -1.76439981e-04 9.99821120e-01 -4.31682097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.13, Y:-62.34, Z:-4.32 [[ 9.82556895e-01 1.85008849e-01 1.88062136e-02 4.02134480e+02] [-1.84978756e-01 9.82736835e-01 -3.34244139e-03 -6.23355147e+01] [-1.90999400e-02 -1.94611162e-04 9.99817561e-01 -4.31741820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.16, Y:-62.34, Z:-4.32 [[ 9.82353460e-01 1.86052933e-01 1.91307789e-02 4.02163277e+02] [-1.86022013e-01 9.82539698e-01 -3.39892361e-03 -6.23415610e+01] [-1.94291294e-02 -2.19801637e-04 9.99811212e-01 -4.31753806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.19, Y:-62.34, Z:-4.32 [[ 9.82119898e-01 1.87233441e-01 1.95995857e-02 4.02192187e+02] [-1.87201232e-01 9.82315416e-01 -3.48174464e-03 -6.23444603e+01] [-1.99048742e-02 -2.49575889e-04 9.99801847e-01 -4.31731577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.16576923100007 meters Centerline goodness [0,1] 0.999978769479003 Centerline is valid? [True, True] Translation: X:402.22, Y:-62.34, Z:-4.32 [[ 9.81660592e-01 1.89512207e-01 2.06786136e-02 4.02221098e+02] [-1.89476875e-01 9.81878315e-01 -3.67265505e-03 -6.23412960e+01] [-2.09998953e-02 -3.12818365e-04 9.99779429e-01 -4.31571612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.19576923100004 meters Centerline goodness [0,1] 0.9999571082373631 Centerline is valid? [True, True] Translation: X:402.25, Y:-62.35, Z:-4.32 [[ 9.81434034e-01 1.90727052e-01 2.02590255e-02 4.02248889e+02] [-1.90693426e-01 9.81643052e-01 -3.59675758e-03 -6.23471551e+01] [-2.05731306e-02 -3.33282674e-04 9.99788295e-01 -4.31628055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2257692310001 meters Centerline goodness [0,1] 0.9999151013477661 Centerline is valid? [True, True] Translation: X:402.28, Y:-62.35, Z:-4.32 [[ 9.80879019e-01 1.93766445e-01 1.81910656e-02 4.02278029e+02] [-1.93739878e-01 9.81047622e-01 -3.22840458e-03 -6.23451426e+01] [-1.84718581e-02 -3.57660521e-04 9.99829317e-01 -4.32122599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.25576923100004 meters Centerline goodness [0,1] 0.999830069246782 Centerline is valid? [True, True] Translation: X:402.31, Y:-62.34, Z:-4.32 [[ 9.80692627e-01 1.94747298e-01 1.77612368e-02 4.02307012e+02] [-1.94722142e-01 9.80853381e-01 -3.15161311e-03 -6.23413793e+01] [-1.80349373e-02 -3.67742335e-04 9.99837290e-01 -4.32381510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2857692310001 meters Centerline goodness [0,1] 0.9998508321435421 Centerline is valid? [True, True] Translation: X:402.33, Y:-62.35, Z:-4.32 [[ 9.80577860e-01 1.95291676e-01 1.81168914e-02 4.02334936e+02] [-1.95265620e-01 9.80745131e-01 -3.21338665e-03 -6.23492032e+01] [-1.83956007e-02 -3.86630237e-04 9.99830712e-01 -4.32289577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.31576923100005 meters Centerline goodness [0,1] 0.9997231391758066 Centerline is valid? [True, True] Translation: X:402.36, Y:-62.35, Z:-4.32 [[ 9.80512139e-01 1.95578206e-01 1.85771475e-02 4.02362381e+02] [-1.95550877e-01 9.80688025e-01 -3.29413257e-03 -6.23518293e+01] [-1.88626467e-02 -4.02840517e-04 9.99822003e-01 -4.32249272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3457692310001 meters Centerline goodness [0,1] 0.9998515250498452 Centerline is valid? [True, True] Translation: X:402.39, Y:-62.35, Z:-4.32 [[ 9.80248859e-01 1.96935417e-01 1.81277560e-02 4.02391506e+02] [-1.96909647e-01 9.80416374e-01 -3.21333929e-03 -6.23518622e+01] [-1.84055691e-02 -4.19657860e-04 9.99830515e-01 -4.32368950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.37576923100005 meters Centerline goodness [0,1] 0.9997883284296086 Centerline is valid? [True, True] Translation: X:402.42, Y:-62.35, Z:-4.33 [[ 9.80038111e-01 1.98062665e-01 1.72186470e-02 4.02420803e+02] [-1.98039603e-01 9.80189270e-01 -3.05141930e-03 -6.23536435e+01] [-1.74819052e-02 -4.19466796e-04 9.99847092e-01 -4.32663401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4057692310001 meters Centerline goodness [0,1] 0.9999356954536686 Centerline is valid? [True, True] Translation: X:402.45, Y:-62.36, Z:-4.33 [[ 9.79962497e-01 1.98522153e-01 1.62006068e-02 4.02449202e+02] [-1.98501811e-01 9.80096318e-01 -2.87030155e-03 -6.23576244e+01] [-1.64479735e-02 -4.03061934e-04 9.99864642e-01 -4.32919371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.43576923100005 meters Centerline goodness [0,1] 0.9997671169073126 Centerline is valid? [True, True] Translation: X:402.48, Y:-62.35, Z:-4.33 [[ 9.80029252e-01 1.98262239e-01 1.53215416e-02 4.02477901e+02] [-1.98244022e-01 9.80148939e-01 -2.71402028e-03 -6.23542234e+01] [-1.55554805e-02 -3.77584768e-04 9.99878935e-01 -4.33377795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4657692310001 meters Centerline goodness [0,1] 0.9996185228356469 Centerline is valid? [True, True] Translation: X:402.51, Y:-62.37, Z:-4.33 [[ 9.80374875e-01 1.96400480e-01 1.70867048e-02 4.02505055e+02] [-1.96377566e-01 9.80523687e-01 -3.02519021e-03 -6.23661696e+01] [-1.73480676e-02 -3.89625013e-04 9.99849435e-01 -4.32940016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.49576923100005 meters Centerline goodness [0,1] 0.9998098337101443 Centerline is valid? [True, True] Translation: X:402.53, Y:-62.37, Z:-4.33 [[ 9.80425972e-01 1.95982381e-01 1.88631599e-02 4.02532685e+02] [-1.95954396e-01 9.80607326e-01 -3.33877858e-03 -6.23701491e+01] [-1.91516945e-02 -4.22893860e-04 9.99816500e-01 -4.32647675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5257692310001 meters Centerline goodness [0,1] 0.9997033332626984 Centerline is valid? [True, True] Translation: X:402.56, Y:-62.37, Z:-4.33 [[ 9.80355505e-01 1.96255250e-01 1.96713365e-02 4.02561733e+02] [-1.96224898e-01 9.80552740e-01 -3.48045069e-03 -6.23677993e+01] [-1.99718396e-02 -4.47926998e-04 9.99800443e-01 -4.32564166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.55576923100006 meters Centerline goodness [0,1] 0.9998508194275728 Centerline is valid? [True, True] Translation: X:402.59, Y:-62.37, Z:-4.33 [[ 9.79888868e-01 1.98752089e-01 1.77598597e-02 4.02591039e+02] [-1.98727777e-01 9.80049694e-01 -3.14121221e-03 -6.23715393e+01] [-1.80298676e-02 -4.51338560e-04 9.99837347e-01 -4.32976203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5857692310001 meters Centerline goodness [0,1] 0.9999569651848346 Centerline is valid? [True, True] Translation: X:402.62, Y:-62.38, Z:-4.33 [[ 9.79651690e-01 1.99966555e-01 1.72029738e-02 4.02619218e+02] [-1.99943936e-01 9.79802616e-01 -3.04245563e-03 -6.23775621e+01] [-1.74639081e-02 -4.59083492e-04 9.99847389e-01 -4.33086758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.61576923100006 meters Centerline goodness [0,1] 0.9997676089069168 Centerline is valid? [True, True] Translation: X:402.65, Y:-62.37, Z:-4.33 [[ 9.79457243e-01 2.00893365e-01 1.74746876e-02 4.02648095e+02] [-2.00870186e-01 9.79612996e-01 -3.08974838e-03 -6.23714079e+01] [-1.77391410e-02 -4.83867318e-04 9.99842532e-01 -4.33197002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.64576923100003 meters Centerline goodness [0,1] 0.9997037475929492 Centerline is valid? [True, True] Translation: X:402.68, Y:-62.38, Z:-4.33 [[ 9.79341651e-01 2.01302638e-01 1.91619114e-02 4.02676691e+02] [-2.01274879e-01 9.79528946e-01 -3.38628245e-03 -6.23753699e+01] [-1.94513145e-02 -5.40483968e-04 9.99810659e-01 -4.32928185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.67576923100006 meters Centerline goodness [0,1] 0.9997239446190436 Centerline is valid? [True, True] Translation: X:402.70, Y:-62.38, Z:-4.33 [[ 9.79594283e-01 2.00050833e-01 1.93573020e-02 4.02704548e+02] [-2.00022280e-01 9.79785381e-01 -3.41989535e-03 -6.23755153e+01] [-1.96501544e-02 -5.21781742e-04 9.99806781e-01 -4.32940560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.70576923100003 meters Centerline goodness [0,1] 0.9998096849228166 Centerline is valid? [True, True] Translation: X:402.73, Y:-62.38, Z:-4.33 [[ 9.80400329e-01 1.96183798e-01 1.80862424e-02 4.02731852e+02] [-1.96158234e-01 9.80567052e-01 -3.19423737e-03 -6.23840086e+01] [-1.83614310e-02 -4.16133990e-04 9.99831328e-01 -4.33270943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.73576923100006 meters Centerline goodness [0,1] 0.9998090955370779 Centerline is valid? [True, True] Translation: X:402.76, Y:-62.39, Z:-4.33 [[ 9.80835129e-01 1.94057900e-01 1.74350441e-02 4.02760393e+02] [-1.94033817e-01 9.80990010e-01 -3.07866765e-03 -6.23910630e+01] [-1.77010438e-02 -3.63322780e-04 9.99843258e-01 -4.33468778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76576923100004 meters Centerline goodness [0,1] 0.9998715588474547 Centerline is valid? [True, True] Translation: X:402.79, Y:-62.40, Z:-4.33 [[ 9.81129233e-01 1.92554024e-01 1.75606253e-02 4.02788309e+02] [-1.92529362e-01 9.81286315e-01 -3.10029653e-03 -6.23967571e+01] [-1.78289758e-02 -3.39144418e-04 9.99840994e-01 -4.33484664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.79576923100007 meters Centerline goodness [0,1] 0.9998299789598963 Centerline is valid? [True, True] Translation: X:402.82, Y:-62.40, Z:-4.33 [[ 9.81025793e-01 1.92826554e-01 2.01572366e-02 4.02815641e+02] [-1.92794137e-01 9.81232777e-01 -3.55773489e-03 -6.23951635e+01] [-2.04649670e-02 -3.95967343e-04 9.99790492e-01 -4.32922762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82576923100004 meters Centerline goodness [0,1] 0.9996631862579993 Centerline is valid? [True, True] Translation: X:402.84, Y:-62.39, Z:-4.33 [[ 9.80626751e-01 1.94833025e-01 2.02797145e-02 4.02844636e+02] [-1.94800674e-01 9.80836325e-01 -3.57775176e-03 -6.23877777e+01] [-2.05881449e-02 -4.42062983e-04 9.99787944e-01 -4.32972998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.85576923100007 meters Centerline goodness [0,1] 0.9996807491752687 Centerline is valid? [True, True] Translation: X:402.87, Y:-62.39, Z:-4.33 [[ 9.80074934e-01 1.97647493e-01 1.97127373e-02 4.02874371e+02] [-1.97617522e-01 9.80273038e-01 -3.47637534e-03 -6.23893573e+01] [-2.00109618e-02 -4.88473968e-04 9.99799641e-01 -4.33105561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.88576923100004 meters Centerline goodness [0,1] 0.9996835509799371 Centerline is valid? [True, True] Translation: X:402.90, Y:-62.39, Z:-4.33 [[ 9.79632908e-01 1.99934191e-01 1.85925813e-02 4.02903920e+02] [-1.99907947e-01 9.79809198e-01 -3.27849254e-03 -6.23904633e+01] [-1.88726649e-02 -5.05085587e-04 9.99821768e-01 -4.33366854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.91576923100007 meters Centerline goodness [0,1] 0.9995558751374672 Centerline is valid? [True, True] Translation: X:402.93, Y:-62.39, Z:-4.34 [[ 9.79210538e-01 2.02054781e-01 1.79049815e-02 4.02934470e+02] [-2.02030807e-01 9.79374080e-01 -3.15665464e-03 -6.23860305e+01] [-1.81734920e-02 -5.26328380e-04 9.99834710e-01 -4.33549203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.94576923100004 meters Centerline goodness [0,1] 0.9998734150509504 Centerline is valid? [True, True] Translation: X:402.96, Y:-62.39, Z:-4.33 [[ 9.79211148e-01 2.01934734e-01 1.91804644e-02 4.02963354e+02] [-2.01907213e-01 9.79398819e-01 -3.38083181e-03 -6.23906518e+01] [-1.94680316e-02 -5.62125920e-04 9.99810322e-01 -4.33343480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.9757692310001 meters Centerline goodness [0,1] 0.9995781391718872 Centerline is valid? [True, True] Translation: X:402.99, Y:-62.39, Z:-4.33 [[ 9.79630548e-01 1.99643275e-01 2.15998214e-02 4.02992997e+02] [-1.99607842e-01 9.79868472e-01 -3.80611281e-03 -6.23864971e+01] [-2.19248488e-02 -5.82909369e-04 9.99759452e-01 -4.32921918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.00576923100004 meters Centerline goodness [0,1] 0.9997658677791494 Centerline is valid? [True, True] Translation: X:403.02, Y:-62.39, Z:-4.33 [[ 9.80004660e-01 1.97850879e-01 2.11162525e-02 4.03020649e+02] [-1.97816620e-01 9.80231986e-01 -3.71991584e-03 -6.23944607e+01] [-2.14348148e-02 -5.31610855e-04 9.99770107e-01 -4.33030188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0357692310001 meters Centerline goodness [0,1] 0.999808298543069 Centerline is valid? [True, True] Translation: X:403.05, Y:-62.41, Z:-4.33 [[ 9.80374341e-01 1.96137800e-01 1.99026176e-02 4.03047485e+02] [-1.96107030e-01 9.80576231e-01 -3.50531323e-03 -6.24087562e+01] [-2.02035582e-02 -4.66524070e-04 9.99795778e-01 -4.33337474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.06576923100005 meters Centerline goodness [0,1] 0.9999354963555441 Centerline is valid? [True, True] Translation: X:403.07, Y:-62.42, Z:-4.34 [[ 9.81004474e-01 1.93119306e-01 1.83072691e-02 4.03074750e+02] [-1.93092761e-01 9.81175211e-01 -3.22349221e-03 -6.24188291e+01] [-1.85851572e-02 -3.72740859e-04 9.99827212e-01 -4.33604125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0957692310001 meters Centerline goodness [0,1] 0.9999788641599561 Centerline is valid? [True, True] Translation: X:403.10, Y:-62.42, Z:-4.33 [[ 9.81128797e-01 1.92387007e-01 1.93267346e-02 4.03102640e+02] [-1.92357295e-01 9.81319059e-01 -3.40228213e-03 -6.24229923e+01] [-1.96202479e-02 -3.79561412e-04 9.99807432e-01 -4.33489049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.12576923100005 meters Centerline goodness [0,1] 0.9998729082821436 Centerline is valid? [True, True] Translation: X:403.13, Y:-62.43, Z:-4.33 [[ 9.81239039e-01 1.91602020e-01 2.14152728e-02 4.03130834e+02] [-1.91565385e-01 9.81472619e-01 -3.76845290e-03 -6.24298614e+01] [-2.17405471e-02 -4.04671878e-04 9.99763564e-01 -4.33187597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1557692310001 meters Centerline goodness [0,1] 0.9998729082821436 Centerline is valid? [True, True] Translation: X:403.16, Y:-62.43, Z:-4.33 [[ 9.81252560e-01 1.91532743e-01 2.14154497e-02 4.03157933e+02] [-1.91496113e-01 9.81486141e-01 -3.76744769e-03 -6.24344900e+01] [-2.17405566e-02 -4.04157679e-04 9.99763564e-01 -4.33248100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.18576923100005 meters Centerline goodness [0,1] 0.9998933901918976 Centerline is valid? [True, True] Translation: X:403.19, Y:-62.45, Z:-4.33 [[ 9.81468813e-01 1.90209132e-01 2.32261842e-02 4.03185580e+02] [-1.90165717e-01 9.81743510e-01 -4.08420908e-03 -6.24451261e+01] [-2.35790094e-02 -4.08300139e-04 9.99721893e-01 -4.32942923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2157692310001 meters Centerline goodness [0,1] 0.9998938586621946 Centerline is valid? [True, True] Translation: X:403.21, Y:-62.45, Z:-4.33 [[ 9.81586863e-01 1.89693860e-01 2.24381317e-02 4.03213753e+02] [-1.89653231e-01 9.81843212e-01 -3.94457233e-03 -6.24534745e+01] [-2.27789884e-02 -3.83523777e-04 9.99740452e-01 -4.33171791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.24576923100005 meters Centerline goodness [0,1] 0.9998728921277857 Centerline is valid? [True, True] Translation: X:403.24, Y:-62.46, Z:-4.33 [[ 9.81771327e-01 1.88910333e-01 2.09272011e-02 4.03240603e+02] [-1.88874834e-01 9.81994282e-01 -3.67801494e-03 -6.24608387e+01] [-2.12452068e-02 -3.41652017e-04 9.99774237e-01 -4.33499698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2757692310001 meters Centerline goodness [0,1] 0.9999575704860301 Centerline is valid? [True, True] Translation: X:403.27, Y:-62.47, Z:-4.34 [[ 9.81998713e-01 1.87846171e-01 1.98076448e-02 4.03267622e+02] [-1.87814184e-01 9.82198414e-01 -3.47968390e-03 -6.24686144e+01] [-2.01086826e-02 -3.03111521e-04 9.99797754e-01 -4.33824352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.29, Y:-62.49, Z:-4.34 [[ 9.82602574e-01 1.84720065e-01 1.92530388e-02 4.03293442e+02] [-1.84689267e-01 9.82791149e-01 -3.38109449e-03 -6.24864966e+01] [-1.95462722e-02 -2.33557475e-04 9.99808926e-01 -4.33996650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.32, Y:-62.50, Z:-4.34 [[ 9.82931006e-01 1.82984701e-01 1.90587823e-02 4.03320527e+02] [-1.82954213e-01 9.83115741e-01 -3.34606742e-03 -6.24970409e+01] [-1.93492680e-02 -1.97931099e-04 9.99812766e-01 -4.34068230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.36576923100006 meters Centerline goodness [0,1] 0.9999788404570461 Centerline is valid? [True, True] Translation: X:403.35, Y:-62.51, Z:-4.34 [[ 9.83214856e-01 1.81538479e-01 1.82298301e-02 4.03347168e+02] [-1.81510351e-01 9.83383829e-01 -3.19972168e-03 -6.25056607e+01] [-1.85077927e-02 -1.62888974e-04 9.99828703e-01 -4.34258972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.39576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.37, Y:-62.52, Z:-4.34 [[ 9.83479152e-01 1.80213673e-01 1.70818419e-02 4.03374007e+02] [-1.80188794e-01 9.83627478e-01 -2.99721491e-03 -6.25167455e+01] [-1.73423081e-02 -1.30258110e-04 9.99849602e-01 -4.34494838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.42576923100006 meters Centerline goodness [0,1] 0.9999788032303877 Centerline is valid? [True, True] Translation: X:403.40, Y:-62.52, Z:-4.35 [[ 9.83499919e-01 1.80049467e-01 1.76096155e-02 4.03401291e+02] [-1.80023016e-01 9.83657548e-01 -3.08894239e-03 -6.25228303e+01] [-1.78779937e-02 -1.32161505e-04 9.99840167e-01 -4.34515197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.43, Y:-62.53, Z:-4.34 [[ 9.83676143e-01 1.78782747e-01 2.04444626e-02 4.03428352e+02] [-1.78746852e-01 9.83888567e-01 -3.58467990e-03 -6.25340198e+01] [-2.07559520e-02 -1.28219247e-04 9.99784564e-01 -4.33997081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.46, Y:-62.54, Z:-4.34 [[ 9.83829263e-01 1.77862177e-01 2.10956692e-02 4.03456006e+02] [-1.77823769e-01 9.84055402e-01 -3.69780335e-03 -6.25417397e+01] [-2.14170066e-02 -1.13304275e-04 9.99770623e-01 -4.33917453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.48, Y:-62.55, Z:-4.34 [[ 9.84017746e-01 1.76828470e-01 2.09944712e-02 4.03484345e+02] [-1.76790217e-01 9.84241680e-01 -3.67903427e-03 -6.25507698e+01] [-2.13141916e-02 -9.13821096e-05 9.99772823e-01 -4.34077773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.51, Y:-62.56, Z:-4.35 [[ 9.84598882e-01 1.73794767e-01 1.89847467e-02 4.03511646e+02] [-1.73762934e-01 9.84781894e-01 -3.32632005e-03 -6.25648154e+01] [-1.92739318e-02 -2.37542857e-05 9.99814240e-01 -4.34565973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.54, Y:-62.58, Z:-4.35 [[ 9.84979027e-01 1.71741308e-01 1.79231434e-02 4.03540614e+02] [-1.71712591e-01 9.85142083e-01 -3.14059621e-03 -6.25750656e+01] [-1.81962129e-02 1.57920052e-05 9.99834435e-01 -4.34775165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.60576923100007 meters Centerline goodness [0,1] 0.9999577720535451 Centerline is valid? [True, True] Translation: X:403.57, Y:-62.59, Z:-4.35 [[ 9.85357821e-01 1.69630659e-01 1.71873039e-02 4.03568608e+02] [-1.69603930e-01 9.85507705e-01 -3.01171349e-03 -6.25856703e+01] [-1.74490993e-02 5.25811664e-05 9.99847751e-01 -4.35024009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.63576923100004 meters Centerline goodness [0,1] 0.9999368155012637 Centerline is valid? [True, True] Translation: X:403.60, Y:-62.60, Z:-4.35 [[ 9.85693855e-01 1.67682475e-01 1.70356309e-02 4.03597994e+02] [-1.67655929e-01 9.85841052e-01 -2.98487104e-03 -6.25960557e+01] [-1.72949349e-02 8.60445231e-05 9.99850428e-01 -4.35116732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.66576923100007 meters Centerline goodness [0,1] 0.999978770831122 Centerline is valid? [True, True] Translation: X:403.63, Y:-62.61, Z:-4.35 [[ 9.86215208e-01 1.64469367e-01 1.81491248e-02 4.03627644e+02] [-1.64438703e-01 9.86382180e-01 -3.17940010e-03 -6.26107763e+01] [-1.84248872e-02 1.51154181e-04 9.99830236e-01 -4.34963996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.69576923100004 meters Centerline goodness [0,1] 0.9999362691989039 Centerline is valid? [True, True] Translation: X:403.66, Y:-62.62, Z:-4.35 [[ 9.86377022e-01 1.63423199e-01 1.87943551e-02 4.03657575e+02] [-1.63390061e-01 9.86556043e-01 -3.29579078e-03 -6.26227578e+01] [-1.90802933e-02 1.80081461e-04 9.99817938e-01 -4.34944808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7257692310001 meters Centerline goodness [0,1] 0.9999575488718613 Centerline is valid? [True, True] Translation: X:403.69, Y:-62.63, Z:-4.35 [[ 9.86464003e-01 1.62870018e-01 1.90296741e-02 4.03688857e+02] [-1.62835910e-01 9.86647515e-01 -3.33869230e-03 -6.26310183e+01] [-1.93193535e-02 1.94785465e-04 9.99813345e-01 -4.34930225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.72, Y:-62.64, Z:-4.35 [[ 9.86426262e-01 1.63119313e-01 1.88499074e-02 4.03720128e+02] [-1.63085833e-01 9.86606331e-01 -3.31028262e-03 -6.26405707e+01] [-1.91374090e-02 1.91196855e-04 9.99816845e-01 -4.34984769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7857692310001 meters Centerline goodness [0,1] 0.9999574829931973 Centerline is valid? [True, True] Translation: X:403.75, Y:-62.65, Z:-4.35 [[ 9.86350561e-01 1.63620409e-01 1.84643519e-02 4.03752529e+02] [-1.63588312e-01 9.86523355e-01 -3.24579498e-03 -6.26473727e+01] [-1.87465927e-02 1.80939543e-04 9.99824251e-01 -4.35138404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.81576923100005 meters Centerline goodness [0,1] 0.9999784983228692 Centerline is valid? [True, True] Translation: X:403.78, Y:-62.66, Z:-4.35 [[ 9.86273217e-01 1.64038174e-01 1.88843482e-02 4.03784594e+02] [-1.64004604e-01 9.86453975e-01 -3.32336477e-03 -6.26552153e+01] [-1.91736990e-02 1.80625614e-04 9.99816151e-01 -4.35096738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.81, Y:-62.66, Z:-4.35 [[ 9.86154253e-01 1.64685297e-01 1.94561626e-02 4.03814686e+02] [-1.64649708e-01 9.86346147e-01 -3.42815722e-03 -6.26613976e+01] [-1.97550781e-02 1.77240342e-04 9.99804834e-01 -4.35052811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.87576923100005 meters Centerline goodness [0,1] 0.9999788646066703 Centerline is valid? [True, True] Translation: X:403.85, Y:-62.67, Z:-4.35 [[ 9.86007026e-01 1.65507158e-01 1.99380525e-02 4.03845384e+02] [-1.65469884e-01 9.86208574e-01 -3.51642967e-03 -6.26660785e+01] [-2.02450726e-02 1.68077129e-04 9.99795033e-01 -4.35031636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9057692310001 meters Centerline goodness [0,1] 0.9999574422810937 Centerline is valid? [True, True] Translation: X:403.88, Y:-62.67, Z:-4.35 [[ 9.85684189e-01 1.67478357e-01 1.94340022e-02 4.03877182e+02] [-1.67443268e-01 9.85875745e-01 -3.43047939e-03 -6.26688713e+01] [-1.97340424e-02 1.27276449e-04 9.99805257e-01 -4.35186480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.91, Y:-62.67, Z:-4.35 [[ 9.85605388e-01 1.67942969e-01 1.94210842e-02 4.03908949e+02] [-1.67907952e-01 9.85796705e-01 -3.43150988e-03 -6.26747691e+01] [-1.97215387e-02 1.21160159e-04 9.99805504e-01 -4.35299834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.94, Y:-62.68, Z:-4.35 [[ 9.85632369e-01 1.67832176e-01 1.90050735e-02 4.03941099e+02] [-1.67798563e-01 9.85815574e-01 -3.36110144e-03 -6.26815189e+01] [-1.92995984e-02 1.23786362e-04 9.99813738e-01 -4.35428083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.99576923100005 meters Centerline goodness [0,1] 0.9999786925764936 Centerline is valid? [True, True] Translation: X:403.97, Y:-62.69, Z:-4.36 [[ 9.85668187e-01 1.67642977e-01 1.88164121e-02 4.03971795e+02] [-1.67609921e-01 9.85847765e-01 -3.33148868e-03 -6.26888578e+01] [-1.91086185e-02 1.29925059e-04 9.99817405e-01 -4.35683234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0257692310001 meters Centerline goodness [0,1] 0.9999575209209465 Centerline is valid? [True, True] Translation: X:404.00, Y:-62.70, Z:-4.36 [[ 9.85926546e-01 1.66183016e-01 1.82222773e-02 4.04002364e+02] [-1.66151705e-01 9.86094915e-01 -3.22960550e-03 -6.26993765e+01] [-1.85056006e-02 1.56491359e-04 9.99828744e-01 -4.35884620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.05576923100006 meters Centerline goodness [0,1] 0.9999144970287718 Centerline is valid? [True, True] Translation: X:404.03, Y:-62.71, Z:-4.36 [[ 9.86075136e-01 1.65256239e-01 1.86065030e-02 4.04033069e+02] [-1.65223367e-01 9.86250649e-01 -3.30095745e-03 -6.27088329e+01] [-1.88961794e-02 1.80762996e-04 9.99821435e-01 -4.35862108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0857692310001 meters Centerline goodness [0,1] 0.9999355932931149 Centerline is valid? [True, True] Translation: X:404.06, Y:-62.72, Z:-4.36 [[ 9.86552151e-01 1.62496312e-01 1.76012045e-02 4.04062538e+02] [-1.62466405e-01 9.86709126e-01 -3.12552049e-03 -6.27238248e+01] [-1.78751546e-02 2.23884557e-04 9.99840202e-01 -4.36042499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.11576923100006 meters Centerline goodness [0,1] 0.9998943676849622 Centerline is valid? [True, True] Translation: X:404.09, Y:-62.74, Z:-4.36 [[ 9.86735673e-01 1.61487402e-01 1.65689405e-02 4.04092359e+02] [-1.61460711e-01 9.86874747e-01 -2.94499723e-03 -6.27358162e+01] [-1.68270489e-02 2.30700926e-04 9.99858389e-01 -4.36402133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.14576923100003 meters Centerline goodness [0,1] 0.9998724082934609 Centerline is valid? [True, True] Translation: X:404.12, Y:-62.75, Z:-4.37 [[ 9.86842020e-01 1.60888674e-01 1.60518756e-02 4.04122953e+02] [-1.60863515e-01 9.86972532e-01 -2.85482674e-03 -6.27450428e+01] [-1.63020696e-02 2.35101853e-04 9.99867085e-01 -4.36541552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.17576923100006 meters Centerline goodness [0,1] 0.9998510828404884 Centerline is valid? [True, True] Translation: X:404.15, Y:-62.76, Z:-4.36 [[ 9.86697379e-01 1.61595784e-01 1.77506264e-02 4.04152195e+02] [-1.61565117e-01 9.86857001e-01 -3.15778133e-03 -6.27569751e+01] [-1.80276141e-02 2.47892518e-04 9.99837459e-01 -4.36351899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.20576923100003 meters Centerline goodness [0,1] 0.9998722316865417 Centerline is valid? [True, True] Translation: X:404.18, Y:-62.76, Z:-4.36 [[ 9.86588061e-01 1.62134498e-01 1.88786484e-02 4.04184320e+02] [-1.62099843e-01 9.86768635e-01 -3.36189081e-03 -6.27631202e+01] [-1.91739366e-02 2.56575400e-04 9.99816130e-01 -4.36116044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.23576923100006 meters Centerline goodness [0,1] 0.999936448756514 Centerline is valid? [True, True] Translation: X:404.21, Y:-62.77, Z:-4.36 [[ 9.86474769e-01 1.62738798e-01 1.95860571e-02 4.04214448e+02] [-1.62701592e-01 9.86669154e-01 -3.48905071e-03 -6.27712847e+01] [-1.98927623e-02 2.55177827e-04 9.99802087e-01 -4.36057332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26576923100004 meters Centerline goodness [0,1] 0.9999365227142888 Centerline is valid? [True, True] Translation: X:404.24, Y:-62.78, Z:-4.36 [[ 9.86246664e-01 1.64216578e-01 1.87198814e-02 4.04243840e+02] [-1.64182824e-01 9.86424284e-01 -3.33648345e-03 -6.27812818e+01] [-1.90136515e-02 2.17112689e-04 9.99819201e-01 -4.36300038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.28, Y:-62.79, Z:-4.37 [[ 9.86059368e-01 1.65429801e-01 1.78858428e-02 4.04275639e+02] [-1.65399162e-01 9.86221550e-01 -3.18919083e-03 -6.27872145e+01] [-1.81669908e-02 1.86428078e-04 9.99834949e-01 -4.36500345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.31, Y:-62.79, Z:-4.37 [[ 9.85894771e-01 1.66462849e-01 1.73672427e-02 4.04306468e+02] [-1.66434071e-01 9.86047713e-01 -3.09959682e-03 -6.27932287e+01] [-1.76408977e-02 1.65375387e-04 9.99844374e-01 -4.36597934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.34, Y:-62.80, Z:-4.37 [[ 9.85498673e-01 1.68753074e-01 1.77416236e-02 4.04338943e+02] [-1.68723362e-01 9.85658350e-01 -3.16920112e-03 -6.27957197e+01] [-1.80219919e-02 1.29817111e-04 9.99837582e-01 -4.36513072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.37, Y:-62.80, Z:-4.37 [[ 9.85181389e-01 1.70523945e-01 1.84177902e-02 4.04370375e+02] [-1.70492169e-01 9.85353527e-01 -3.29348032e-03 -6.27991051e+01] [-1.87096518e-02 1.04586509e-04 9.99824954e-01 -4.36521094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.40, Y:-62.80, Z:-4.36 [[ 9.84814764e-01 1.72555742e-01 1.90891602e-02 4.04402506e+02] [-1.72521955e-01 9.84999752e-01 -3.41526418e-03 -6.28006481e+01] [-1.93921415e-02 7.01033547e-05 9.99811952e-01 -4.36437932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.43, Y:-62.80, Z:-4.36 [[ 9.84404967e-01 1.74784517e-01 1.99307023e-02 4.04433781e+02] [-1.74748070e-01 9.84606709e-01 -3.56936530e-03 -6.28020772e+01] [-2.02477730e-02 3.08491772e-05 9.99794992e-01 -4.36400498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.47, Y:-62.80, Z:-4.36 [[ 9.84089709e-01 1.76472068e-01 2.06168596e-02 4.04466880e+02] [-1.76433369e-01 9.84305648e-01 -3.69553949e-03 -6.28043216e+01] [-2.09454509e-02 -7.59619527e-07 9.99780620e-01 -4.36358203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.50, Y:-62.81, Z:-4.36 [[ 9.83966271e-01 1.77117576e-01 2.09700188e-02 4.04499661e+02] [-1.77077601e-01 9.84189699e-01 -3.76288500e-03 -6.28064644e+01] [-2.13049496e-02 -1.07687003e-05 9.99773024e-01 -4.36471908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.53, Y:-62.81, Z:-4.37 [[ 9.84201601e-01 1.75898040e-01 2.01764296e-02 4.04530733e+02] [-1.75860700e-01 9.84408390e-01 -3.62424332e-03 -6.28134314e+01] [-2.04993438e-02 1.87450518e-05 9.99789866e-01 -4.36723416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.56, Y:-62.83, Z:-4.37 [[ 9.85150122e-01 1.70729988e-01 1.81798890e-02 4.04559664e+02] [-1.70698759e-01 9.85317846e-01 -3.26737873e-03 -6.28277434e+01] [-1.84708086e-02 1.15574062e-04 9.99829393e-01 -4.37115973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5957692310001 meters Centerline goodness [0,1] 0.9999788494077834 Centerline is valid? [True, True] Translation: X:404.59, Y:-62.84, Z:-4.37 [[ 9.85604315e-01 1.68134556e-01 1.77455816e-02 4.04590875e+02] [-1.68104334e-01 9.85764041e-01 -3.19189348e-03 -6.28382520e+01] [-1.80296238e-02 1.62834814e-04 9.99837440e-01 -4.37233144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.62, Y:-62.85, Z:-4.37 [[ 9.85847501e-01 1.66623970e-01 1.84704492e-02 4.04622139e+02] [-1.66590905e-01 9.86020493e-01 -3.32540766e-03 -6.28471567e+01] [-1.87663341e-02 2.01335991e-04 9.99823877e-01 -4.37181708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.65, Y:-62.86, Z:-4.37 [[ 9.85940287e-01 1.65971798e-01 1.93678278e-02 4.04653938e+02] [-1.65935252e-01 9.86130473e-01 -3.49021462e-03 -6.28552059e+01] [-1.96784824e-02 2.27337803e-04 9.99806334e-01 -4.37076512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.69, Y:-62.86, Z:-4.37 [[ 9.85962044e-01 1.65800628e-01 1.97230656e-02 4.04685584e+02] [-1.65762620e-01 9.86159264e-01 -3.55794977e-03 -6.28618582e+01] [-2.00399942e-02 2.38656389e-04 9.99799151e-01 -4.37093191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.72, Y:-62.87, Z:-4.37 [[ 9.85829025e-01 1.66730749e-01 1.84930011e-02 4.04717184e+02] [-1.66697442e-01 9.86002441e-01 -3.33903098e-03 -6.28652705e+01] [-1.87908633e-02 2.08977681e-04 9.99823414e-01 -4.37407880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.75, Y:-62.87, Z:-4.38 [[ 9.85588655e-01 1.68287305e-01 1.71576920e-02 4.04748497e+02] [-1.68258826e-01 9.85737974e-01 -3.10050527e-03 -6.28682516e+01] [-1.74347643e-02 1.68889704e-04 9.99847989e-01 -4.37763576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.78, Y:-62.87, Z:-4.38 [[ 9.85309606e-01 1.70016420e-01 1.61058443e-02 4.04779650e+02] [-1.69991515e-01 9.85441221e-01 -2.91295442e-03 -6.28712277e+01] [-1.63666130e-02 1.32305090e-04 9.99866049e-01 -4.38026627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.81, Y:-62.87, Z:-4.38 [[ 9.84653081e-01 1.73744792e-01 1.64638206e-02 4.04812781e+02] [-1.73719270e-01 9.84790710e-01 -2.97881299e-03 -6.28686528e+01] [-1.67309708e-02 7.30144968e-05 9.99860025e-01 -4.37763919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.84, Y:-62.87, Z:-4.38 [[ 9.84227911e-01 1.76074445e-01 1.71233183e-02 4.04843814e+02] [-1.76047135e-01 9.84376853e-01 -3.10127536e-03 -6.28696890e+01] [-1.74018535e-02 3.78506429e-05 9.99848576e-01 -4.37780611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.88, Y:-62.87, Z:-4.38 [[ 9.83751374e-01 1.78647679e-01 1.78393190e-02 4.04876295e+02] [-1.78618397e-01 9.83913109e-01 -3.23443635e-03 -6.28688217e+01] [-1.81301644e-02 -4.54937135e-06 9.99835635e-01 -4.37761081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.89576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.91, Y:-62.86, Z:-4.38 [[ 9.83080619e-01 1.82221911e-01 1.86459506e-02 4.04907800e+02] [-1.82190552e-01 9.83257428e-01 -3.38125466e-03 -6.28631307e+01] [-1.89499081e-02 -7.30701139e-05 9.99820432e-01 -4.37654430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.94, Y:-62.87, Z:-4.38 [[ 9.82910388e-01 1.83114097e-01 1.88784762e-02 4.04938116e+02] [-1.83082125e-01 9.83091664e-01 -3.42293138e-03 -6.28656934e+01] [-1.91860596e-02 -9.18767315e-05 9.99815926e-01 -4.37653573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.97, Y:-62.87, Z:-4.38 [[ 9.82944311e-01 1.82911527e-01 1.90749775e-02 4.04969199e+02] [-1.82878849e-01 9.83129374e-01 -3.45849650e-03 -6.28711821e+01] [-1.93857695e-02 -8.89004702e-05 9.99812074e-01 -4.37614056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.00, Y:-62.88, Z:-4.37 [[ 9.83360283e-01 1.80426637e-01 2.11844761e-02 4.05000112e+02] [-1.80385743e-01 9.83588444e-01 -3.84148061e-03 -6.28792480e+01] [-2.15299113e-02 -4.38180085e-05 9.99768204e-01 -4.37420787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.03, Y:-62.89, Z:-4.37 [[ 9.83728968e-01 1.78330673e-01 2.18057228e-02 4.05031359e+02] [-1.78286742e-01 9.83970615e-01 -3.95806478e-03 -6.28888843e+01] [-2.21620348e-02 5.99170030e-06 9.99754392e-01 -4.37438922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.06, Y:-62.90, Z:-4.38 [[ 9.84239989e-01 1.75522900e-01 2.15256795e-02 4.05062618e+02] [-1.75479361e-01 9.84475346e-01 -3.90989322e-03 -6.29002320e+01] [-2.18777766e-02 7.09607696e-05 9.99760650e-01 -4.37572950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.09, Y:-62.91, Z:-4.38 [[ 9.84207029e-01 1.75707716e-01 2.15249440e-02 4.05094551e+02] [-1.75664133e-01 9.84442377e-01 -3.91393848e-03 -6.29062429e+01] [-2.18777762e-02 7.09651527e-05 9.99760650e-01 -4.37644499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.12, Y:-62.92, Z:-4.38 [[ 9.84764477e-01 1.72688453e-01 2.04358517e-02 4.05124254e+02] [-1.72648440e-01 9.84976487e-01 -3.71970226e-03 -6.29187674e+01] [-2.07711831e-02 1.34812739e-04 9.99784247e-01 -4.37940165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.15, Y:-62.93, Z:-4.38 [[ 9.85611377e-01 1.68013592e-01 1.84836902e-02 4.05154739e+02] [-1.67979990e-01 9.85784656e-01 -3.36687048e-03 -6.29307889e+01] [-1.87866182e-02 2.13535751e-04 9.99823493e-01 -4.38206209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.16576923100007 meters Centerline goodness [0,1] 0.9999574775694179 Centerline is valid? [True, True] Translation: X:405.18, Y:-62.94, Z:-4.38 [[ 9.85713561e-01 1.67417538e-01 1.84429714e-02 4.05184302e+02] [-1.67383916e-01 9.85886056e-01 -3.36280912e-03 -6.29398262e+01] [-1.87456615e-02 2.27709789e-04 9.99824259e-01 -4.38283014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.19576923100004 meters Centerline goodness [0,1] 0.9999571587695999 Centerline is valid? [True, True] Translation: X:405.22, Y:-62.95, Z:-4.38 [[ 9.85694839e-01 1.67465113e-01 1.90031804e-02 4.05216372e+02] [-1.67429365e-01 9.85877974e-01 -3.46812149e-03 -6.29452216e+01] [-1.93156064e-02 2.36819032e-04 9.99813408e-01 -4.38289129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.2257692310001 meters Centerline goodness [0,1] 0.9999577292133407 Centerline is valid? [True, True] Translation: X:405.25, Y:-62.95, Z:-4.38 [[ 9.85593140e-01 1.68005855e-01 1.94986119e-02 4.05247308e+02] [-1.67968242e-01 9.85785969e-01 -3.56269467e-03 -6.29538898e+01] [-1.98200116e-02 2.36219855e-04 9.99803536e-01 -4.38360611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.28, Y:-62.96, Z:-4.38 [[ 9.85492661e-01 1.68569361e-01 1.97125656e-02 4.05278798e+02] [-1.68530954e-01 9.85689767e-01 -3.60561370e-03 -6.29617208e+01] [-2.00382702e-02 2.31128360e-04 9.99799187e-01 -4.38393532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.31, Y:-62.97, Z:-4.38 [[ 9.85411352e-01 1.69091442e-01 1.93016153e-02 4.05311458e+02] [-1.69054653e-01 9.85600343e-01 -3.53383677e-03 -6.29670509e+01] [-1.96212202e-02 2.19254991e-04 9.99807461e-01 -4.38464594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.31576923100005 meters Centerline goodness [0,1] 0.9999575236274822 Centerline is valid? [True, True] Translation: X:405.34, Y:-62.97, Z:-4.39 [[ 9.85299797e-01 1.69905004e-01 1.77932162e-02 4.05342343e+02] [-1.69873815e-01 9.85460427e-01 -3.26093155e-03 -6.29748794e+01] [-1.80885590e-02 1.90393675e-04 9.99836371e-01 -4.38816171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.37, Y:-62.98, Z:-4.39 [[ 9.85306369e-01 1.69990119e-01 1.65746272e-02 4.05374197e+02] [-1.69963022e-01 9.85445751e-01 -3.04033837e-03 -6.29828444e+01] [-1.68502234e-02 1.78591036e-04 9.99858009e-01 -4.39157522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.41, Y:-62.99, Z:-4.39 [[ 9.85330144e-01 1.69977146e-01 1.52406604e-02 4.05405612e+02] [-1.69954191e-01 9.85447990e-01 -2.79839372e-03 -6.29899267e+01] [-1.54945411e-02 1.67127576e-04 9.99879938e-01 -4.39353112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.44, Y:-63.00, Z:-4.39 [[ 9.85368110e-01 1.69627675e-01 1.66174623e-02 4.05435658e+02] [-1.69600279e-01 9.85508202e-01 -3.05449692e-03 -6.30012680e+01] [-1.68947726e-02 1.91477619e-04 9.99857255e-01 -4.39193205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.47, Y:-63.01, Z:-4.39 [[ 9.85261621e-01 1.70059405e-01 1.84210967e-02 4.05467221e+02] [-1.70025739e-01 9.85433791e-01 -3.39007180e-03 -6.30078116e+01] [-1.87292847e-02 2.08047057e-04 9.99824570e-01 -4.38907412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.50, Y:-63.01, Z:-4.39 [[ 9.85065485e-01 1.71013760e-01 2.00071254e-02 4.05498087e+02] [-1.70974163e-01 9.85268618e-01 -3.68591759e-03 -6.30144970e+01] [-2.03427354e-02 2.10168693e-04 9.99793043e-01 -4.38760246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.53, Y:-63.02, Z:-4.39 [[ 9.84631758e-01 1.73472506e-01 2.01888929e-02 4.05530005e+02] [-1.73432633e-01 9.84838699e-01 -3.72277975e-03 -6.30202153e+01] [-2.05286030e-02 1.64154302e-04 9.99789253e-01 -4.38845872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.56, Y:-63.03, Z:-4.39 [[ 9.84489426e-01 1.74376231e-01 1.93261540e-02 4.05561159e+02] [-1.74339803e-01 9.84679090e-01 -3.56696091e-03 -6.30284460e+01] [-1.96520529e-02 1.42317420e-04 9.99806870e-01 -4.39087736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.59, Y:-63.04, Z:-4.39 [[ 9.84415405e-01 1.74876211e-01 1.85639575e-02 4.05591713e+02] [-1.74842624e-01 9.84590419e-01 -3.42969135e-03 -6.30372007e+01] [-1.88776661e-02 1.30469957e-04 9.99821792e-01 -4.39312529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.62, Y:-63.04, Z:-4.39 [[ 9.84316331e-01 1.75488992e-01 1.80270272e-02 4.05623878e+02] [-1.75457366e-01 9.84481386e-01 -3.33360324e-03 -6.30438538e+01] [-1.83322834e-02 1.18345400e-04 9.99831943e-01 -4.39382313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.65, Y:-63.05, Z:-4.39 [[ 9.84121159e-01 1.76453354e-01 1.92290960e-02 4.05654004e+02] [-1.76417468e-01 9.84308997e-01 -3.56025796e-03 -6.30534796e+01] [-1.95555916e-02 1.11376757e-04 9.99808765e-01 -4.39100916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.64576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.69, Y:-63.06, Z:-4.39 [[ 9.84015355e-01 1.76973542e-01 1.98531391e-02 4.05686201e+02] [-1.76935358e-01 9.84215603e-01 -3.67764439e-03 -6.30619864e+01] [-2.01906150e-02 1.06136280e-04 9.99796143e-01 -4.39133159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.72, Y:-63.07, Z:-4.39 [[ 9.83938121e-01 1.77400335e-01 1.98719673e-02 4.05717183e+02] [-1.77362084e-01 9.84138766e-01 -3.68511184e-03 -6.30704804e+01] [-2.02105135e-02 1.01388476e-04 9.99795742e-01 -4.39278447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.75, Y:-63.08, Z:-4.39 [[ 9.83819521e-01 1.78108104e-01 1.94075718e-02 4.05748774e+02] [-1.78071690e-01 9.84010922e-01 -3.60248129e-03 -6.30813964e+01] [-1.97388937e-02 8.82523140e-05 9.99805165e-01 -4.39464491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.78, Y:-63.09, Z:-4.39 [[ 9.83646463e-01 1.79000113e-01 1.99648539e-02 4.05780977e+02] [-1.78961679e-01 9.83849050e-01 -3.70994933e-03 -6.30895185e+01] [-2.03064839e-02 7.63347543e-05 9.99793799e-01 -4.39409892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.81, Y:-63.10, Z:-4.39 [[ 9.83384080e-01 1.80326311e-01 2.09325851e-02 4.05812372e+02] [-1.80284269e-01 9.83606841e-01 -3.89410350e-03 -6.30971009e+01] [-2.12916433e-02 5.55835863e-05 9.99773306e-01 -4.39248705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.84, Y:-63.10, Z:-4.39 [[ 9.83003976e-01 1.82296632e-01 2.17053226e-02 4.05843743e+02] [-1.82251817e-01 9.83243580e-01 -4.04197876e-03 -6.31026507e+01] [-2.20784582e-02 1.74467070e-05 9.99756241e-01 -4.39138488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.88, Y:-63.10, Z:-4.39 [[ 9.81980431e-01 1.87822246e-01 2.09102245e-02 4.05875372e+02] [-1.87781829e-01 9.82203031e-01 -3.89754774e-03 -6.31032131e+01] [-2.12701321e-02 -9.92445915e-05 9.99773760e-01 -4.39365785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.91, Y:-63.11, Z:-4.40 [[ 9.81443753e-01 1.90723064e-01 1.98210310e-02 4.05907553e+02] [-1.90687282e-01 9.81643871e-01 -3.69737345e-03 -6.31069181e+01] [-2.01623680e-02 -1.50854453e-04 9.99796707e-01 -4.39680761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.94, Y:-63.11, Z:-4.40 [[ 9.80896328e-01 1.93631009e-01 1.86929521e-02 4.05938448e+02] [-1.93599646e-01 9.81074408e-01 -3.49036588e-03 -6.31084204e+01] [-1.90150200e-02 -1.95261833e-04 9.99819179e-01 -4.39971543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.97, Y:-63.11, Z:-4.40 [[ 9.80321022e-01 1.96568380e-01 1.82089529e-02 4.05970154e+02] [-1.96539128e-01 9.80490087e-01 -3.39993119e-03 -6.31125092e+01] [-1.85220168e-02 -2.45747700e-04 9.99828423e-01 -4.40076357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.00, Y:-63.11, Z:-4.40 [[ 9.79280490e-01 2.01590636e-01 1.92597357e-02 4.06000905e+02] [-2.01558804e-01 9.79469800e-01 -3.59999111e-03 -6.31105535e+01] [-1.95900540e-02 -3.56568236e-04 9.99808033e-01 -4.39910097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.9757692310001 meters Centerline goodness [0,1] 0.9999789411616056 Centerline is valid? [True, True] Translation: X:406.03, Y:-63.11, Z:-4.40 [[ 9.78753865e-01 2.04064828e-01 1.99604034e-02 4.06033262e+02] [-2.04031158e-01 9.78957286e-01 -3.73068789e-03 -6.31130037e+01] [-2.03016845e-02 -4.21119029e-04 9.99793811e-01 -4.39859514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.00576923100004 meters Centerline goodness [0,1] 0.999978789292835 Centerline is valid? [True, True] Translation: X:406.06, Y:-63.12, Z:-4.40 [[ 9.78360846e-01 2.05874087e-01 2.06376979e-02 4.06064957e+02] [-2.05838422e-01 9.78578376e-01 -3.86074302e-03 -6.31173606e+01] [-2.09904318e-02 -4.70831355e-04 9.99779566e-01 -4.39894477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0357692310001 meters Centerline goodness [0,1] 0.9998520084566597 Centerline is valid? [True, True] Translation: X:406.10, Y:-63.12, Z:-4.40 [[ 9.77949251e-01 2.07880279e-01 2.00262652e-02 4.06096216e+02] [-2.07847047e-01 9.78154152e-01 -3.74979441e-03 -6.31174107e+01] [-2.03682827e-02 -4.95291441e-04 9.99792422e-01 -4.40173361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.06576923100005 meters Centerline goodness [0,1] 0.999915863867738 Centerline is valid? [True, True] Translation: X:406.13, Y:-63.12, Z:-4.40 [[ 9.77719460e-01 2.09023979e-01 1.93296070e-02 4.06125855e+02] [-2.08993235e-01 9.77910387e-01 -3.61971218e-03 -6.31213994e+01] [-1.96592301e-02 -5.00694059e-04 9.99806613e-01 -4.40332494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0957692310001 meters Centerline goodness [0,1] 0.999894096964819 Centerline is valid? [True, True] Translation: X:406.16, Y:-63.13, Z:-4.40 [[ 9.77366130e-01 2.10692661e-01 1.90800871e-02 4.06157106e+02] [-2.10663008e-01 9.77552211e-01 -3.57376898e-03 -6.31289029e+01] [-1.94047482e-02 -5.26587782e-04 9.99811571e-01 -4.40414469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.12576923100005 meters Centerline goodness [0,1] 0.9998712667353244 Centerline is valid? [True, True] Translation: X:406.19, Y:-63.13, Z:-4.40 [[ 9.76907371e-01 2.12842089e-01 1.87145158e-02 4.06188978e+02] [-2.12813891e-01 9.77086453e-01 -3.50866444e-03 -6.31338827e+01] [-1.90324914e-02 -5.55068780e-04 9.99818712e-01 -4.40421476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1557692310001 meters Centerline goodness [0,1] 0.9997051638446635 Centerline is valid? [True, True] Translation: X:406.22, Y:-63.13, Z:-4.41 [[ 9.75939099e-01 2.17246154e-01 1.86275192e-02 4.06219678e+02] [-2.17219001e-01 9.76116644e-01 -3.49325643e-03 -6.31304088e+01] [-1.89415280e-02 -6.37045584e-04 9.99820390e-01 -4.40554449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.18576923100005 meters Centerline goodness [0,1] 0.9996184257944163 Centerline is valid? [True, True] Translation: X:406.25, Y:-63.13, Z:-4.41 [[ 9.75637388e-01 2.18597335e-01 1.86250234e-02 4.06250106e+02] [-2.18570415e-01 9.75814924e-01 -3.49387900e-03 -6.31323860e+01] [-1.89383285e-02 -6.62120108e-04 9.99820435e-01 -4.40654916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2157692310001 meters Centerline goodness [0,1] 0.9997230566029697 Centerline is valid? [True, True] Translation: X:406.28, Y:-63.14, Z:-4.41 [[ 9.75493574e-01 2.19225446e-01 1.87747384e-02 4.06280144e+02] [-2.19198202e-01 9.75673994e-01 -3.52222486e-03 -6.31369226e+01] [-1.90901854e-02 -6.79481199e-04 9.99817535e-01 -4.40771253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.24576923100005 meters Centerline goodness [0,1] 0.9993435124203215 Centerline is valid? [True, True] Translation: X:406.31, Y:-63.13, Z:-4.41 [[ 9.75144426e-01 2.20731238e-01 1.92631330e-02 4.06310700e+02] [-2.20702850e-01 9.75334400e-01 -3.61390630e-03 -6.31317250e+01] [-1.95856983e-02 -7.27347774e-04 9.99807917e-01 -4.40800777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2757692310001 meters Centerline goodness [0,1] 0.9993829918512372 Centerline is valid? [True, True] Translation: X:406.34, Y:-63.14, Z:-4.41 [[ 9.74811712e-01 2.22191934e-01 1.93098611e-02 4.06339956e+02] [-2.22163705e-01 9.75002650e-01 -3.62215487e-03 -6.31401839e+01] [-1.96319794e-02 -7.59031298e-04 9.99806986e-01 -4.40773740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.30576923100006 meters Centerline goodness [0,1] 0.9991742711354831 Centerline is valid? [True, True] Translation: X:406.37, Y:-63.14, Z:-4.41 [[ 9.74133913e-01 2.25160461e-01 1.91281455e-02 4.06371170e+02] [-2.25133331e-01 9.74321358e-01 -3.58806855e-03 -6.31393882e+01] [-1.94448519e-02 -8.11123863e-04 9.99810602e-01 -4.40925391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3357692310001 meters Centerline goodness [0,1] 0.9971133586177834 Centerline is valid? [True, True] Translation: X:406.40, Y:-63.13, Z:-4.41 [[ 9.73849089e-01 2.26402523e-01 1.89696843e-02 4.06401264e+02] [-2.26376074e-01 9.74033475e-01 -3.55843843e-03 -6.31341379e+01] [-1.92827469e-02 -8.28900630e-04 9.99813727e-01 -4.41078365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.36576923100006 meters Centerline goodness [0,1] 0.9986435505065491 Centerline is valid? [True, True] Translation: X:406.43, Y:-63.14, Z:-4.41 [[ 9.73703869e-01 2.27014927e-01 1.91049526e-02 4.06428540e+02] [-2.26988230e-01 9.73890910e-01 -3.58315950e-03 -6.31433447e+01] [-1.94195704e-02 -8.47663112e-04 9.99811063e-01 -4.41097437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3957692310001 meters Centerline goodness [0,1] 0.999228345444023 Centerline is valid? [True, True] Translation: X:406.46, Y:-63.15, Z:-4.41 [[ 9.73647055e-01 2.27316304e-01 1.84040749e-02 4.06456824e+02] [-2.27291601e-01 9.73820630e-01 -3.45080680e-03 -6.31509334e+01] [-1.87066925e-02 -8.23223772e-04 9.99824676e-01 -4.41264201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.42576923100006 meters Centerline goodness [0,1] 0.9993406359672445 Centerline is valid? [True, True] Translation: X:406.48, Y:-63.15, Z:-4.41 [[ 9.73743448e-01 2.26940809e-01 1.79322871e-02 4.06484367e+02] [-2.26917298e-01 9.73908228e-01 -3.36205403e-03 -6.31544305e+01] [-1.82273892e-02 -7.95368052e-04 9.99833551e-01 -4.41429745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.45576923100003 meters Centerline goodness [0,1] 0.9991928974979822 Centerline is valid? [True, True] Translation: X:406.51, Y:-63.16, Z:-4.41 [[ 9.73825855e-01 2.26588800e-01 1.79086317e-02 4.06512862e+02] [-2.26565312e-01 9.73990192e-01 -3.35648399e-03 -6.31597755e+01] [-1.82033733e-02 -7.88843842e-04 9.99833994e-01 -4.41416604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.48576923100006 meters Centerline goodness [0,1] 0.9988263662164181 Centerline is valid? [True, True] Translation: X:406.54, Y:-63.16, Z:-4.41 [[ 9.73934499e-01 2.25941357e-01 2.00523141e-02 4.06541214e+02] [-2.25911795e-01 9.74140516e-01 -3.75717527e-03 -6.31590941e+01] [-2.03826729e-02 -8.70811644e-04 9.99791873e-01 -4.41160469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51576923100004 meters Centerline goodness [0,1] 0.9991740437968571 Centerline is valid? [True, True] Translation: X:406.57, Y:-63.17, Z:-4.41 [[ 9.73955430e-01 2.25775365e-01 2.08879088e-02 4.06568853e+02] [-2.25743277e-01 9.74178970e-01 -3.91240924e-03 -6.31658106e+01] [-2.12318871e-02 -9.04792770e-04 9.99774169e-01 -4.41103924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.54576923100007 meters Centerline goodness [0,1] 0.9991134003208646 Centerline is valid? [True, True] Translation: X:406.60, Y:-63.17, Z:-4.41 [[ 9.73933619e-01 2.25869043e-01 2.08921258e-02 4.06598214e+02] [-2.25836985e-01 9.74157252e-01 -3.91218704e-03 -6.31681665e+01] [-2.12358578e-02 -9.08004204e-04 9.99774081e-01 -4.41166050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57576923100004 meters Centerline goodness [0,1] 0.9995282411974096 Centerline is valid? [True, True] Translation: X:406.63, Y:-63.17, Z:-4.41 [[ 9.73910003e-01 2.25996343e-01 2.06145395e-02 4.06627390e+02] [-2.25965180e-01 9.74127735e-01 -3.85920538e-03 -6.31745658e+01] [-2.09533610e-02 -8.99649421e-04 9.99780049e-01 -4.41319364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.60576923100007 meters Centerline goodness [0,1] 0.9992154700818455 Centerline is valid? [True, True] Translation: X:406.66, Y:-63.17, Z:-4.42 [[ 9.73717753e-01 2.27044789e-01 1.80111263e-02 4.06657303e+02] [-2.27021186e-01 9.73883984e-01 -3.37148822e-03 -6.31683334e+01] [-1.83062263e-02 -8.06029324e-04 9.99832102e-01 -4.41792085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.63576923100004 meters Centerline goodness [0,1] 0.9986042970732533 Centerline is valid? [True, True] Translation: X:406.69, Y:-63.16, Z:-4.42 [[ 9.73728822e-01 2.27055557e-01 1.72614022e-02 4.06686197e+02] [-2.27033889e-01 9.73881500e-01 -3.23064087e-03 -6.31644946e+01] [-1.75440953e-02 -7.73155146e-04 9.99845792e-01 -4.42062889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.66576923100007 meters Centerline goodness [0,1] 0.9993444148373726 Centerline is valid? [True, True] Translation: X:406.71, Y:-63.17, Z:-4.42 [[ 9.73961418e-01 2.26052440e-01 1.73046603e-02 4.06714166e+02] [-2.26030525e-01 9.74114839e-01 -3.23762710e-03 -6.31709485e+01] [-1.75885999e-02 -7.58057567e-04 9.99845021e-01 -4.42050361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.69576923100004 meters Centerline goodness [0,1] 0.9977070974799108 Centerline is valid? [True, True] Translation: X:406.75, Y:-63.16, Z:-4.42 [[ 9.74998771e-01 2.21379256e-01 1.91995001e-02 4.06745589e+02] [-2.21351395e-01 9.75187502e-01 -3.59100903e-03 -6.31610784e+01] [-1.95180874e-02 -7.48606735e-04 9.99809224e-01 -4.41855158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.7257692310001 meters Centerline goodness [0,1] 0.9996597626844724 Centerline is valid? [True, True] Translation: X:406.77, Y:-63.18, Z:-4.42 [[ 9.75758027e-01 2.17919114e-01 2.01874369e-02 4.06772512e+02] [-2.17887578e-01 9.75966572e-01 -3.77548105e-03 -6.31829901e+01] [-2.05250131e-02 -7.14635804e-04 9.99789084e-01 -4.41668902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.75576923100004 meters Centerline goodness [0,1] 0.9998095359024823 Centerline is valid? [True, True] Translation: X:406.80, Y:-63.19, Z:-4.42 [[ 9.76512444e-01 2.14475233e-01 2.05869280e-02 4.06800411e+02] [-2.14441677e-01 9.76729208e-01 -3.84995116e-03 -6.31894924e+01] [-2.09335730e-02 -6.55170138e-04 9.99780654e-01 -4.41713816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.7857692310001 meters Centerline goodness [0,1] 0.999915365409843 Centerline is valid? [True, True] Translation: X:406.83, Y:-63.20, Z:-4.42 [[ 9.78054670e-01 2.07342746e-01 2.04462286e-02 4.06828586e+02] [-2.07308098e-01 9.78268233e-01 -3.82312008e-03 -6.32036208e+01] [-2.07945922e-02 -4.99448324e-04 9.99783644e-01 -4.41827283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.86, Y:-63.21, Z:-4.42 [[ 9.78802324e-01 2.03785875e-01 2.04285847e-02 4.06856723e+02] [-2.03750512e-01 9.79015392e-01 -3.81982261e-03 -6.32137209e+01] [-2.07783247e-02 -4.23483334e-04 9.99784018e-01 -4.41868985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.88, Y:-63.22, Z:-4.42 [[ 9.79496083e-01 2.00456340e-01 2.01166248e-02 4.06884510e+02] [-2.00421356e-01 9.79702575e-01 -3.76103277e-03 -6.32225902e+01] [-2.04622319e-02 -3.47884351e-04 9.99790566e-01 -4.41898395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.87576923100005 meters Centerline goodness [0,1] 0.999978696207925 Centerline is valid? [True, True] Translation: X:406.91, Y:-63.23, Z:-4.42 [[ 9.80076201e-01 1.97631514e-01 1.98097325e-02 4.06914278e+02] [-1.97597028e-01 9.80276340e-01 -3.70286874e-03 -6.32321934e+01] [-2.01508156e-02 -2.85250730e-04 9.99796911e-01 -4.41996399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.94, Y:-63.25, Z:-4.42 [[ 9.80946593e-01 1.93271900e-01 1.97422111e-02 4.06944212e+02] [-1.93236761e-01 9.81145216e-01 -3.69043898e-03 -6.32453100e+01] [-2.00832341e-02 -1.94797386e-04 9.99798293e-01 -4.42010143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.97, Y:-63.25, Z:-4.42 [[ 9.81271803e-01 1.91570992e-01 2.01544855e-02 4.06974304e+02] [-1.91534000e-01 9.81478746e-01 -3.76808847e-03 -6.32541089e+01] [-2.05030556e-02 -1.62750251e-04 9.99789777e-01 -4.42036669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.00, Y:-63.26, Z:-4.42 [[ 9.81267348e-01 1.91593878e-01 2.01538678e-02 4.07004597e+02] [-1.91556822e-01 9.81474279e-01 -3.77138923e-03 -6.32598228e+01] [-2.05030779e-02 -1.59869753e-04 9.99789777e-01 -4.42104542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.03, Y:-63.27, Z:-4.42 [[ 9.81505586e-01 1.90329064e-01 2.05336845e-02 4.07034796e+02] [-1.90290315e-01 9.81720341e-01 -3.84282438e-03 -6.32683777e+01] [-2.08897369e-02 -1.35607697e-04 9.99781776e-01 -4.42125770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.07, Y:-63.28, Z:-4.42 [[ 9.81725149e-01 1.89262211e-01 1.98883690e-02 4.07065857e+02] [-1.89225580e-01 9.81926578e-01 -3.72501782e-03 -6.32793268e+01] [-2.02339232e-02 -1.06444485e-04 9.99795268e-01 -4.42264947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.10, Y:-63.29, Z:-4.42 [[ 9.81642600e-01 1.89687139e-01 1.99147156e-02 4.07097054e+02] [-1.89650429e-01 9.81844579e-01 -3.73336443e-03 -6.32853396e+01] [-2.02613268e-02 -1.12004779e-04 9.99794712e-01 -4.42346235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.13, Y:-63.29, Z:-4.42 [[ 9.81512367e-01 1.90284739e-01 2.06201868e-02 4.07127309e+02] [-1.90245430e-01 9.81728935e-01 -3.86958171e-03 -6.32913758e+01] [-2.09797564e-02 -1.24854014e-04 9.99779893e-01 -4.42322641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.16, Y:-63.30, Z:-4.42 [[ 9.81506932e-01 1.90238095e-01 2.12980949e-02 4.07157203e+02] [-1.90196073e-01 9.81737975e-01 -4.00023367e-03 -6.32982028e+01] [-2.16701454e-02 -1.24556943e-04 9.99765167e-01 -4.42285581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.19, Y:-63.31, Z:-4.42 [[ 9.81711028e-01 1.89120182e-01 2.18406382e-02 4.07187963e+02] [-1.89075688e-01 9.81953943e-01 -4.10337741e-03 -6.33101902e+01] [-2.22225323e-02 -1.01202846e-04 9.99753044e-01 -4.42235811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.22, Y:-63.32, Z:-4.42 [[ 9.81883776e-01 1.88279273e-01 2.13346051e-02 4.07218751e+02] [-1.88236545e-01 9.82115527e-01 -4.01168486e-03 -6.33201332e+01] [-2.17083640e-02 -7.69440832e-05 9.99764343e-01 -4.42359868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.25, Y:-63.33, Z:-4.43 [[ 9.81998462e-01 1.87777690e-01 2.04587300e-02 4.07250050e+02] [-1.87738220e-01 9.82211553e-01 -3.85037043e-03 -6.33302560e+01] [-2.08178146e-02 -5.98277070e-05 9.99783284e-01 -4.42586765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.28, Y:-63.34, Z:-4.43 [[ 9.81885999e-01 1.88479250e-01 1.93767396e-02 4.07280722e+02] [-1.88443913e-01 9.82077170e-01 -3.65014193e-03 -6.33398170e+01] [-1.97174296e-02 -6.74053808e-05 9.99805590e-01 -4.42853970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.31, Y:-63.35, Z:-4.43 [[ 9.81537654e-01 1.90261965e-01 1.96015159e-02 4.07313400e+02] [-1.90226092e-01 9.81733352e-01 -3.69586147e-03 -6.33460040e+01] [-1.99466438e-02 -1.01092575e-04 9.99801041e-01 -4.42750332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.35, Y:-63.35, Z:-4.43 [[ 9.80939134e-01 1.93250746e-01 2.03116877e-02 4.07345034e+02] [-1.93212780e-01 9.81149388e-01 -3.83394450e-03 -6.33474732e+01] [-2.06697126e-02 -1.63611448e-04 9.99786345e-01 -4.42691653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.38, Y:-63.35, Z:-4.43 [[ 9.79413434e-01 2.00790197e-01 2.07995527e-02 4.07376885e+02] [-2.00752009e-01 9.79634212e-01 -3.92952224e-03 -6.33458230e+01] [-2.11649630e-02 -3.26925102e-04 9.99775944e-01 -4.42593983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.41, Y:-63.34, Z:-4.43 [[ 9.78523195e-01 2.05143793e-01 2.02084614e-02 4.07408771e+02] [-2.05108668e-01 9.78731760e-01 -3.81799469e-03 -6.33437301e+01] [-2.05619009e-02 -4.08934242e-04 9.99788498e-01 -4.42799913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.38576923100004 meters Centerline goodness [0,1] 0.9999567043338962 Centerline is valid? [True, True] Translation: X:407.44, Y:-63.34, Z:-4.43 [[ 9.77604068e-01 2.09559137e-01 1.93715040e-02 4.07440140e+02] [-2.09527693e-01 9.77795857e-01 -3.66161243e-03 -6.33434009e+01] [-1.97087007e-02 -4.79259342e-04 9.99805650e-01 -4.43041405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.41576923100007 meters Centerline goodness [0,1] 0.9998079549334243 Centerline is valid? [True, True] Translation: X:407.47, Y:-63.33, Z:-4.43 [[ 9.75768031e-01 2.17990264e-01 1.88942902e-02 4.07472123e+02] [-2.17961910e-01 9.75950739e-01 -3.57224872e-03 -6.33339119e+01] [-1.92186119e-02 -6.32549485e-04 9.99815105e-01 -4.43159423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.44576923100004 meters Centerline goodness [0,1] 0.9996401202421779 Centerline is valid? [True, True] Translation: X:407.50, Y:-63.33, Z:-4.43 [[ 9.74894363e-01 2.21862608e-01 1.89199522e-02 4.07503036e+02] [-2.21834906e-01 9.75077679e-01 -3.57702519e-03 -6.33266243e+01] [-1.92420312e-02 -7.09884144e-04 9.99814603e-01 -4.43203792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.4757692310001 meters Centerline goodness [0,1] 0.9996814407373585 Centerline is valid? [True, True] Translation: X:407.53, Y:-63.33, Z:-4.43 [[ 9.74063722e-01 2.25496805e-01 1.87365044e-02 4.07533645e+02] [-2.25470311e-01 9.74243600e-01 -3.54219275e-03 -6.33277750e+01] [-1.90526727e-02 -7.74204032e-04 9.99818182e-01 -4.43225956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.50576923100004 meters Centerline goodness [0,1] 0.9989388118937963 Centerline is valid? [True, True] Translation: X:407.56, Y:-63.32, Z:-4.43 [[ 9.73258335e-01 2.29002579e-01 1.80563795e-02 4.07564295e+02] [-2.28978579e-01 9.73425477e-01 -3.41344336e-03 -6.33210553e+01] [-1.83582272e-02 -8.12361918e-04 9.99831144e-01 -4.43492262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5357692310001 meters Centerline goodness [0,1] 0.9676268162120826 Centerline is valid? [True, True] Translation: X:407.60, Y:-63.30, Z:-4.44 [[ 9.71815968e-01 2.35188565e-01 1.61264446e-02 4.07597723e+02] [-2.35170276e-01 9.71949407e-01 -3.04825261e-03 -6.32986091e+01] [-1.63910024e-02 -8.30119852e-04 9.99865314e-01 -4.44017300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.56576923100005 meters Centerline goodness [0,1] 0.9952326998311136 Centerline is valid? [True, True] Translation: X:407.63, Y:-63.31, Z:-4.44 [[ 9.71226866e-01 2.37593302e-01 1.63645225e-02 4.07626678e+02] [-2.37574816e-01 9.71364320e-01 -3.09282301e-03 -6.33075154e+01] [-1.66307473e-02 -8.83965633e-04 9.99861309e-01 -4.43927734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5957692310001 meters Centerline goodness [0,1] 0.9918626257448581 Centerline is valid? [True, True] Translation: X:407.66, Y:-63.29, Z:-4.44 [[ 9.70426433e-01 2.40682162e-01 1.85643775e-02 4.07658874e+02] [-2.40658939e-01 9.70603403e-01 -3.50829972e-03 -6.32949888e+01] [-1.88630331e-02 -1.06313661e-03 9.99821512e-01 -4.43560024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.62576923100005 meters Centerline goodness [0,1] 0.9915950374730067 Centerline is valid? [True, True] Translation: X:407.69, Y:-63.29, Z:-4.43 [[ 9.70268185e-01 2.41232745e-01 1.96573508e-02 4.07688646e+02] [-2.41206820e-01 9.70466625e-01 -3.71486202e-03 -6.32920528e+01] [-1.99729493e-02 -1.13707464e-03 9.99799874e-01 -4.43371182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6557692310001 meters Centerline goodness [0,1] 0.9895536562203229 Centerline is valid? [True, True] Translation: X:407.72, Y:-63.29, Z:-4.43 [[ 9.70313774e-01 2.40981135e-01 2.04761645e-02 4.07718038e+02] [-2.40952970e-01 9.70529083e-01 -3.86862340e-03 -6.32889141e+01] [-2.08049784e-02 -1.18001407e-03 9.99782857e-01 -4.43320123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.68576923100005 meters Centerline goodness [0,1] 0.9931928345626976 Centerline is valid? [True, True] Translation: X:407.75, Y:-63.28, Z:-4.43 [[ 9.70931704e-01 2.38469581e-01 2.05884538e-02 4.07749755e+02] [-2.38440583e-01 9.71149305e-01 -3.88791351e-03 -6.32839711e+01] [-2.09216117e-02 -1.13422442e-03 9.99780476e-01 -4.43444511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7157692310001 meters Centerline goodness [0,1] 0.9947465418264241 Centerline is valid? [True, True] Translation: X:407.78, Y:-63.29, Z:-4.44 [[ 9.71394859e-01 2.36631260e-01 1.99417694e-02 4.07778746e+02] [-2.36603673e-01 9.71598951e-01 -3.76561125e-03 -6.32852884e+01] [-2.02664635e-02 -1.06040046e-03 9.99794052e-01 -4.43642359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.74576923100005 meters Centerline goodness [0,1] 0.996981466627264 Centerline is valid? [True, True] Translation: X:407.81, Y:-63.29, Z:-4.44 [[ 9.71938992e-01 2.34429454e-01 1.94274655e-02 4.07809141e+02] [-2.34402847e-01 9.72132631e-01 -3.66777574e-03 -6.32882262e+01] [-1.97459078e-02 -9.88998948e-04 9.99804541e-01 -4.43785831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7757692310001 meters Centerline goodness [0,1] 0.9984729586426299 Centerline is valid? [True, True] Translation: X:407.84, Y:-63.29, Z:-4.44 [[ 9.73235002e-01 2.28899599e-01 2.04598350e-02 4.07839656e+02] [-2.28868874e-01 9.73449598e-01 -3.86242112e-03 -6.32853886e+01] [-2.08007248e-02 -9.23575966e-04 9.99783215e-01 -4.43644487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.80576923100006 meters Centerline goodness [0,1] 0.9989457482025007 Centerline is valid? [True, True] Translation: X:407.87, Y:-63.29, Z:-4.44 [[ 9.73812771e-01 2.26385494e-01 2.09355192e-02 4.07869960e+02] [-2.26352746e-01 9.74037379e-01 -3.95204884e-03 -6.32889849e+01] [-2.12866648e-02 -8.90256625e-04 9.99773017e-01 -4.43627235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8357692310001 meters Centerline goodness [0,1] 0.999304061748703 Centerline is valid? [True, True] Translation: X:407.90, Y:-63.29, Z:-4.44 [[ 9.74389530e-01 2.23886022e-01 2.09783883e-02 4.07898541e+02] [-2.23852566e-01 9.74614974e-01 -3.95991057e-03 -6.32917741e+01] [-2.13324200e-02 -8.37570657e-04 9.99772087e-01 -4.43717812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.86576923100006 meters Centerline goodness [0,1] 0.999599105371988 Centerline is valid? [True, True] Translation: X:407.93, Y:-63.30, Z:-4.44 [[ 9.74961079e-01 2.21425953e-01 2.05290340e-02 4.07928591e+02] [-2.21393386e-01 9.75176885e-01 -3.87436471e-03 -6.32959762e+01] [-2.08773244e-02 -7.67637555e-04 9.99781750e-01 -4.43799218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8957692310001 meters Centerline goodness [0,1] 0.9997655733861859 Centerline is valid? [True, True] Translation: X:407.96, Y:-63.30, Z:-4.44 [[ 9.76189390e-01 2.15786157e-01 2.21496875e-02 4.07957933e+02] [-2.15746799e-01 9.76440396e-01 -4.17994396e-03 -6.32999272e+01] [-2.25298236e-02 -6.98307219e-04 9.99745927e-01 -4.43590211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.92576923100006 meters Centerline goodness [0,1] 0.9998727735368956 Centerline is valid? [True, True] Translation: X:407.99, Y:-63.31, Z:-4.43 [[ 9.77023882e-01 2.11821293e-01 2.35812073e-02 4.07986173e+02] [-2.11775538e-01 9.77308202e-01 -4.44966261e-03 -6.33076690e+01] [-2.39886406e-02 -6.46496231e-04 9.99712022e-01 -4.43409863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.95576923100003 meters Centerline goodness [0,1] 0.9999788229813007 Centerline is valid? [True, True] Translation: X:408.01, Y:-63.32, Z:-4.43 [[ 9.77946003e-01 2.07408908e-01 2.45593107e-02 4.08014666e+02] [-2.07357902e-01 9.78254175e-01 -4.63362126e-03 -6.33178116e+01] [-2.49863026e-02 -5.61135764e-04 9.99687636e-01 -4.43281995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.04, Y:-63.34, Z:-4.44 [[ 9.79789370e-01 1.98773653e-01 2.24014714e-02 4.08041835e+02] [-1.98728970e-01 9.80045375e-01 -4.22593638e-03 -6.33371738e+01] [-2.27944633e-02 -3.11293816e-04 9.99740124e-01 -4.43770877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.07, Y:-63.34, Z:-4.44 [[ 9.80618153e-01 1.94870911e-01 2.03313800e-02 4.08068597e+02] [-1.94833266e-01 9.80828878e-01 -3.83544255e-03 -6.33446030e+01] [-2.06890208e-02 -2.00124580e-04 9.99785939e-01 -4.44272975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.10, Y:-63.35, Z:-4.45 [[ 9.81222736e-01 1.91930464e-01 1.90955106e-02 4.08095050e+02] [-1.91896729e-01 9.81408518e-01 -3.60078817e-03 -6.33535381e+01] [-1.94315977e-02 -1.31190790e-04 9.99811180e-01 -4.44666598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.12, Y:-63.36, Z:-4.45 [[ 9.81616673e-01 1.89941630e-01 1.87318945e-02 4.08123126e+02] [-1.89908838e-01 9.81795380e-01 -3.53053326e-03 -6.33629578e+01] [-1.90614827e-02 -9.17219902e-05 9.99818309e-01 -4.44715355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.15, Y:-63.37, Z:-4.45 [[ 9.81907085e-01 1.88363289e-01 1.94357322e-02 4.08150378e+02] [-1.88327690e-01 9.82099418e-01 -3.66249872e-03 -6.33699058e+01] [-1.97777016e-02 -6.40531023e-05 9.99804400e-01 -4.44563414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.18, Y:-63.37, Z:-4.45 [[ 9.81874499e-01 1.88596905e-01 1.88062928e-02 4.08176655e+02] [-1.88563635e-01 9.82054583e-01 -3.54297639e-03 -6.33733148e+01] [-1.91370004e-02 -6.74247552e-05 9.99816869e-01 -4.44708892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.21, Y:-63.38, Z:-4.45 [[ 9.81703682e-01 1.89604754e-01 1.75475976e-02 4.08205316e+02] [-1.89575993e-01 9.81860494e-01 -3.30339547e-03 -6.33759620e+01] [-1.78556324e-02 -8.36477515e-05 9.99840572e-01 -4.44997328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.23, Y:-63.38, Z:-4.45 [[ 9.81158223e-01 1.92423821e-01 1.73670605e-02 4.08234381e+02] [-1.92396104e-01 9.81311905e-01 -3.26865161e-03 -6.33757621e+01] [-1.76714696e-02 -1.34290367e-04 9.99843838e-01 -4.45108926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.26, Y:-63.38, Z:-4.45 [[ 9.80863085e-01 1.93864996e-01 1.79992000e-02 4.08263732e+02] [-1.93835484e-01 9.81028203e-01 -3.38671741e-03 -6.33776166e+01] [-1.83142888e-02 -1.66977558e-04 9.99832265e-01 -4.45056326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.29, Y:-63.38, Z:-4.45 [[ 9.80670454e-01 1.94782465e-01 1.85809461e-02 4.08292025e+02] [-1.94751196e-01 9.80846448e-01 -3.49528495e-03 -6.33778341e+01] [-1.89058752e-02 -1.90938793e-04 9.99821250e-01 -4.45041565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.32, Y:-63.38, Z:-4.45 [[ 9.80585409e-01 1.95165660e-01 1.90426260e-02 4.08320173e+02] [-1.95132912e-01 9.80770271e-01 -3.58094075e-03 -6.33806026e+01] [-1.93753181e-02 -2.04424817e-04 9.99812260e-01 -4.44979080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.35, Y:-63.39, Z:-4.45 [[ 9.80732274e-01 1.94483721e-01 1.84469190e-02 4.08348509e+02] [-1.94452889e-01 9.80905728e-01 -3.46790931e-03 -6.33853118e+01] [-1.87691404e-02 -1.85966094e-04 9.99823827e-01 -4.45158159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.38, Y:-63.39, Z:-4.45 [[ 9.80953138e-01 1.93454294e-01 1.75036633e-02 4.08376240e+02] [-1.93426383e-01 9.81109276e-01 -3.28985026e-03 -6.33926831e+01] [-1.78094421e-02 -1.58481341e-04 9.99841387e-01 -4.45384311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.40, Y:-63.40, Z:-4.46 [[ 9.81240674e-01 1.92091703e-01 1.63559630e-02 4.08403522e+02] [-1.92067154e-01 9.81376972e-01 -3.07349465e-03 -6.33996002e+01] [-1.66417583e-02 -1.25605304e-04 9.99861508e-01 -4.45716346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.43, Y:-63.41, Z:-4.46 [[ 9.81478251e-01 1.90941616e-01 1.55480319e-02 4.08431491e+02] [-1.90919303e-01 9.81601390e-01 -2.92077523e-03 -6.34075933e+01] [-1.58196672e-02 -1.01742038e-04 9.99874856e-01 -4.45861492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.46, Y:-63.41, Z:-4.46 [[ 9.81499903e-01 1.90694335e-01 1.71350533e-02 4.08459990e+02] [-1.90667213e-01 9.81649458e-01 -3.21796287e-03 -6.34127722e+01] [-1.74342630e-02 -1.08662601e-04 9.99848006e-01 -4.45620548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.49, Y:-63.42, Z:-4.45 [[ 9.81379454e-01 1.91151327e-01 1.88556913e-02 4.08487031e+02] [-1.91118586e-01 9.81560570e-01 -3.54016507e-03 -6.34161048e+01] [-1.91847104e-02 -1.29427795e-04 9.99815948e-01 -4.45309957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.52, Y:-63.42, Z:-4.45 [[ 9.80946669e-01 1.93119910e-01 2.11738474e-02 4.08516203e+02] [-1.93079126e-01 9.81175144e-01 -3.97333769e-03 -6.34176269e+01] [-2.15425834e-02 -1.90595558e-04 9.99767913e-01 -4.44880625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.54, Y:-63.42, Z:-4.45 [[ 9.80831251e-01 1.93643914e-01 2.17276949e-02 4.08544821e+02] [-1.93601120e-01 9.81071858e-01 -4.07618307e-03 -6.34222310e+01] [-2.21057581e-02 -2.08458330e-04 9.99755616e-01 -4.44802682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.57, Y:-63.42, Z:-4.45 [[ 9.80778277e-01 1.93870374e-01 2.20963516e-02 4.08573352e+02] [-1.93826198e-01 9.81027130e-01 -4.14422431e-03 -6.34222868e+01] [-2.24805627e-02 -2.18286627e-04 9.99747256e-01 -4.44803805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.60, Y:-63.43, Z:-4.45 [[ 9.80943530e-01 1.92997614e-01 2.23989200e-02 4.08600808e+02] [-1.92952024e-01 9.81199205e-01 -4.19957947e-03 -6.34307282e+01] [-2.27883113e-02 -2.02366648e-04 9.99740292e-01 -4.44916931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.63, Y:-63.44, Z:-4.45 [[ 9.81143924e-01 1.92005172e-01 2.21497931e-02 4.08628367e+02] [-1.91960360e-01 9.81393897e-01 -4.15187830e-03 -6.34409903e+01] [-2.25348538e-02 -1.78292090e-04 9.99746042e-01 -4.45083408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.65, Y:-63.45, Z:-4.45 [[ 9.81817310e-01 1.88551676e-01 2.19780696e-02 4.08654557e+02] [-1.88506715e-01 9.82063265e-01 -4.11859174e-03 -6.34539660e+01] [-2.23604222e-02 -9.93090375e-05 9.99749970e-01 -4.45081342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.68, Y:-63.46, Z:-4.45 [[ 9.82303301e-01 1.85997786e-01 2.20238272e-02 4.08681407e+02] [-1.85952027e-01 9.82550162e-01 -4.12579748e-03 -6.34637808e+01] [-2.24069042e-02 -4.25908170e-05 9.99748933e-01 -4.45146555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.71, Y:-63.47, Z:-4.45 [[ 9.82748452e-01 1.83700831e-01 2.14355964e-02 4.08708070e+02] [-1.83656964e-01 9.82982200e-01 -4.01432733e-03 -6.34734458e+01] [-2.18082450e-02 8.27740485e-06 9.99762172e-01 -4.45279888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.74, Y:-63.48, Z:-4.46 [[ 9.83149607e-01 1.81656968e-01 2.04351846e-02 4.08735671e+02] [-1.81616689e-01 9.83361959e-01 -3.82558141e-03 -6.34824703e+01] [-2.07901267e-02 4.97483058e-05 9.99783861e-01 -4.45549136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.76, Y:-63.50, Z:-4.46 [[ 9.83707160e-01 1.78948836e-01 1.72492845e-02 4.08762222e+02] [-1.78919732e-01 9.83858377e-01 -3.22848644e-03 -6.34964103e+01] [-1.75485869e-02 8.96478663e-05 9.99846008e-01 -4.46169731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.79, Y:-63.51, Z:-4.46 [[ 9.83875109e-01 1.78058591e-01 1.68792042e-02 4.08789381e+02] [-1.78030606e-01 9.84019882e-01 -3.15842149e-03 -6.35055082e+01] [-1.71718566e-02 1.02477324e-04 9.99852548e-01 -4.46271683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.82, Y:-63.52, Z:-4.46 [[ 9.84134957e-01 1.76481968e-01 1.82346209e-02 4.08815222e+02] [-1.76449055e-01 9.84303863e-01 -3.41111380e-03 -6.35179867e+01] [-1.85504079e-02 1.39514709e-04 9.99827917e-01 -4.46006635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.84, Y:-63.53, Z:-4.46 [[ 9.84192346e-01 1.76076657e-01 1.90378034e-02 4.08841979e+02] [-1.76040727e-01 9.84376446e-01 -3.56015650e-03 -6.35263730e+01] [-1.93672257e-02 1.52450026e-04 9.99812426e-01 -4.45885189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.87, Y:-63.53, Z:-4.46 [[ 9.84200415e-01 1.76031525e-01 1.90380152e-02 4.08869838e+02] [-1.75995608e-01 9.84384518e-01 -3.55902343e-03 -6.35314871e+01] [-1.93672278e-02 1.52185267e-04 9.99812426e-01 -4.45947522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.90, Y:-63.54, Z:-4.46 [[ 9.84106688e-01 1.76565015e-01 1.89426072e-02 4.08898112e+02] [-1.76529574e-01 9.84288970e-01 -3.54029390e-03 -6.35387162e+01] [-1.92700914e-02 1.40096522e-04 9.99814305e-01 -4.46029172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.93, Y:-63.54, Z:-4.46 [[ 9.83689931e-01 1.78956221e-01 1.81325629e-02 4.08925015e+02] [-1.78924167e-01 9.83857034e-01 -3.38812504e-03 -6.35435626e+01] [-1.84461756e-02 8.85107766e-05 9.99829851e-01 -4.46257190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.95, Y:-63.55, Z:-4.46 [[ 9.83363212e-01 1.80723154e-01 1.83285154e-02 4.08952421e+02] [-1.80690730e-01 9.83534005e-01 -3.42364178e-03 -6.35463883e+01] [-1.86454495e-02 5.48905388e-05 9.99826157e-01 -4.46359929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.98, Y:-63.55, Z:-4.46 [[ 9.83027745e-01 1.82484815e-01 1.88611831e-02 4.08980959e+02] [-1.82450826e-01 9.83208672e-01 -3.52196701e-03 -6.35481996e+01] [-1.91871843e-02 2.09528646e-05 9.99815909e-01 -4.46222633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.01, Y:-63.55, Z:-4.46 [[ 9.82663608e-01 1.84365904e-01 1.95306671e-02 4.09009489e+02] [-1.84329848e-01 9.82857677e-01 -3.64607784e-03 -6.35500735e+01] [-1.98680785e-02 -1.72168932e-05 9.99802610e-01 -4.46141396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.04, Y:-63.55, Z:-4.46 [[ 9.81806277e-01 1.88855503e-01 1.97492787e-02 4.09039229e+02] [-1.88819572e-01 9.82004881e-01 -3.68544222e-03 -6.35473009e+01] [-2.00899041e-02 -1.10660053e-04 9.99798171e-01 -4.46133175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.07, Y:-63.55, Z:-4.46 [[ 9.81345263e-01 1.91300638e-01 1.91191426e-02 4.09067689e+02] [-1.91267443e-01 9.81531478e-01 -3.56701694e-03 -6.35478806e+01] [-1.94484129e-02 -1.56394344e-04 9.99810849e-01 -4.46337230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.10, Y:-63.55, Z:-4.47 [[ 9.81012274e-01 1.93097629e-01 1.81169455e-02 4.09097008e+02] [-1.93068149e-01 9.81179531e-01 -3.37900715e-03 -6.35499177e+01] [-1.84284544e-02 -1.82957652e-04 9.99830165e-01 -4.46587844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.13, Y:-63.55, Z:-4.47 [[ 9.80662529e-01 1.94925366e-01 1.74672788e-02 4.09125127e+02] [-1.94898265e-01 9.80818055e-01 -3.25710238e-03 -6.35503856e+01] [-1.77671143e-02 -2.10224058e-04 9.99842130e-01 -4.46812731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.15, Y:-63.55, Z:-4.47 [[ 9.80546573e-01 1.95468385e-01 1.79033233e-02 4.09152371e+02] [-1.95440023e-01 9.80709977e-01 -3.33742989e-03 -6.35538568e+01] [-1.82103298e-02 -2.26520475e-04 9.99834153e-01 -4.46787832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.18, Y:-63.56, Z:-4.47 [[ 9.80383295e-01 1.96145243e-01 1.93813756e-02 4.09180881e+02] [-1.96112173e-01 9.80574819e-01 -3.61107889e-03 -6.35579590e+01] [-1.97131848e-02 -2.60682277e-04 9.99805642e-01 -4.46576870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.24576923100005 meters Centerline goodness [0,1] 0.9999790039472579 Centerline is valid? [True, True] Translation: X:409.21, Y:-63.56, Z:-4.46 [[ 9.80236599e-01 1.96698575e-01 2.11158796e-02 4.09208931e+02] [-1.96659471e-01 9.80463963e-01 -3.93320780e-03 -6.35620729e+01] [-2.14770153e-02 -2.97163463e-04 9.99769298e-01 -4.46299386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.24, Y:-63.57, Z:-4.46 [[ 9.80124951e-01 1.97138493e-01 2.21696770e-02 4.09237683e+02] [-1.97095530e-01 9.80375596e-01 -4.12818954e-03 -6.35665766e+01] [-2.25484353e-02 -3.23402674e-04 9.99745699e-01 -4.46207045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.26, Y:-63.57, Z:-4.46 [[ 9.80227039e-01 1.96751490e-01 2.10666266e-02 4.09264961e+02] [-1.96712627e-01 9.80453345e-01 -3.92189745e-03 -6.35719400e+01] [-2.14264837e-02 -2.99721519e-04 9.99770382e-01 -4.46470667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.29, Y:-63.58, Z:-4.47 [[ 9.80342431e-01 1.96320171e-01 1.96750803e-02 4.09293169e+02] [-1.96286206e-01 9.80539809e-01 -3.66177553e-03 -6.35803484e+01] [-2.00110799e-02 -2.72152951e-04 9.99799721e-01 -4.46779745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.32, Y:-63.58, Z:-4.47 [[ 9.80224600e-01 1.97065858e-01 1.80216875e-02 4.09321118e+02] [-1.97037496e-01 9.80390217e-01 -3.35366958e-03 -6.35839178e+01] [-1.83291799e-02 -2.63598748e-04 9.99831972e-01 -4.47127419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.35, Y:-63.59, Z:-4.47 [[ 9.80038364e-01 1.97995865e-01 1.79566728e-02 4.09349972e+02] [-1.97967894e-01 9.80202815e-01 -3.33986181e-03 -6.35878940e+01] [-1.82624601e-02 -2.81652003e-04 9.99833188e-01 -4.47202417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.38, Y:-63.59, Z:-4.47 [[ 9.79856919e-01 1.98858075e-01 1.83271609e-02 4.09377999e+02] [-1.98829105e-01 9.80028251e-01 -3.40793077e-03 -6.35881855e+01] [-1.86388300e-02 -3.04688454e-04 9.99826235e-01 -4.47288740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.41, Y:-63.59, Z:-4.47 [[ 9.79683858e-01 1.99678617e-01 1.86544394e-02 4.09405635e+02] [-1.99648773e-01 9.79861390e-01 -3.46768494e-03 -6.35945334e+01] [-1.89711874e-02 -3.27100965e-04 9.99819977e-01 -4.47232200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.43, Y:-63.60, Z:-4.47 [[ 9.79701324e-01 1.99502034e-01 1.96024007e-02 4.09431252e+02] [-1.99469065e-01 9.79897353e-01 -3.64283438e-03 -6.36018766e+01] [-1.99350934e-02 -3.41182864e-04 9.99801218e-01 -4.47177270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51576923100004 meters Centerline goodness [0,1] 0.9999788404570461 Centerline is valid? [True, True] Translation: X:409.46, Y:-63.61, Z:-4.47 [[ 9.79760158e-01 1.99170974e-01 2.00238707e-02 4.09458796e+02] [-1.99136556e-01 9.79964696e-01 -3.71849938e-03 -6.36090669e+01] [-2.03633035e-02 -3.44247114e-04 9.99792587e-01 -4.47171304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.49, Y:-63.62, Z:-4.47 [[ 9.79785869e-01 1.99054488e-01 1.99238885e-02 4.09485416e+02] [-1.99020407e-01 9.79988364e-01 -3.69907360e-03 -6.36178503e+01] [-2.02614961e-02 -3.40960368e-04 9.99794657e-01 -4.47163556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.51, Y:-63.62, Z:-4.48 [[ 9.79610436e-01 2.00038767e-01 1.86517046e-02 4.09514038e+02] [-2.00009100e-01 9.79787924e-01 -3.46166911e-03 -6.36166676e+01] [-1.89671830e-02 -3.39423478e-04 9.99820049e-01 -4.47578945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.54, Y:-63.62, Z:-4.48 [[ 9.79439993e-01 2.00927660e-01 1.80381689e-02 4.09542111e+02] [-2.00900095e-01 9.79606020e-01 -3.34608446e-03 -6.36245928e+01] [-1.83426197e-02 -3.46580903e-04 9.99831700e-01 -4.47676204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.57, Y:-63.62, Z:-4.48 [[ 9.78643365e-01 2.04817114e-01 1.75246845e-02 4.09572473e+02] [-2.04791733e-01 9.78800175e-01 -3.25003128e-03 -6.36155853e+01] [-1.78188263e-02 -4.08288982e-04 9.99841149e-01 -4.47929594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.60, Y:-63.62, Z:-4.48 [[ 9.78109034e-01 2.07400588e-01 1.69620939e-02 4.09601156e+02] [-2.07377216e-01 9.78256000e-01 -3.14473652e-03 -6.36213377e+01] [-1.72454903e-02 -4.41656620e-04 9.99851188e-01 -4.47957002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.63, Y:-63.62, Z:-4.48 [[ 9.77590889e-01 2.09899138e-01 1.60750137e-02 4.09630761e+02] [-2.09878498e-01 9.77722936e-01 -2.97940987e-03 -6.36214845e+01] [-1.63422851e-02 -4.61155792e-04 9.99866350e-01 -4.48230075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.7257692310001 meters Centerline goodness [0,1] 0.9999154620001691 Centerline is valid? [True, True] Translation: X:409.66, Y:-63.62, Z:-4.49 [[ 9.77041494e-01 2.12560068e-01 1.44269496e-02 4.09661031e+02] [-2.12543740e-01 9.77147896e-01 -2.67341831e-03 -6.36208026e+01] [-1.46655255e-02 -4.54317219e-04 9.99892352e-01 -4.48643229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.75576923100004 meters Centerline goodness [0,1] 0.9999357243861678 Centerline is valid? [True, True] Translation: X:409.69, Y:-63.62, Z:-4.49 [[ 9.76935218e-01 2.13017989e-01 1.48632457e-02 4.09689054e+02] [-2.13000715e-01 9.77048162e-01 -2.75413551e-03 -6.36233634e+01] [-1.51087873e-02 -4.75269992e-04 9.99885743e-01 -4.48648778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.7857692310001 meters Centerline goodness [0,1] 0.9998732117574963 Centerline is valid? [True, True] Translation: X:409.72, Y:-63.63, Z:-4.49 [[ 9.76917310e-01 2.13024138e-01 1.59149840e-02 4.09717096e+02] [-2.13004350e-01 9.77046804e-01 -2.94797439e-03 -6.36252123e+01] [-1.61776739e-02 -5.10033603e-04 9.99869003e-01 -4.48618541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.81576923100005 meters Centerline goodness [0,1] 0.9998097291812013 Centerline is valid? [True, True] Translation: X:409.75, Y:-63.63, Z:-4.49 [[ 9.76934919e-01 2.12908113e-01 1.63798466e-02 4.09745492e+02] [-2.12887153e-01 9.77072086e-01 -3.03300573e-03 -6.36291046e+01] [-1.66500424e-02 -5.24009693e-04 9.99861241e-01 -4.48634865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8457692310001 meters Centerline goodness [0,1] 0.9998509528372193 Centerline is valid? [True, True] Translation: X:409.77, Y:-63.63, Z:-4.49 [[ 9.76882052e-01 2.13253338e-01 1.49823610e-02 4.09774666e+02] [-2.13235840e-01 9.76996816e-01 -2.77440480e-03 -6.36307030e+01] [-1.52293701e-02 -4.84510076e-04 9.99883909e-01 -4.48958360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.87576923100005 meters Centerline goodness [0,1] 0.999809865849794 Centerline is valid? [True, True] Translation: X:409.80, Y:-63.63, Z:-4.49 [[ 9.76657906e-01 2.14315224e-01 1.44332506e-02 4.09803091e+02] [-2.14299145e-01 9.76764429e-01 -2.66971136e-03 -6.36313938e+01] [-1.46700456e-02 -4.85638566e-04 9.99892271e-01 -4.49231156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9057692310001 meters Centerline goodness [0,1] 0.9996181667762669 Centerline is valid? [True, True] Translation: X:409.83, Y:-63.63, Z:-4.49 [[ 9.75994009e-01 2.17332721e-01 1.42190808e-02 4.09833385e+02] [-2.17317453e-01 9.76097441e-01 -2.62893712e-03 -6.36295382e+01] [-1.44505624e-02 -5.24227527e-04 9.99895448e-01 -4.49284687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.93576923100005 meters Centerline goodness [0,1] 0.9994950238811623 Centerline is valid? [True, True] Translation: X:409.86, Y:-63.63, Z:-4.49 [[ 9.75574091e-01 2.19179439e-01 1.46821819e-02 4.09863480e+02] [-2.19163370e-01 9.75684400e-01 -2.71446100e-03 -6.36311962e+01] [-1.49201299e-02 -5.69638637e-04 9.99888526e-01 -4.49165840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9657692310001 meters Centerline goodness [0,1] 0.9994892639015982 Centerline is valid? [True, True] Translation: X:409.89, Y:-63.63, Z:-4.49 [[ 9.75084901e-01 2.21287184e-01 1.55376513e-02 4.09893337e+02] [-2.21269460e-01 9.75208478e-01 -2.87223514e-03 -6.36329130e+01] [-1.57880381e-02 -6.37334606e-04 9.99875158e-01 -4.49053576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.99576923100005 meters Centerline goodness [0,1] 0.9984525046106884 Centerline is valid? [True, True] Translation: X:409.92, Y:-63.63, Z:-4.49 [[ 9.74228240e-01 2.24881560e-01 1.75391113e-02 4.09923974e+02] [-2.24859565e-01 9.74385790e-01 -3.24174769e-03 -6.36290143e+01] [-1.78188701e-02 -7.85634791e-04 9.99840923e-01 -4.48782688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0257692310001 meters Centerline goodness [0,1] 0.9975036804711003 Centerline is valid? [True, True] Translation: X:409.95, Y:-63.63, Z:-4.49 [[ 9.73880447e-01 2.26342698e-01 1.80515416e-02 4.09954176e+02] [-2.26319658e-01 9.74047372e-01 -3.33603177e-03 -6.36295146e+01] [-1.83381431e-02 -8.36522615e-04 9.99831492e-01 -4.48765430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.05576923100006 meters Centerline goodness [0,1] 0.9968548148773589 Centerline is valid? [True, True] Translation: X:409.98, Y:-63.63, Z:-4.49 [[ 9.73608953e-01 2.27501217e-01 1.81329417e-02 4.09984123e+02] [-2.27478177e-01 9.73777414e-01 -3.35065950e-03 -6.36310460e+01] [-1.84197282e-02 -8.62616442e-04 9.99829970e-01 -4.48774625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0857692310001 meters Centerline goodness [0,1] 0.9966234265808989 Centerline is valid? [True, True] Translation: X:410.01, Y:-63.63, Z:-4.49 [[ 9.73271490e-01 2.28955871e-01 1.79392566e-02 4.10014353e+02] [-2.28933574e-01 9.73436404e-01 -3.31446735e-03 -6.36296864e+01] [-1.82215922e-02 -8.81021562e-04 9.99833585e-01 -4.48777089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.11576923100006 meters Centerline goodness [0,1] 0.9925472676843599 Centerline is valid? [True, True] Translation: X:410.04, Y:-63.63, Z:-4.49 [[ 9.73078685e-01 2.29749761e-01 1.82461102e-02 4.10043090e+02] [-2.29726837e-01 9.73249309e-01 -3.37099694e-03 -6.36251451e+01] [-1.85324999e-02 -9.11375932e-04 9.99827843e-01 -4.48760074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1457692310001 meters Centerline goodness [0,1] 0.987237998647735 Centerline is valid? [True, True] Translation: X:410.07, Y:-63.62, Z:-4.49 [[ 9.72784864e-01 2.30949304e-01 1.87623923e-02 4.10072141e+02] [-2.30925327e-01 9.72965309e-01 -3.46426032e-03 -6.36232363e+01] [-1.90552253e-02 -9.62731575e-04 9.99817969e-01 -4.48740751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.17576923100006 meters Centerline goodness [0,1] 0.9791508558900414 Centerline is valid? [True, True] Translation: X:410.10, Y:-63.62, Z:-4.49 [[ 9.72488999e-01 2.32115758e-01 1.96830197e-02 4.10101887e+02] [-2.32089627e-01 9.72687619e-01 -3.63331784e-03 -6.36166704e+01] [-1.99887799e-02 -1.03486308e-03 9.99799669e-01 -4.48677652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.20576923100003 meters Centerline goodness [0,1] 0.9969040247678018 Centerline is valid? [True, True] Translation: X:410.13, Y:-63.63, Z:-4.49 [[ 9.72577095e-01 2.31741350e-01 1.97418673e-02 4.10128893e+02] [-2.31714999e-01 9.72776893e-01 -3.64350286e-03 -6.36312822e+01] [-2.00487826e-02 -1.03089933e-03 9.99798471e-01 -4.48700383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.23576923100006 meters Centerline goodness [0,1] 0.9978353586660665 Centerline is valid? [True, True] Translation: X:410.16, Y:-63.63, Z:-4.49 [[ 9.72807150e-01 2.30799465e-01 1.94385134e-02 4.10157779e+02] [-2.30773789e-01 9.73000827e-01 -3.58454301e-03 -6.36349853e+01] [-1.97410002e-02 -9.98830333e-04 9.99804629e-01 -4.48778135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26576923100004 meters Centerline goodness [0,1] 0.998811267486043 Centerline is valid? [True, True] Translation: X:410.19, Y:-63.64, Z:-4.49 [[ 9.73526733e-01 2.27783913e-01 1.89786637e-02 4.10186855e+02] [-2.27758935e-01 9.73711274e-01 -3.49618269e-03 -6.36370292e+01] [-1.92761130e-02 -9.18932925e-04 9.99813776e-01 -4.48924053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.29576923100007 meters Centerline goodness [0,1] 0.9968742740078987 Centerline is valid? [True, True] Translation: X:410.22, Y:-63.63, Z:-4.49 [[ 9.74106760e-01 2.25321216e-01 1.86110339e-02 4.10217658e+02] [-2.25296755e-01 9.74284158e-01 -3.42801506e-03 -6.36310235e+01] [-1.89048400e-02 -8.53752901e-04 9.99820923e-01 -4.49120677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32576923100004 meters Centerline goodness [0,1] 0.9979954364190817 Centerline is valid? [True, True] Translation: X:410.25, Y:-63.64, Z:-4.49 [[ 9.74699331e-01 2.22788621e-01 1.80677734e-02 4.10246692e+02] [-2.22765141e-01 9.74866462e-01 -3.32752387e-03 -6.36355329e+01] [-1.83550008e-02 -7.81534798e-04 9.99831227e-01 -4.49324536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.35576923100007 meters Centerline goodness [0,1] 0.999385476044161 Centerline is valid? [True, True] Translation: X:410.27, Y:-63.64, Z:-4.49 [[ 9.75764967e-01 2.18087955e-01 1.78989495e-02 4.10274904e+02] [-2.18064129e-01 9.75928876e-01 -3.29603746e-03 -6.36406990e+01] [-1.81869277e-02 -6.86960940e-04 9.99834368e-01 -4.49451981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.38576923100004 meters Centerline goodness [0,1] 0.9997886951928157 Centerline is valid? [True, True] Translation: X:410.30, Y:-63.66, Z:-4.49 [[ 9.76182947e-01 2.16167664e-01 1.83955048e-02 4.10301287e+02] [-2.16142163e-01 9.76356028e-01 -3.38712017e-03 -6.36550712e+01] [-1.86927479e-02 -6.69595247e-04 9.99825051e-01 -4.49378058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.41576923100007 meters Centerline goodness [0,1] 0.999851506151888 Centerline is valid? [True, True] Translation: X:410.33, Y:-63.65, Z:-4.50 [[ 9.76644348e-01 2.14056841e-01 1.85872865e-02 4.10330229e+02] [-2.14030441e-01 9.76820999e-01 -3.42155360e-03 -6.36504309e+01] [-1.88888587e-02 -6.36604133e-04 9.99821387e-01 -4.49502442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.44576923100004 meters Centerline goodness [0,1] 0.9999787102680378 Centerline is valid? [True, True] Translation: X:410.36, Y:-63.66, Z:-4.49 [[ 9.77628514e-01 2.09490948e-01 1.88687743e-02 4.10358117e+02] [-2.09462915e-01 9.77810427e-01 -3.47210768e-03 -6.36641769e+01] [-1.91774594e-02 -5.57876996e-04 9.99815940e-01 -4.49476190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.4757692310001 meters Centerline goodness [0,1] 0.9999577506443027 Centerline is valid? [True, True] Translation: X:410.39, Y:-63.67, Z:-4.50 [[ 9.78211370e-01 2.06802336e-01 1.83114820e-02 4.10385116e+02] [-2.06775469e-01 9.78382621e-01 -3.36926547e-03 -6.36693659e+01] [-1.86124078e-02 -4.90511501e-04 9.99826654e-01 -4.49660334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.41, Y:-63.68, Z:-4.50 [[ 9.78827977e-01 2.03922422e-01 1.76475752e-02 4.10411909e+02] [-2.03897019e-01 9.78986960e-01 -3.24608885e-03 -6.36755428e+01] [-1.79386963e-02 -4.20925396e-04 9.99839000e-01 -4.49896404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5357692310001 meters Centerline goodness [0,1] 0.9999788005342265 Centerline is valid? [True, True] Translation: X:410.44, Y:-63.68, Z:-4.50 [[ 9.79989382e-01 1.98401863e-01 1.60471586e-02 4.10439583e+02] [-1.98380135e-01 9.80120715e-01 -2.95065994e-03 -6.36844816e+01] [-1.63135690e-02 -2.91822073e-04 9.99866882e-01 -4.50217653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.47, Y:-63.69, Z:-4.50 [[ 9.80568009e-01 1.95519853e-01 1.60738135e-02 4.10467171e+02] [-1.95497659e-01 9.80699713e-01 -2.95596464e-03 -6.36912255e+01] [-1.63415340e-02 -2.43868553e-04 9.99866438e-01 -4.50251699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.49, Y:-63.70, Z:-4.50 [[ 9.81131122e-01 1.92633709e-01 1.65522141e-02 4.10494995e+02] [-1.92609811e-01 9.81270713e-01 -3.04109392e-03 -6.36984912e+01] [-1.68280201e-02 -2.04406938e-04 9.99858378e-01 -4.50225797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.52, Y:-63.71, Z:-4.50 [[ 9.81686830e-01 1.89759464e-01 1.68021662e-02 4.10522859e+02] [-1.89734466e-01 9.81830596e-01 -3.08417918e-03 -6.37066025e+01] [-1.70821330e-02 -1.60251947e-04 9.99854077e-01 -4.50249843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.55, Y:-63.72, Z:-4.50 [[ 9.82826438e-01 1.83824576e-01 1.61467691e-02 4.10548711e+02] [-1.83800740e-01 9.82959064e-01 -2.96076293e-03 -6.37204898e+01] [-1.64158741e-02 -5.78720198e-05 9.99865249e-01 -4.50455269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.58, Y:-63.73, Z:-4.51 [[ 9.83402894e-01 1.80775235e-01 1.54616448e-02 4.10575609e+02] [-1.80753002e-01 9.83524435e-01 -2.83512173e-03 -6.37299505e+01] [-1.57194253e-02 -6.67180280e-06 9.99876442e-01 -4.50524000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.60, Y:-63.74, Z:-4.51 [[ 9.84360929e-01 1.75469629e-01 1.56195674e-02 4.10601584e+02] [-1.75446333e-01 9.84484842e-01 -2.86018717e-03 -6.37427611e+01] [-1.58791033e-02 7.50606804e-05 9.99873916e-01 -4.50617297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.63, Y:-63.75, Z:-4.50 [[ 9.84783188e-01 1.72993811e-01 1.65895436e-02 4.10629133e+02] [-1.72967199e-01 9.84922904e-01 -3.03666248e-03 -6.37511885e+01] [-1.68647452e-02 1.21007270e-04 9.99857773e-01 -4.50438583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.66, Y:-63.76, Z:-4.50 [[ 9.84795434e-01 1.72924078e-01 1.65896656e-02 4.10656191e+02] [-1.72897468e-01 9.84935149e-01 -3.03599563e-03 -6.37560043e+01] [-1.68647415e-02 1.21523461e-04 9.99857773e-01 -4.50499074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.68, Y:-63.77, Z:-4.50 [[ 9.85139498e-01 1.70888624e-01 1.72408740e-02 4.10682593e+02] [-1.70859595e-01 9.85290339e-01 -3.15379127e-03 -6.37663104e+01] [-1.75262137e-02 1.61155584e-04 9.99846391e-01 -4.50457385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.71, Y:-63.78, Z:-4.50 [[ 9.85751846e-01 1.67314608e-01 1.72950879e-02 4.10708092e+02] [-1.67284863e-01 9.85903531e-01 -3.16276670e-03 -6.37805248e+01] [-1.75804653e-02 2.24496712e-04 9.99845426e-01 -4.50472347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.74, Y:-63.79, Z:-4.50 [[ 9.85969696e-01 1.66048888e-01 1.70741434e-02 4.10736583e+02] [-1.66019736e-01 9.86117492e-01 -3.12074309e-03 -6.37858846e+01] [-1.73553073e-02 2.42313344e-04 9.99849356e-01 -4.50484071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8957692310001 meters Centerline goodness [0,1] 0.9999577310000846 Centerline is valid? [True, True] Translation: X:410.76, Y:-63.80, Z:-4.51 [[ 9.86093213e-01 1.65322886e-01 1.69858409e-02 4.10762823e+02] [-1.65293941e-01 9.86239464e-01 -3.10382272e-03 -6.37956478e+01] [-1.72652395e-02 2.53001953e-04 9.99850913e-01 -4.50639095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.79, Y:-63.81, Z:-4.51 [[ 9.86370164e-01 1.63598556e-01 1.75901120e-02 4.10788451e+02] [-1.63567259e-01 9.86526952e-01 -3.21321056e-03 -6.38109520e+01] [-1.78787961e-02 2.92248620e-04 9.99840119e-01 -4.50729880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.95576923100003 meters Centerline goodness [0,1] 0.9999788561158685 Centerline is valid? [True, True] Translation: X:410.81, Y:-63.82, Z:-4.51 [[ 9.86509673e-01 1.62724415e-01 1.78725788e-02 4.10814831e+02] [-1.62691992e-01 9.86671510e-01 -3.26313316e-03 -6.38210804e+01] [-1.81653558e-02 3.11386985e-04 9.99834948e-01 -4.50762738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.84, Y:-63.83, Z:-4.51 [[ 9.86666543e-01 1.61712529e-01 1.83899706e-02 4.10842658e+02] [-1.61678046e-01 9.86837851e-01 -3.35648758e-03 -6.38300987e+01] [-1.86907052e-02 3.38479474e-04 9.99825256e-01 -4.50669205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.87, Y:-63.84, Z:-4.50 [[ 9.86862602e-01 1.60332817e-01 1.98894846e-02 4.10870728e+02] [-1.60292220e-01 9.87062933e-01 -3.62922086e-03 -6.38383931e+01] [-2.02140562e-02 3.93412693e-04 9.99795598e-01 -4.50418831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.04576923100007 meters Centerline goodness [0,1] 0.9999787631668365 Centerline is valid? [True, True] Translation: X:410.90, Y:-63.85, Z:-4.50 [[ 9.86927326e-01 1.59891044e-01 2.02313398e-02 4.10898587e+02] [-1.59848967e-01 9.87134584e-01 -3.69059594e-03 -6.38473931e+01] [-2.05611484e-02 4.08391219e-04 9.99788514e-01 -4.50437019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07576923100004 meters Centerline goodness [0,1] 0.9999787793905441 Centerline is valid? [True, True] Translation: X:410.92, Y:-63.86, Z:-4.50 [[ 9.87083011e-01 1.58902318e-01 2.04250606e-02 4.10924068e+02] [-1.58859240e-01 9.87294215e-01 -3.72495961e-03 -6.38617890e+01] [-2.07574488e-02 4.32134749e-04 9.99784448e-01 -4.50442776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.10576923100007 meters Centerline goodness [0,1] 0.9999787324542748 Centerline is valid? [True, True] Translation: X:410.95, Y:-63.87, Z:-4.51 [[ 9.87130127e-01 1.58661933e-01 2.00125767e-02 4.10951903e+02] [-1.58620557e-01 9.87332876e-01 -3.64831814e-03 -6.38677055e+01] [-2.03379241e-02 4.26958688e-04 9.99793072e-01 -4.50555785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.13576923100004 meters Centerline goodness [0,1] 0.999978494623656 Centerline is valid? [True, True] Translation: X:410.98, Y:-63.87, Z:-4.51 [[ 9.87240765e-01 1.58065176e-01 1.92632303e-02 4.10980412e+02] [-1.58026744e-01 9.87428591e-01 -3.51084592e-03 -6.38719996e+01] [-1.95760069e-02 4.21944646e-04 9.99808283e-01 -4.50727504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.16576923100007 meters Centerline goodness [0,1] 0.9999788207387327 Centerline is valid? [True, True] Translation: X:411.01, Y:-63.89, Z:-4.51 [[ 9.87366956e-01 1.57403599e-01 1.81824541e-02 4.11005700e+02] [-1.57369262e-01 9.87534272e-01 -3.31305059e-03 -6.38856728e+01] [-1.84772827e-02 4.09837286e-04 9.99829196e-01 -4.51061928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.19576923100004 meters Centerline goodness [0,1] 0.9999574766653201 Centerline is valid? [True, True] Translation: X:411.03, Y:-63.90, Z:-4.51 [[ 9.87793671e-01 1.54802232e-01 1.73185375e-02 4.11033439e+02] [-1.54770702e-01 9.87945383e-01 -3.15443645e-03 -6.39005235e+01] [-1.75980829e-02 4.35530157e-04 9.99845047e-01 -4.51247769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.2257692310001 meters Centerline goodness [0,1] 0.9999365924798681 Centerline is valid? [True, True] Translation: X:411.06, Y:-63.91, Z:-4.51 [[ 9.88043863e-01 1.53192216e-01 1.73628600e-02 4.11058989e+02] [-1.53160281e-01 9.88196301e-01 -3.16224545e-03 -6.39144773e+01] [-1.76423454e-02 4.65136702e-04 9.99844254e-01 -4.51289204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.25576923100004 meters Centerline goodness [0,1] 0.9999154012097627 Centerline is valid? [True, True] Translation: X:411.08, Y:-63.93, Z:-4.51 [[ 9.88565688e-01 1.49788996e-01 1.73533281e-02 4.11084819e+02] [-1.49756592e-01 9.88717847e-01 -3.15932450e-03 -6.39347381e+01] [-1.76307773e-02 5.24424508e-04 9.99844428e-01 -4.51452526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.2857692310001 meters Centerline goodness [0,1] 0.9997438743276701 Centerline is valid? [True, True] Translation: X:411.11, Y:-63.95, Z:-4.52 [[ 9.88864204e-01 1.47879327e-01 1.67120194e-02 4.11112039e+02] [-1.47849008e-01 9.89005266e-01 -3.04220307e-03 -6.39480145e+01] [-1.69781541e-02 5.37470225e-04 9.99855716e-01 -4.51687568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.31576923100005 meters Centerline goodness [0,1] 0.9994938524158002 Centerline is valid? [True, True] Translation: X:411.14, Y:-63.96, Z:-4.52 [[ 9.89096377e-01 1.46386767e-01 1.61018857e-02 4.11140071e+02] [-1.46358430e-01 9.89227285e-01 -2.93078660e-03 -6.39603618e+01] [-1.63574531e-02 5.42183691e-04 9.99866061e-01 -4.51925305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3457692310001 meters Centerline goodness [0,1] 0.9998937977909941 Centerline is valid? [True, True] Translation: X:411.17, Y:-63.97, Z:-4.52 [[ 9.89236074e-01 1.45454186e-01 1.59708944e-02 4.11168843e+02] [-1.45426193e-01 9.89364834e-01 -2.90652564e-03 -6.39700381e+01] [-1.62238076e-02 5.52653636e-04 9.99868233e-01 -4.51845636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.37576923100005 meters Centerline goodness [0,1] 0.9998710592482755 Centerline is valid? [True, True] Translation: X:411.20, Y:-63.98, Z:-4.52 [[ 9.89156414e-01 1.45936751e-01 1.64940120e-02 4.11197917e+02] [-1.45906966e-01 9.89293762e-01 -3.00146014e-03 -6.39783790e+01] [-1.67554465e-02 5.62322298e-04 9.99859460e-01 -4.51742454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4057692310001 meters Centerline goodness [0,1] 0.9996634908616737 Centerline is valid? [True, True] Translation: X:411.23, Y:-63.99, Z:-4.52 [[ 9.88940344e-01 1.47396197e-01 1.64729204e-02 4.11226459e+02] [-1.47366692e-01 9.89077385e-01 -2.99749815e-03 -6.39930218e+01] [-1.67348128e-02 5.36787064e-04 9.99859819e-01 -4.51892121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.43576923100005 meters Centerline goodness [0,1] 0.9997871797054567 Centerline is valid? [True, True] Translation: X:411.26, Y:-64.00, Z:-4.52 [[ 9.88612451e-01 1.49523173e-01 1.69776775e-02 4.11256611e+02] [-1.49492137e-01 9.88758087e-01 -3.08988063e-03 -6.39976347e+01] [-1.72488247e-02 5.16665172e-04 9.99851094e-01 -4.51829776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4657692310001 meters Centerline goodness [0,1] 0.9998732492553394 Centerline is valid? [True, True] Translation: X:411.29, Y:-64.01, Z:-4.52 [[ 9.88517833e-01 1.50046564e-01 1.78472183e-02 4.11285724e+02] [-1.50012352e-01 9.88678787e-01 -3.24808902e-03 -6.40082132e+01] [-1.81325307e-02 5.33490721e-04 9.99835450e-01 -4.51777444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.49576923100005 meters Centerline goodness [0,1] 0.9995569152864227 Centerline is valid? [True, True] Translation: X:411.31, Y:-64.02, Z:-4.52 [[ 9.88470151e-01 1.50222468e-01 1.89728941e-02 4.11314438e+02] [-1.50183831e-01 9.88652058e-01 -3.45319818e-03 -6.40199557e+01] [-1.92763388e-02 5.63961385e-04 9.99814035e-01 -4.51691036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5257692310001 meters Centerline goodness [0,1] 0.9995980962453728 Centerline is valid? [True, True] Translation: X:411.34, Y:-64.03, Z:-4.51 [[ 9.88415987e-01 1.50459890e-01 1.98911517e-02 4.11344075e+02] [-1.50417466e-01 9.88615940e-01 -3.62058678e-03 -6.40302431e+01] [-2.02094628e-02 5.86669221e-04 9.99795596e-01 -4.51497856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.55576923100006 meters Centerline goodness [0,1] 0.9998310668130754 Centerline is valid? [True, True] Translation: X:411.38, Y:-64.03, Z:-4.52 [[ 9.88312959e-01 1.51146049e-01 1.98082427e-02 4.11376432e+02] [-1.51104116e-01 9.88511278e-01 -3.60542943e-03 -6.40299426e+01] [-2.01256177e-02 5.70185611e-04 9.99797297e-01 -4.51522789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5857692310001 meters Centerline goodness [0,1] 0.9998524514143586 Centerline is valid? [True, True] Translation: X:411.41, Y:-64.04, Z:-4.52 [[ 9.88198871e-01 1.51995937e-01 1.89796253e-02 4.11406561e+02] [-1.51957590e-01 9.88380976e-01 -3.45493987e-03 -6.40393333e+01] [-1.92842374e-02 5.30069567e-04 9.99813901e-01 -4.51763000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.61576923100006 meters Centerline goodness [0,1] 0.9998940745291612 Centerline is valid? [True, True] Translation: X:411.44, Y:-64.04, Z:-4.52 [[ 9.87972043e-01 1.53631274e-01 1.75691379e-02 4.11437627e+02] [-1.53598620e-01 9.88128138e-01 -3.20120290e-03 -6.40445975e+01] [-1.78523644e-02 4.64103630e-04 9.99840526e-01 -4.52140844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6457692310001 meters Centerline goodness [0,1] 0.9999572786500054 Centerline is valid? [True, True] Translation: X:411.47, Y:-64.05, Z:-4.52 [[ 9.87845986e-01 1.54425635e-01 1.76926985e-02 4.11468042e+02] [-1.54392640e-01 9.88004311e-01 -3.22414339e-03 -6.40505021e+01] [-1.79783528e-02 4.53334676e-04 9.99838274e-01 -4.52124324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.67576923100006 meters Centerline goodness [0,1] 0.9999784059254141 Centerline is valid? [True, True] Translation: X:411.50, Y:-64.05, Z:-4.52 [[ 9.87688075e-01 1.55408089e-01 1.79050941e-02 4.11500452e+02] [-1.55374460e-01 9.87850258e-01 -3.26270643e-03 -6.40524480e+01] [-1.81946027e-02 4.40541909e-04 9.99834367e-01 -4.52041158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.53, Y:-64.06, Z:-4.52 [[ 9.87538007e-01 1.56210720e-01 1.91545067e-02 4.11530562e+02] [-1.56172313e-01 9.87723646e-01 -3.49410332e-03 -6.40629830e+01] [-1.94651755e-02 4.59156230e-04 9.99810430e-01 -4.51908641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.73576923100006 meters Centerline goodness [0,1] 0.9999578663520687 Centerline is valid? [True, True] Translation: X:411.56, Y:-64.07, Z:-4.52 [[ 9.87525577e-01 1.56211309e-01 1.97803392e-02 4.11560159e+02] [-1.56170281e-01 9.87723544e-01 -3.61167340e-03 -6.40717702e+01] [-2.01016909e-02 4.77518720e-04 9.99797827e-01 -4.51889372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76576923100004 meters Centerline goodness [0,1] 0.9999785380091857 Centerline is valid? [True, True] Translation: X:411.59, Y:-64.08, Z:-4.52 [[ 9.87570693e-01 1.55866182e-01 2.02449635e-02 4.11591487e+02] [-1.55823062e-01 9.87778054e-01 -3.69991561e-03 -6.40760176e+01] [-2.05742224e-02 4.99296017e-04 9.99788204e-01 -4.51891469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.79576923100007 meters Centerline goodness [0,1] 0.9999788494077834 Centerline is valid? [True, True] Translation: X:411.62, Y:-64.09, Z:-4.52 [[ 9.87647620e-01 1.55444829e-01 1.97252042e-02 4.11621021e+02] [-1.55403804e-01 9.87844451e-01 -3.60525489e-03 -6.40861954e+01] [-2.00458518e-02 4.95349638e-04 9.99798939e-01 -4.52069912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.65, Y:-64.09, Z:-4.52 [[ 9.87710167e-01 1.55046782e-01 1.97261447e-02 4.11652997e+02] [-1.55005640e-01 9.87907000e-01 -3.60712915e-03 -6.40900824e+01] [-2.00468702e-02 5.05134459e-04 9.99798914e-01 -4.52116282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.85576923100007 meters Centerline goodness [0,1] 0.9999367288832648 Centerline is valid? [True, True] Translation: X:411.68, Y:-64.10, Z:-4.52 [[ 9.87768946e-01 1.54676467e-01 1.96900947e-02 4.11683131e+02] [-1.54635334e-01 9.87965042e-01 -3.60395025e-03 -6.40971482e+01] [-2.00105715e-02 5.15085776e-04 9.99799636e-01 -4.52165829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.88576923100004 meters Centerline goodness [0,1] 0.9999788117637088 Centerline is valid? [True, True] Translation: X:411.71, Y:-64.10, Z:-4.52 [[ 9.87904249e-01 1.53787993e-01 1.98607331e-02 4.11714178e+02] [-1.53745899e-01 9.88103720e-01 -3.63838671e-03 -6.41037055e+01] [-2.01840044e-02 5.40871436e-04 9.99796136e-01 -4.52210943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.91576923100007 meters Centerline goodness [0,1] 0.9998092977920923 Centerline is valid? [True, True] Translation: X:411.74, Y:-64.11, Z:-4.52 [[ 9.87943677e-01 1.53524894e-01 1.99348500e-02 4.11744293e+02] [-1.53482365e-01 9.88144626e-01 -3.65524672e-03 -6.41127634e+01] [-2.02596862e-02 5.51529957e-04 9.99794599e-01 -4.52240133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.94576923100004 meters Centerline goodness [0,1] 0.99987320907823 Centerline is valid? [True, True] Translation: X:411.78, Y:-64.12, Z:-4.52 [[ 9.87887634e-01 1.53982430e-01 1.91685435e-02 4.11775809e+02] [-1.53943165e-01 9.88073448e-01 -3.51626404e-03 -6.41167209e+01] [-1.94813717e-02 5.22807513e-04 9.99810083e-01 -4.52432674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.9757692310001 meters Centerline goodness [0,1] 0.9999788788915642 Centerline is valid? [True, True] Translation: X:411.81, Y:-64.12, Z:-4.53 [[ 9.87858991e-01 1.54286841e-01 1.81709660e-02 4.11807493e+02] [-1.54251556e-01 9.88025975e-01 -3.33608393e-03 -6.41202363e+01] [-1.84681003e-02 4.92680728e-04 9.99829329e-01 -4.52697960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.00576923100004 meters Centerline goodness [0,1] 0.999957470335559 Centerline is valid? [True, True] Translation: X:411.84, Y:-64.13, Z:-4.53 [[ 9.87860542e-01 1.54385735e-01 1.72219371e-02 4.11839502e+02] [-1.54354007e-01 9.88010539e-01 -3.16457151e-03 -6.41262212e+01] [-1.75040201e-02 4.67880310e-04 9.99846683e-01 -4.52919839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0357692310001 meters Centerline goodness [0,1] 0.9999785485981509 Centerline is valid? [True, True] Translation: X:411.87, Y:-64.13, Z:-4.53 [[ 9.87863527e-01 1.54327816e-01 1.75663410e-02 4.11871604e+02] [-1.54294744e-01 9.88019582e-01 -3.23085010e-03 -6.41298765e+01] [-1.78544989e-02 4.81244876e-04 9.99840480e-01 -4.52789987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.06576923100005 meters Centerline goodness [0,1] 0.9998735164534014 Centerline is valid? [True, True] Translation: X:411.90, Y:-64.15, Z:-4.53 [[ 9.87879081e-01 1.54083827e-01 1.87908459e-02 4.11901094e+02] [-1.54045871e-01 9.88057640e-01 -3.45961619e-03 -6.41455005e+01] [-1.90995098e-02 5.23030227e-04 9.99817451e-01 -4.52811385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0957692310001 meters Centerline goodness [0,1] 0.9998723920117399 Centerline is valid? [True, True] Translation: X:411.93, Y:-64.15, Z:-4.53 [[ 9.87996026e-01 1.53201507e-01 1.98280300e-02 4.11933237e+02] [-1.53158987e-01 9.88194803e-01 -3.65457340e-03 -6.41495614e+01] [-2.01538424e-02 5.73863017e-04 9.99796726e-01 -4.52672686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.12576923100005 meters Centerline goodness [0,1] 0.9997448708408632 Centerline is valid? [True, True] Translation: X:411.96, Y:-64.17, Z:-4.53 [[ 9.88351888e-01 1.50793713e-01 2.05378039e-02 4.11962070e+02] [-1.50747498e-01 9.88565038e-01 -3.78902807e-03 -6.41651165e+01] [-2.08743166e-02 6.48870488e-04 9.99781897e-01 -4.52662124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1557692310001 meters Centerline goodness [0,1] 0.9997882970615632 Centerline is valid? [True, True] Translation: X:411.99, Y:-64.17, Z:-4.53 [[ 9.88486290e-01 1.50006165e-01 1.98243752e-02 4.11993640e+02] [-1.49962888e-01 9.88684851e-01 -3.66037471e-03 -6.41734295e+01] [-2.01491382e-02 6.45309663e-04 9.99796777e-01 -4.52853650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.18576923100005 meters Centerline goodness [0,1] 0.9995368908535943 Centerline is valid? [True, True] Translation: X:412.02, Y:-64.19, Z:-4.53 [[ 9.88500919e-01 1.50127378e-01 1.81025689e-02 4.12023745e+02] [-1.50091264e-01 9.88666487e-01 -3.34511766e-03 -6.41862196e+01] [-1.83995969e-02 5.89614430e-04 9.99830539e-01 -4.53252708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2157692310001 meters Centerline goodness [0,1] 0.9998099300965133 Centerline is valid? [True, True] Translation: X:412.06, Y:-64.19, Z:-4.53 [[ 9.88365719e-01 1.51089659e-01 1.74676791e-02 4.12055306e+02] [-1.51056130e-01 9.88519907e-01 -3.23083164e-03 -6.41943599e+01] [-1.77552938e-02 5.54643229e-04 9.99842209e-01 -4.53418077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.24576923100005 meters Centerline goodness [0,1] 0.9998305228370477 Centerline is valid? [True, True] Translation: X:412.09, Y:-64.20, Z:-4.54 [[ 9.88208155e-01 1.52145210e-01 1.72185510e-02 4.12087178e+02] [-1.52112735e-01 9.88358009e-01 -3.18794046e-03 -6.42014939e+01] [-1.75031226e-02 5.31187884e-04 9.99846668e-01 -4.53530627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2757692310001 meters Centerline goodness [0,1] 0.9998096849228166 Centerline is valid? [True, True] Translation: X:412.12, Y:-64.21, Z:-4.54 [[ 9.87945162e-01 1.53803043e-01 1.75778539e-02 4.12117438e+02] [-1.53769449e-01 9.88101392e-01 -3.25513794e-03 -6.42110038e+01] [-1.78693520e-02 5.12960875e-04 9.99840199e-01 -4.53566321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.30576923100006 meters Centerline goodness [0,1] 0.9999154620001691 Centerline is valid? [True, True] Translation: X:412.15, Y:-64.22, Z:-4.54 [[ 9.87774106e-01 1.54877699e-01 1.77542686e-02 4.12147406e+02] [-1.54843551e-01 9.87933524e-01 -3.29052076e-03 -6.42188696e+01] [-1.80496654e-02 5.01157201e-04 9.99836966e-01 -4.53541486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3357692310001 meters Centerline goodness [0,1] 0.9999364366379219 Centerline is valid? [True, True] Translation: X:412.18, Y:-64.22, Z:-4.53 [[ 9.87099475e-01 1.59048099e-01 1.83937170e-02 4.12178257e+02] [-1.59012107e-01 9.87270736e-01 -3.41235930e-03 -6.42221814e+01] [-1.87023078e-02 4.43514369e-04 9.99824998e-01 -4.53497321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.21, Y:-64.22, Z:-4.53 [[ 9.86624388e-01 1.61941674e-01 1.86336233e-02 4.12210747e+02] [-1.61905250e-01 9.86800253e-01 -3.45700911e-03 -6.42220905e+01] [-1.89474981e-02 3.93888047e-04 9.99820402e-01 -4.53453872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3957692310001 meters Centerline goodness [0,1] 0.999978948697977 Centerline is valid? [True, True] Translation: X:412.24, Y:-64.23, Z:-4.54 [[ 9.86170076e-01 1.64632776e-01 1.90952869e-02 4.12241451e+02] [-1.64595021e-01 9.86354868e-01 -3.54306597e-03 -6.42277636e+01] [-1.94180340e-02 3.51076483e-04 9.99811391e-01 -4.53509901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.27, Y:-64.23, Z:-4.54 [[ 9.85726664e-01 1.67176050e-01 1.98774203e-02 4.12272818e+02] [-1.67135589e-01 9.85927010e-01 -3.69141567e-03 -6.42309538e+01] [-2.02148019e-02 3.16502491e-04 9.99795610e-01 -4.53521010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.31, Y:-64.23, Z:-4.53 [[ 9.84954398e-01 1.71646055e-01 2.00615421e-02 4.12305670e+02] [-1.71605702e-01 9.85158657e-01 -3.72879239e-03 -6.42284678e+01] [-2.04038344e-02 2.30015439e-04 9.99791794e-01 -4.53447589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.34, Y:-64.23, Z:-4.54 [[ 9.84571978e-01 1.73919639e-01 1.92348721e-02 4.12336230e+02] [-1.73882963e-01 9.84759833e-01 -3.57586521e-03 -6.42316084e+01] [-1.95636427e-02 1.76080119e-04 9.99808598e-01 -4.53626615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.37, Y:-64.23, Z:-4.54 [[ 9.84190209e-01 1.76163144e-01 1.83351704e-02 4.12366213e+02] [-1.76130205e-01 9.84360976e-01 -3.40880015e-03 -6.42335048e+01] [-1.86489312e-02 1.25530416e-04 9.99826086e-01 -4.53856831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.40, Y:-64.23, Z:-4.54 [[ 9.83376307e-01 1.80692783e-01 1.79208646e-02 4.12396834e+02] [-1.80662060e-01 9.83539586e-01 -3.33220318e-03 -6.42294796e+01] [-1.82279848e-02 3.91893356e-05 9.99833856e-01 -4.54037666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.43, Y:-64.23, Z:-4.54 [[ 9.82905539e-01 1.83105243e-01 1.92138486e-02 4.12426927e+02] [-1.83070396e-01 9.83093317e-01 -3.57213061e-03 -6.42301108e+01] [-1.95430820e-02 -6.41989599e-06 9.99809016e-01 -4.53857019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.46, Y:-64.23, Z:-4.53 [[ 9.82044960e-01 1.87374099e-01 2.18779059e-02 4.12457248e+02] [-1.87329990e-01 9.82288622e-01 -4.06679627e-03 -6.42265609e+01] [-2.22524303e-02 -1.04611094e-04 9.99752379e-01 -4.53406359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.49, Y:-64.23, Z:-4.54 [[ 9.81711457e-01 1.89155832e-01 2.15101582e-02 4.12486137e+02] [-1.89113643e-01 9.81947071e-01 -3.99739409e-03 -6.42273001e+01] [-2.18779673e-02 -1.43576808e-04 9.99760638e-01 -4.53614287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.51, Y:-64.23, Z:-4.54 [[ 9.81495112e-01 1.90461159e-01 1.97962571e-02 4.12514839e+02] [-1.90425710e-01 9.81694719e-01 -3.67800303e-03 -6.42287438e+01] [-2.01343978e-02 -1.59774313e-04 9.99797270e-01 -4.54031370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.54, Y:-64.23, Z:-4.54 [[ 9.81504185e-01 1.90414382e-01 1.97964318e-02 4.12542705e+02] [-1.90378942e-01 9.81703793e-01 -3.67706262e-03 -6.42338269e+01] [-2.01343978e-02 -1.59771389e-04 9.99797270e-01 -4.54093704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.57, Y:-64.23, Z:-4.55 [[ 9.81152589e-01 1.92586111e-01 1.58173027e-02 4.12571907e+02] [-1.92563778e-01 9.81280064e-01 -2.93739906e-03 -6.42337114e+01] [-1.60869061e-02 -1.63802871e-04 9.99870584e-01 -4.54924664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.60, Y:-64.24, Z:-4.55 [[ 9.80985901e-01 1.93470959e-01 1.53508888e-02 4.12599603e+02] [-1.93450043e-01 9.81105987e-01 -2.85013301e-03 -6.42352613e+01] [-1.56122668e-02 -1.73689787e-04 9.99878106e-01 -4.55038958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.63, Y:-64.23, Z:-4.55 [[ 9.80400462e-01 1.96260051e-01 1.72315470e-02 4.12629240e+02] [-1.96234146e-01 9.80551851e-01 -3.19814368e-03 -6.42307898e+01] [-1.75240931e-02 -2.45956358e-04 9.99846411e-01 -4.54679256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.66, Y:-64.23, Z:-4.55 [[ 9.80117176e-01 1.97609437e-01 1.79117953e-02 4.12657625e+02] [-1.97581698e-01 9.80280792e-01 -3.32294659e-03 -6.42304226e+01] [-1.82152344e-02 -2.82165897e-04 9.99834049e-01 -4.54631435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.69, Y:-64.23, Z:-4.55 [[ 9.79868837e-01 1.98839315e-01 1.78882429e-02 4.12686438e+02] [-1.98811872e-01 9.80032057e-01 -3.31750900e-03 -6.42281086e+01] [-1.81907027e-02 -3.05671375e-04 9.99834489e-01 -4.54743441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.87576923100005 meters Centerline goodness [0,1] 0.9999365576162582 Centerline is valid? [True, True] Translation: X:412.72, Y:-64.23, Z:-4.55 [[ 9.79300790e-01 2.01677327e-01 1.72109887e-02 4.12717214e+02] [-2.01652381e-01 9.79451957e-01 -3.19077996e-03 -6.42252561e+01] [-1.75008446e-02 -3.45903530e-04 9.99846789e-01 -4.55011644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9057692310001 meters Centerline goodness [0,1] 0.9999575794854392 Centerline is valid? [True, True] Translation: X:412.75, Y:-64.23, Z:-4.55 [[ 9.79033398e-01 2.02921125e-01 1.77938724e-02 4.12746622e+02] [-2.02894672e-01 9.79195012e-01 -3.29850013e-03 -6.42251523e+01] [-1.80930064e-02 -3.80940115e-04 9.99836236e-01 -4.54988250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.78, Y:-64.23, Z:-4.55 [[ 9.78800461e-01 2.03927532e-01 1.90583206e-02 4.12775095e+02] [-2.03897395e-01 9.78985893e-01 -3.53193383e-03 -6.42287321e+01] [-1.93780855e-02 -4.28883459e-04 9.99812135e-01 -4.54739556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9657692310001 meters Centerline goodness [0,1] 0.999957710443406 Centerline is valid? [True, True] Translation: X:412.81, Y:-64.21, Z:-4.54 [[ 9.78313811e-01 2.06002404e-01 2.15660885e-02 4.12806018e+02] [-2.05964344e-01 9.78551340e-01 -3.99545606e-03 -6.42127455e+01] [-2.19265983e-02 -5.33035419e-04 9.99759441e-01 -4.54339228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.83, Y:-64.22, Z:-4.54 [[ 9.78171624e-01 2.06687225e-01 2.14630977e-02 4.12834020e+02] [-2.06649744e-01 9.78406915e-01 -3.97402223e-03 -6.42200115e+01] [-2.18210228e-02 -5.48067853e-04 9.99761743e-01 -4.54418656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0257692310001 meters Centerline goodness [0,1] 0.9999572667834707 Centerline is valid? [True, True] Translation: X:412.86, Y:-64.22, Z:-4.55 [[ 9.78278119e-01 2.06280496e-01 2.05006888e-02 4.12862724e+02] [-2.06246232e-01 9.78492765e-01 -3.79487159e-03 -6.42216083e+01] [-2.08425837e-02 -5.15749966e-04 9.99782637e-01 -4.54642422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.05576923100006 meters Centerline goodness [0,1] 0.9999788998375287 Centerline is valid? [True, True] Translation: X:412.89, Y:-64.23, Z:-4.55 [[ 9.79448324e-01 2.00736131e-01 1.96465525e-02 4.12891799e+02] [-2.00703566e-01 9.79645272e-01 -3.63578941e-03 -6.42256127e+01] [-1.99764866e-02 -3.82065308e-04 9.99800377e-01 -4.54955413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.92, Y:-64.24, Z:-4.55 [[ 9.80477838e-01 1.95532884e-01 2.07388543e-02 4.12919093e+02] [-1.95495443e-01 9.80697102e-01 -3.83740128e-03 -6.42353522e+01] [-2.10888724e-02 -2.91864591e-04 9.99777562e-01 -4.54825508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.94, Y:-64.26, Z:-4.55 [[ 9.82836256e-01 1.83137587e-01 2.22152830e-02 4.12944876e+02] [-1.83091470e-01 9.83087292e-01 -4.10975139e-03 -6.42601730e+01] [-2.25922123e-02 -2.82161457e-05 9.99744763e-01 -4.54538202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.97, Y:-64.28, Z:-4.55 [[ 9.83890812e-01 1.77445564e-01 2.17242168e-02 4.12970466e+02] [-1.77400087e-01 9.84130612e-01 -4.01838275e-03 -6.42754816e+01] [-2.20925110e-02 9.97719162e-05 9.99755926e-01 -4.54708965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.17576923100006 meters Centerline goodness [0,1] 0.9998524700725004 Centerline is valid? [True, True] Translation: X:413.00, Y:-64.29, Z:-4.55 [[ 9.84794141e-01 1.72525167e-01 2.03854365e-02 4.12997088e+02] [-1.72484092e-01 9.85005090e-01 -3.76958154e-03 -6.42867514e+01] [-2.07301064e-02 1.96098317e-04 9.99785089e-01 -4.55067940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.20576923100003 meters Centerline goodness [0,1] 0.9997893983109745 Centerline is valid? [True, True] Translation: X:413.02, Y:-64.31, Z:-4.56 [[ 9.86055802e-01 1.65419314e-01 1.81770545e-02 4.13024674e+02] [-1.65385470e-01 9.86223279e-01 -3.36006667e-03 -6.43052517e+01] [-1.84824543e-02 3.06992529e-04 9.99829138e-01 -4.55531954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.23576923100006 meters Centerline goodness [0,1] 0.9998094633216894 Centerline is valid? [True, True] Translation: X:413.05, Y:-64.32, Z:-4.56 [[ 9.86485415e-01 1.62820240e-01 1.83328814e-02 4.13052112e+02] [-1.62785362e-01 9.86655685e-01 -3.38898948e-03 -6.43167704e+01] [-1.86400377e-02 3.58863953e-04 9.99826195e-01 -4.55559288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26576923100004 meters Centerline goodness [0,1] 0.9996779664655746 Centerline is valid? [True, True] Translation: X:413.08, Y:-64.33, Z:-4.55 [[ 9.86943468e-01 1.59838083e-01 1.98589637e-02 4.13080253e+02] [-1.59796569e-01 9.87143143e-01 -3.67028464e-03 -6.43306875e+01] [-2.01902911e-02 4.48969188e-04 9.99796054e-01 -4.55181882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.29576923100007 meters Centerline goodness [0,1] 0.9995305264505666 Centerline is valid? [True, True] Translation: X:413.11, Y:-64.34, Z:-4.55 [[ 9.87081516e-01 1.58918162e-01 2.03739804e-02 4.13109692e+02] [-1.58874277e-01 9.87291643e-01 -3.76515819e-03 -6.43419666e+01] [-2.07134126e-02 4.79616659e-04 9.99785339e-01 -4.55087692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32576923100004 meters Centerline goodness [0,1] 0.9993655627458444 Centerline is valid? [True, True] Translation: X:413.14, Y:-64.36, Z:-4.55 [[ 9.87143563e-01 1.58488707e-01 2.07103033e-02 4.13138521e+02] [-1.58443258e-01 9.87360665e-01 -3.82771201e-03 -6.43570482e+01] [-2.10551880e-02 4.97093338e-04 9.99778191e-01 -4.55082585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.35576923100007 meters Centerline goodness [0,1] 0.9995100440960314 Centerline is valid? [True, True] Translation: X:413.17, Y:-64.36, Z:-4.55 [[ 9.87158151e-01 1.58395674e-01 2.07266804e-02 4.13168774e+02] [-1.58350058e-01 9.87375591e-01 -3.83423386e-03 -6.43641482e+01] [-2.10723444e-02 5.02924158e-04 9.99777827e-01 -4.55188731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.38576923100004 meters Centerline goodness [0,1] 0.9995547829036635 Centerline is valid? [True, True] Translation: X:413.20, Y:-64.38, Z:-4.56 [[ 9.87026265e-01 1.59423301e-01 1.90620720e-02 4.13199586e+02] [-1.59384910e-01 9.87210218e-01 -3.52634236e-03 -6.43763260e+01] [-1.93804534e-02 4.42385893e-04 9.99812084e-01 -4.55550044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.41576923100007 meters Centerline goodness [0,1] 0.9997423455146648 Centerline is valid? [True, True] Translation: X:413.23, Y:-64.38, Z:-4.56 [[ 9.86611212e-01 1.62200431e-01 1.70098679e-02 4.13230671e+02] [-1.62170221e-01 9.86757771e-01 -3.14979065e-03 -6.43824692e+01] [-1.72955167e-02 3.49124736e-04 9.99850360e-01 -4.55867553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.44576923100004 meters Centerline goodness [0,1] 0.9998068835293108 Centerline is valid? [True, True] Translation: X:413.26, Y:-64.39, Z:-4.56 [[ 9.86215560e-01 1.64691993e-01 1.59817635e-02 4.13261416e+02] [-1.64665641e-01 9.86345003e-01 -2.96003352e-03 -6.43861880e+01] [-1.62510264e-02 2.87583784e-04 9.99867902e-01 -4.56056009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.29, Y:-64.39, Z:-4.56 [[ 9.85791570e-01 1.67264681e-01 1.54112409e-02 4.13291463e+02] [-1.67240485e-01 9.85911999e-01 -2.85481717e-03 -6.43896754e+01] [-1.56716375e-02 2.36871289e-04 9.99877164e-01 -4.56268616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.50576923100004 meters Centerline goodness [0,1] 0.9998734924517163 Centerline is valid? [True, True] Translation: X:413.32, Y:-64.39, Z:-4.56 [[ 9.84679077e-01 1.73654567e-01 1.58495336e-02 4.13320287e+02] [-1.73629794e-01 9.84806617e-01 -2.93643443e-03 -6.43896021e+01] [-1.61186508e-02 1.39494290e-04 9.99870076e-01 -4.56395065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5357692310001 meters Centerline goodness [0,1] 0.9999785807612398 Centerline is valid? [True, True] Translation: X:413.35, Y:-64.39, Z:-4.56 [[ 9.84145145e-01 1.76597381e-01 1.64832867e-02 4.13350536e+02] [-1.76571007e-01 9.84283169e-01 -3.05341267e-03 -6.43912569e+01] [-1.67634463e-02 9.45307248e-05 9.99859479e-01 -4.56334516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.38, Y:-64.39, Z:-4.56 [[ 9.83653582e-01 1.79262112e-01 1.70506592e-02 4.13379105e+02] [-1.79234297e-01 9.83801348e-01 -3.15818936e-03 -6.43926121e+01] [-1.73406052e-02 5.05013668e-05 9.99849639e-01 -4.56357329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.41, Y:-64.39, Z:-4.56 [[ 9.82615723e-01 1.84771478e-01 1.80510809e-02 4.13408868e+02] [-1.84741249e-01 9.82781511e-01 -3.34255080e-03 -6.43898660e+01] [-1.83578766e-02 -5.03362513e-05 9.99831479e-01 -4.56163992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.62576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.44, Y:-64.39, Z:-4.56 [[ 9.82149229e-01 1.87174661e-01 1.86691820e-02 4.13437551e+02] [-1.87142778e-01 9.82326644e-01 -3.45605331e-03 -6.43918703e+01] [-1.89861206e-02 -9.94424868e-05 9.99819742e-01 -4.56072507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.47, Y:-64.39, Z:-4.56 [[ 9.81185091e-01 1.92080909e-01 1.95126220e-02 4.13466439e+02] [-1.92047068e-01 9.81379072e-01 -3.61122023e-03 -6.43913363e+01] [-1.98429253e-02 -2.04066397e-04 9.99803089e-01 -4.56082442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.50, Y:-64.39, Z:-4.56 [[ 9.80762896e-01 1.94284169e-01 1.89156889e-02 4.13495596e+02] [-1.94252798e-01 9.80945260e-01 -3.49960833e-03 -6.43941082e+01] [-1.92351739e-02 -2.42139492e-04 9.99814958e-01 -4.56262362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.52, Y:-64.40, Z:-4.57 [[ 9.80371329e-01 1.96372327e-01 1.76058643e-02 4.13523915e+02] [-1.96345501e-01 9.80529367e-01 -3.25652979e-03 -6.43951498e+01] [-1.79025593e-02 -2.64223799e-04 9.99839701e-01 -4.56565087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.55, Y:-64.40, Z:-4.57 [[ 9.79963132e-01 1.98508324e-01 1.63310891e-02 4.13552850e+02] [-1.98485555e-01 9.80099161e-01 -3.01976753e-03 -6.43976794e+01] [-1.66055357e-02 -2.82224433e-04 9.99862079e-01 -4.56791184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.58, Y:-64.40, Z:-4.57 [[ 9.79395203e-01 2.01383862e-01 1.51517694e-02 4.13582187e+02] [-2.01364619e-01 9.79512351e-01 -2.80087651e-03 -6.44006392e+01] [-1.54053966e-02 -3.07865246e-04 9.99881282e-01 -4.56998423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.61, Y:-64.40, Z:-4.57 [[ 9.79331165e-01 2.01584672e-01 1.65556179e-02 4.13609737e+02] [-2.01561729e-01 9.79471033e-01 -3.06023217e-03 -6.43996444e+01] [-1.68326441e-02 -3.39998240e-04 9.99858263e-01 -4.56955193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.64, Y:-64.41, Z:-4.57 [[ 9.79450966e-01 2.00896569e-01 1.77868891e-02 4.13637978e+02] [-2.00870007e-01 9.79612394e-01 -3.28594439e-03 -6.44072525e+01] [-1.80843919e-02 -3.54431111e-04 9.99836401e-01 -4.56815404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.67, Y:-64.41, Z:-4.57 [[ 9.79586979e-01 2.00156671e-01 1.86187526e-02 4.13665948e+02] [-2.00127450e-01 9.79763839e-01 -3.43868798e-03 -6.44138558e+01] [-1.89302569e-02 -3.57629513e-04 9.99820743e-01 -4.56785624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.69, Y:-64.42, Z:-4.57 [[ 9.79702270e-01 1.99481588e-01 1.97625260e-02 4.13694180e+02] [-1.99448549e-01 9.79901506e-01 -3.64890664e-03 -6.44184795e+01] [-2.00932187e-02 -3.66765030e-04 9.99798044e-01 -4.56604299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.92576923100006 meters Centerline goodness [0,1] 0.9999577479666208 Centerline is valid? [True, True] Translation: X:413.72, Y:-64.42, Z:-4.57 [[ 9.79598080e-01 1.99998843e-01 1.96993537e-02 4.13722060e+02] [-1.99966138e-01 9.79796061e-01 -3.63630830e-03 -6.44184038e+01] [-2.00286066e-02 -3.77083062e-04 9.99799336e-01 -4.56697629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.75, Y:-64.42, Z:-4.57 [[ 9.79500028e-01 2.00510835e-01 1.93675261e-02 4.13750497e+02] [-2.00479347e-01 9.79691410e-01 -3.57387748e-03 -6.44247026e+01] [-1.96908001e-02 -3.82175900e-04 9.99806044e-01 -4.56764649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.78, Y:-64.43, Z:-4.57 [[ 9.79327068e-01 2.01483624e-01 1.79678653e-02 4.13779839e+02] [-2.01456701e-01 9.79491812e-01 -3.31479152e-03 -6.44263061e+01] [-1.82672531e-02 -3.73481797e-04 9.99833070e-01 -4.57049050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.81, Y:-64.43, Z:-4.57 [[ 9.79352881e-01 2.01331476e-01 1.82639110e-02 4.13807169e+02] [-2.01303647e-01 9.79523095e-01 -3.36861859e-03 -6.44292137e+01] [-1.85681315e-02 -3.77525566e-04 9.99827526e-01 -4.57115550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.04576923100007 meters Centerline goodness [0,1] 0.9999573005401482 Centerline is valid? [True, True] Translation: X:413.84, Y:-64.43, Z:-4.57 [[ 9.79414770e-01 2.00951990e-01 1.91051512e-02 4.13835977e+02] [-2.00921501e-01 9.79601014e-01 -3.52197292e-03 -6.44332325e+01] [-1.94231729e-02 -3.89163344e-04 9.99811277e-01 -4.57058958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.86, Y:-64.44, Z:-4.57 [[ 9.79760671e-01 1.99252150e-01 1.91731069e-02 4.13864586e+02] [-1.99221136e-01 9.79948189e-01 -3.53358275e-03 -6.44385648e+01] [-1.94927253e-02 -3.57622719e-04 9.99809935e-01 -4.57102992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.89, Y:-64.44, Z:-4.57 [[ 9.80041438e-01 1.97921962e-01 1.85923774e-02 4.13891825e+02] [-1.97892575e-01 9.80217727e-01 -3.42572745e-03 -6.44441076e+01] [-1.89026046e-02 -3.21938572e-04 9.99821278e-01 -4.57238424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.13576923100004 meters Centerline goodness [0,1] 0.9999786939384255 Centerline is valid? [True, True] Translation: X:413.92, Y:-64.45, Z:-4.57 [[ 9.80555161e-01 1.95386629e-01 1.83205418e-02 4.13919078e+02] [-1.95357672e-01 9.80726258e-01 -3.37456280e-03 -6.44509234e+01] [-1.86267808e-02 -2.70113421e-04 9.99826470e-01 -4.57301064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.95, Y:-64.46, Z:-4.57 [[ 9.80697910e-01 1.94682036e-01 1.81800658e-02 4.13947042e+02] [-1.94653421e-01 9.80866372e-01 -3.34757531e-03 -6.44566652e+01] [-1.84839279e-02 -2.55851880e-04 9.99829125e-01 -4.57388897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.19576923100004 meters Centerline goodness [0,1] 0.9999787933411091 Centerline is valid? [True, True] Translation: X:413.98, Y:-64.46, Z:-4.57 [[ 9.80806329e-01 1.94113381e-01 1.84103241e-02 4.13975506e+02] [-1.94083953e-01 9.80979069e-01 -3.38909396e-03 -6.44633723e+01] [-1.87180111e-02 -2.49103671e-04 9.99824772e-01 -4.57414197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.00, Y:-64.47, Z:-4.57 [[ 9.81016025e-01 1.92957263e-01 1.93662726e-02 4.14002752e+02] [-1.92924492e-01 9.81207133e-01 -3.56414155e-03 -6.44706599e+01] [-1.96900519e-02 -2.39748339e-04 9.99806103e-01 -4.57332861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.03, Y:-64.48, Z:-4.57 [[ 9.81118134e-01 1.92415109e-01 1.95865728e-02 4.14030628e+02] [-1.92381507e-01 9.81313595e-01 -3.60332416e-03 -6.44766634e+01] [-1.99139041e-02 -2.32807719e-04 9.99801671e-01 -4.57309186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.06, Y:-64.48, Z:-4.58 [[ 9.81300217e-01 1.91542852e-01 1.90057888e-02 4.14057815e+02] [-1.91511067e-01 9.81484229e-01 -3.49565167e-03 -6.44831484e+01] [-1.93234491e-02 -2.09535152e-04 9.99813263e-01 -4.57517907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.09, Y:-64.49, Z:-4.58 [[ 9.81478927e-01 1.90698878e-01 1.82497378e-02 4.14085024e+02] [-1.90669444e-01 9.81648564e-01 -3.35558539e-03 -6.44895712e+01] [-1.85547352e-02 -1.86231003e-04 9.99827829e-01 -4.57711374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.11, Y:-64.50, Z:-4.58 [[ 9.82016527e-01 1.88029025e-01 1.69890060e-02 4.14112549e+02] [-1.88003135e-01 9.82163464e-01 -3.12278586e-03 -6.45015771e+01] [-1.72731553e-02 -1.27359059e-04 9.99850800e-01 -4.57907407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.14, Y:-64.51, Z:-4.58 [[ 9.82206351e-01 1.86996364e-01 1.74081406e-02 4.14139672e+02] [-1.86969028e-01 9.82360599e-01 -3.19926472e-03 -6.45071907e+01] [-1.76993223e-02 -1.12445016e-04 9.99843348e-01 -4.58000626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.17, Y:-64.51, Z:-4.58 [[ 9.82303794e-01 1.86348361e-01 1.88027659e-02 4.14167845e+02] [-1.86316376e-01 9.82483728e-01 -3.45425904e-03 -6.45144486e+01] [-1.91171071e-02 -1.10131434e-04 9.99817245e-01 -4.57709936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.20, Y:-64.52, Z:-4.57 [[ 9.82026525e-01 1.87660118e-01 2.01886951e-02 4.14196564e+02] [-1.87623543e-01 9.82234014e-01 -3.70779617e-03 -6.45168501e+01] [-2.05258285e-02 -1.46720301e-04 9.99789312e-01 -4.57485861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.23, Y:-64.52, Z:-4.58 [[ 9.81667239e-01 1.89568909e-01 1.98257704e-02 4.14225744e+02] [-1.89534045e-01 9.81867402e-01 -3.64018803e-03 -6.45178509e+01] [-2.01563441e-02 -1.84205128e-04 9.99796823e-01 -4.57583632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.26, Y:-64.51, Z:-4.58 [[ 9.80775307e-01 1.94244553e-01 1.86775686e-02 4.14255733e+02] [-1.94214474e-01 9.80953100e-01 -3.42848275e-03 -6.45122262e+01] [-1.89877829e-02 -2.64882947e-04 9.99819681e-01 -4.57874082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5257692310001 meters Centerline goodness [0,1] 0.9999787766883145 Centerline is valid? [True, True] Translation: X:414.28, Y:-64.51, Z:-4.58 [[ 9.80301538e-01 1.96657078e-01 1.82999554e-02 4.14284774e+02] [-1.96628634e-01 9.80472284e-01 -3.35859462e-03 -6.45085757e+01] [-1.86030905e-02 -3.05859772e-04 9.99826901e-01 -4.58062192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.55576923100006 meters Centerline goodness [0,1] 0.9999787586558477 Centerline is valid? [True, True] Translation: X:414.31, Y:-64.51, Z:-4.58 [[ 9.79856919e-01 1.98873965e-01 1.81539349e-02 4.14312953e+02] [-1.98846373e-01 9.80025013e-01 -3.33071716e-03 -6.45122585e+01] [-1.84537032e-02 -3.46217854e-04 9.99829656e-01 -4.58117233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5857692310001 meters Centerline goodness [0,1] 0.9999787586558477 Centerline is valid? [True, True] Translation: X:414.34, Y:-64.52, Z:-4.58 [[ 9.79870949e-01 1.98804808e-01 1.81541229e-02 4.14340020e+02] [-1.98777223e-01 9.80039045e-01 -3.32969200e-03 -6.45170830e+01] [-1.84537081e-02 -3.45957681e-04 9.99829656e-01 -4.58177738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.61576923100006 meters Centerline goodness [0,1] 0.999873519119693 Centerline is valid? [True, True] Translation: X:414.37, Y:-64.51, Z:-4.58 [[ 9.79072728e-01 2.02652350e-01 1.86713382e-02 4.14370546e+02] [-2.02623897e-01 9.79250652e-01 -3.42309953e-03 -6.45077180e+01] [-1.89776192e-02 -4.31795912e-04 9.99819816e-01 -4.58249678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6457692310001 meters Centerline goodness [0,1] 0.9999789025084918 Centerline is valid? [True, True] Translation: X:414.40, Y:-64.51, Z:-4.58 [[ 9.78828641e-01 2.03775015e-01 1.92414869e-02 4.14399041e+02] [-2.03745037e-01 9.79017632e-01 -3.52648651e-03 -6.45147786e+01] [-1.95563648e-02 -4.68531471e-04 9.99808646e-01 -4.58122015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.67576923100006 meters Centerline goodness [0,1] 0.9999573214971619 Centerline is valid? [True, True] Translation: X:414.43, Y:-64.52, Z:-4.58 [[ 9.78833738e-01 2.03668082e-01 2.00954099e-02 4.14427693e+02] [-2.03635383e-01 9.79039874e-01 -3.68197127e-03 -6.45160132e+01] [-2.04241076e-02 -4.88098789e-04 9.99791287e-01 -4.58030968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.70576923100003 meters Centerline goodness [0,1] 0.9999785734181826 Centerline is valid? [True, True] Translation: X:414.46, Y:-64.52, Z:-4.58 [[ 9.79054039e-01 2.02627376e-01 1.98830617e-02 4.14456328e+02] [-2.02595168e-01 9.79255806e-01 -3.64211256e-03 -6.45210393e+01] [-2.02085954e-02 -4.62387225e-04 9.99795679e-01 -4.58138413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.73576923100006 meters Centerline goodness [0,1] 0.9999789109620819 Centerline is valid? [True, True] Translation: X:414.48, Y:-64.53, Z:-4.58 [[ 9.79458526e-01 2.00703725e-01 1.94682127e-02 4.14484746e+02] [-2.00672486e-01 9.79651899e-01 -3.56520620e-03 -6.45275802e+01] [-1.97876217e-02 -4.14763037e-04 9.99804120e-01 -4.58326561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.51, Y:-64.54, Z:-4.58 [[ 9.80274431e-01 1.96638680e-01 1.98813943e-02 4.14512069e+02] [-1.96605285e-01 9.80475963e-01 -3.63986085e-03 -6.45359415e+01] [-2.02089666e-02 -3.40724649e-04 9.99795720e-01 -4.58283552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.54, Y:-64.54, Z:-4.58 [[ 9.80623366e-01 1.94808083e-01 2.06790702e-02 4.14539356e+02] [-1.94771560e-01 9.80841328e-01 -3.78531681e-03 -6.45417734e+01] [-2.10202970e-02 -3.15724631e-04 9.99778999e-01 -4.58188370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.57, Y:-64.55, Z:-4.58 [[ 9.80901446e-01 1.93323905e-01 2.14061192e-02 4.14567354e+02] [-1.93284442e-01 9.81134945e-01 -3.91708415e-03 -6.45476912e+01] [-2.17595576e-02 -2.95196301e-04 9.99763189e-01 -4.58183783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.60, Y:-64.55, Z:-4.58 [[ 9.81306085e-01 1.91285720e-01 2.11693568e-02 4.14595938e+02] [-1.91246673e-01 9.81534366e-01 -3.87276430e-03 -6.45545865e+01] [-2.15192557e-02 -2.48201898e-04 9.99768403e-01 -4.58338605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.62, Y:-64.56, Z:-4.59 [[ 9.81404352e-01 1.90925800e-01 1.98201087e-02 4.14623027e+02] [-1.90891510e-01 9.81604446e-01 -3.62534389e-03 -6.45590033e+01] [-2.01476785e-02 -2.25562225e-04 9.99796989e-01 -4.58619405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.65, Y:-64.56, Z:-4.59 [[ 9.81527080e-01 1.90425159e-01 1.85162144e-02 4.14650707e+02] [-1.90395166e-01 9.81701695e-01 -3.38564023e-03 -6.45632793e+01] [-1.88221101e-02 -2.02300144e-04 9.99822828e-01 -4.58887071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.68, Y:-64.57, Z:-4.59 [[ 9.81790585e-01 1.89102557e-01 1.80961636e-02 4.14678089e+02] [-1.89073707e-01 9.81957327e-01 -3.30764406e-03 -6.45675088e+01] [-1.83951444e-02 -1.74094940e-04 9.99830780e-01 -4.59017355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.71, Y:-64.57, Z:-4.59 [[ 9.81990751e-01 1.87923156e-01 1.94692490e-02 4.14706395e+02] [-1.87889566e-01 9.82183720e-01 -3.55680765e-03 -6.45730971e+01] [-1.97907859e-02 -1.65316517e-04 9.99804130e-01 -4.58817011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.73, Y:-64.58, Z:-4.59 [[ 9.82335630e-01 1.85878944e-01 2.15807361e-02 4.14734581e+02] [-1.85837203e-01 9.82572643e-01 -3.94144030e-03 -6.45777451e+01] [-2.19372716e-02 -1.38686387e-04 9.99759339e-01 -4.58508307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.76, Y:-64.58, Z:-4.59 [[ 9.82581520e-01 1.84593720e-01 2.14176397e-02 4.14761423e+02] [-1.84552324e-01 9.82814910e-01 -3.91067798e-03 -6.45831301e+01] [-2.17714622e-02 -1.10115256e-04 9.99762968e-01 -4.58655587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.79, Y:-64.59, Z:-4.59 [[ 9.82902594e-01 1.82974777e-01 2.05601799e-02 4.14788846e+02] [-1.82936309e-01 9.83117605e-01 -3.75247771e-03 -6.45900600e+01] [-2.08996836e-02 -7.28833530e-05 9.99781575e-01 -4.58874971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.82, Y:-64.60, Z:-4.59 [[ 9.83305300e-01 1.80827550e-01 2.02998666e-02 4.14816364e+02] [-1.80789617e-01 9.83514818e-01 -3.70380953e-03 -6.45983671e+01] [-2.06349704e-02 -2.80295521e-05 9.99787076e-01 -4.58982999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.12576923100005 meters Centerline goodness [0,1] 0.9999366031994252 Centerline is valid? [True, True] Translation: X:414.84, Y:-64.61, Z:-4.59 [[ 9.84262912e-01 1.75460418e-01 2.09800420e-02 4.14841988e+02] [-1.75418701e-01 9.84486482e-01 -3.82692980e-03 -6.46127754e+01] [-2.13260424e-02 8.64133706e-05 9.99772570e-01 -4.58958515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1557692310001 meters Centerline goodness [0,1] 0.9998728355551788 Centerline is valid? [True, True] Translation: X:414.87, Y:-64.63, Z:-4.59 [[ 9.85095014e-01 1.70663888e-01 2.14860592e-02 4.14867667e+02] [-1.70619019e-01 9.85329285e-01 -3.91798147e-03 -6.46298282e+01] [-2.18395013e-02 1.93653677e-04 9.99761471e-01 -4.58934793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.18576923100005 meters Centerline goodness [0,1] 0.9999144568006844 Centerline is valid? [True, True] Translation: X:414.89, Y:-64.64, Z:-4.59 [[ 9.85380684e-01 1.68994093e-01 2.15848206e-02 4.14894695e+02] [-1.68948436e-01 9.85617037e-01 -3.93478388e-03 -6.46404801e+01] [-2.19393221e-02 2.30538353e-04 9.99759278e-01 -4.58965557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2157692310001 meters Centerline goodness [0,1] 0.9999785140303382 Centerline is valid? [True, True] Translation: X:414.92, Y:-64.65, Z:-4.59 [[ 9.85518090e-01 1.68216216e-01 2.13869007e-02 4.14923396e+02] [-1.68171231e-01 9.85750092e-01 -3.89776526e-03 -6.46459494e+01] [-2.17378067e-02 2.44656759e-04 9.99763676e-01 -4.59069996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.24576923100005 meters Centerline goodness [0,1] 0.9998937977909941 Centerline is valid? [True, True] Translation: X:414.95, Y:-64.66, Z:-4.59 [[ 9.85558344e-01 1.68042051e-01 2.08954333e-02 4.14950471e+02] [-1.67999092e-01 9.85779798e-01 -3.80716671e-03 -6.46578539e+01] [-2.12380601e-02 2.41771090e-04 9.99774418e-01 -4.59208264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2757692310001 meters Centerline goodness [0,1] 0.9999574187229875 Centerline is valid? [True, True] Translation: X:414.98, Y:-64.66, Z:-4.59 [[ 9.85125374e-01 1.70615853e-01 2.04506181e-02 4.14978866e+02] [-1.70575273e-01 9.85337606e-01 -3.72539052e-03 -6.46617015e+01] [-2.07863737e-02 1.81606965e-04 9.99783923e-01 -4.59332015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.01, Y:-64.66, Z:-4.59 [[ 9.84636993e-01 1.73408708e-01 2.04795390e-02 4.15007232e+02] [-1.73368637e-01 9.84849940e-01 -3.72967376e-03 -6.46649824e+01] [-2.08160307e-02 1.21864987e-04 9.99783316e-01 -4.59362071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.04, Y:-64.66, Z:-4.60 [[ 9.83414513e-01 1.80241707e-01 2.02193715e-02 4.15036816e+02] [-1.80204111e-01 9.83622350e-01 -3.68130167e-03 -6.46642597e+01] [-2.05517498e-02 -2.33683761e-05 9.99788790e-01 -4.59526272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.07, Y:-64.67, Z:-4.60 [[ 9.82779133e-01 1.83666318e-01 2.02943377e-02 4.15066255e+02] [-1.83629187e-01 9.82988644e-01 -3.69421940e-03 -6.46653762e+01] [-2.06276072e-02 -9.60310015e-05 9.99787224e-01 -4.59579468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.09, Y:-64.67, Z:-4.60 [[ 9.82176109e-01 1.86841624e-01 2.05011715e-02 4.15094331e+02] [-1.86804445e-01 9.82390035e-01 -3.73086749e-03 -6.46660279e+01] [-2.08372280e-02 -1.65341055e-04 9.99782868e-01 -4.59600762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.12, Y:-64.66, Z:-4.60 [[ 9.81156985e-01 1.92147684e-01 2.02543530e-02 4.15123493e+02] [-1.92112548e-01 9.81365983e-01 -3.68471132e-03 -6.46626693e+01] [-2.05849418e-02 -2.75835123e-04 9.99788070e-01 -4.59694458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.15, Y:-64.66, Z:-4.60 [[ 9.80770612e-01 1.94121856e-01 2.01423051e-02 4.15151945e+02] [-1.94087543e-01 9.80977372e-01 -3.66344543e-03 -6.46639736e+01] [-2.04703004e-02 -3.16370901e-04 9.99790411e-01 -4.59859788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.18, Y:-64.67, Z:-4.60 [[ 9.80437592e-01 1.95779448e-01 2.03109636e-02 4.15180659e+02] [-1.95744950e-01 9.80647889e-01 -3.69228450e-03 -6.46662554e+01] [-2.06407770e-02 -3.55714039e-04 9.99786893e-01 -4.59951224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.21, Y:-64.67, Z:-4.60 [[ 9.80023583e-01 1.97765716e-01 2.10356486e-02 4.15208363e+02] [-1.97729193e-01 9.80249229e-01 -3.82299345e-03 -6.46668607e+01] [-2.13762354e-02 -4.12738081e-04 9.99771417e-01 -4.59900472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.24, Y:-64.67, Z:-4.60 [[ 9.79929433e-01 1.98214746e-01 2.11948398e-02 4.15236426e+02] [-1.98177806e-01 9.80158524e-01 -3.85039001e-03 -6.46719717e+01] [-2.15375070e-02 -4.27236345e-04 9.99767950e-01 -4.59929923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.26, Y:-64.67, Z:-4.60 [[ 9.79950227e-01 1.98141015e-01 2.09210539e-02 4.15263973e+02] [-1.98105027e-01 9.80173434e-01 -3.79967760e-03 -6.46734574e+01] [-2.12591333e-02 -4.21071029e-04 9.99773910e-01 -4.60023265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.29, Y:-64.68, Z:-4.60 [[ 9.79897080e-01 1.98458283e-01 2.03966135e-02 4.15292142e+02] [-1.98424181e-01 9.80109246e-01 -3.70270948e-03 -6.46781275e+01] [-2.07257428e-02 -4.18907114e-04 9.99785111e-01 -4.60148124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.63576923100004 meters Centerline goodness [0,1] 0.9999359808796228 Centerline is valid? [True, True] Translation: X:415.32, Y:-64.68, Z:-4.60 [[ 9.79791356e-01 1.99031501e-01 1.98836730e-02 4.15320922e+02] [-1.98999228e-01 9.79993002e-01 -3.60873243e-03 -6.46769812e+01] [-2.02041119e-02 -4.21030737e-04 9.99795787e-01 -4.60353286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.35, Y:-64.68, Z:-4.60 [[ 9.79762209e-01 1.99159512e-01 2.00375316e-02 4.15349466e+02] [-1.99126802e-01 9.79966992e-01 -3.63479289e-03 -6.46828778e+01] [-2.03600231e-02 -4.28776879e-04 9.99792621e-01 -4.60426509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.38, Y:-64.68, Z:-4.60 [[ 9.79718547e-01 1.99357884e-01 2.01990782e-02 4.15377090e+02] [-1.99324706e-01 9.79926652e-01 -3.66315781e-03 -6.46836189e+01] [-2.05238945e-02 -4.37311683e-04 9.99789267e-01 -4.60464473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.7257692310001 meters Centerline goodness [0,1] 0.9999786525488856 Centerline is valid? [True, True] Translation: X:415.41, Y:-64.69, Z:-4.61 [[ 9.79656109e-01 1.99637781e-01 2.04612911e-02 4.15405405e+02] [-1.99603838e-01 9.79869661e-01 -3.70870488e-03 -6.46870968e+01] [-2.07897959e-02 -4.50896840e-04 9.99783767e-01 -4.60501854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.75576923100004 meters Centerline goodness [0,1] 0.9999361552703824 Centerline is valid? [True, True] Translation: X:415.43, Y:-64.69, Z:-4.61 [[ 9.79793136e-01 1.98987355e-01 2.02347103e-02 4.15432736e+02] [-1.98954041e-01 9.80001962e-01 -3.66668317e-03 -6.46897696e+01] [-2.05596794e-02 -4.33186392e-04 9.99788534e-01 -4.60587975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.7857692310001 meters Centerline goodness [0,1] 0.9999365670063856 Centerline is valid? [True, True] Translation: X:415.46, Y:-64.69, Z:-4.61 [[ 9.80038738e-01 1.97815921e-01 1.98225647e-02 4.15460263e+02] [-1.97783735e-01 9.80239104e-01 -3.59083081e-03 -6.46934324e+01] [-2.01411766e-02 -4.01427591e-04 9.99797065e-01 -4.60678947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.49, Y:-64.70, Z:-4.61 [[ 9.80390610e-01 1.95953621e-01 2.08909205e-02 4.15488839e+02] [-1.95917477e-01 9.80613089e-01 -3.78302645e-03 -6.46995645e+01] [-2.12272078e-02 -3.84052846e-04 9.99774604e-01 -4.60507164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.52, Y:-64.70, Z:-4.60 [[ 9.80389748e-01 1.95883979e-01 2.15733173e-02 4.15516497e+02] [-1.95845441e-01 9.80626998e-01 -3.90552213e-03 -6.47011298e+01] [-2.19204066e-02 -3.96101993e-04 9.99759641e-01 -4.60433626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.87576923100005 meters Centerline goodness [0,1] 0.9999788238781949 Centerline is valid? [True, True] Translation: X:415.55, Y:-64.70, Z:-4.60 [[ 9.80270922e-01 1.96400016e-01 2.22700111e-02 4.15545601e+02] [-1.96359126e-01 9.80523766e-01 -4.02974006e-03 -6.47035506e+01] [-2.26277162e-02 -4.22682915e-04 9.99743871e-01 -4.60386816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.57, Y:-64.70, Z:-4.60 [[ 9.80117380e-01 1.97116887e-01 2.26903877e-02 4.15573560e+02] [-1.97074655e-01 9.80379892e-01 -4.10469943e-03 -6.47038628e+01] [-2.30543054e-02 -4.48613081e-04 9.99734114e-01 -4.60336516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.93576923100005 meters Centerline goodness [0,1] 0.9999155084280343 Centerline is valid? [True, True] Translation: X:415.60, Y:-64.70, Z:-4.60 [[ 9.79690440e-01 1.99217280e-01 2.27841425e-02 4.15602131e+02] [-1.99175298e-01 9.79955215e-01 -4.12029996e-03 -6.46988540e+01] [-2.31482742e-02 -5.01419888e-04 9.99731917e-01 -4.60428734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9657692310001 meters Centerline goodness [0,1] 0.9999788949390064 Centerline is valid? [True, True] Translation: X:415.63, Y:-64.70, Z:-4.61 [[ 9.79592949e-01 1.99732879e-01 2.24595479e-02 4.15630562e+02] [-1.99692255e-01 9.79850253e-01 -4.06007158e-03 -6.46988960e+01] [-2.28179235e-02 -5.07780277e-04 9.99739508e-01 -4.60563813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.99576923100005 meters Centerline goodness [0,1] 0.9998733910107618 Centerline is valid? [True, True] Translation: X:415.66, Y:-64.70, Z:-4.61 [[ 9.79549128e-01 1.99996413e-01 2.20213775e-02 4.15659831e+02] [-1.99957448e-01 9.79796499e-01 -3.97986601e-03 -6.47008382e+01] [-2.23724275e-02 -5.04864154e-04 9.99749578e-01 -4.60696436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0257692310001 meters Centerline goodness [0,1] 0.9999785977227977 Centerline is valid? [True, True] Translation: X:415.69, Y:-64.71, Z:-4.61 [[ 9.79644712e-01 1.99556576e-01 2.17580174e-02 4.15687357e+02] [-1.99518450e-01 9.79886184e-01 -3.93127304e-03 -6.47078618e+01] [-2.21048920e-02 -4.89875069e-04 9.99755537e-01 -4.60851083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.72, Y:-64.71, Z:-4.61 [[ 9.80044618e-01 1.97638561e-01 2.12496065e-02 4.15715604e+02] [-1.97601768e-01 9.80274863e-01 -3.83838275e-03 -6.47091779e+01] [-2.15890676e-02 -4.37173475e-04 9.99766833e-01 -4.61073244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.74, Y:-64.71, Z:-4.61 [[ 9.80379971e-01 1.95999560e-01 2.09591471e-02 4.15743408e+02] [-1.95963419e-01 9.80603903e-01 -3.78462475e-03 -6.47141385e+01] [-2.12944063e-02 -3.96855835e-04 9.99773170e-01 -4.61221271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.77, Y:-64.72, Z:-4.61 [[ 9.80772035e-01 1.94089899e-01 2.03795726e-02 4.15771981e+02] [-1.94055338e-01 9.80983685e-01 -3.67899442e-03 -6.47200463e+01] [-2.07060839e-02 -3.46509997e-04 9.99785546e-01 -4.61344323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.80, Y:-64.72, Z:-4.61 [[ 9.81575366e-01 1.89962294e-01 2.05943648e-02 4.15799360e+02] [-1.89926112e-01 9.81791351e-01 -3.71675229e-03 -6.47244479e+01] [-2.09254120e-02 -2.63135136e-04 9.99781005e-01 -4.61407042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.83, Y:-64.73, Z:-4.61 [[ 9.81987982e-01 1.87779224e-01 2.09419601e-02 4.15827011e+02] [-1.87741342e-01 9.82211237e-01 -3.77816230e-03 -6.47329706e+01] [-2.12788890e-02 -2.21561719e-04 9.99773554e-01 -4.61345397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.85, Y:-64.74, Z:-4.61 [[ 9.82411035e-01 1.85521392e-01 2.12219674e-02 4.15854563e+02] [-1.85481985e-01 9.82640210e-01 -3.82763794e-03 -6.47380486e+01] [-2.15636672e-02 -1.75978904e-04 9.99767462e-01 -4.61389967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.88, Y:-64.75, Z:-4.61 [[ 9.82870835e-01 1.83048370e-01 2.14059955e-02 4.15881970e+02] [-1.83007719e-01 9.83103900e-01 -3.85951959e-03 -6.47463906e+01] [-2.17507964e-02 -1.24053165e-04 9.99763416e-01 -4.61453336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26576923100004 meters Centerline goodness [0,1] 0.9999570668040529 Centerline is valid? [True, True] Translation: X:415.91, Y:-64.76, Z:-4.61 [[ 9.83586394e-01 1.79155073e-01 2.14770747e-02 4.15909712e+02] [-1.79113244e-01 9.83820847e-01 -3.87136821e-03 -6.47575456e+01] [-2.18231691e-02 -3.90034307e-05 9.99761846e-01 -4.61462519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.29576923100007 meters Centerline goodness [0,1] 0.9999787129872065 Centerline is valid? [True, True] Translation: X:415.94, Y:-64.76, Z:-4.62 [[ 9.83827419e-01 1.77843207e-01 2.13401919e-02 4.15936344e+02] [-1.77801623e-01 9.84058837e-01 -3.84567279e-03 -6.47630964e+01] [-2.16839312e-02 -1.08424096e-05 9.99764876e-01 -4.61554291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32576923100004 meters Centerline goodness [0,1] 0.9999157344793445 Centerline is valid? [True, True] Translation: X:415.96, Y:-64.77, Z:-4.62 [[ 9.84064277e-01 1.76548480e-01 2.11691705e-02 4.15963000e+02] [-1.76507299e-01 9.84291945e-01 -3.81307791e-03 -6.47698833e+01] [-2.15098371e-02 1.58006503e-05 9.99768637e-01 -4.61638082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.35576923100007 meters Centerline goodness [0,1] 0.9998303215406804 Centerline is valid? [True, True] Translation: X:415.99, Y:-64.78, Z:-4.62 [[ 9.84114391e-01 1.76174433e-01 2.19415986e-02 4.15990420e+02] [-1.76130137e-01 9.84358963e-01 -3.95047756e-03 -6.47760617e+01] [-2.22943824e-02 2.31450648e-05 9.99751449e-01 -4.61568366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.38576923100004 meters Centerline goodness [0,1] 0.9998516446252967 Centerline is valid? [True, True] Translation: X:416.02, Y:-64.78, Z:-4.62 [[ 9.84227900e-01 1.75446667e-01 2.26695229e-02 4.16018041e+02] [-1.75399225e-01 9.84488936e-01 -4.07999837e-03 -6.47819512e+01] [-2.30337166e-02 3.94314812e-05 9.99734688e-01 -4.61530943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.41576923100007 meters Centerline goodness [0,1] 0.9997650426127261 Centerline is valid? [True, True] Translation: X:416.04, Y:-64.79, Z:-4.62 [[ 9.84301858e-01 1.75027397e-01 2.26994059e-02 4.16044155e+02] [-1.74979757e-01 9.84563562e-01 -4.08371317e-03 -6.47864084e+01] [-2.30637696e-02 4.76699387e-05 9.99733995e-01 -4.61576321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.44576923100004 meters Centerline goodness [0,1] 0.9997877488644564 Centerline is valid? [True, True] Translation: X:416.07, Y:-64.79, Z:-4.62 [[ 9.84188415e-01 1.75774234e-01 2.18307653e-02 4.16070547e+02] [-1.75730409e-01 9.84430504e-01 -3.92497939e-03 -6.47896984e+01] [-2.21807815e-02 2.65899479e-05 9.99753976e-01 -4.61854675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.4757692310001 meters Centerline goodness [0,1] 0.9998516226127139 Centerline is valid? [True, True] Translation: X:416.10, Y:-64.79, Z:-4.62 [[ 9.84035136e-01 1.76715696e-01 2.11285089e-02 4.16098377e+02] [-1.76674898e-01 9.84261938e-01 -3.79704392e-03 -6.47929020e+01] [-2.14669843e-02 3.54748663e-06 9.99769558e-01 -4.62043763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.50576923100004 meters Centerline goodness [0,1] 0.9998516226127139 Centerline is valid? [True, True] Translation: X:416.13, Y:-64.80, Z:-4.62 [[ 9.84047091e-01 1.76649084e-01 2.11287658e-02 4.16125453e+02] [-1.76608301e-01 9.84273895e-01 -3.79561352e-03 -6.47976236e+01] [-2.14669843e-02 3.54699559e-06 9.99769558e-01 -4.62104256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5357692310001 meters Centerline goodness [0,1] 0.9997678737233054 Centerline is valid? [True, True] Translation: X:416.16, Y:-64.80, Z:-4.62 [[ 9.83586755e-01 1.79023423e-01 2.25324259e-02 4.16155177e+02] [-1.78977702e-01 9.83844811e-01 -4.04611562e-03 -6.47959369e+01] [-2.28927598e-02 -5.30960834e-05 9.99737925e-01 -4.61912173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.56576923100005 meters Centerline goodness [0,1] 0.9995566814439518 Centerline is valid? [True, True] Translation: X:416.18, Y:-64.80, Z:-4.62 [[ 9.83340430e-01 1.80247558e-01 2.35035494e-02 4.16184742e+02] [-1.80198187e-01 9.83621274e-01 -4.21935684e-03 -6.47967798e+01] [-2.38791199e-02 -8.62328137e-05 9.99714849e-01 -4.61804421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5957692310001 meters Centerline goodness [0,1] 0.9995326209343333 Centerline is valid? [True, True] Translation: X:416.21, Y:-64.80, Z:-4.62 [[ 9.83070047e-01 1.81704455e-01 2.35960635e-02 4.16212559e+02] [-1.81655143e-01 9.83353180e-01 -4.23479209e-03 -6.47966925e+01] [-2.39727447e-02 -1.23249024e-04 9.99712605e-01 -4.61844617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.62576923100005 meters Centerline goodness [0,1] 0.9994713917198799 Centerline is valid? [True, True] Translation: X:416.24, Y:-64.80, Z:-4.62 [[ 9.82943697e-01 1.82476858e-01 2.28885208e-02 4.16241252e+02] [-1.82430699e-01 9.83210139e-01 -4.10648475e-03 -6.48000234e+01] [-2.32535641e-02 -1.39125537e-04 9.99729590e-01 -4.62114707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6557692310001 meters Centerline goodness [0,1] 0.99949359610069 Centerline is valid? [True, True] Translation: X:416.27, Y:-64.80, Z:-4.62 [[ 9.82811941e-01 1.83317562e-01 2.18027552e-02 4.16269721e+02] [-1.83275909e-01 9.83053736e-01 -3.91066296e-03 -6.48007530e+01] [-2.21501732e-02 -1.52473511e-04 9.99754643e-01 -4.62375044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.68576923100005 meters Centerline goodness [0,1] 0.9995086939804332 Centerline is valid? [True, True] Translation: X:416.30, Y:-64.80, Z:-4.62 [[ 9.82882068e-01 1.82876533e-01 2.23386070e-02 4.16296398e+02] [-1.82832726e-01 9.83135877e-01 -4.00532946e-03 -6.48023921e+01] [-2.26943667e-02 -1.47461897e-04 9.99742439e-01 -4.62341049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7157692310001 meters Centerline goodness [0,1] 0.9994050275174773 Centerline is valid? [True, True] Translation: X:416.32, Y:-64.81, Z:-4.62 [[ 9.82891963e-01 1.82668429e-01 2.35718746e-02 4.16324558e+02] [-1.82619666e-01 9.83174563e-01 -4.22329425e-03 -6.48062595e+01] [-2.39467301e-02 -1.53645889e-04 9.99713224e-01 -4.62237331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.74576923100005 meters Centerline goodness [0,1] 0.9992764571939308 Centerline is valid? [True, True] Translation: X:416.35, Y:-64.81, Z:-4.62 [[ 9.83063961e-01 1.81501483e-01 2.53468015e-02 4.16352001e+02] [-1.81444762e-01 9.83390661e-01 -4.53930818e-03 -6.48097979e+01] [-2.57496991e-02 -1.36614088e-04 9.99668412e-01 -4.62103666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7757692310001 meters Centerline goodness [0,1] 0.9993677955029187 Centerline is valid? [True, True] Translation: X:416.38, Y:-64.81, Z:-4.62 [[ 9.83158825e-01 1.81053183e-01 2.48690548e-02 4.16380143e+02] [-1.80998483e-01 9.83473299e-01 -4.45194148e-03 -6.48128089e+01] [-2.52640895e-02 -1.24295638e-04 9.99680804e-01 -4.62111003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.80576923100006 meters Centerline goodness [0,1] 0.9994022713687986 Centerline is valid? [True, True] Translation: X:416.41, Y:-64.82, Z:-4.62 [[ 9.83202047e-01 1.80913157e-01 2.41694806e-02 4.16408620e+02] [-1.80861485e-01 9.83499067e-01 -4.32527284e-03 -6.48163604e+01] [-2.45531604e-02 -1.18711022e-04 9.99698519e-01 -4.62289391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8357692310001 meters Centerline goodness [0,1] 0.9994864552574143 Centerline is valid? [True, True] Translation: X:416.44, Y:-64.82, Z:-4.63 [[ 9.83231468e-01 1.80888289e-01 2.31367226e-02 4.16436210e+02] [-1.80840956e-01 9.83503642e-01 -4.13938739e-03 -6.48209676e+01] [-2.35038176e-02 -1.14091094e-04 9.99723741e-01 -4.62557208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.86576923100006 meters Centerline goodness [0,1] 0.9993616749648921 Centerline is valid? [True, True] Translation: X:416.46, Y:-64.82, Z:-4.63 [[ 9.83244244e-01 1.80859520e-01 2.28164673e-02 4.16463439e+02] [-1.80813521e-01 9.83508933e-01 -4.08039138e-03 -6.48241126e+01] [-2.31781771e-02 -1.13504454e-04 9.99731344e-01 -4.62701035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8957692310001 meters Centerline goodness [0,1] 0.9994105635433551 Centerline is valid? [True, True] Translation: X:416.49, Y:-64.83, Z:-4.63 [[ 9.83341605e-01 1.80319048e-01 2.28982093e-02 4.16490010e+02] [-1.80272619e-01 9.83608169e-01 -4.09301712e-03 -6.48286512e+01] [-2.32609147e-02 -1.03086137e-04 9.99729423e-01 -4.62815307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.92576923100006 meters Centerline goodness [0,1] 0.9994687407029623 Centerline is valid? [True, True] Translation: X:416.52, Y:-64.83, Z:-4.63 [[ 9.83523797e-01 1.79320989e-01 2.29112059e-02 4.16518580e+02] [-1.79274281e-01 9.83790616e-01 -4.09341452e-03 -6.48344437e+01] [-2.32738645e-02 -8.14193602e-05 9.99729124e-01 -4.62964768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.95576923100003 meters Centerline goodness [0,1] 0.9995724394467367 Centerline is valid? [True, True] Translation: X:416.55, Y:-64.84, Z:-4.63 [[ 9.83881287e-01 1.77602564e-01 2.08552839e-02 4.16546816e+02] [-1.77563497e-01 9.84102295e-01 -3.72516675e-03 -6.48406973e+01] [-2.11853320e-02 -3.80152899e-05 9.99775565e-01 -4.63371073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.98576923100006 meters Centerline goodness [0,1] 0.9996179560649475 Centerline is valid? [True, True] Translation: X:416.57, Y:-64.85, Z:-4.64 [[ 9.84049309e-01 1.76837707e-01 1.93748214e-02 4.16573057e+02] [-1.76803857e-01 9.84240024e-01 -3.45993557e-03 -6.48465256e+01] [-1.96813217e-02 -2.07959486e-05 9.99806304e-01 -4.63645671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01576923100004 meters Centerline goodness [0,1] 0.9996798087390868 Centerline is valid? [True, True] Translation: X:416.60, Y:-64.85, Z:-4.64 [[ 9.84217743e-01 1.75993423e-01 1.84864652e-02 4.16601108e+02] [-1.75962487e-01 9.84391342e-01 -3.29968879e-03 -6.48536716e+01] [-1.87786398e-02 -5.31214695e-06 9.99823666e-01 -4.63830674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.04576923100007 meters Centerline goodness [0,1] 0.9997014034040012 Centerline is valid? [True, True] Translation: X:416.63, Y:-64.86, Z:-4.64 [[ 9.84586168e-01 1.73783586e-01 1.97317600e-02 4.16627875e+02] [-1.73747918e-01 9.84783867e-01 -3.52098414e-03 -6.48627565e+01] [-2.00434082e-02 3.83600610e-05 9.99799110e-01 -4.63714152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07576923100004 meters Centerline goodness [0,1] 0.9997035280166024 Centerline is valid? [True, True] Translation: X:416.65, Y:-64.87, Z:-4.64 [[ 9.84774234e-01 1.72567023e-01 2.09840559e-02 4.16654210e+02] [-1.72526442e-01 9.84997776e-01 -3.74281189e-03 -6.48695076e+01] [-2.13151343e-02 6.55202190e-05 9.99772805e-01 -4.63651034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.10576923100007 meters Centerline goodness [0,1] 0.9997665039269794 Centerline is valid? [True, True] Translation: X:416.68, Y:-64.88, Z:-4.64 [[ 9.84947940e-01 1.71483893e-01 2.16986035e-02 4.16681027e+02] [-1.71440280e-01 9.85186919e-01 -3.86835440e-03 -6.48769017e+01] [-2.20405408e-02 9.01130343e-05 9.99757074e-01 -4.63661735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.13576923100004 meters Centerline goodness [0,1] 0.9997022226948846 Centerline is valid? [True, True] Translation: X:416.71, Y:-64.89, Z:-4.64 [[ 9.85229167e-01 1.69982454e-01 2.07232448e-02 4.16706909e+02] [-1.69942367e-01 9.85447082e-01 -3.69329042e-03 -6.48876846e+01] [-2.10494557e-02 1.16980170e-04 9.99778429e-01 -4.63977123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.16576923100007 meters Centerline goodness [0,1] 0.9998091926729986 Centerline is valid? [True, True] Translation: X:416.74, Y:-64.90, Z:-4.64 [[ 9.85379208e-01 1.69240196e-01 1.96359753e-02 4.16735142e+02] [-1.69204080e-01 9.85574827e-01 -3.49839221e-03 -6.48950427e+01] [-1.99447916e-02 1.24755804e-04 9.99801075e-01 -4.64159060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.19576923100004 meters Centerline goodness [0,1] 0.9999785306367813 Centerline is valid? [True, True] Translation: X:416.76, Y:-64.90, Z:-4.64 [[ 9.85456168e-01 1.68788015e-01 1.96658569e-02 4.16763062e+02] [-1.68751718e-01 9.85652367e-01 -3.50279190e-03 -6.49007407e+01] [-1.99749277e-02 1.33200743e-04 9.99800472e-01 -4.64077942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.2257692310001 meters Centerline goodness [0,1] 0.9998724028666822 Centerline is valid? [True, True] Translation: X:416.79, Y:-64.91, Z:-4.64 [[ 9.85381575e-01 1.69066284e-01 2.09700362e-02 4.16791677e+02] [-1.69025098e-01 9.85604674e-01 -3.73400884e-03 -6.49062318e+01] [-2.12994607e-02 1.34961102e-04 9.99773132e-01 -4.63735982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.25576923100004 meters Centerline goodness [0,1] 0.9999142991815572 Centerline is valid? [True, True] Translation: X:416.82, Y:-64.91, Z:-4.64 [[ 9.85298272e-01 1.69422357e-01 2.19859263e-02 4.16820120e+02] [-1.69377197e-01 9.85543529e-01 -3.91379966e-03 -6.49110463e+01] [-2.23311726e-02 1.32345471e-04 9.99750620e-01 -4.63672818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.2857692310001 meters Centerline goodness [0,1] 0.9996599579197926 Centerline is valid? [True, True] Translation: X:416.85, Y:-64.92, Z:-4.64 [[ 9.85216958e-01 1.69734325e-01 2.31906144e-02 4.16846862e+02] [-1.69684196e-01 9.85489849e-01 -4.12697843e-03 -6.49172211e+01] [-2.35546049e-02 1.30888379e-04 9.99722543e-01 -4.63557652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.31576923100005 meters Centerline goodness [0,1] 0.9997252456937546 Centerline is valid? [True, True] Translation: X:416.87, Y:-64.92, Z:-4.63 [[ 9.85136579e-01 1.70022375e-01 2.44604369e-02 4.16873023e+02] [-1.69966749e-01 9.85440194e-01 -4.35074142e-03 -6.49229771e+01] [-2.48440210e-02 1.28613598e-04 9.99691331e-01 -4.63419811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3457692310001 meters Centerline goodness [0,1] 0.9999155761924863 Centerline is valid? [True, True] Translation: X:416.90, Y:-64.93, Z:-4.64 [[ 9.85213708e-01 1.69481973e-01 2.50960165e-02 4.16900478e+02] [-1.69423293e-01 9.85533277e-01 -4.46178912e-03 -6.49317248e+01] [-2.54891522e-02 1.43966050e-04 9.99675088e-01 -4.63530736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.37576923100005 meters Centerline goodness [0,1] 0.9997458434819443 Centerline is valid? [True, True] Translation: X:416.93, Y:-64.94, Z:-4.64 [[ 9.85433143e-01 1.68324130e-01 2.42591663e-02 4.16926715e+02] [-1.68268978e-01 9.85731687e-01 -4.31182335e-03 -6.49402888e+01] [-2.46388129e-02 1.66948514e-04 9.99696404e-01 -4.63701313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4057692310001 meters Centerline goodness [0,1] 0.9998287451299396 Centerline is valid? [True, True] Translation: X:416.96, Y:-64.95, Z:-4.64 [[ 9.85654779e-01 1.67076641e-01 2.38757546e-02 4.16955178e+02] [-1.67022892e-01 9.85943892e-01 -4.24204206e-03 -6.49467547e+01] [-2.42489006e-02 1.93391438e-04 9.99705933e-01 -4.63912318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.43576923100005 meters Centerline goodness [0,1] 0.9998311416932266 Centerline is valid? [True, True] Translation: X:416.98, Y:-64.96, Z:-4.64 [[ 9.86014037e-01 1.65168243e-01 2.22658996e-02 4.16981544e+02] [-1.65121035e-01 9.86265381e-01 -3.95496466e-03 -6.49580769e+01] [-2.26133205e-02 2.23082268e-04 9.99744261e-01 -4.64219116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4657692310001 meters Centerline goodness [0,1] 0.9997657531037714 Centerline is valid? [True, True] Translation: X:417.01, Y:-64.97, Z:-4.65 [[ 9.86212410e-01 1.64176598e-01 2.07635864e-02 4.17009280e+02] [-1.64135353e-01 9.86430937e-01 -3.68689549e-03 -6.49659555e+01] [-2.10871459e-02 2.28023508e-04 9.99777615e-01 -4.64564375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.49576923100005 meters Centerline goodness [0,1] 0.9999147012410969 Centerline is valid? [True, True] Translation: X:417.04, Y:-64.98, Z:-4.65 [[ 9.86711575e-01 1.61382266e-01 1.88688115e-02 4.17035831e+02] [-1.61347710e-01 9.86891938e-01 -3.34962527e-03 -6.49813250e+01] [-1.91620480e-02 2.60674500e-04 9.99816357e-01 -4.65076248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5257692310001 meters Centerline goodness [0,1] 0.9997880862065311 Centerline is valid? [True, True] Translation: X:417.06, Y:-64.99, Z:-4.65 [[ 9.87073081e-01 1.59180017e-01 1.86669272e-02 4.17062903e+02] [-1.59145821e-01 9.87249529e-01 -3.31287792e-03 -6.49931719e+01] [-1.89562590e-02 2.99289165e-04 9.99820269e-01 -4.65104731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.55576923100006 meters Centerline goodness [0,1] 0.9998101546185163 Centerline is valid? [True, True] Translation: X:417.09, Y:-65.00, Z:-4.65 [[ 9.87392840e-01 1.57076387e-01 1.95547564e-02 4.17090512e+02] [-1.57038468e-01 9.87586393e-01 -3.46942401e-03 -6.50046998e+01] [-1.98569759e-02 3.54835441e-04 9.99802768e-01 -4.64985151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5857692310001 meters Centerline goodness [0,1] 0.9998511208473351 Centerline is valid? [True, True] Translation: X:417.12, Y:-65.02, Z:-4.65 [[ 9.87594053e-01 1.55652841e-01 2.07407560e-02 4.17117347e+02] [-1.55609891e-01 9.87811737e-01 -3.67876032e-03 -6.50164702e+01] [-2.10605717e-02 4.05655036e-04 9.99778119e-01 -4.64768441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.61576923100006 meters Centerline goodness [0,1] 0.9998937187798916 Centerline is valid? [True, True] Translation: X:417.15, Y:-65.02, Z:-4.65 [[ 9.87440284e-01 1.56615471e-01 2.08153543e-02 4.17145488e+02] [-1.56572447e-01 9.87659580e-01 -3.69095244e-03 -6.50230924e+01] [-2.11365444e-02 3.85484154e-04 9.99776524e-01 -4.64880292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6457692310001 meters Centerline goodness [0,1] 0.9998935943817834 Centerline is valid? [True, True] Translation: X:417.17, Y:-65.03, Z:-4.65 [[ 9.87169185e-01 1.58370866e-01 2.03879840e-02 4.17172513e+02] [-1.58329980e-01 9.87379640e-01 -3.61445346e-03 -6.50288299e+01] [-2.07031045e-02 3.40047966e-04 9.99785610e-01 -4.65010202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.67576923100006 meters Centerline goodness [0,1] 0.99985005890543 Centerline is valid? [True, True] Translation: X:417.20, Y:-65.03, Z:-4.65 [[ 9.86634111e-01 1.61866371e-01 1.87725307e-02 4.17200794e+02] [-1.61832356e-01 9.86812656e-01 -3.32723094e-03 -6.50328804e+01] [-1.90635377e-02 2.44756662e-04 9.99818244e-01 -4.65303254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.70576923100003 meters Centerline goodness [0,1] 0.9998504976293195 Centerline is valid? [True, True] Translation: X:417.23, Y:-65.04, Z:-4.65 [[ 9.86496097e-01 1.62771673e-01 1.81888270e-02 4.17229337e+02] [-1.62739910e-01 9.86663739e-01 -3.22292590e-03 -6.50374492e+01] [-1.84708571e-02 2.19355746e-04 9.99829375e-01 -4.65445499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.73576923100006 meters Centerline goodness [0,1] 0.9998312343100647 Centerline is valid? [True, True] Translation: X:417.26, Y:-65.04, Z:-4.66 [[ 9.86431867e-01 1.63177488e-01 1.80354886e-02 4.17256891e+02] [-1.63146341e-01 9.86596708e-01 -3.19494311e-03 -6.50431275e+01] [-1.83150964e-02 2.09169726e-04 9.99832243e-01 -4.65545068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76576923100004 meters Centerline goodness [0,1] 0.9998729244323958 Centerline is valid? [True, True] Translation: X:417.29, Y:-65.05, Z:-4.66 [[ 9.86379570e-01 1.63405211e-01 1.88170123e-02 4.17285029e+02] [-1.63371373e-01 9.86559016e-01 -3.33206249e-03 -6.50505270e+01] [-1.91085695e-02 2.12517230e-04 9.99817392e-01 -4.65504503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.79576923100007 meters Centerline goodness [0,1] 0.9998715368475143 Centerline is valid? [True, True] Translation: X:417.31, Y:-65.06, Z:-4.66 [[ 9.86413001e-01 1.63186237e-01 1.89642867e-02 4.17313668e+02] [-1.63151844e-01 9.86595259e-01 -3.35721574e-03 -6.50560129e+01] [-1.92579268e-02 2.17542900e-04 9.99814525e-01 -4.65542761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82576923100004 meters Centerline goodness [0,1] 0.9999359795134443 Centerline is valid? [True, True] Translation: X:417.34, Y:-65.06, Z:-4.66 [[ 9.86422251e-01 1.63100629e-01 1.92178968e-02 4.17341633e+02] [-1.63065314e-01 9.86609414e-01 -3.40113096e-03 -6.50617406e+01] [-1.95152845e-02 2.21178885e-04 9.99809534e-01 -4.65539560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.85576923100007 meters Centerline goodness [0,1] 0.9998934424482663 Centerline is valid? [True, True] Translation: X:417.37, Y:-65.06, Z:-4.65 [[ 9.86216944e-01 1.64135760e-01 2.08708437e-02 4.17370146e+02] [-1.64094363e-01 9.86437735e-01 -3.69252838e-03 -6.50637033e+01] [-2.11938637e-02 2.16846250e-04 9.99775361e-01 -4.65238900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.88576923100004 meters Centerline goodness [0,1] 0.9998936645328683 Centerline is valid? [True, True] Translation: X:417.40, Y:-65.06, Z:-4.65 [[ 9.85999369e-01 1.65363829e-01 2.14487293e-02 4.17398945e+02] [-1.65320422e-01 9.86232613e-01 -3.79367008e-03 -6.50647673e+01] [-2.17807721e-02 1.94643331e-04 9.99762752e-01 -4.65239732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.91576923100007 meters Centerline goodness [0,1] 0.9999788068242026 Centerline is valid? [True, True] Translation: X:417.43, Y:-65.07, Z:-4.65 [[ 9.85725601e-01 1.67006133e-01 2.13070496e-02 4.17427612e+02] [-1.66963704e-01 9.85955844e-01 -3.76758441e-03 -6.50662335e+01] [-2.16370198e-02 1.56300497e-04 9.99765880e-01 -4.65338651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.94576923100004 meters Centerline goodness [0,1] 0.9999788659466999 Centerline is valid? [True, True] Translation: X:417.46, Y:-65.07, Z:-4.66 [[ 9.85359715e-01 1.69277053e-01 2.02857287e-02 4.17456680e+02] [-1.69239094e-01 9.85568501e-01 -3.58605876e-03 -6.50657974e+01] [-2.06000127e-02 1.00419492e-04 9.99787792e-01 -4.65683148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.9757692310001 meters Centerline goodness [0,1] 0.9999367888748419 Centerline is valid? [True, True] Translation: X:417.48, Y:-65.07, Z:-4.66 [[ 9.85340369e-01 1.69420761e-01 2.00240754e-02 4.17484625e+02] [-1.69383824e-01 9.85543808e-01 -3.53886407e-03 -6.50689054e+01] [-2.03341606e-02 9.52311684e-05 9.99793235e-01 -4.65844021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.00576923100004 meters Centerline goodness [0,1] 0.9999785674482404 Centerline is valid? [True, True] Translation: X:417.51, Y:-65.07, Z:-4.66 [[ 9.85435761e-01 1.68867664e-01 2.00018100e-02 4.17513778e+02] [-1.68830720e-01 9.85638727e-01 -3.53370687e-03 -6.50722393e+01] [-2.03112874e-02 1.05321138e-04 9.99793699e-01 -4.65906014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0357692310001 meters Centerline goodness [0,1] 0.9999787048276155 Centerline is valid? [True, True] Translation: X:417.54, Y:-65.08, Z:-4.66 [[ 9.85531560e-01 1.68294422e-01 2.01129761e-02 4.17540825e+02] [-1.68256966e-01 9.85736767e-01 -3.55237982e-03 -6.50776271e+01] [-2.04239457e-02 1.16834086e-04 9.99791403e-01 -4.65969650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.57, Y:-65.09, Z:-4.66 [[ 9.85864388e-01 1.66322257e-01 2.02068002e-02 4.17567858e+02] [-1.66284062e-01 9.86071439e-01 -3.56772070e-03 -6.50868757e+01] [-2.05187399e-02 1.57219979e-04 9.99789456e-01 -4.65964584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0957692310001 meters Centerline goodness [0,1] 0.9998930847196681 Centerline is valid? [True, True] Translation: X:417.60, Y:-65.09, Z:-4.66 [[ 9.86183837e-01 1.64468763e-01 1.97854795e-02 4.17595960e+02] [-1.64431794e-01 9.86382274e-01 -3.49220519e-03 -6.50938033e+01] [-2.00904049e-02 1.90594433e-04 9.99798149e-01 -4.66056612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.12576923100005 meters Centerline goodness [0,1] 0.9998937707147106 Centerline is valid? [True, True] Translation: X:417.62, Y:-65.10, Z:-4.66 [[ 9.86845916e-01 1.60673707e-01 1.78633309e-02 4.17622537e+02] [-1.60642964e-01 9.87007549e-01 -3.15222886e-03 -6.51037481e+01] [-1.81377228e-02 2.41145757e-04 9.99835469e-01 -4.66445126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1557692310001 meters Centerline goodness [0,1] 0.9998722344072741 Centerline is valid? [True, True] Translation: X:417.65, Y:-65.11, Z:-4.67 [[ 9.87063795e-01 1.59427345e-01 1.69701700e-02 4.17650651e+02] [-1.59399432e-01 9.87209633e-01 -2.99361966e-03 -6.51116027e+01] [-1.72303801e-02 2.49858124e-04 9.99851515e-01 -4.66706063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.18576923100005 meters Centerline goodness [0,1] 0.999894752352285 Centerline is valid? [True, True] Translation: X:417.68, Y:-65.12, Z:-4.67 [[ 9.87202419e-01 1.58578943e-01 1.68553428e-02 4.17678235e+02] [-1.58551296e-01 9.87346267e-01 -2.97257200e-03 -6.51193982e+01] [-1.71134471e-02 2.62093819e-04 9.99853520e-01 -4.66761290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2157692310001 meters Centerline goodness [0,1] 0.9998726790450928 Centerline is valid? [True, True] Translation: X:417.70, Y:-65.13, Z:-4.67 [[ 9.87271860e-01 1.58039015e-01 1.78309672e-02 4.17704894e+02] [-1.58008002e-01 9.87432827e-01 -3.14377130e-03 -6.51276935e+01] [-1.81037208e-02 2.86321435e-04 9.99836073e-01 -4.66630365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.24576923100005 meters Centerline goodness [0,1] 0.9999357037227544 Centerline is valid? [True, True] Translation: X:417.73, Y:-65.13, Z:-4.66 [[ 9.87252355e-01 1.57981879e-01 1.93523549e-02 4.17733936e+02] [-1.57945363e-01 9.87441963e-01 -3.41071182e-03 -6.51322610e+01] [-1.96481579e-02 3.10618563e-04 9.99806908e-01 -4.66345252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2757692310001 meters Centerline goodness [0,1] 0.999915611814346 Centerline is valid? [True, True] Translation: X:417.76, Y:-65.14, Z:-4.66 [[ 9.87107132e-01 1.58731419e-01 2.05875158e-02 4.17760933e+02] [-1.58690271e-01 9.87321750e-01 -3.62763030e-03 -6.51390992e+01] [-2.09023210e-02 3.13821276e-04 9.99781473e-01 -4.66252653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.30576923100006 meters Centerline goodness [0,1] 0.9999156954075074 Centerline is valid? [True, True] Translation: X:417.79, Y:-65.14, Z:-4.67 [[ 9.87062914e-01 1.59130184e-01 1.96058368e-02 4.17789428e+02] [-1.59092971e-01 9.87257566e-01 -3.45340207e-03 -6.51449338e+01] [-1.99055512e-02 2.89574290e-04 9.99801823e-01 -4.66540817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3357692310001 meters Centerline goodness [0,1] 0.9999154637867996 Centerline is valid? [True, True] Translation: X:417.82, Y:-65.15, Z:-4.67 [[ 9.87007190e-01 1.59582296e-01 1.87162609e-02 4.17817759e+02] [-1.59548471e-01 9.87184592e-01 -3.29638297e-03 -6.51498357e+01] [-1.90024487e-02 2.67402885e-04 9.99819401e-01 -4.66788056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.36576923100006 meters Centerline goodness [0,1] 0.9999154834347532 Centerline is valid? [True, True] Translation: X:417.85, Y:-65.16, Z:-4.67 [[ 9.86893950e-01 1.60110700e-01 2.01220175e-02 4.17846427e+02] [-1.60071732e-01 9.87099026e-01 -3.54296079e-03 -6.51560879e+01] [-2.04296898e-02 2.75560374e-04 9.99791254e-01 -4.66515873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3957692310001 meters Centerline goodness [0,1] 0.9999154834347532 Centerline is valid? [True, True] Translation: X:417.87, Y:-65.16, Z:-4.67 [[ 9.86901144e-01 1.60066330e-01 2.01221763e-02 4.17874340e+02] [-1.60027372e-01 9.87106222e-01 -3.54205855e-03 -6.51609069e+01] [-2.04296898e-02 2.75562652e-04 9.99791254e-01 -4.66578209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.42576923100006 meters Centerline goodness [0,1] 0.9999357904199306 Centerline is valid? [True, True] Translation: X:417.90, Y:-65.17, Z:-4.66 [[ 9.86979925e-01 1.59395130e-01 2.15364645e-02 4.17903162e+02] [-1.59350366e-01 9.87214818e-01 -3.78994068e-03 -6.51673816e+01] [-2.18652150e-02 3.08751866e-04 9.99760880e-01 -4.66326723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.45576923100003 meters Centerline goodness [0,1] 0.9999148610105998 Centerline is valid? [True, True] Translation: X:417.93, Y:-65.18, Z:-4.66 [[ 9.87098394e-01 1.58482716e-01 2.28032966e-02 4.17931680e+02] [-1.58432299e-01 9.87361691e-01 -4.01230902e-03 -6.51756086e+01] [-2.31509832e-02 3.47765072e-04 9.99731920e-01 -4.66192252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.48576923100006 meters Centerline goodness [0,1] 0.9998713633342624 Centerline is valid? [True, True] Translation: X:417.96, Y:-65.19, Z:-4.66 [[ 9.87447813e-01 1.56137638e-01 2.38297008e-02 4.17959345e+02] [-1.56081911e-01 9.87735218e-01 -4.19235177e-03 -6.51902555e+01] [-2.41920186e-02 4.20343353e-04 9.99707242e-01 -4.66079103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51576923100004 meters Centerline goodness [0,1] 0.9998731447418495 Centerline is valid? [True, True] Translation: X:417.99, Y:-65.20, Z:-4.66 [[ 9.87629882e-01 1.55027695e-01 2.35293397e-02 4.17987722e+02] [-1.54973056e-01 9.87910026e-01 -4.13923884e-03 -6.51994821e+01] [-2.38865672e-02 4.41622304e-04 9.99714578e-01 -4.66176029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.54576923100007 meters Centerline goodness [0,1] 0.9997655683900942 Centerline is valid? [True, True] Translation: X:418.02, Y:-65.21, Z:-4.66 [[ 9.87753803e-01 1.54238391e-01 2.35147356e-02 4.18017662e+02] [-1.54183601e-01 9.88033556e-01 -4.13641983e-03 -6.52077916e+01] [-2.38713425e-02 4.60177802e-04 9.99714933e-01 -4.66219786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57576923100004 meters Centerline goodness [0,1] 0.9997471927865675 Centerline is valid? [True, True] Translation: X:418.05, Y:-65.22, Z:-4.66 [[ 9.87781803e-01 1.53995764e-01 2.39251862e-02 4.18046217e+02] [-1.53938973e-01 9.88071394e-01 -4.20864698e-03 -6.52204217e+01] [-2.42879059e-02 4.74206310e-04 9.99704893e-01 -4.66146978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.60576923100007 meters Centerline goodness [0,1] 0.9997670774573328 Centerline is valid? [True, True] Translation: X:418.08, Y:-65.23, Z:-4.66 [[ 9.87824096e-01 1.53820977e-01 2.32951276e-02 4.18076451e+02] [-1.53767084e-01 9.88098623e-01 -4.09809244e-03 -6.52279949e+01] [-2.36482561e-02 4.66170614e-04 9.99720232e-01 -4.66338320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.63576923100004 meters Centerline goodness [0,1] 0.9998522552185567 Centerline is valid? [True, True] Translation: X:418.11, Y:-65.24, Z:-4.67 [[ 9.87739106e-01 1.54684712e-01 2.10736220e-02 4.18106228e+02] [-1.54640796e-01 9.87963804e-01 -3.70771619e-03 -6.52390252e+01] [-2.13935027e-02 4.03414602e-04 9.99771051e-01 -4.66885357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.66576923100007 meters Centerline goodness [0,1] 0.9998521428722303 Centerline is valid? [True, True] Translation: X:418.14, Y:-65.24, Z:-4.67 [[ 9.87600561e-01 1.55694697e-01 2.01070459e-02 4.18137386e+02] [-1.55654918e-01 9.87805157e-01 -3.53808575e-03 -6.52432209e+01] [-2.04127048e-02 3.64454889e-04 9.99791573e-01 -4.67100906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.69576923100004 meters Centerline goodness [0,1] 0.9998510796723753 Centerline is valid? [True, True] Translation: X:418.17, Y:-65.25, Z:-4.67 [[ 9.87401429e-01 1.57020331e-01 1.95712306e-02 4.18168457e+02] [-1.56982895e-01 9.87595316e-01 -3.44425866e-03 -6.52496268e+01] [-1.98692743e-02 3.28517480e-04 9.99802533e-01 -4.67281770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.7257692310001 meters Centerline goodness [0,1] 0.9999359330286592 Centerline is valid? [True, True] Translation: X:418.20, Y:-65.26, Z:-4.67 [[ 9.87106071e-01 1.58918984e-01 1.91405676e-02 4.18198493e+02] [-1.58883526e-01 9.87291586e-01 -3.36894839e-03 -6.52553846e+01] [-1.94327112e-02 2.84388547e-04 9.99811127e-01 -4.67395095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.75576923100004 meters Centerline goodness [0,1] 0.9999360532037345 Centerline is valid? [True, True] Translation: X:418.23, Y:-65.25, Z:-4.67 [[ 9.86202717e-01 1.64482383e-01 1.87014936e-02 4.18229175e+02] [-1.64449527e-01 9.86380006e-01 -3.29192178e-03 -6.52549453e+01] [-1.89882425e-02 1.71050437e-04 9.99819692e-01 -4.67495735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.7857692310001 meters Centerline goodness [0,1] 0.99997891140682 Centerline is valid? [True, True] Translation: X:418.26, Y:-65.26, Z:-4.68 [[ 9.85665147e-01 1.67690610e-01 1.85493091e-02 4.18257632e+02] [-1.67658852e-01 9.85839666e-01 -3.26524600e-03 -6.52566659e+01] [-1.88341958e-02 1.08483319e-04 9.99822615e-01 -4.67711683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.81576923100005 meters Centerline goodness [0,1] 0.9998932878027958 Centerline is valid? [True, True] Translation: X:418.29, Y:-65.25, Z:-4.68 [[ 9.84571170e-01 1.73971132e-01 1.88057839e-02 4.18288199e+02] [-1.73939646e-01 9.84750753e-01 -3.30973748e-03 -6.52507546e+01] [-1.90948086e-02 -1.23992884e-05 9.99817677e-01 -4.67675654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8457692310001 meters Centerline goodness [0,1] 0.9997862699837565 Centerline is valid? [True, True] Translation: X:418.32, Y:-65.25, Z:-4.68 [[ 9.83990775e-01 1.77219070e-01 1.88562085e-02 4.18316815e+02] [-1.77188028e-01 9.84171426e-01 -3.31774834e-03 -6.52490180e+01] [-1.91457098e-02 -7.64606291e-05 9.99816701e-01 -4.67785845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.87576923100005 meters Centerline goodness [0,1] 0.9997670626601444 Centerline is valid? [True, True] Translation: X:418.35, Y:-65.25, Z:-4.68 [[ 9.83479095e-01 1.80090963e-01 1.83334164e-02 4.18345880e+02] [-1.80062137e-01 9.83649952e-01 -3.22468034e-03 -6.52493431e+01] [-1.86143999e-02 -1.29748429e-04 9.99826729e-01 -4.67852979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9057692310001 meters Centerline goodness [0,1] 0.9995146245726586 Centerline is valid? [True, True] Translation: X:418.38, Y:-65.24, Z:-4.68 [[ 9.82421908e-01 1.85807227e-01 1.79685669e-02 4.18377154e+02] [-1.85780509e-01 9.82586189e-01 -3.15961170e-03 -6.52378530e+01] [-1.82427444e-02 -2.34137755e-04 9.99833560e-01 -4.68181846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.93576923100005 meters Centerline goodness [0,1] 0.9993731220682649 Centerline is valid? [True, True] Translation: X:418.41, Y:-65.24, Z:-4.68 [[ 9.81902858e-01 1.88525275e-01 1.80276870e-02 4.18405379e+02] [-1.88498849e-01 9.82068296e-01 -3.16940703e-03 -6.52436949e+01] [-1.83019332e-02 -2.86148428e-04 9.99832465e-01 -4.68022361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9657692310001 meters Centerline goodness [0,1] 0.9989778970231251 Centerline is valid? [True, True] Translation: X:418.44, Y:-65.23, Z:-4.68 [[ 9.81385347e-01 1.91211710e-01 1.79131751e-02 4.18435292e+02] [-1.91186081e-01 9.81548761e-01 -3.14843006e-03 -6.52326298e+01] [-1.81846715e-02 -3.34926622e-04 9.99834589e-01 -4.68258105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.99576923100005 meters Centerline goodness [0,1] 0.9992299135791906 Centerline is valid? [True, True] Translation: X:418.46, Y:-65.23, Z:-4.68 [[ 9.80494063e-01 1.95781833e-01 1.73454898e-02 4.18464847e+02] [-1.95758537e-01 9.80647392e-01 -3.04750716e-03 -6.52317089e+01] [-1.76064558e-02 -4.07465033e-04 9.99844911e-01 -4.68271401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0257692310001 meters Centerline goodness [0,1] 0.9989953830369357 Centerline is valid? [True, True] Translation: X:418.49, Y:-65.23, Z:-4.68 [[ 9.80008305e-01 1.98135145e-01 1.80606537e-02 4.18494555e+02] [-1.98110301e-01 9.80174599e-01 -3.17244938e-03 -6.52282582e+01] [-1.83311677e-02 -4.68974796e-04 9.99831860e-01 -4.68208126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.05576923100006 meters Centerline goodness [0,1] 0.9984846571536811 Centerline is valid? [True, True] Translation: X:418.53, Y:-65.22, Z:-4.68 [[ 9.79496632e-01 2.00520788e-01 1.94360990e-02 4.18525073e+02] [-2.00492500e-01 9.79689291e-01 -3.41327412e-03 -6.52189184e+01] [-1.97257705e-02 -5.53501583e-04 9.99805275e-01 -4.68052168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0857692310001 meters Centerline goodness [0,1] 0.9980391330016024 Centerline is valid? [True, True] Translation: X:418.55, Y:-65.22, Z:-4.68 [[ 9.79086108e-01 2.02409074e-01 2.05172965e-02 4.18554580e+02] [-2.02377981e-01 9.79300861e-01 -3.60235143e-03 -6.52158149e+01] [-2.08217548e-02 -6.25236802e-04 9.99783008e-01 -4.67864886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.11576923100006 meters Centerline goodness [0,1] 0.9978602601584678 Centerline is valid? [True, True] Translation: X:418.59, Y:-65.21, Z:-4.68 [[ 9.78646087e-01 2.04506389e-01 2.07116711e-02 4.18585410e+02] [-2.04475188e-01 9.78864995e-01 -3.63577723e-03 -6.52087703e+01] [-2.10174695e-02 -6.76883690e-04 9.99778879e-01 -4.67881984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1457692310001 meters Centerline goodness [0,1] 0.9978703215603585 Centerline is valid? [True, True] Translation: X:418.61, Y:-65.21, Z:-4.68 [[ 9.78614473e-01 2.04639747e-01 2.08875025e-02 4.18614830e+02] [-2.04608059e-01 9.78837118e-01 -3.66592235e-03 -6.52083826e+01] [-2.11956561e-02 -6.86226678e-04 9.99775111e-01 -4.67956075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.17576923100006 meters Centerline goodness [0,1] 0.9981044874661896 Centerline is valid? [True, True] Translation: X:418.64, Y:-65.21, Z:-4.68 [[ 9.78738221e-01 2.03997372e-01 2.13674139e-02 4.18643571e+02] [-2.03964080e-01 9.78971193e-01 -3.74917227e-03 -6.52104065e+01] [-2.16829039e-02 -6.88726713e-04 9.99764661e-01 -4.67905770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.20576923100003 meters Centerline goodness [0,1] 0.9981243072725723 Centerline is valid? [True, True] Translation: X:418.67, Y:-65.21, Z:-4.68 [[ 9.79242726e-01 2.01504690e-01 2.18984798e-02 4.18674046e+02] [-2.01469181e-01 9.79487332e-01 -3.83867469e-03 -6.52061276e+01] [-2.22227945e-02 -6.52874520e-04 9.99752830e-01 -4.67923303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.23576923100006 meters Centerline goodness [0,1] 0.9983628168055791 Centerline is valid? [True, True] Translation: X:418.70, Y:-65.21, Z:-4.68 [[ 9.79550157e-01 2.00022589e-01 2.17360179e-02 4.18702290e+02] [-1.99987252e-01 9.79791093e-01 -3.80968545e-03 -6.52073716e+01] [-2.20587799e-02 -6.15148507e-04 9.99756486e-01 -4.68022074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26576923100004 meters Centerline goodness [0,1] 0.998713324474256 Centerline is valid? [True, True] Translation: X:418.73, Y:-65.21, Z:-4.68 [[ 9.79862196e-01 1.98501925e-01 2.16116256e-02 4.18730696e+02] [-1.98466648e-01 9.80100327e-01 -3.78666136e-03 -6.52117319e+01] [-2.19332209e-02 -5.78780583e-04 9.99759270e-01 -4.68103988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.29576923100007 meters Centerline goodness [0,1] 0.9988970666214181 Centerline is valid? [True, True] Translation: X:418.76, Y:-65.22, Z:-4.68 [[ 9.80214011e-01 1.96780945e-01 2.13951515e-02 4.18759244e+02] [-1.96746037e-01 9.80447332e-01 -3.74526366e-03 -6.52165929e+01] [-2.17138157e-02 -5.38251351e-04 9.99764082e-01 -4.68191386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32576923100004 meters Centerline goodness [0,1] 0.9992129501606007 Centerline is valid? [True, True] Translation: X:418.79, Y:-65.22, Z:-4.68 [[ 9.81123143e-01 1.92198799e-01 2.13775408e-02 4.18788816e+02] [-1.92162940e-01 9.81355913e-01 -3.73853395e-03 -6.52236584e+01] [-2.16975178e-02 -4.40008896e-04 9.99764484e-01 -4.68237441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.35576923100007 meters Centerline goodness [0,1] 0.9993026204564666 Centerline is valid? [True, True] Translation: X:418.82, Y:-65.23, Z:-4.68 [[ 9.81779369e-01 1.88672755e-01 2.26243668e-02 4.18816896e+02] [-1.88631661e-01 9.82039940e-01 -3.95624542e-03 -6.52267595e+01] [-2.29644675e-02 -3.83511758e-04 9.99736208e-01 -4.68109746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.38576923100004 meters Centerline goodness [0,1] 0.999744054601685 Centerline is valid? [True, True] Translation: X:418.84, Y:-65.24, Z:-4.68 [[ 9.83379520e-01 1.79984784e-01 2.38787885e-02 4.18844793e+02] [-1.79936470e-01 9.83669376e-01 -4.17443098e-03 -6.52419212e+01] [-2.42401670e-02 -1.91614976e-04 9.99706146e-01 -4.68114363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.41576923100007 meters Centerline goodness [0,1] 0.9998314547561361 Centerline is valid? [True, True] Translation: X:418.87, Y:-65.25, Z:-4.68 [[ 9.84293797e-01 1.75067176e-01 2.27421589e-02 4.18870945e+02] [-1.75022046e-01 9.84556489e-01 -3.97541370e-03 -6.52527853e+01] [-2.30869045e-02 -6.74041382e-05 9.99733460e-01 -4.68406178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.44576923100004 meters Centerline goodness [0,1] 0.9998723757258631 Centerline is valid? [True, True] Translation: X:418.90, Y:-65.27, Z:-4.69 [[ 9.85235444e-01 1.69897832e-01 2.11150832e-02 4.18897269e+02] [-1.69857767e-01 9.85461681e-01 -3.68982633e-03 -6.52656135e+01] [-2.14349989e-02 4.87867961e-05 9.99770243e-01 -4.68822756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.4757692310001 meters Centerline goodness [0,1] 0.9999146101955426 Centerline is valid? [True, True] Translation: X:418.92, Y:-65.29, Z:-4.69 [[ 9.86886117e-01 1.60330937e-01 1.87024860e-02 4.18923287e+02] [-1.60297809e-01 9.87063291e-01 -3.26696374e-03 -6.52850128e+01] [-1.89843327e-02 2.26153633e-04 9.99819756e-01 -4.69308339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.50576923100004 meters Centerline goodness [0,1] 0.9998928647953718 Centerline is valid? [True, True] Translation: X:418.95, Y:-65.30, Z:-4.69 [[ 9.87594705e-01 1.55930830e-01 1.85006831e-02 4.18950976e+02] [-1.55897652e-01 9.87767929e-01 -3.23106435e-03 -6.52965942e+01] [-1.87782040e-02 3.06768987e-04 9.99823627e-01 -4.69328014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5357692310001 meters Centerline goodness [0,1] 0.9997673090347555 Centerline is valid? [True, True] Translation: X:418.98, Y:-65.31, Z:-4.69 [[ 9.88211905e-01 1.51998903e-01 1.82637474e-02 4.18977651e+02] [-1.51965911e-01 9.88380591e-01 -3.18904017e-03 -6.53095892e+01] [-1.85362641e-02 3.75980456e-04 9.99828118e-01 -4.69453362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.56576923100005 meters Centerline goodness [0,1] 0.9997026527621434 Centerline is valid? [True, True] Translation: X:419.00, Y:-65.33, Z:-4.70 [[ 9.89165542e-01 1.45824891e-01 1.69302206e-02 4.19004579e+02] [-1.45795647e-01 9.89310312e-01 -2.95553229e-03 -6.53275702e+01] [-1.71802320e-02 4.55158224e-04 9.99852305e-01 -4.69708908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5957692310001 meters Centerline goodness [0,1] 0.9996591974099003 Centerline is valid? [True, True] Translation: X:419.03, Y:-65.33, Z:-4.70 [[ 9.89428728e-01 1.43982986e-01 1.73116002e-02 4.19033799e+02] [-1.43952131e-01 9.89580038e-01 -3.02196187e-03 -6.53348833e+01] [-1.75663251e-02 4.97974151e-04 9.99845576e-01 -4.69721831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.62576923100005 meters Centerline goodness [0,1] 0.9997020135370993 Centerline is valid? [True, True] Translation: X:419.06, Y:-65.35, Z:-4.70 [[ 9.89618347e-01 1.42624671e-01 1.77124435e-02 4.19060813e+02] [-1.42592160e-01 9.89776701e-01 -3.09154126e-03 -6.53452686e+01] [-1.79722939e-02 5.33790372e-04 9.99838343e-01 -4.69741321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6557692310001 meters Centerline goodness [0,1] 0.9996177126473399 Centerline is valid? [True, True] Translation: X:419.09, Y:-65.35, Z:-4.70 [[ 9.89705244e-01 1.41912504e-01 1.85572227e-02 4.19089745e+02] [-1.41876706e-01 9.89879040e-01 -3.23824691e-03 -6.53506092e+01] [-1.88289536e-02 5.72072302e-04 9.99822556e-01 -4.69575651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.68576923100005 meters Centerline goodness [0,1] 0.9996789108656563 Centerline is valid? [True, True] Translation: X:419.12, Y:-65.36, Z:-4.69 [[ 9.89495111e-01 1.43188000e-01 1.99153843e-02 4.19117435e+02] [-1.43147039e-01 9.89695333e-01 -3.47472785e-03 -6.53614992e+01] [-2.02077022e-02 5.87397926e-04 9.99795631e-01 -4.69308064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7157692310001 meters Centerline goodness [0,1] 0.9997862380026079 Centerline is valid? [True, True] Translation: X:419.15, Y:-65.36, Z:-4.69 [[ 9.89240595e-01 1.44978725e-01 1.96013694e-02 4.19147785e+02] [-1.44939406e-01 9.89434624e-01 -3.41948195e-03 -6.53589599e+01] [-1.98900257e-02 5.41679528e-04 9.99802027e-01 -4.69342518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.74576923100005 meters Centerline goodness [0,1] 0.9998305264272852 Centerline is valid? [True, True] Translation: X:419.18, Y:-65.37, Z:-4.70 [[ 9.88437100e-01 1.50391654e-01 1.93506990e-02 4.19176260e+02] [-1.50354379e-01 9.88626405e-01 -3.37527444e-03 -6.53663208e+01] [-1.96382251e-02 4.26784140e-04 9.99807060e-01 -4.69528192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7757692310001 meters Centerline goodness [0,1] 0.9998718441625016 Centerline is valid? [True, True] Translation: X:419.21, Y:-65.37, Z:-4.69 [[ 9.87985830e-01 1.53239858e-01 2.00386198e-02 4.19205758e+02] [-1.53200481e-01 9.88188949e-01 -3.49476123e-03 -6.53678565e+01] [-2.03374793e-02 3.82848384e-04 9.99793099e-01 -4.69449762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.80576923100006 meters Centerline goodness [0,1] 0.9999360872621914 Centerline is valid? [True, True] Translation: X:419.24, Y:-65.37, Z:-4.69 [[ 9.87502904e-01 1.56149543e-01 2.13385537e-02 4.19235335e+02] [-1.56105586e-01 9.87733366e-01 -3.72069487e-03 -6.53664327e+01] [-2.16577863e-02 3.43129556e-04 9.99765384e-01 -4.69291975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8357692310001 meters Centerline goodness [0,1] 0.9999364527950179 Centerline is valid? [True, True] Translation: X:419.27, Y:-65.36, Z:-4.69 [[ 9.86641197e-01 1.61384914e-01 2.22274282e-02 4.19265279e+02] [-1.61338570e-01 9.86891511e-01 -3.87457515e-03 -6.53626125e+01] [-2.25613582e-02 2.36673986e-04 9.99745432e-01 -4.69263667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.29, Y:-65.36, Z:-4.69 [[ 9.86295907e-01 1.63504336e-01 2.20616537e-02 4.19294383e+02] [-1.63459234e-01 9.86542598e-01 -3.84463510e-03 -6.53638507e+01] [-2.23933756e-02 1.85766861e-04 9.99749220e-01 -4.69381548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.32, Y:-65.37, Z:-4.70 [[ 9.86100027e-01 1.64746828e-01 2.15689403e-02 4.19321836e+02] [-1.64704038e-01 9.86335875e-01 -3.75774649e-03 -6.53677737e+01] [-2.18932964e-02 1.53022367e-04 9.99760301e-01 -4.69540312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.35, Y:-65.37, Z:-4.70 [[ 9.85982889e-01 1.65821221e-01 1.84679402e-02 4.19348873e+02] [-1.65790057e-01 9.86155825e-01 -3.21659938e-03 -6.53726897e+01] [-1.87456472e-02 1.09711101e-04 9.99824279e-01 -4.70098252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.38, Y:-65.38, Z:-4.70 [[ 9.86094867e-01 1.65270949e-01 1.73904128e-02 4.19375874e+02] [-1.65243251e-01 9.86248194e-01 -3.02771740e-03 -6.53797339e+01] [-1.76516569e-02 1.11968243e-04 9.99844191e-01 -4.70362484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.40, Y:-65.39, Z:-4.70 [[ 9.86182572e-01 1.64514637e-01 1.94645752e-02 4.19402646e+02] [-1.64479820e-01 9.86374632e-01 -3.38730045e-03 -6.53893435e+01] [-1.97566237e-02 1.38966850e-04 9.99804809e-01 -4.70069532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.43, Y:-65.40, Z:-4.70 [[ 9.86164412e-01 1.64411090e-01 2.11836280e-02 4.19430905e+02] [-1.64369857e-01 9.86391895e-01 -3.68505903e-03 -6.53957341e+01] [-2.15012235e-02 1.52124170e-04 9.99768810e-01 -4.69856454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.46, Y:-65.40, Z:-4.70 [[ 9.86109441e-01 1.64625288e-01 2.20609591e-02 4.19458694e+02] [-1.64580647e-01 9.86356169e-01 -3.83657311e-03 -6.54015877e+01] [-2.23915601e-02 1.52474034e-04 9.99749266e-01 -4.69784904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07576923100004 meters Centerline goodness [0,1] 0.9999787238569392 Centerline is valid? [True, True] Translation: X:419.49, Y:-65.41, Z:-4.70 [[ 9.85803693e-01 1.66691583e-01 2.01245087e-02 4.19486822e+02] [-1.66654884e-01 9.86009081e-01 -3.49893068e-03 -6.54059530e+01] [-2.04261906e-02 9.54111092e-05 9.99791359e-01 -4.70207904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.51, Y:-65.41, Z:-4.71 [[ 9.85591642e-01 1.68105911e-01 1.86953874e-02 4.19514980e+02] [-1.68074509e-01 9.85768938e-01 -3.24963169e-03 -6.54099516e+01] [-1.89756145e-02 6.05917663e-05 9.99819945e-01 -4.70559994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:419.54, Y:-65.41, Z:-4.71 [[ 9.85383060e-01 1.69391101e-01 1.80798300e-02 4.19542491e+02] [-1.69361964e-01 9.85548910e-01 -3.14188797e-03 -6.54138569e+01] [-1.83507646e-02 3.39276609e-05 9.99831610e-01 -4.70728280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.16576923100007 meters Centerline goodness [0,1] 0.9999576970261009 Centerline is valid? [True, True] Translation: X:419.57, Y:-65.41, Z:-4.71 [[ 9.84691215e-01 1.73461702e-01 1.71536715e-02 4.19570793e+02] [-1.73436113e-01 9.84840615e-01 -2.97967827e-03 -6.54142516e+01] [-1.74104925e-02 -4.10030964e-05 9.99848425e-01 -4.70923656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.19576923100004 meters Centerline goodness [0,1] 0.99993650121706 Centerline is valid? [True, True] Translation: X:419.60, Y:-65.41, Z:-4.71 [[ 9.84227355e-01 1.76115491e-01 1.67286594e-02 4.19598500e+02] [-1.76091549e-01 9.84369507e-01 -2.90513680e-03 -6.54148695e+01] [-1.69788218e-02 -8.64604405e-05 9.99855846e-01 -4.71063712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.2257692310001 meters Centerline goodness [0,1] 0.9999362475295918 Centerline is valid? [True, True] Translation: X:419.63, Y:-65.42, Z:-4.71 [[ 9.83703091e-01 1.79054537e-01 1.63615751e-02 4.19627414e+02] [-1.79032058e-01 9.83839141e-01 -2.84038782e-03 -6.54151606e+01] [-1.66057423e-02 -1.35148178e-04 9.99862106e-01 -4.71125637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.25576923100004 meters Centerline goodness [0,1] 0.9998729136660172 Centerline is valid? [True, True] Translation: X:419.66, Y:-65.41, Z:-4.71 [[ 9.82576375e-01 1.84955294e-01 1.83086190e-02 4.19659047e+02] [-1.84928189e-01 9.82746900e-01 -3.17734078e-03 -6.54071533e+01] [-1.85804045e-02 -2.63799753e-04 9.99827335e-01 -4.70727336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.2857692310001 meters Centerline goodness [0,1] 0.9997877713873384 Centerline is valid? [True, True] Translation: X:419.69, Y:-65.40, Z:-4.70 [[ 9.81998994e-01 1.87821837e-01 2.00233400e-02 4.19688414e+02] [-1.87790020e-01 9.82203053e-01 -3.47446205e-03 -6.54041275e+01] [-2.03195655e-02 -3.48265195e-04 9.99793476e-01 -4.70440351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.31576923100005 meters Centerline goodness [0,1] 0.9997877713873384 Centerline is valid? [True, True] Translation: X:419.72, Y:-65.41, Z:-4.71 [[ 9.82011855e-01 1.87754558e-01 2.00235355e-02 4.19715522e+02] [-1.87722751e-01 9.82215916e-01 -3.47333495e-03 -6.54086858e+01] [-2.03195698e-02 -3.48017070e-04 9.99793476e-01 -4.70500852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3457692310001 meters Centerline goodness [0,1] 0.9997260216232166 Centerline is valid? [True, True] Translation: X:419.75, Y:-65.40, Z:-4.70 [[ 9.81398388e-01 1.90813963e-01 2.11479586e-02 4.19746611e+02] [-1.90779227e-01 9.81626121e-01 -3.66677715e-03 -6.54047307e+01] [-2.14590608e-02 -4.36022000e-04 9.99769633e-01 -4.70334016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.37576923100005 meters Centerline goodness [0,1] 0.9995488431048188 Centerline is valid? [True, True] Translation: X:419.78, Y:-65.39, Z:-4.70 [[ 9.80526259e-01 1.95166029e-01 2.18740992e-02 4.19777499e+02] [-1.95129959e-01 9.80770064e-01 -3.79214508e-03 -6.53945013e+01] [-2.21935595e-02 -5.49994242e-04 9.99753541e-01 -4.70403794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4057692310001 meters Centerline goodness [0,1] 0.9994103028516069 Centerline is valid? [True, True] Translation: X:419.81, Y:-65.39, Z:-4.71 [[ 9.80372963e-01 1.96051521e-01 2.08003403e-02 4.19806395e+02] [-1.96019125e-01 9.80593446e-01 -3.60502597e-03 -6.53921604e+01] [-2.11034482e-02 -5.42994513e-04 9.99777150e-01 -4.70693580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.43576923100005 meters Centerline goodness [0,1] 0.9993852415576707 Centerline is valid? [True, True] Translation: X:419.83, Y:-65.39, Z:-4.71 [[ 9.80423073e-01 1.95858222e-01 2.02522662e-02 4.19834628e+02] [-1.95827502e-01 9.80632082e-01 -3.50848326e-03 -6.53910338e+01] [-2.05471872e-02 -5.26152755e-04 9.99788746e-01 -4.70899558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4657692310001 meters Centerline goodness [0,1] 0.999721812073356 Centerline is valid? [True, True] Translation: X:419.86, Y:-65.39, Z:-4.71 [[ 9.81087390e-01 1.92631485e-01 1.89906409e-02 4.19863643e+02] [-1.92603938e-01 9.81271075e-01 -3.28632539e-03 -6.53935412e+01] [-1.92680163e-02 -4.33499812e-04 9.99814261e-01 -4.71157197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.49576923100005 meters Centerline goodness [0,1] 0.9997463860005072 Centerline is valid? [True, True] Translation: X:419.89, Y:-65.40, Z:-4.71 [[ 9.81676851e-01 1.89652445e-01 1.85070262e-02 4.19891150e+02] [-1.89625769e-01 9.81851219e-01 -3.20180802e-03 -6.53968010e+01] [-1.87783770e-02 -3.66268262e-04 9.99823604e-01 -4.71308482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5257692310001 meters Centerline goodness [0,1] 0.9997891540861938 Centerline is valid? [True, True] Translation: X:419.92, Y:-65.40, Z:-4.71 [[ 9.82354570e-01 1.86132040e-01 1.82855739e-02 4.19919461e+02] [-1.86105410e-01 9.82524695e-01 -3.16236246e-03 -6.54022737e+01] [-1.85546449e-02 -2.96483023e-04 9.99827804e-01 -4.71384190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.55576923100006 meters Centerline goodness [0,1] 0.9999370065513187 Centerline is valid? [True, True] Translation: X:419.95, Y:-65.41, Z:-4.71 [[ 9.83796255e-01 1.78150863e-01 2.01791662e-02 4.19947604e+02] [-1.78116773e-01 9.84003173e-01 -3.48873971e-03 -6.54091370e+01] [-2.04778855e-02 -1.62038909e-04 9.99790293e-01 -4.71073922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5857692310001 meters Centerline goodness [0,1] 0.9999577907688412 Centerline is valid? [True, True] Translation: X:419.98, Y:-65.42, Z:-4.71 [[ 9.84556547e-01 1.73784789e-01 2.11483676e-02 4.19975277e+02] [-1.73746348e-01 9.84783652e-01 -3.65579088e-03 -6.54177879e+01] [-2.14618875e-02 -7.51188012e-05 9.99769664e-01 -4.70874066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.61576923100006 meters Centerline goodness [0,1] 0.9999788516442847 Centerline is valid? [True, True] Translation: X:420.00, Y:-65.43, Z:-4.71 [[ 9.85306486e-01 1.69396742e-01 2.18145156e-02 4.20001597e+02] [-1.69354789e-01 9.85547941e-01 -3.76988255e-03 -6.54262356e+01] [-2.21378568e-02 2.00970456e-05 9.99754927e-01 -4.70818662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.03, Y:-65.44, Z:-4.71 [[ 9.86076735e-01 1.64802381e-01 2.22001654e-02 4.20029026e+02] [-1.64757810e-01 9.86326599e-01 -3.83457114e-03 -6.54360140e+01] [-2.25285601e-02 1.23530739e-04 9.99746192e-01 -4.70795598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.67576923100006 meters Centerline goodness [0,1] 0.9999787730842709 Centerline is valid? [True, True] Translation: X:420.05, Y:-65.46, Z:-4.71 [[ 9.87614875e-01 1.55370226e-01 2.18392096e-02 4.20054706e+02] [-1.55324806e-01 9.87856256e-01 -3.77122670e-03 -6.54555861e+01] [-2.21599362e-02 3.32348593e-04 9.99754383e-01 -4.70947726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.70576923100003 meters Centerline goodness [0,1] 0.9999365576162582 Centerline is valid? [True, True] Translation: X:420.08, Y:-65.47, Z:-4.71 [[ 9.88345098e-01 1.50706911e-01 2.14800788e-02 4.20081293e+02] [-1.50661887e-01 9.88578395e-01 -3.70848210e-03 -6.54693559e+01] [-2.17936357e-02 4.29030909e-04 9.99762398e-01 -4.71132408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.73576923100006 meters Centerline goodness [0,1] 0.9999571881154209 Centerline is valid? [True, True] Translation: X:420.11, Y:-65.48, Z:-4.71 [[ 9.89040420e-01 1.46042637e-01 2.16932355e-02 4.20110287e+02] [-1.45995616e-01 9.89278151e-01 -3.74427339e-03 -6.54811416e+01] [-2.20074674e-02 5.36120456e-04 9.99757663e-01 -4.71202330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76576923100004 meters Centerline goodness [0,1] 0.9995985293496176 Centerline is valid? [True, True] Translation: X:420.14, Y:-65.50, Z:-4.71 [[ 9.90063820e-01 1.38636747e-01 2.35262493e-02 4.20136899e+02] [-1.38579351e-01 9.90343009e-01 -4.06063299e-03 -6.55042975e+01] [-2.38620095e-02 7.60033453e-04 9.99714973e-01 -4.70930316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.79576923100007 meters Centerline goodness [0,1] 0.9989235510152391 Centerline is valid? [True, True] Translation: X:420.16, Y:-65.52, Z:-4.71 [[ 9.90469437e-01 1.35708344e-01 2.35274118e-02 4.20164128e+02] [-1.35650123e-01 9.90748483e-01 -4.06055313e-03 -6.55184231e+01] [-2.38607985e-02 8.30357466e-04 9.99714946e-01 -4.70952117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82576923100004 meters Centerline goodness [0,1] 0.9977459277846298 Centerline is valid? [True, True] Translation: X:420.19, Y:-65.54, Z:-4.71 [[ 9.91026785e-01 1.31713556e-01 2.27475571e-02 4.20191136e+02] [-1.31658091e-01 9.91287414e-01 -3.92548902e-03 -6.55379338e+01] [-2.30664072e-02 8.95364807e-04 9.99733534e-01 -4.71147510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.85576923100007 meters Centerline goodness [0,1] 0.996557327973314 Centerline is valid? [True, True] Translation: X:420.22, Y:-65.55, Z:-4.71 [[ 9.91152034e-01 1.30832185e-01 2.23737540e-02 4.20218342e+02] [-1.30778306e-01 9.91404119e-01 -3.86093222e-03 -6.55503656e+01] [-2.26865661e-02 9.00769190e-04 9.99742221e-01 -4.71250421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.88576923100004 meters Centerline goodness [0,1] 0.9968827397728244 Centerline is valid? [True, True] Translation: X:420.25, Y:-65.56, Z:-4.71 [[ 9.91214895e-01 1.30380467e-01 2.22253421e-02 4.20246848e+02] [-1.30327198e-01 9.91463623e-01 -3.83484276e-03 -6.55624734e+01] [-2.25356068e-02 9.04586706e-04 9.99745632e-01 -4.71344308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.91576923100007 meters Centerline goodness [0,1] 0.9959239995754167 Centerline is valid? [True, True] Translation: X:420.27, Y:-65.58, Z:-4.72 [[ 9.91379879e-01 1.29341149e-01 2.08998038e-02 4.20273784e+02] [-1.29293815e-01 9.91599771e-01 -3.60612085e-03 -6.55834715e+01] [-2.11906605e-02 8.72820283e-04 9.99775072e-01 -4.71713094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.94576923100004 meters Centerline goodness [0,1] 0.9938143001353121 Centerline is valid? [True, True] Translation: X:420.30, Y:-65.60, Z:-4.72 [[ 9.91503825e-01 1.28484414e-01 2.02958121e-02 4.20303437e+02] [-1.28439595e-01 9.91711151e-01 -3.50202740e-03 -6.55969691e+01] [-2.05775391e-02 8.65487669e-04 9.99787885e-01 -4.71947888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.9757692310001 meters Centerline goodness [0,1] 0.9902239979597909 Centerline is valid? [True, True] Translation: X:420.33, Y:-65.61, Z:-4.72 [[ 9.91601325e-01 1.27827495e-01 1.96708767e-02 4.20332490e+02] [-1.27785237e-01 9.91796049e-01 -3.39559354e-03 -6.56108936e+01] [-1.99435480e-02 8.53427407e-04 9.99800743e-01 -4.72193982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.00576923100004 meters Centerline goodness [0,1] 0.9890896836429505 Centerline is valid? [True, True] Translation: X:420.36, Y:-65.63, Z:-4.72 [[ 9.91598360e-01 1.27840002e-01 1.97389603e-02 4.20362520e+02] [-1.27797398e-01 9.91794432e-01 -3.41008735e-03 -6.56316684e+01] [-2.00129365e-02 8.58849245e-04 9.99799352e-01 -4.72235923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0357692310001 meters Centerline goodness [0,1] 0.9971115580469854 Centerline is valid? [True, True] Translation: X:420.39, Y:-65.64, Z:-4.72 [[ 9.91465649e-01 1.28900219e-01 1.95089757e-02 4.20394382e+02] [-1.28858740e-01 9.91657221e-01 -3.37372970e-03 -6.56366102e+01] [-1.97810911e-02 8.31035074e-04 9.99803990e-01 -4.72224894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.06576923100005 meters Centerline goodness [0,1] 0.9938059479869331 Centerline is valid? [True, True] Translation: X:420.42, Y:-65.65, Z:-4.72 [[ 9.91262602e-01 1.30524195e-01 1.90233848e-02 4.20422741e+02] [-1.30484990e-01 9.91444816e-01 -3.29311089e-03 -6.56520583e+01] [-1.92904669e-02 7.82071488e-04 9.99813616e-01 -4.72326595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0957692310001 meters Centerline goodness [0,1] 0.9998505678421996 Centerline is valid? [True, True] Translation: X:420.45, Y:-65.65, Z:-4.72 [[ 9.90568452e-01 1.35772466e-01 1.84385187e-02 4.20454307e+02] [-1.35736538e-01 9.90739826e-01 -3.19210506e-03 -6.56463663e+01] [-1.87011748e-02 6.59217878e-04 9.99824900e-01 -4.72264396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.12576923100005 meters Centerline goodness [0,1] 0.9998516886308741 Centerline is valid? [True, True] Translation: X:420.48, Y:-65.66, Z:-4.72 [[ 9.90081457e-01 1.39244147e-01 1.87023240e-02 4.20482706e+02] [-1.39207801e-01 9.90257898e-01 -3.23779609e-03 -6.56572279e+01] [-1.89709682e-02 6.02172468e-04 9.99819854e-01 -4.72341458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.51, Y:-65.66, Z:-4.72 [[ 9.89568847e-01 1.42780538e-01 1.91628326e-02 4.20514414e+02] [-1.42743042e-01 9.89754221e-01 -3.31745676e-03 -6.56569934e+01] [-1.94401627e-02 5.47490831e-04 9.99810872e-01 -4.72303757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.18576923100005 meters Centerline goodness [0,1] 0.9999363503277958 Centerline is valid? [True, True] Translation: X:420.54, Y:-65.67, Z:-4.72 [[ 9.89052302e-01 1.46282100e-01 1.94188337e-02 4.20543739e+02] [-1.46244260e-01 9.89242797e-01 -3.36230367e-03 -6.56663249e+01] [-1.97017862e-02 4.85601228e-04 9.99805783e-01 -4.72390087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.57, Y:-65.67, Z:-4.73 [[ 9.88022316e-01 1.53067441e-01 1.95515008e-02 4.20573449e+02] [-1.53030403e-01 9.88215682e-01 -3.38555214e-03 -6.56708771e+01] [-1.98393175e-02 3.53027022e-04 9.99803119e-01 -4.72527952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.60, Y:-65.67, Z:-4.73 [[ 9.87580103e-01 1.55987069e-01 1.88035536e-02 4.20604777e+02] [-1.55953341e-01 9.87759057e-01 -3.25596687e-03 -6.56729525e+01] [-1.90812691e-02 2.83051093e-04 9.99817896e-01 -4.72651597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.63, Y:-65.68, Z:-4.73 [[ 9.86979621e-01 1.59897127e-01 1.74394851e-02 4.20634213e+02] [-1.59868721e-01 9.87133665e-01 -3.01996631e-03 -6.56803361e+01] [-1.76979868e-02 1.92617019e-04 9.99843360e-01 -4.73004680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.66, Y:-65.68, Z:-4.73 [[ 9.86757781e-01 1.61212049e-01 1.78817277e-02 4.20664830e+02] [-1.61182373e-01 9.86919776e-01 -3.09808566e-03 -6.56841971e+01] [-1.81472794e-02 1.74840829e-04 9.99835309e-01 -4.72898428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.69, Y:-65.69, Z:-4.73 [[ 9.86449915e-01 1.62898902e-01 1.95067644e-02 4.20693433e+02] [-1.62863916e-01 9.86642754e-01 -3.37963021e-03 -6.56899590e+01] [-1.97967458e-02 1.56887894e-04 9.99804013e-01 -4.72717210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.72, Y:-65.69, Z:-4.72 [[ 9.85672943e-01 1.67246944e-01 2.18474154e-02 4.20724212e+02] [-1.67204123e-01 9.85915034e-01 -3.78515798e-03 -6.56917515e+01] [-2.21727514e-02 7.79498682e-05 9.99754151e-01 -4.72333449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.75, Y:-65.70, Z:-4.72 [[ 9.85345290e-01 1.69192324e-01 2.16475717e-02 4.20754363e+02] [-1.69150753e-01 9.85583054e-01 -3.75053421e-03 -6.56961787e+01] [-2.19700415e-02 3.38681638e-05 9.99758629e-01 -4.72456732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.78, Y:-65.70, Z:-4.73 [[ 9.85136310e-01 1.70490302e-01 2.09644154e-02 4.20784031e+02] [-1.70451607e-01 9.85359354e-01 -3.63218332e-03 -6.57003245e+01] [-2.12767349e-02 4.77736846e-06 9.99773625e-01 -4.72643318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.81, Y:-65.70, Z:-4.73 [[ 9.84643304e-01 1.73439775e-01 1.99050024e-02 4.20814178e+02] [-1.73405499e-01 9.84844476e-01 -3.44842316e-03 -6.57019006e+01] [-2.02014254e-02 -5.61700933e-05 9.99795929e-01 -4.72938426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.84, Y:-65.71, Z:-4.73 [[ 9.84414984e-01 1.74761345e-01 1.96370023e-02 4.20843508e+02] [-1.74728258e-01 9.84610819e-01 -3.40152412e-03 -6.57056874e+01] [-1.99292599e-02 -8.26278999e-05 9.99801389e-01 -4.73090071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.87, Y:-65.71, Z:-4.73 [[ 9.84263768e-01 1.75628064e-01 1.94837685e-02 4.20872478e+02] [-1.75595671e-01 9.84456588e-01 -3.37451247e-03 -6.57098802e+01] [-1.97735834e-02 -9.98550397e-05 9.99804479e-01 -4.73172326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.90, Y:-65.71, Z:-4.73 [[ 9.83833287e-01 1.77993982e-01 1.97536490e-02 4.20902223e+02] [-1.77961171e-01 9.84031565e-01 -3.42076869e-03 -6.57128244e+01] [-2.00470903e-02 -1.49916391e-04 9.99799026e-01 -4.73062490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.93, Y:-65.71, Z:-4.73 [[ 9.83545009e-01 1.79562115e-01 1.99163740e-02 4.20931206e+02] [-1.79529092e-01 9.83746620e-01 -3.44848463e-03 -6.57144344e+01] [-2.02118828e-02 -1.83828682e-04 9.99795702e-01 -4.73028314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.96, Y:-65.72, Z:-4.73 [[ 9.83189118e-01 1.81478927e-01 2.01136215e-02 4.20960542e+02] [-1.81445662e-01 9.83394808e-01 -3.48192721e-03 -6.57155097e+01] [-2.04115274e-02 -2.26136434e-04 9.99791637e-01 -4.73039067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.99, Y:-65.71, Z:-4.73 [[ 9.82727034e-01 1.83937450e-01 2.03615071e-02 4.20990197e+02] [-1.83903908e-01 9.82937910e-01 -3.52385567e-03 -6.57148965e+01] [-2.06622662e-02 -2.81572490e-04 9.99786473e-01 -4.73097425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.66576923100007 meters Centerline goodness [0,1] 0.9999786703069343 Centerline is valid? [True, True] Translation: X:421.02, Y:-65.71, Z:-4.73 [[ 9.81793859e-01 1.88937048e-01 1.95859690e-02 4.21020615e+02] [-1.88907024e-01 9.81989131e-01 -3.38872258e-03 -6.57081694e+01] [-1.98734639e-02 -3.72900106e-04 9.99802434e-01 -4.73337459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.69576923100004 meters Centerline goodness [0,1] 0.9999786712168071 Centerline is valid? [True, True] Translation: X:421.05, Y:-65.71, Z:-4.74 [[ 9.81322380e-01 1.91415752e-01 1.91414754e-02 4.21050415e+02] [-1.91387559e-01 9.81508960e-01 -3.31118664e-03 -6.57068263e+01] [-1.94213428e-02 -4.14098688e-04 9.99811302e-01 -4.73500919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.7257692310001 meters Centerline goodness [0,1] 0.999957857473977 Centerline is valid? [True, True] Translation: X:421.08, Y:-65.71, Z:-4.74 [[ 9.80894342e-01 1.93614288e-01 1.89683184e-02 4.21078909e+02] [-1.93587029e-01 9.81077622e-01 -3.28039290e-03 -6.57050118e+01] [-1.92445236e-02 -4.54301556e-04 9.99814704e-01 -4.73624588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.75576923100004 meters Centerline goodness [0,1] 0.9999572905099513 Centerline is valid? [True, True] Translation: X:421.11, Y:-65.70, Z:-4.74 [[ 9.80339810e-01 1.96415667e-01 1.88346011e-02 4.21109848e+02] [-1.96389331e-01 9.80520591e-01 -3.25608291e-03 -6.56989475e+01] [-1.91072599e-02 -5.06846999e-04 9.99817311e-01 -4.73737290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.7857692310001 meters Centerline goodness [0,1] 0.9998309168533627 Centerline is valid? [True, True] Translation: X:421.14, Y:-65.70, Z:-4.74 [[ 9.80201868e-01 1.97091851e-01 1.89499182e-02 4.21138615e+02] [-1.97065325e-01 9.80384888e-01 -3.27564048e-03 -6.56995330e+01] [-1.92238155e-02 -5.23582860e-04 9.99815068e-01 -4.73770371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.81576923100005 meters Centerline goodness [0,1] 0.9998309882959395 Centerline is valid? [True, True] Translation: X:421.17, Y:-65.70, Z:-4.74 [[ 9.80263647e-01 1.96768554e-01 1.91133347e-02 4.21166830e+02] [-1.96741523e-01 9.80449827e-01 -3.30302729e-03 -6.57014045e+01] [-1.93895976e-02 -5.22549006e-04 9.99811868e-01 -4.73810368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8457692310001 meters Centerline goodness [0,1] 0.9999357381543998 Centerline is valid? [True, True] Translation: X:421.20, Y:-65.71, Z:-4.74 [[ 9.80762376e-01 1.94307479e-01 1.87020395e-02 4.21195347e+02] [-1.94281172e-01 9.80940563e-01 -3.23087471e-03 -6.57070298e+01] [-1.89733723e-02 -4.64733816e-04 9.99819881e-01 -4.73868794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.87576923100005 meters Centerline goodness [0,1] 0.9999575560790306 Centerline is valid? [True, True] Translation: X:421.22, Y:-65.71, Z:-4.74 [[ 9.81027655e-01 1.92988332e-01 1.84457231e-02 4.21222380e+02] [-1.92962523e-01 9.81200956e-01 -3.18580215e-03 -6.57116598e+01] [-1.87137838e-02 -4.33973269e-04 9.99824788e-01 -4.73996787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9057692310001 meters Centerline goodness [0,1] 0.9999788543274619 Centerline is valid? [True, True] Translation: X:421.25, Y:-65.72, Z:-4.74 [[ 9.81605041e-01 1.89974382e-01 1.90073175e-02 4.21250199e+02] [-1.89946435e-01 9.81788971e-01 -3.28164576e-03 -6.57165348e+01] [-1.92846033e-02 -3.89092179e-04 9.99813959e-01 -4.73931646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.28, Y:-65.73, Z:-4.74 [[ 9.81974488e-01 1.87961539e-01 1.99139429e-02 4.21277868e+02] [-1.87930467e-01 9.82176321e-01 -3.43723344e-03 -6.57268257e+01] [-2.02050708e-02 -3.67161029e-04 9.99795789e-01 -4.73815365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.31, Y:-65.73, Z:-4.74 [[ 9.82367025e-01 1.85782828e-01 2.09706945e-02 4.21305167e+02] [-1.85747896e-01 9.82590772e-01 -3.61857546e-03 -6.57314312e+01] [-2.12778801e-02 -3.40493190e-04 9.99773542e-01 -4.73691739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.33, Y:-65.75, Z:-4.73 [[ 9.83207139e-01 1.81126443e-01 2.22919793e-02 4.21331768e+02] [-1.81085805e-01 9.83459784e-01 -3.84515610e-03 -6.57459564e+01] [-2.26197245e-02 -2.56176091e-04 9.99744108e-01 -4.73480656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.36, Y:-65.75, Z:-4.73 [[ 9.83532024e-01 1.79297661e-01 2.27399848e-02 4.21358970e+02] [-1.79254910e-01 9.83794847e-01 -3.92131069e-03 -6.57508831e+01] [-2.30745617e-02 -2.19519295e-04 9.99733723e-01 -4.73486675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.39, Y:-65.76, Z:-4.74 [[ 9.83778998e-01 1.77970365e-01 2.24818261e-02 4.21387123e+02] [-1.77928262e-01 9.84035830e-01 -3.87547704e-03 -6.57578746e+01] [-2.28126425e-02 -1.87539332e-04 9.99739740e-01 -4.73573668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.41, Y:-65.77, Z:-4.74 [[ 9.83964773e-01 1.76984484e-01 2.21318200e-02 4.21413829e+02] [-1.76943455e-01 9.84213628e-01 -3.81416785e-03 -6.57651791e+01] [-2.24574874e-02 -1.63073897e-04 9.99747786e-01 -4.73678783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.44, Y:-65.77, Z:-4.74 [[ 9.83962479e-01 1.76992569e-01 2.21691544e-02 4.21441708e+02] [-1.76951431e-01 9.84212174e-01 -3.81936958e-03 -6.57698484e+01] [-2.24951517e-02 -1.64747241e-04 9.99746938e-01 -4.73677351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.47, Y:-65.77, Z:-4.74 [[ 9.83926656e-01 1.77124943e-01 2.26956050e-02 4.21469844e+02] [-1.77081899e-01 9.84188358e-01 -3.90854542e-03 -6.57733088e+01] [-2.30290511e-02 -1.73258794e-04 9.99734781e-01 -4.73611798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.50, Y:-65.78, Z:-4.74 [[ 9.83895071e-01 1.77226424e-01 2.32655189e-02 4.21498345e+02] [-1.77181249e-01 9.84170088e-01 -4.00540749e-03 -6.57781368e+01] [-2.36070918e-02 -1.81313011e-04 9.99721297e-01 -4.73558104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.53, Y:-65.78, Z:-4.74 [[ 9.83906308e-01 1.77164007e-01 2.32656939e-02 4.21525461e+02] [-1.77118839e-01 9.84181326e-01 -4.00439067e-03 -6.57826551e+01] [-2.36070953e-02 -1.80847441e-04 9.99721297e-01 -4.73618600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.55, Y:-65.79, Z:-4.74 [[ 9.83875443e-01 1.77261538e-01 2.38214237e-02 4.21553398e+02] [-1.77214251e-01 9.84163763e-01 -4.09849780e-03 -6.57879886e+01] [-2.41706880e-02 -1.89084427e-04 9.99707828e-01 -4.73588975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.58, Y:-65.79, Z:-4.74 [[ 9.83733789e-01 1.78086270e-01 2.35183360e-02 4.21580865e+02] [-1.78040439e-01 9.84014856e-01 -4.04532350e-03 -6.57918373e+01] [-2.38628086e-02 -2.07693450e-04 9.99715221e-01 -4.73717776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.61, Y:-65.80, Z:-4.74 [[ 9.83660474e-01 1.78550376e-01 2.30615369e-02 4.21608668e+02] [-1.78506464e-01 9.83930748e-01 -3.96553476e-03 -6.57982246e+01] [-2.33990029e-02 -2.15893608e-04 9.99726183e-01 -4.73961641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.64, Y:-65.80, Z:-4.74 [[ 9.83568212e-01 1.79158464e-01 2.22669522e-02 4.21636532e+02] [-1.79117707e-01 9.83820204e-01 -3.82786082e-03 -6.57975697e+01] [-2.25924712e-02 -2.23443193e-04 9.99744733e-01 -4.74143530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.35576923100007 meters Centerline goodness [0,1] 0.9999787563996346 Centerline is valid? [True, True] Translation: X:421.67, Y:-65.80, Z:-4.75 [[ 9.82988041e-01 1.82542949e-01 2.03121511e-02 4.21665849e+02] [-1.82509779e-01 9.83197842e-01 -3.49069092e-03 -6.57950186e+01] [-2.06080641e-02 -2.75858779e-04 9.99787593e-01 -4.74611978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.69, Y:-65.79, Z:-4.75 [[ 9.82540404e-01 1.84963289e-01 2.00732762e-02 4.21694829e+02] [-1.84931416e-01 9.82745378e-01 -3.44880448e-03 -6.57943249e+01] [-2.03648217e-02 -3.23589649e-04 9.99792563e-01 -4.74726224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.73, Y:-65.79, Z:-4.75 [[ 9.82021457e-01 1.87736108e-01 1.97233636e-02 4.21725021e+02] [-1.87705918e-01 9.82219432e-01 -3.38758374e-03 -6.57928100e+01] [-2.00086428e-02 -3.75512144e-04 9.99799737e-01 -4.74812037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.44576923100004 meters Centerline goodness [0,1] 0.9998520366103701 Centerline is valid? [True, True] Translation: X:421.76, Y:-65.78, Z:-4.75 [[ 9.81078606e-01 1.92812988e-01 1.75476455e-02 4.21756933e+02] [-1.92789909e-01 9.81235430e-01 -3.01352383e-03 -6.57849299e+01] [-1.77994181e-02 -4.26505221e-04 9.99841487e-01 -4.75330915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.4757692310001 meters Centerline goodness [0,1] 0.9998945214437904 Centerline is valid? [True, True] Translation: X:421.78, Y:-65.80, Z:-4.75 [[ 9.80803075e-01 1.94294509e-01 1.65822531e-02 4.21783578e+02] [-1.94274109e-01 9.80943148e-01 -2.84781944e-03 -6.57966914e+01] [-1.68195633e-02 -4.28352392e-04 9.99858449e-01 -4.75397289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.50576923100004 meters Centerline goodness [0,1] 0.9999364191251272 Centerline is valid? [True, True] Translation: X:421.81, Y:-65.80, Z:-4.75 [[ 9.80632663e-01 1.95122654e-01 1.69330941e-02 4.21812089e+02] [-1.95101523e-01 9.80778744e-01 -2.90702839e-03 -6.57973089e+01] [-1.71748458e-02 -4.52945451e-04 9.99852399e-01 -4.75473470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5357692310001 meters Centerline goodness [0,1] 0.999809865849794 Centerline is valid? [True, True] Translation: X:421.84, Y:-65.79, Z:-4.75 [[ 9.80721117e-01 1.94396605e-01 1.99009989e-02 4.21840706e+02] [-1.94367297e-01 9.80922877e-01 -3.41514093e-03 -6.57937081e+01] [-2.01852369e-02 -5.18802525e-04 9.99796123e-01 -4.75070915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.56576923100005 meters Centerline goodness [0,1] 0.9999786484466745 Centerline is valid? [True, True] Translation: X:421.87, Y:-65.81, Z:-4.75 [[ 9.81004339e-01 1.92874421e-01 2.07350923e-02 4.21866533e+02] [-1.92842291e-01 9.81223317e-01 -3.55702551e-03 -6.58123295e+01] [-2.10318153e-02 -5.09145229e-04 9.99778677e-01 -4.74886136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.89, Y:-65.82, Z:-4.75 [[ 9.81351351e-01 1.91092134e-01 2.08164181e-02 4.21894129e+02] [-1.91059371e-01 9.81571990e-01 -3.56997474e-03 -6.58194526e+01] [-2.11150071e-02 -4.73772223e-04 9.99776941e-01 -4.74943199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.62576923100005 meters Centerline goodness [0,1] 0.9999150472549644 Centerline is valid? [True, True] Translation: X:421.92, Y:-65.82, Z:-4.75 [[ 9.82079257e-01 1.87385374e-01 2.01755849e-02 4.21922867e+02] [-1.87353835e-01 9.82286402e-01 -3.45910372e-03 -6.58238959e+01] [-2.04663882e-02 -3.82859194e-04 9.99790468e-01 -4.75133520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.95, Y:-65.84, Z:-4.75 [[ 9.82456205e-01 1.85391974e-01 2.02391241e-02 4.21948776e+02] [-1.85359822e-01 9.82664591e-01 -3.46955572e-03 -6.58437914e+01] [-2.05314984e-02 -3.42833916e-04 9.99789148e-01 -4.75100239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.68576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.98, Y:-65.84, Z:-4.75 [[ 9.82845169e-01 1.83305279e-01 2.03604891e-02 4.21976415e+02] [-1.83272313e-01 9.83055992e-01 -3.48937172e-03 -6.58447085e+01] [-2.06551211e-02 -3.02001795e-04 9.99786615e-01 -4.75202881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.00, Y:-65.86, Z:-4.75 [[ 9.83178337e-01 1.81433476e-01 2.10297887e-02 4.22002903e+02] [-1.81397907e-01 9.83403183e-01 -3.60273850e-03 -6.58611011e+01] [-2.13344185e-02 -2.72625217e-04 9.99772358e-01 -4.75108887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.74576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.03, Y:-65.87, Z:-4.75 [[ 9.83442594e-01 1.79850113e-01 2.22396356e-02 4.22029961e+02] [-1.79809953e-01 9.83693994e-01 -3.80890240e-03 -6.58730932e+01] [-2.25620275e-02 -2.53070984e-04 9.99745413e-01 -4.74893622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.06, Y:-65.87, Z:-4.75 [[ 9.83528960e-01 1.79371491e-01 2.22856925e-02 4.22057908e+02] [-1.79331067e-01 9.83781383e-01 -3.81569594e-03 -6.58741341e+01] [-2.26086765e-02 -2.43669564e-04 9.99744362e-01 -4.74853638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.80576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.08, Y:-65.89, Z:-4.75 [[ 9.83620281e-01 1.78885284e-01 2.21630039e-02 4.22084847e+02] [-1.78845211e-01 9.83869911e-01 -3.79335924e-03 -6.58875213e+01] [-2.24840888e-02 -2.32522020e-04 9.99747174e-01 -4.74982914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.11, Y:-65.90, Z:-4.75 [[ 9.83813464e-01 1.77778366e-01 2.24926879e-02 4.22112154e+02] [-1.77736827e-01 9.84070530e-01 -3.84871851e-03 -6.59014588e+01] [-2.28186102e-02 -2.11357894e-04 9.99739599e-01 -4.74966316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.86576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.14, Y:-65.91, Z:-4.75 [[ 9.83969270e-01 1.76887788e-01 2.26977358e-02 4.22140158e+02] [-1.76845276e-01 9.84231006e-01 -3.88270075e-03 -6.59103767e+01] [-2.30266177e-02 -1.93529119e-04 9.99734834e-01 -4.75009802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.17, Y:-65.92, Z:-4.75 [[ 9.84160450e-01 1.75711871e-01 2.35275683e-02 4.22167250e+02] [-1.75665884e-01 9.84441623e-01 -4.02353371e-03 -6.59217945e+01] [-2.38685001e-02 -1.73188345e-04 9.99715092e-01 -4.74918705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.92576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.20, Y:-65.93, Z:-4.75 [[ 9.84193571e-01 1.75518475e-01 2.35855844e-02 4.22195621e+02] [-1.75472218e-01 9.84476123e-01 -4.03292032e-03 -6.59292283e+01] [-2.39272967e-02 -1.69440551e-04 9.99713687e-01 -4.74990189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.95576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.22, Y:-65.93, Z:-4.75 [[ 9.84130867e-01 1.75989513e-01 2.26743661e-02 4.22223584e+02] [-1.75946899e-01 9.84392026e-01 -3.87659234e-03 -6.59346735e+01] [-2.30027048e-02 -1.74410222e-04 9.99735388e-01 -4.75142302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.98576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.25, Y:-65.94, Z:-4.76 [[ 9.83859905e-01 1.77802778e-01 2.01459705e-02 4.22251683e+02] [-1.77769527e-01 9.84066123e-01 -3.44390367e-03 -6.59425069e+01] [-2.04373027e-02 -1.93020900e-04 9.99791118e-01 -4.75746496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.28, Y:-65.95, Z:-4.76 [[ 9.83671568e-01 1.78943171e-01 1.92246931e-02 4.22281019e+02] [-1.78913122e-01 9.83859390e-01 -3.28574621e-03 -6.59482712e+01] [-1.95023567e-02 -2.07454754e-04 9.99809789e-01 -4.75996737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.31, Y:-65.95, Z:-4.76 [[ 9.83551663e-01 1.79637376e-01 1.88822565e-02 4.22309051e+02] [-1.79608524e-01 9.83732873e-01 -3.22681787e-03 -6.59535747e+01] [-1.91547535e-02 -2.17672147e-04 9.99816507e-01 -4.76193566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.34, Y:-65.96, Z:-4.76 [[ 9.83596766e-01 1.79386652e-01 1.89164364e-02 4.22335746e+02] [-1.79357661e-01 9.83778625e-01 -3.23205947e-03 -6.59604270e+01] [-1.91893742e-02 -2.13764546e-04 9.99815844e-01 -4.76251557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.36, Y:-65.97, Z:-4.76 [[ 9.83840749e-01 1.78019568e-01 1.91419451e-02 4.22363624e+02] [-1.77989646e-01 9.84026929e-01 -3.26938483e-03 -6.59724753e+01] [-1.94182039e-02 -1.90513999e-04 9.99811431e-01 -4.76212229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.39, Y:-65.98, Z:-4.76 [[ 9.83863498e-01 1.77946232e-01 1.86482347e-02 4.22392788e+02] [-1.77917828e-01 9.84040195e-01 -3.18464366e-03 -6.59797317e+01] [-1.89173079e-02 -1.84598768e-04 9.99821035e-01 -4.76323445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.42, Y:-65.98, Z:-4.76 [[ 9.83308239e-01 1.81071303e-01 1.78351045e-02 4.22422674e+02] [-1.81045843e-01 9.83469943e-01 -3.04539824e-03 -6.59827493e+01] [-1.80917235e-02 -2.34406355e-04 9.99836304e-01 -4.76388920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.45, Y:-65.98, Z:-4.76 [[ 9.82803307e-01 1.83793511e-01 1.78214603e-02 4.22451734e+02] [-1.83768544e-01 9.82964834e-01 -3.04268956e-03 -6.59821013e+01] [-1.80770953e-02 -2.84658439e-04 9.99836555e-01 -4.76466370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.2257692310001 meters Centerline goodness [0,1] 0.9999788976112096 Centerline is valid? [True, True] Translation: X:422.48, Y:-65.98, Z:-4.77 [[ 9.82139137e-01 1.87323612e-01 1.76799561e-02 4.22482055e+02] [-1.87299623e-01 9.82298195e-01 -3.01786372e-03 -6.59800099e+01] [-1.79323061e-02 -3.47487051e-04 9.99839143e-01 -4.76515140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.25576923100004 meters Centerline goodness [0,1] 0.9998726952536547 Centerline is valid? [True, True] Translation: X:422.52, Y:-65.97, Z:-4.76 [[ 9.80659997e-01 1.94915838e-01 1.77139967e-02 4.22515092e+02] [-1.94893002e-01 9.80819850e-01 -3.02317980e-03 -6.59694060e+01] [-1.79635052e-02 -4.87622503e-04 9.99838524e-01 -4.76447172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.2857692310001 meters Centerline goodness [0,1] 0.9998095439636018 Centerline is valid? [True, True] Translation: X:422.54, Y:-65.96, Z:-4.76 [[ 9.79940464e-01 1.98438970e-01 1.84027513e-02 4.22544863e+02] [-1.98414942e-01 9.80113078e-01 -3.14081328e-03 -6.59618223e+01] [-1.86600370e-02 -5.73570809e-04 9.99825722e-01 -4.76436529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.31576923100005 meters Centerline goodness [0,1] 0.999450769978242 Centerline is valid? [True, True] Translation: X:422.58, Y:-65.95, Z:-4.76 [[ 9.78693231e-01 2.04364517e-01 1.98671422e-02 4.22577923e+02] [-2.04337753e-01 9.78894577e-01 -3.38955710e-03 -6.59498868e+01] [-2.01405430e-02 -7.42270618e-04 9.99796883e-01 -4.76168288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3457692310001 meters Centerline goodness [0,1] 0.999744990118367 Centerline is valid? [True, True] Translation: X:422.61, Y:-65.95, Z:-4.76 [[ 9.78300544e-01 2.06242687e-01 1.97989758e-02 4.22606891e+02] [-2.06216491e-01 9.78500561e-01 -3.37792001e-03 -6.59537017e+01] [-2.00699802e-02 -7.78254329e-04 9.99798275e-01 -4.76222162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.37576923100005 meters Centerline goodness [0,1] 0.9993653748519208 Centerline is valid? [True, True] Translation: X:422.64, Y:-65.95, Z:-4.76 [[ 9.78085130e-01 2.07308566e-01 1.93038246e-02 4.22636062e+02] [-2.07283882e-01 9.78275293e-01 -3.29290266e-03 -6.59456928e+01] [-1.95671016e-02 -7.80632588e-04 9.99808241e-01 -4.76422333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4057692310001 meters Centerline goodness [0,1] 0.9995972016111936 Centerline is valid? [True, True] Translation: X:422.67, Y:-65.94, Z:-4.77 [[ 9.77975370e-01 2.07860379e-01 1.89271734e-02 4.22666510e+02] [-2.07836789e-01 9.78158196e-01 -3.22671361e-03 -6.59395356e+01] [-1.91844757e-02 -7.78116520e-04 9.99815658e-01 -4.76606998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.43576923100005 meters Centerline goodness [0,1] 0.9984837317047489 Centerline is valid? [True, True] Translation: X:422.70, Y:-65.93, Z:-4.77 [[ 9.78099628e-01 2.07226378e-01 1.94511383e-02 4.22695793e+02] [-2.07201357e-01 9.78292700e-01 -3.31511419e-03 -6.59325201e+01] [-1.97158857e-02 -7.87790302e-04 9.99805313e-01 -4.76636362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4657692310001 meters Centerline goodness [0,1] 0.9995986735103395 Centerline is valid? [True, True] Translation: X:422.72, Y:-65.94, Z:-4.77 [[ 9.78305681e-01 2.06251298e-01 1.94524380e-02 4.22723291e+02] [-2.06226104e-01 9.78498753e-01 -3.31416223e-03 -6.59411333e+01] [-1.97177366e-02 -7.69336761e-04 9.99805291e-01 -4.76629263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.49576923100005 meters Centerline goodness [0,1] 0.9997660818713451 Centerline is valid? [True, True] Translation: X:422.75, Y:-65.94, Z:-4.77 [[ 9.79245463e-01 2.01774673e-01 1.91129341e-02 4.22753145e+02] [-2.01749519e-01 9.79431741e-01 -3.25531641e-03 -6.59378216e+01] [-1.93766547e-02 -6.68271428e-04 9.99812032e-01 -4.76788091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5257692310001 meters Centerline goodness [0,1] 0.9999356623560445 Centerline is valid? [True, True] Translation: X:422.78, Y:-65.95, Z:-4.77 [[ 9.79920595e-01 1.98442358e-01 1.93973886e-02 4.22781393e+02] [-1.98415797e-01 9.80112369e-01 -3.30374016e-03 -6.59474852e+01] [-1.96672225e-02 -6.11345302e-04 9.99806395e-01 -4.76782484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.55576923100006 meters Centerline goodness [0,1] 0.9998518643924323 Centerline is valid? [True, True] Translation: X:422.81, Y:-65.95, Z:-4.77 [[ 9.80723920e-01 1.94418328e-01 1.95475387e-02 4.22810123e+02] [-1.94390564e-01 9.80918563e-01 -3.32884240e-03 -6.59510532e+01] [-1.98217316e-02 -5.35181708e-04 9.99803387e-01 -4.76824207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5857692310001 meters Centerline goodness [0,1] 0.9999788556687952 Centerline is valid? [True, True] Translation: X:422.84, Y:-65.96, Z:-4.77 [[ 9.81584873e-01 1.90024887e-01 1.95366083e-02 4.22838241e+02] [-1.89996294e-01 9.81779172e-01 -3.32651659e-03 -6.59621388e+01] [-1.98127561e-02 -4.46624801e-04 9.99803608e-01 -4.76919553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.87, Y:-65.98, Z:-4.77 [[ 9.83404586e-01 1.80295678e-01 2.02210039e-02 4.22865195e+02] [-1.80262997e-01 9.83612424e-01 -3.44254170e-03 -6.59819795e+01] [-2.05103060e-02 -2.59687461e-04 9.99789608e-01 -4.76960326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.89, Y:-66.00, Z:-4.77 [[ 9.84319460e-01 1.75193908e-01 2.05498220e-02 4.22891353e+02] [-1.75159048e-01 9.84533936e-01 -3.49826821e-03 -6.59954122e+01] [-2.08448724e-02 -1.56073769e-04 9.99782710e-01 -4.77004245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.67576923100006 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:422.92, Y:-66.01, Z:-4.77 [[ 9.85143880e-01 1.70544340e-01 2.01534990e-02 4.22918306e+02] [-1.70509862e-01 9.85350001e-01 -3.42960541e-03 -6.60093894e+01] [-2.04431500e-02 -5.77155425e-05 9.99791015e-01 -4.77106964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.70576923100003 meters Centerline goodness [0,1] 0.9998517514507179 Centerline is valid? [True, True] Translation: X:422.94, Y:-66.03, Z:-4.77 [[ 9.86364933e-01 1.63480906e-01 1.89264895e-02 4.22942519e+02] [-1.63449214e-01 9.86546495e-01 -3.21995711e-03 -6.60297606e+01] [-1.91982634e-02 8.25329427e-05 9.99815693e-01 -4.77426774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.73576923100006 meters Centerline goodness [0,1] 0.9997660022548873 Centerline is valid? [True, True] Translation: X:422.97, Y:-66.04, Z:-4.78 [[ 9.86862765e-01 1.60516921e-01 1.83357824e-02 4.22969357e+02] [-1.60486676e-01 9.87033079e-01 -3.11878299e-03 -6.60417905e+01] [-1.85986412e-02 1.35162040e-04 9.99827021e-01 -4.77557677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76576923100004 meters Centerline goodness [0,1] 0.9997467339228805 Centerline is valid? [True, True] Translation: X:423.00, Y:-66.06, Z:-4.78 [[ 9.87531665e-01 1.56487757e-01 1.71111957e-02 4.22996139e+02] [-1.56460828e-01 9.87679879e-01 -2.90960727e-03 -6.60598244e+01] [-1.73557016e-02 1.96097472e-04 9.99849359e-01 -4.77772757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.79576923100007 meters Centerline goodness [0,1] 0.9996825732726695 Centerline is valid? [True, True] Translation: X:423.02, Y:-66.07, Z:-4.78 [[ 9.87697295e-01 1.55524131e-01 1.63186432e-02 4.23023757e+02] [-1.55499509e-01 9.87832072e-01 -2.77478707e-03 -6.60690497e+01] [-1.65516255e-02 2.03108679e-04 9.99862992e-01 -4.77975637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82576923100004 meters Centerline goodness [0,1] 0.9997032703842649 Centerline is valid? [True, True] Translation: X:423.05, Y:-66.08, Z:-4.78 [[ 9.87778287e-01 1.55051984e-01 1.59040022e-02 4.23052824e+02] [-1.55028546e-01 9.87906291e-01 -2.70369352e-03 -6.60778500e+01] [-1.61308769e-02 2.05075430e-04 9.99869868e-01 -4.78035091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.85576923100007 meters Centerline goodness [0,1] 0.9997200206753962 Centerline is valid? [True, True] Translation: X:423.08, Y:-66.09, Z:-4.78 [[ 9.87771179e-01 1.54912271e-01 1.76149641e-02 4.23083427e+02] [-1.54883506e-01 9.87928204e-01 -2.99391384e-03 -6.60862905e+01] [-1.78661138e-02 2.29034397e-04 9.99840362e-01 -4.77627805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.88576923100004 meters Centerline goodness [0,1] 0.9996790207994521 Centerline is valid? [True, True] Translation: X:423.11, Y:-66.10, Z:-4.78 [[ 9.87742713e-01 1.54952601e-01 1.88155226e-02 4.23112024e+02] [-1.54919779e-01 9.87921875e-01 -3.19850326e-03 -6.60974037e+01] [-1.90838828e-02 2.44401679e-04 9.99817856e-01 -4.77634504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.91576923100007 meters Centerline goodness [0,1] 0.9997455416781527 Centerline is valid? [True, True] Translation: X:423.14, Y:-66.10, Z:-4.78 [[ 9.87723899e-01 1.55011500e-01 1.93115221e-02 4.23141509e+02] [-1.54976930e-01 9.87912634e-01 -3.28309360e-03 -6.61044824e+01] [-1.95870140e-02 2.49949584e-04 9.99808125e-01 -4.77565855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.94576923100004 meters Centerline goodness [0,1] 0.999700733203651 Centerline is valid? [True, True] Translation: X:423.17, Y:-66.11, Z:-4.78 [[ 9.87729504e-01 1.55089019e-01 1.83799741e-02 4.23172850e+02] [-1.55057728e-01 9.87900471e-01 -3.12416134e-03 -6.61108632e+01] [-1.86421082e-02 2.35869296e-04 9.99826193e-01 -4.77677011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.9757692310001 meters Centerline goodness [0,1] 0.9996607941656597 Centerline is valid? [True, True] Translation: X:423.20, Y:-66.12, Z:-4.78 [[ 9.87679484e-01 1.55471793e-01 1.78257751e-02 4.23202857e+02] [-1.55442370e-01 9.87840306e-01 -3.03292546e-03 -6.61205019e+01] [-1.80805535e-02 2.24677524e-04 9.99836508e-01 -4.77925149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.00576923100004 meters Centerline goodness [0,1] 0.9997443599412028 Centerline is valid? [True, True] Translation: X:423.23, Y:-66.13, Z:-4.78 [[ 9.87549849e-01 1.56267200e-01 1.80515364e-02 4.23233440e+02] [-1.56237096e-01 9.87714795e-01 -3.07480193e-03 -6.61252438e+01] [-1.83102603e-02 2.16200557e-04 9.99832330e-01 -4.77912814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0357692310001 meters Centerline goodness [0,1] 0.9997443926129466 Centerline is valid? [True, True] Translation: X:423.26, Y:-66.13, Z:-4.78 [[ 9.87374109e-01 1.57251627e-01 1.90864937e-02 4.23263880e+02] [-1.57218155e-01 9.87558546e-01 -3.25109101e-03 -6.61298475e+01] [-1.93602694e-02 2.09299754e-04 9.99812551e-01 -4.77747874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.06576923100005 meters Centerline goodness [0,1] 0.9997680939430355 Centerline is valid? [True, True] Translation: X:423.29, Y:-66.13, Z:-4.77 [[ 9.86975550e-01 1.59482709e-01 2.10838823e-02 4.23294374e+02] [-1.59442373e-01 9.87200705e-01 -3.59131547e-03 -6.61308221e+01] [-2.13867762e-02 1.82876319e-04 9.99771260e-01 -4.77352732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0957692310001 meters Centerline goodness [0,1] 0.9997046288872948 Centerline is valid? [True, True] Translation: X:423.32, Y:-66.14, Z:-4.77 [[ 9.86840517e-01 1.60278437e-01 2.13685691e-02 4.23324864e+02] [-1.60237191e-01 9.87071828e-01 -3.63980365e-03 -6.61352894e+01] [-2.16756946e-02 1.67866234e-04 9.99765040e-01 -4.77395345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.12576923100005 meters Centerline goodness [0,1] 0.9997046288872948 Centerline is valid? [True, True] Translation: X:423.36, Y:-66.14, Z:-4.77 [[ 9.86836822e-01 1.60301196e-01 2.13685275e-02 4.23355246e+02] [-1.60259950e-01 9.87068133e-01 -3.64004749e-03 -6.61405122e+01] [-2.16756965e-02 1.67613733e-04 9.99765040e-01 -4.77463191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1557692310001 meters Centerline goodness [0,1] 0.9997017596182524 Centerline is valid? [True, True] Translation: X:423.39, Y:-66.14, Z:-4.78 [[ 9.86642882e-01 1.61551666e-01 2.09017325e-02 4.23385987e+02] [-1.61512472e-01 9.86864246e-01 -3.56103423e-03 -6.61439494e+01] [-2.12024635e-02 1.37578591e-04 9.99775193e-01 -4.77701417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.18576923100005 meters Centerline goodness [0,1] 0.9997677119628339 Centerline is valid? [True, True] Translation: X:423.42, Y:-66.15, Z:-4.78 [[ 9.86608182e-01 1.61798054e-01 2.06321238e-02 4.23415394e+02] [-1.61759919e-01 9.86823881e-01 -3.51511338e-03 -6.61486983e+01] [-2.09290110e-02 1.30588938e-04 9.99780956e-01 -4.77859847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2157692310001 meters Centerline goodness [0,1] 0.9997034275303986 Centerline is valid? [True, True] Translation: X:423.45, Y:-66.15, Z:-4.78 [[ 9.86678539e-01 1.61381750e-01 2.05278356e-02 4.23445643e+02] [-1.61343915e-01 9.86892047e-01 -3.49709166e-03 -6.61539844e+01] [-2.08231245e-02 1.38463921e-04 9.99783166e-01 -4.78003668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.24576923100005 meters Centerline goodness [0,1] 0.9996635545462192 Centerline is valid? [True, True] Translation: X:423.48, Y:-66.16, Z:-4.78 [[ 9.86916709e-01 1.59932150e-01 2.04234289e-02 4.23475003e+02] [-1.59894388e-01 9.87127995e-01 -3.47930508e-03 -6.61607496e+01] [-2.07169912e-02 1.68192653e-04 9.99785366e-01 -4.78034253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2757692310001 meters Centerline goodness [0,1] 0.9997247453894853 Centerline is valid? [True, True] Translation: X:423.50, Y:-66.17, Z:-4.78 [[ 9.86963342e-01 1.59613020e-01 2.06650752e-02 4.23504946e+02] [-1.59574290e-01 9.87179645e-01 -3.52045964e-03 -6.61662410e+01] [-2.09620528e-02 1.76949909e-04 9.99780256e-01 -4.78024170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.30576923100006 meters Centerline goodness [0,1] 0.9997472247382723 Centerline is valid? [True, True] Translation: X:423.54, Y:-66.17, Z:-4.78 [[ 9.86954692e-01 1.59676889e-01 2.05846381e-02 4.23535941e+02] [-1.59638469e-01 9.87169317e-01 -3.50698187e-03 -6.61696382e+01] [-2.08805071e-02 1.75132105e-04 9.99781963e-01 -4.78009925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3357692310001 meters Centerline goodness [0,1] 0.9997876767590981 Centerline is valid? [True, True] Translation: X:423.57, Y:-66.17, Z:-4.78 [[ 9.86683239e-01 1.61324107e-01 2.07537396e-02 4.23565360e+02] [-1.61285406e-01 9.86901470e-01 -3.53630438e-03 -6.61702038e+01] [-2.10523873e-02 1.41936934e-04 9.99778364e-01 -4.77974129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.36576923100006 meters Centerline goodness [0,1] 0.9997476128380937 Centerline is valid? [True, True] Translation: X:423.60, Y:-66.17, Z:-4.78 [[ 9.86519885e-01 1.62317225e-01 2.07758292e-02 4.23595955e+02] [-1.62278655e-01 9.86738620e-01 -3.54039232e-03 -6.61720735e+01] [-2.10749797e-02 1.21193802e-04 9.99777891e-01 -4.78045035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3957692310001 meters Centerline goodness [0,1] 0.9997658029764313 Centerline is valid? [True, True] Translation: X:423.63, Y:-66.17, Z:-4.78 [[ 9.86252931e-01 1.64102751e-01 1.93763650e-02 4.23627009e+02] [-1.64069547e-01 9.86443248e-01 -3.30191076e-03 -6.61725057e+01] [-1.96555371e-02 7.74477267e-05 9.99806808e-01 -4.78404150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.42576923100006 meters Centerline goodness [0,1] 0.9999575722862174 Centerline is valid? [True, True] Translation: X:423.66, Y:-66.18, Z:-4.79 [[ 9.86197697e-01 1.64539317e-01 1.84639093e-02 4.23656025e+02] [-1.64509243e-01 9.86370523e-01 -3.14646002e-03 -6.61762914e+01] [-1.87299723e-02 6.55478925e-05 9.99824577e-01 -4.78644932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.45576923100003 meters Centerline goodness [0,1] 0.9999356720130371 Centerline is valid? [True, True] Translation: X:423.69, Y:-66.18, Z:-4.79 [[ 9.86137630e-01 1.64926407e-01 1.82169060e-02 4.23685502e+02] [-1.64897202e-01 9.86305874e-01 -3.10418680e-03 -6.61802940e+01] [-1.84794038e-02 5.72385909e-05 9.99829240e-01 -4.78708403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.48576923100006 meters Centerline goodness [0,1] 0.9998731769181991 Centerline is valid? [True, True] Translation: X:423.71, Y:-66.18, Z:-4.78 [[ 9.86028684e-01 1.65438567e-01 1.94297382e-02 4.23713956e+02] [-1.65405452e-01 9.86220096e-01 -3.31034174e-03 -6.61849703e+01] [-1.97096565e-02 5.03072696e-05 9.99805745e-01 -4.78485204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51576923100004 meters Centerline goodness [0,1] 0.9999147830162551 Centerline is valid? [True, True] Translation: X:423.74, Y:-66.19, Z:-4.78 [[ 9.86106207e-01 1.64917989e-01 1.99149659e-02 4.23743510e+02] [-1.64883104e-01 9.86307281e-01 -3.39248901e-03 -6.61911147e+01] [-2.02017583e-02 6.17130860e-05 9.99795922e-01 -4.78403382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.54576923100007 meters Centerline goodness [0,1] 0.9998297799906379 Centerline is valid? [True, True] Translation: X:423.77, Y:-66.20, Z:-4.78 [[ 9.86337384e-01 1.63458334e-01 2.04923893e-02 4.23772456e+02] [-1.63421081e-01 9.86550234e-01 -3.49086710e-03 -6.61994002e+01] [-2.07873828e-02 9.42843198e-05 9.99783915e-01 -4.78430942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57576923100004 meters Centerline goodness [0,1] 0.999957470335559 Centerline is valid? [True, True] Translation: X:423.80, Y:-66.20, Z:-4.79 [[ 9.86262771e-01 1.63902693e-01 2.05342238e-02 4.23801752e+02] [-1.63865390e-01 9.86476508e-01 -3.49773995e-03 -6.62046107e+01] [-2.08298184e-02 8.48421075e-05 9.99783032e-01 -4.78514731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.60576923100007 meters Centerline goodness [0,1] 0.999956927185407 Centerline is valid? [True, True] Translation: X:423.83, Y:-66.21, Z:-4.79 [[ 9.86095365e-01 1.64961148e-01 2.00935638e-02 4.23831833e+02] [-1.64925653e-01 9.86300064e-01 -3.42242232e-03 -6.62079758e+01] [-2.03828500e-02 6.08906484e-05 9.99792246e-01 -4.78605734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.86, Y:-66.21, Z:-4.79 [[ 9.85505893e-01 1.68689999e-01 1.79392983e-02 4.23861845e+02] [-1.68662324e-01 9.85669155e-01 -3.05554658e-03 -6.62081634e+01] [-1.81976532e-02 -1.44245911e-05 9.99834409e-01 -4.79013554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.89, Y:-66.21, Z:-4.79 [[ 9.85170114e-01 1.70649405e-01 1.78501286e-02 4.23891958e+02] [-1.70622330e-01 9.85331811e-01 -3.04017554e-03 -6.62098352e+01] [-1.81071037e-02 -5.05404468e-05 9.99836052e-01 -4.79019015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.92, Y:-66.21, Z:-4.79 [[ 9.84786557e-01 1.72754186e-01 1.87464426e-02 4.23919708e+02] [-1.72724711e-01 9.84964965e-01 -3.19245689e-03 -6.62108399e+01] [-1.90160995e-02 -9.40852640e-05 9.99819173e-01 -4.78910308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.95, Y:-66.21, Z:-4.78 [[ 9.84065618e-01 1.76433624e-01 2.20462219e-02 4.23949453e+02] [-1.76393816e-01 9.84312520e-01 -3.75283975e-03 -6.62108070e+01] [-2.23624994e-02 -1.95776648e-04 9.99749909e-01 -4.78409438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.75576923100004 meters Centerline goodness [0,1] 0.9999786543715847 Centerline is valid? [True, True] Translation: X:423.98, Y:-66.21, Z:-4.78 [[ 9.83757958e-01 1.77971862e-01 2.33729748e-02 4.23977991e+02] [-1.77927582e-01 9.84035546e-01 -3.97740825e-03 -6.62117796e+01] [-2.37077048e-02 -2.45889868e-04 9.99718903e-01 -4.78276693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.01, Y:-66.21, Z:-4.78 [[ 9.83474101e-01 1.79526160e-01 2.34318207e-02 4.24006186e+02] [-1.79482133e-01 9.83753158e-01 -3.98593343e-03 -6.62113815e+01] [-2.37667069e-02 -2.85530846e-04 9.99717491e-01 -4.78324921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.03, Y:-66.21, Z:-4.79 [[ 9.83270158e-01 1.80780207e-01 2.23229408e-02 4.24034513e+02] [-1.80740602e-01 9.83523475e-01 -3.79596591e-03 -6.62116950e+01] [-2.26413718e-02 -3.02201751e-04 9.99743606e-01 -4.78557949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.06, Y:-66.21, Z:-4.79 [[ 9.83106406e-01 1.81949971e-01 1.98997907e-02 4.24063089e+02] [-1.81918760e-01 9.83307745e-01 -3.38282471e-03 -6.62124857e+01] [-2.01831232e-02 -2.94468610e-04 9.99796257e-01 -4.79126756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.09, Y:-66.22, Z:-4.79 [[ 9.83126133e-01 1.81877952e-01 1.95810520e-02 4.24090904e+02] [-1.81847737e-01 9.83321070e-01 -3.32771107e-03 -6.62151945e+01] [-1.98596983e-02 -2.89210285e-04 9.99802735e-01 -4.79284283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.12, Y:-66.22, Z:-4.79 [[ 9.83371303e-01 1.80502116e-01 1.99966745e-02 4.24118104e+02] [-1.80470348e-01 9.83574560e-01 -3.39695919e-03 -6.62185587e+01] [-2.02813787e-02 -2.68334631e-04 9.99794276e-01 -4.79297656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.15, Y:-66.22, Z:-4.79 [[ 9.83523007e-01 1.79691755e-01 1.98335121e-02 4.24146109e+02] [-1.79660365e-01 9.83722934e-01 -3.36793424e-03 -6.62238969e+01] [-2.01158707e-02 -2.50855197e-04 9.99797624e-01 -4.79381489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.17, Y:-66.23, Z:-4.79 [[ 9.83638628e-01 1.79110389e-01 1.93524731e-02 4.24173964e+02] [-1.79080409e-01 9.83828955e-01 -3.28534139e-03 -6.62302052e+01] [-1.96279621e-02 -2.34060097e-04 9.99807326e-01 -4.79468197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.20, Y:-66.23, Z:-4.80 [[ 9.83772663e-01 1.78353493e-01 1.95289490e-02 4.24202317e+02] [-1.78322833e-01 9.83966454e-01 -3.31431482e-03 -6.62321057e+01] [-1.98069503e-02 -2.21925202e-04 9.99803798e-01 -4.79623670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.23, Y:-66.24, Z:-4.80 [[ 9.83816329e-01 1.78095308e-01 1.96847947e-02 4.24230498e+02] [-1.78064132e-01 9.84013218e-01 -3.33946963e-03 -6.62366893e+01] [-1.99648420e-02 -2.19731114e-04 9.99800659e-01 -4.79686115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.26, Y:-66.24, Z:-4.80 [[ 9.83804338e-01 1.78151808e-01 1.97726317e-02 4.24258221e+02] [-1.78120384e-01 9.84002990e-01 -3.35338984e-03 -6.62397202e+01] [-2.00537412e-02 -2.22829281e-04 9.99798879e-01 -4.79707763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.29, Y:-66.24, Z:-4.80 [[ 9.83687352e-01 1.78879268e-01 1.90105489e-02 4.24287055e+02] [-1.78850377e-01 9.83871005e-01 -3.22299489e-03 -6.62387994e+01] [-1.92804548e-02 -2.29624542e-04 9.99814088e-01 -4.79829491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.32, Y:-66.24, Z:-4.80 [[ 9.83663761e-01 1.79121053e-01 1.79235548e-02 4.24315510e+02] [-1.79095432e-01 9.83827017e-01 -3.03761723e-03 -6.62421794e+01] [-1.81777786e-02 -2.22032790e-04 9.99834746e-01 -4.80012267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.34, Y:-66.24, Z:-4.80 [[ 9.83705573e-01 1.78943575e-01 1.73937710e-02 4.24343792e+02] [-1.78919431e-01 9.83859315e-01 -2.94709966e-03 -6.62445059e+01] [-1.76403881e-02 -2.13005251e-04 9.99844374e-01 -4.80217173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.37, Y:-66.24, Z:-4.80 [[ 9.83787276e-01 1.78456427e-01 1.77735608e-02 4.24371660e+02] [-1.78431164e-01 9.83947793e-01 -3.01003256e-03 -6.62436614e+01] [-1.80254156e-02 -2.10125412e-04 9.99837507e-01 -4.80338753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.40, Y:-66.25, Z:-4.80 [[ 9.83872294e-01 1.77936135e-01 1.82767641e-02 4.24399691e+02] [-1.77909354e-01 9.84042016e-01 -3.09403790e-03 -6.62489229e+01] [-1.85356450e-02 -2.07469132e-04 9.99828179e-01 -4.80254368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.43, Y:-66.25, Z:-4.80 [[ 9.84379194e-01 1.75092135e-01 1.84484712e-02 4.24426946e+02] [-1.75064364e-01 9.84552040e-01 -3.12224703e-03 -6.62536929e+01] [-1.87101608e-02 -1.56194858e-04 9.99824937e-01 -4.80317054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.46, Y:-66.26, Z:-4.80 [[ 9.84780490e-01 1.72757477e-01 1.90326060e-02 4.24455163e+02] [-1.72727511e-01 9.84964385e-01 -3.21968969e-03 -6.62628793e+01] [-1.93026645e-02 -1.16767058e-04 9.99813679e-01 -4.80315498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.48, Y:-66.27, Z:-4.80 [[ 9.85305402e-01 1.69630995e-01 1.99647207e-02 4.24483030e+02] [-1.69597395e-01 9.85507647e-01 -3.37662242e-03 -6.62732218e+01] [-2.02481647e-02 -5.89603205e-05 9.99794983e-01 -4.80295753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.51, Y:-66.29, Z:-4.80 [[ 9.85894847e-01 1.66046301e-01 2.09756331e-02 4.24509256e+02] [-1.66008423e-01 9.86117957e-01 -3.54652026e-03 -6.62850521e+01] [-2.12733350e-02 1.43642860e-05 9.99773697e-01 -4.80254597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.35576923100007 meters Centerline goodness [0,1] 0.9999574286930609 Centerline is valid? [True, True] Translation: X:424.54, Y:-66.31, Z:-4.80 [[ 9.86964026e-01 1.59493894e-01 2.15338905e-02 4.24535331e+02] [-1.59452441e-01 9.87198902e-01 -3.63955519e-03 -6.63062001e+01] [-2.18387199e-02 1.58478641e-04 9.99761494e-01 -4.80228430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.38576923100004 meters Centerline goodness [0,1] 0.9997664543524416 Centerline is valid? [True, True] Translation: X:424.56, Y:-66.32, Z:-4.81 [[ 9.87659517e-01 1.55477111e-01 1.88559142e-02 4.24561791e+02] [-1.55444609e-01 9.87839471e-01 -3.18628857e-03 -6.63247695e+01] [-1.91220113e-02 2.15918025e-04 9.99817134e-01 -4.80708360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.41576923100007 meters Centerline goodness [0,1] 0.999850641176094 Centerline is valid? [True, True] Translation: X:424.59, Y:-66.33, Z:-4.81 [[ 9.87807070e-01 1.54679846e-01 1.76447681e-02 4.24590577e+02] [-1.54651262e-01 9.87964624e-01 -2.98138593e-03 -6.63346338e+01] [-1.78935670e-02 2.16248448e-04 9.99839874e-01 -4.80990834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.44576923100004 meters Centerline goodness [0,1] 0.9998502353444587 Centerline is valid? [True, True] Translation: X:424.62, Y:-66.34, Z:-4.81 [[ 9.87741359e-01 1.55153421e-01 1.71587673e-02 4.24618917e+02] [-1.55126460e-01 9.87890366e-01 -2.89932145e-03 -6.63428002e+01] [-1.74008206e-02 2.02000868e-04 9.99848574e-01 -4.81158439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.4757692310001 meters Centerline goodness [0,1] 0.9998724082934609 Centerline is valid? [True, True] Translation: X:424.65, Y:-66.35, Z:-4.81 [[ 9.87361384e-01 1.57521547e-01 1.74487699e-02 4.24647784e+02] [-1.57494040e-01 9.87515537e-01 -2.94816163e-03 -6.63478085e+01] [-1.76953304e-02 1.62823683e-04 9.99843412e-01 -4.81107088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.50576923100004 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:424.68, Y:-66.34, Z:-4.81 [[ 9.85917086e-01 1.66122920e-01 1.92529328e-02 4.24678521e+02] [-1.66091077e-01 9.86105053e-01 -3.25249148e-03 -6.63443540e+01] [-1.95257277e-02 8.94656974e-06 9.99809355e-01 -4.80733283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5357692310001 meters Centerline goodness [0,1] 0.999978810865788 Centerline is valid? [True, True] Translation: X:424.71, Y:-66.33, Z:-4.81 [[ 9.83931977e-01 1.77532323e-01 1.89773070e-02 4.24710023e+02] [-1.77503511e-01 9.84114947e-01 -3.20552399e-03 -6.63308220e+01] [-1.92449356e-02 -2.14521067e-04 9.99814776e-01 -4.80884450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.56576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.74, Y:-66.33, Z:-4.81 [[ 9.82933389e-01 1.83075265e-01 1.80388526e-02 4.24740174e+02] [-1.83050176e-01 9.83098852e-01 -3.04637943e-03 -6.63299096e+01] [-1.82916920e-02 -3.07627080e-04 9.99832646e-01 -4.81087358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.77, Y:-66.32, Z:-4.82 [[ 9.82005773e-01 1.88080222e-01 1.70438061e-02 4.24770461e+02] [-1.88058582e-01 9.82153596e-01 -2.87804887e-03 -6.63204407e+01] [-1.72809395e-02 -3.78973405e-04 9.99850602e-01 -4.81514419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.62576923100005 meters Centerline goodness [0,1] 0.9998503026025962 Centerline is valid? [True, True] Translation: X:424.80, Y:-66.32, Z:-4.81 [[ 9.80506997e-01 1.95656063e-01 1.80203744e-02 4.24802313e+02] [-1.95633170e-01 9.80672428e-01 -3.04180011e-03 -6.63160693e+01] [-1.82672309e-02 -5.42876660e-04 9.99832993e-01 -4.81316209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6557692310001 meters Centerline goodness [0,1] 0.9998943230333517 Centerline is valid? [True, True] Translation: X:424.83, Y:-66.31, Z:-4.81 [[ 9.80021013e-01 1.97961661e-01 1.92352674e-02 4.24832278e+02] [-1.97936019e-01 9.80209564e-01 -3.24693822e-03 -6.63114352e+01] [-1.94973623e-02 -6.25284566e-04 9.99809713e-01 -4.81123857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.68576923100005 meters Centerline goodness [0,1] 0.9996824523149226 Centerline is valid? [True, True] Translation: X:424.86, Y:-66.31, Z:-4.81 [[ 9.79625267e-01 1.99832720e-01 2.00304730e-02 4.24862270e+02] [-1.99805320e-01 9.79829785e-01 -3.38038826e-03 -6.63126413e+01] [-2.03019663e-02 -6.90681323e-04 9.99793655e-01 -4.81028318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7157692310001 meters Centerline goodness [0,1] 0.9995117913013946 Centerline is valid? [True, True] Translation: X:424.89, Y:-66.31, Z:-4.81 [[ 9.79362863e-01 2.01140567e-01 1.97700448e-02 4.24891924e+02] [-2.01114150e-01 9.79562132e-01 -3.33601628e-03 -6.63112936e+01] [-2.00369954e-02 -7.08865287e-04 9.99798988e-01 -4.81161175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.74576923100005 meters Centerline goodness [0,1] 0.9993422308981731 Centerline is valid? [True, True] Translation: X:424.92, Y:-66.30, Z:-4.82 [[ 9.78882755e-01 2.03598165e-01 1.83395804e-02 4.24923013e+02] [-2.03575879e-01 9.79054284e-01 -3.09375458e-03 -6.63042140e+01] [-1.85853275e-02 -7.05073196e-04 9.99827029e-01 -4.81573183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7757692310001 meters Centerline goodness [0,1] 0.9994266176814118 Centerline is valid? [True, True] Translation: X:424.95, Y:-66.30, Z:-4.82 [[ 9.78628073e-01 2.04846742e-01 1.80251917e-02 4.24952440e+02] [-2.04825424e-01 9.78793798e-01 -3.04082081e-03 -6.63015921e+01] [-1.82658480e-02 -7.16184908e-04 9.99832909e-01 -4.81693160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.80576923100006 meters Centerline goodness [0,1] 0.998781764944752 Centerline is valid? [True, True] Translation: X:424.98, Y:-66.30, Z:-4.82 [[ 9.78156691e-01 2.07064116e-01 1.82740015e-02 4.24983219e+02] [-2.07042656e-01 9.78327070e-01 -3.07925753e-03 -6.62958465e+01] [-1.85155541e-02 -7.71501449e-04 9.99828275e-01 -4.81616269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8357692310001 meters Centerline goodness [0,1] 0.9982477252095341 Centerline is valid? [True, True] Translation: X:425.01, Y:-66.29, Z:-4.82 [[ 9.78007836e-01 2.07757230e-01 1.83740567e-02 4.25012504e+02] [-2.07735667e-01 9.78180101e-01 -3.09552233e-03 -6.62918434e+01] [-1.86162538e-02 -7.89501834e-04 9.99826391e-01 -4.81696447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.86576923100006 meters Centerline goodness [0,1] 0.9977481341683109 Centerline is valid? [True, True] Translation: X:425.04, Y:-66.29, Z:-4.82 [[ 9.77954680e-01 2.08017680e-01 1.82561879e-02 4.25041417e+02] [-2.07996459e-01 9.78124747e-01 -3.07456686e-03 -6.62906224e+01] [-1.84963934e-02 -7.90435395e-04 9.99828615e-01 -4.81767972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8957692310001 meters Centerline goodness [0,1] 0.998882393397524 Centerline is valid? [True, True] Translation: X:425.07, Y:-66.29, Z:-4.82 [[ 9.78152455e-01 2.07132114e-01 1.77218067e-02 4.25071465e+02] [-2.07111983e-01 9.78312691e-01 -2.98398764e-03 -6.62868833e+01] [-1.79555481e-02 -7.51603693e-04 9.99838504e-01 -4.81936670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.92576923100006 meters Centerline goodness [0,1] 0.9986864406779661 Centerline is valid? [True, True] Translation: X:425.10, Y:-66.29, Z:-4.82 [[ 9.78387922e-01 2.06000844e-01 1.79088129e-02 4.25100455e+02] [-2.05980152e-01 9.78551533e-01 -3.01242463e-03 -6.62875596e+01] [-1.81452583e-02 -7.41540118e-04 9.99835086e-01 -4.81987076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.95576923100003 meters Centerline goodness [0,1] 0.9991746031746032 Centerline is valid? [True, True] Translation: X:425.13, Y:-66.29, Z:-4.82 [[ 9.78688430e-01 2.04524920e-01 1.83987597e-02 4.25128250e+02] [-2.04502886e-01 9.78861080e-01 -3.09128978e-03 -6.62881675e+01] [-1.86420756e-02 -7.37189927e-04 9.99825950e-01 -4.82005793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.98576923100006 meters Centerline goodness [0,1] 0.9996575269162439 Centerline is valid? [True, True] Translation: X:425.16, Y:-66.29, Z:-4.82 [[ 9.79477279e-01 2.00707986e-01 1.84543757e-02 4.25158418e+02] [-2.00685166e-01 9.79650886e-01 -3.09933694e-03 -6.62894489e+01] [-1.87009072e-02 -6.67789339e-04 9.99824900e-01 -4.82078719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01576923100004 meters Centerline goodness [0,1] 0.9996575269162439 Centerline is valid? [True, True] Translation: X:425.19, Y:-66.29, Z:-4.82 [[ 9.79514542e-01 2.00526063e-01 1.84542731e-02 4.25185550e+02] [-2.00503199e-01 9.79688143e-01 -3.09994820e-03 -6.62938000e+01] [-1.87010530e-02 -6.63696456e-04 9.99824900e-01 -4.82139191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.04576923100007 meters Centerline goodness [0,1] 0.9993429558508722 Centerline is valid? [True, True] Translation: X:425.21, Y:-66.29, Z:-4.82 [[ 9.80036607e-01 1.97944320e-01 1.86089804e-02 4.25214885e+02] [-1.97920684e-01 9.80213067e-01 -3.12182955e-03 -6.62937343e+01] [-1.88587142e-02 -6.23594892e-04 9.99821964e-01 -4.82250169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07576923100004 meters Centerline goodness [0,1] 0.9998722806420026 Centerline is valid? [True, True] Translation: X:425.24, Y:-66.31, Z:-4.82 [[ 9.81049419e-01 1.92889267e-01 1.83239796e-02 4.25243178e+02] [-1.92865476e-01 9.81220394e-01 -3.07357393e-03 -6.63050559e+01] [-1.85727219e-02 -5.18735131e-04 9.99827378e-01 -4.82344655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.10576923100007 meters Centerline goodness [0,1] 0.9999155209191324 Centerline is valid? [True, True] Translation: X:425.27, Y:-66.31, Z:-4.82 [[ 9.81492643e-01 1.90583272e-01 1.87138262e-02 4.25270425e+02] [-1.90558042e-01 9.81670913e-01 -3.13873110e-03 -6.63110240e+01] [-1.89690085e-02 -4.85428599e-04 9.99819954e-01 -4.82349134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.13576923100004 meters Centerline goodness [0,1] 0.9999788207387327 Centerline is valid? [True, True] Translation: X:425.30, Y:-66.32, Z:-4.82 [[ 9.81950008e-01 1.88092014e-01 1.98890779e-02 4.25298017e+02] [-1.88063031e-01 9.82151300e-01 -3.33456879e-03 -6.63190784e+01] [-2.01612895e-02 -4.66020431e-04 9.99796632e-01 -4.82221679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.33, Y:-66.33, Z:-4.82 [[ 9.82326152e-01 1.85981690e-01 2.11220746e-02 4.25326316e+02] [-1.85948536e-01 9.82553107e-01 -3.54027441e-03 -6.63257357e+01] [-2.14119863e-02 -4.49914722e-04 9.99770636e-01 -4.82081596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.35, Y:-66.33, Z:-4.82 [[ 9.82750276e-01 1.83632527e-01 2.19315105e-02 4.25354248e+02] [-1.83596283e-01 9.82994873e-01 -3.67206546e-03 -6.63312094e+01] [-2.22328730e-02 -4.17820474e-04 9.99752732e-01 -4.82056888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.38, Y:-66.33, Z:-4.82 [[ 9.82745118e-01 1.83694007e-01 2.16459087e-02 4.25380770e+02] [-1.83658740e-01 9.82983387e-01 -3.62319422e-03 -6.63330703e+01] [-2.19431278e-02 -4.14783896e-04 9.99759135e-01 -4.82206748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.41, Y:-66.33, Z:-4.83 [[ 9.82292280e-01 1.86374455e-01 1.91426213e-02 4.25410238e+02] [-1.86347431e-01 9.82478694e-01 -3.20167969e-03 -6.63314441e+01] [-1.94039289e-02 -4.22193058e-04 9.99811637e-01 -4.82693033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.2857692310001 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:425.44, Y:-66.33, Z:-4.83 [[ 9.82082695e-01 1.87567689e-01 1.82192614e-02 4.25438861e+02] [-1.87543417e-01 9.82251588e-01 -3.04708660e-03 -6.63335264e+01] [-1.84674335e-02 -4.24411526e-04 9.99829372e-01 -4.82937297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.31576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.47, Y:-66.33, Z:-4.83 [[ 9.81746027e-01 1.89335569e-01 1.80771051e-02 4.25467013e+02] [-1.89312037e-01 9.81912335e-01 -3.01986709e-03 -6.63336040e+01] [-1.83219008e-02 -4.57471070e-04 9.99832035e-01 -4.83059160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3457692310001 meters Centerline goodness [0,1] 0.999957172530461 Centerline is valid? [True, True] Translation: X:425.50, Y:-66.34, Z:-4.83 [[ 9.81792186e-01 1.89119376e-01 1.78315770e-02 4.25495045e+02] [-1.89096453e-01 9.81954001e-01 -2.97830624e-03 -6.63382292e+01] [-1.80730438e-02 -4.47810164e-04 9.99836569e-01 -4.83164086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.37576923100005 meters Centerline goodness [0,1] 0.9999786109982247 Centerline is valid? [True, True] Translation: X:425.52, Y:-66.34, Z:-4.84 [[ 9.82212331e-01 1.87053080e-01 1.64341747e-02 4.25522918e+02] [-1.87033369e-01 9.82349734e-01 -2.74192598e-03 -6.63430261e+01] [-1.66569929e-02 -3.80585563e-04 9.99861190e-01 -4.83548145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4057692310001 meters Centerline goodness [0,1] 0.9999788180470239 Centerline is valid? [True, True] Translation: X:425.55, Y:-66.35, Z:-4.84 [[ 9.82582961e-01 1.85067800e-01 1.67521641e-02 4.25551331e+02] [-1.85047082e-01 9.82725690e-01 -2.79200111e-03 -6.63500455e+01] [-1.69794915e-02 -3.56566369e-04 9.99855774e-01 -4.83623213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.58, Y:-66.36, Z:-4.83 [[ 9.82849913e-01 1.83578648e-01 1.74621812e-02 4.25579190e+02] [-1.83555949e-01 9.83004964e-01 -2.90760530e-03 -6.63587640e+01] [-1.76991850e-02 -3.47547618e-04 9.99843297e-01 -4.83463728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.61, Y:-66.36, Z:-4.83 [[ 9.82949516e-01 1.82842269e-01 1.94667086e-02 4.25607046e+02] [-1.82813994e-01 9.83142189e-01 -3.23740792e-03 -6.63623331e+01] [-1.97304775e-02 -3.76578205e-04 9.99805264e-01 -4.83104397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.64, Y:-66.36, Z:-4.83 [[ 9.82729007e-01 1.83945468e-01 2.01931480e-02 4.25635777e+02] [-1.83915299e-01 9.82936362e-01 -3.35712024e-03 -6.63638970e+01] [-2.04661065e-02 -4.14689410e-04 9.99790461e-01 -4.82953356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.67, Y:-66.36, Z:-4.83 [[ 9.82094315e-01 1.87330571e-01 1.99502685e-02 4.25666609e+02] [-1.87301893e-01 9.82296811e-01 -3.31315475e-03 -6.63596937e+01] [-2.02177403e-02 -4.82892612e-04 9.99795484e-01 -4.83110463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.55576923100006 meters Centerline goodness [0,1] 0.9999787775891341 Centerline is valid? [True, True] Translation: X:425.70, Y:-66.36, Z:-4.83 [[ 9.81906302e-01 1.88423094e-01 1.88878573e-02 4.25695035e+02] [-1.88397597e-01 9.82087831e-01 -3.13639074e-03 -6.63602687e+01] [-1.91405032e-02 -4.78785088e-04 9.99816689e-01 -4.83420788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.72, Y:-66.36, Z:-4.83 [[ 9.82068682e-01 1.87523647e-01 1.93903771e-02 4.25723375e+02] [-1.87496624e-01 9.82259974e-01 -3.21862925e-03 -6.63615297e+01] [-1.96499604e-02 -4.74715259e-04 9.99806808e-01 -4.83462090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.61576923100006 meters Centerline goodness [0,1] 0.9999786388687145 Centerline is valid? [True, True] Translation: X:425.75, Y:-66.37, Z:-4.83 [[ 9.82452830e-01 1.85313787e-01 2.11006516e-02 4.25751944e+02] [-1.85281306e-01 9.82679286e-01 -3.50112753e-03 -6.63673953e+01] [-2.13839805e-02 -4.69863644e-04 9.99771226e-01 -4.83196399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.78, Y:-66.38, Z:-4.83 [[ 9.82954887e-01 1.82494129e-01 2.22616753e-02 4.25779997e+02] [-1.82457278e-01 9.83206848e-01 -3.69264672e-03 -6.63750943e+01] [-2.25617180e-02 -4.32099545e-04 9.99745359e-01 -4.83030056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.81, Y:-66.39, Z:-4.84 [[ 9.84028060e-01 1.76962633e-01 1.93132881e-02 4.25807687e+02] [-1.76933848e-01 9.84217535e-01 -3.20271187e-03 -6.63905789e+01] [-1.95752372e-02 -2.65616045e-04 9.99808351e-01 -4.83627108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.83, Y:-66.40, Z:-4.84 [[ 9.84552687e-01 1.74182558e-01 1.77888484e-02 4.25834615e+02] [-1.74157684e-01 9.84713359e-01 -2.94990738e-03 -6.63995395e+01] [-1.80307391e-02 -1.93725413e-04 9.99837414e-01 -4.83976277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.86, Y:-66.41, Z:-4.84 [[ 9.85219086e-01 1.70237115e-01 1.90441141e-02 4.25861586e+02] [-1.70207894e-01 9.85403119e-01 -3.15681303e-03 -6.64093857e+01] [-1.93035362e-02 -1.31306094e-04 9.99813661e-01 -4.83763791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76576923100004 meters Centerline goodness [0,1] 0.9999788927116533 Centerline is valid? [True, True] Translation: X:425.89, Y:-66.42, Z:-4.84 [[ 9.85269122e-01 1.69770271e-01 2.05623993e-02 4.25890159e+02] [-1.69736131e-01 9.85483657e-01 -3.40712935e-03 -6.64151848e+01] [-2.08423378e-02 -1.33242770e-04 9.99782766e-01 -4.83500160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.92, Y:-66.42, Z:-4.83 [[ 9.84974445e-01 1.71257862e-01 2.22730334e-02 4.25918069e+02] [-1.71218211e-01 9.85226224e-01 -3.68940296e-03 -6.64200823e+01] [-2.25758159e-02 -1.79581300e-04 9.99745118e-01 -4.83251336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.95, Y:-66.43, Z:-4.83 [[ 9.84795213e-01 1.72429203e-01 2.11319551e-02 4.25946811e+02] [-1.72393819e-01 9.85021894e-01 -3.49858716e-03 -6.64251352e+01] [-2.14186971e-02 -1.97626559e-04 9.99770574e-01 -4.83486802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.97, Y:-66.43, Z:-4.84 [[ 9.84715718e-01 1.73089370e-01 1.93655665e-02 4.25973776e+02] [-1.73059798e-01 9.84906103e-01 -3.20536265e-03 -6.64290818e+01] [-1.96280788e-02 -1.95030052e-04 9.99807332e-01 -4.83897478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.00, Y:-66.44, Z:-4.84 [[ 9.84757286e-01 1.73015827e-01 1.78496957e-02 4.26000602e+02] [-1.72990713e-01 9.84919028e-01 -2.95325699e-03 -6.64359997e+01] [-1.80914652e-02 -1.79590257e-04 9.99836320e-01 -4.84265407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.03, Y:-66.44, Z:-4.84 [[ 9.84924728e-01 1.71917453e-01 1.91747114e-02 4.26027489e+02] [-1.71888288e-01 9.85111344e-01 -3.17124470e-03 -6.64441149e+01] [-1.94344180e-02 -1.72470987e-04 9.99811119e-01 -4.84080876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.05, Y:-66.46, Z:-4.84 [[ 9.85467221e-01 1.68336498e-01 2.27415695e-02 4.26054688e+02] [-1.68294554e-01 9.85729582e-01 -3.75961796e-03 -6.64587935e+01] [-2.30499187e-02 -1.22302025e-04 9.99734308e-01 -4.83502843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.9757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.08, Y:-66.47, Z:-4.84 [[ 9.85746171e-01 1.66656698e-01 2.30224309e-02 4.26082854e+02] [-1.66613278e-01 9.86014979e-01 -3.80495618e-03 -6.64678684e+01] [-2.33345831e-02 -8.51216874e-05 9.99727708e-01 -4.83568898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.00576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.11, Y:-66.48, Z:-4.84 [[ 9.86018044e-01 1.65169656e-01 2.20771497e-02 4.26109725e+02] [-1.65129379e-01 9.86265168e-01 -3.64773437e-03 -6.64764692e+01] [-2.23764188e-02 -4.88541069e-05 9.99749615e-01 -4.83819532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.14, Y:-66.49, Z:-4.84 [[ 9.86439603e-01 1.62969271e-01 1.94403020e-02 4.26136046e+02] [-1.62937633e-01 9.86631145e-01 -3.21110089e-03 -6.64887625e+01] [-1.97037181e-02 3.01181392e-10 9.99805863e-01 -4.84364851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.16, Y:-66.50, Z:-4.84 [[ 9.86559678e-01 1.62232355e-01 1.95106238e-02 4.26163735e+02] [-1.62200370e-01 9.86752584e-01 -3.22136619e-03 -6.64952826e+01] [-1.97747683e-02 1.34395855e-05 9.99804460e-01 -4.84326353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.19, Y:-66.50, Z:-4.84 [[ 9.86556785e-01 1.62166211e-01 2.01948111e-02 4.26191107e+02] [-1.62131960e-01 9.86763457e-01 -3.33281911e-03 -6.65002276e+01] [-2.04679723e-02 1.37909965e-05 9.99790509e-01 -4.84230823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.12576923100005 meters Centerline goodness [0,1] 0.9999789376132103 Centerline is valid? [True, True] Translation: X:426.22, Y:-66.50, Z:-4.84 [[ 9.86256141e-01 1.63882367e-01 2.10093942e-02 4.26217975e+02] [-1.63845721e-01 9.86479888e-01 -3.46565458e-03 -6.65032138e+01] [-2.12933045e-02 -2.42762185e-05 9.99773272e-01 -4.84128798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.24, Y:-66.51, Z:-4.84 [[ 9.86087700e-01 1.64906177e-01 2.09045451e-02 4.26244346e+02] [-1.64870162e-01 9.86309257e-01 -3.44661631e-03 -6.65063938e+01] [-2.11867147e-02 -4.78697815e-05 9.99775535e-01 -4.84219021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.27, Y:-66.51, Z:-4.84 [[ 9.85969521e-01 1.65625437e-01 2.07922401e-02 4.26272611e+02] [-1.65590023e-01 9.86188729e-01 -3.42551112e-03 -6.65106144e+01] [-2.10724247e-02 -6.55379636e-05 9.99777950e-01 -4.84282759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2157692310001 meters Centerline goodness [0,1] 0.9999789020633782 Centerline is valid? [True, True] Translation: X:426.30, Y:-66.52, Z:-4.84 [[ 9.86049279e-01 1.65175864e-01 2.05852641e-02 4.26299476e+02] [-1.65141073e-01 9.86264128e-01 -3.39046827e-03 -6.65156984e+01] [-2.08625311e-02 -5.63038220e-05 9.99782352e-01 -4.84374040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.33, Y:-66.52, Z:-4.84 [[ 9.86207549e-01 1.64224937e-01 2.06116459e-02 4.26327072e+02] [-1.64189886e-01 9.86422916e-01 -3.39306245e-03 -6.65223112e+01] [-2.08890253e-02 -3.79599810e-05 9.99781800e-01 -4.84486308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.35, Y:-66.53, Z:-4.85 [[ 9.86324557e-01 1.63529674e-01 2.05405309e-02 4.26354777e+02] [-1.63494744e-01 9.86538415e-01 -3.37988100e-03 -6.65290263e+01] [-2.08167337e-02 -2.46092179e-05 9.99783308e-01 -4.84609149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.38, Y:-66.53, Z:-4.85 [[ 9.86375476e-01 1.63311912e-01 1.98151479e-02 4.26381259e+02] [-1.63279390e-01 9.86574487e-01 -3.25913457e-03 -6.65338281e+01] [-2.00813748e-02 -2.06748421e-05 9.99798349e-01 -4.84796285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.41, Y:-66.54, Z:-4.85 [[ 9.86622186e-01 1.62004978e-01 1.81947546e-02 4.26408799e+02] [-1.61977363e-01 9.86789941e-01 -2.99111510e-03 -6.65402177e+01] [-1.84389764e-02 3.96213426e-06 9.99829988e-01 -4.85126207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.44, Y:-66.55, Z:-4.85 [[ 9.86797309e-01 1.60969899e-01 1.78819187e-02 4.26436503e+02] [-1.60943074e-01 9.86959316e-01 -2.93866553e-03 -6.65453536e+01] [-1.81217629e-02 2.18962777e-05 9.99835787e-01 -4.85162935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3957692310001 meters Centerline goodness [0,1] 0.9999787396887491 Centerline is valid? [True, True] Translation: X:426.46, Y:-66.55, Z:-4.85 [[ 9.86898568e-01 1.60335032e-01 1.79970276e-02 4.26462737e+02] [-1.60307778e-01 9.87062651e-01 -2.95631182e-03 -6.65496096e+01] [-1.82381941e-02 3.25164009e-05 9.99833670e-01 -4.85208061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.49, Y:-66.55, Z:-4.85 [[ 9.86932939e-01 1.60002119e-01 1.90445684e-02 4.26491595e+02] [-1.59971573e-01 9.87116670e-01 -3.12658179e-03 -6.65525523e+01] [-1.92994707e-02 3.91369830e-05 9.99813747e-01 -4.85074903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.52, Y:-66.56, Z:-4.85 [[ 9.86857563e-01 1.60418145e-01 1.94465537e-02 4.26518723e+02] [-1.60386394e-01 9.87049147e-01 -3.19169003e-03 -6.65550918e+01] [-1.97067092e-02 3.07808392e-05 9.99805803e-01 -4.85067027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.55, Y:-66.55, Z:-4.85 [[ 9.86651406e-01 1.61667369e-01 1.95618407e-02 4.26546029e+02] [-1.61635517e-01 9.86845308e-01 -3.20902661e-03 -6.65530151e+01] [-1.98233056e-02 4.30238509e-06 9.99803499e-01 -4.85044474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.57, Y:-66.55, Z:-4.85 [[ 9.86587247e-01 1.61949861e-01 2.04413015e-02 4.26573243e+02] [-1.61915195e-01 9.86798988e-01 -3.35069571e-03 -6.65539468e+01] [-2.07141003e-02 -4.00366494e-06 9.99785440e-01 -4.84933751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.60, Y:-66.55, Z:-4.85 [[ 9.86534301e-01 1.62126028e-01 2.15690416e-02 4.26600628e+02] [-1.62087533e-01 9.86770060e-01 -3.53281041e-03 -6.65545762e+01] [-2.18564450e-02 -1.08340861e-05 9.99761119e-01 -4.84878036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.63, Y:-66.56, Z:-4.85 [[ 9.86640966e-01 1.61502081e-01 2.13701248e-02 4.26627886e+02] [-1.61464202e-01 9.86872372e-01 -3.49768005e-03 -6.65586917e+01] [-2.16544683e-02 4.44285364e-07 9.99765515e-01 -4.84959070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.60576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.65, Y:-66.56, Z:-4.85 [[ 9.86775111e-01 1.60774486e-01 2.06505535e-02 4.26654061e+02] [-1.60738985e-01 9.86991167e-01 -3.37851621e-03 -6.65625572e+01] [-2.09250931e-02 1.44866999e-05 9.99781046e-01 -4.85165695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.63576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.68, Y:-66.57, Z:-4.86 [[ 9.87020697e-01 1.59519259e-01 1.85405167e-02 4.26682717e+02] [-1.59490448e-01 9.87194816e-01 -3.03187157e-03 -6.65654128e+01] [-1.87867439e-02 3.54846766e-05 9.99823513e-01 -4.85565549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.71, Y:-66.57, Z:-4.85 [[ 9.86995467e-01 1.59502608e-01 1.99716486e-02 4.26710954e+02] [-1.59469195e-01 9.87197506e-01 -3.26487089e-03 -6.65670817e+01] [-2.02367171e-02 3.75500525e-05 9.99795216e-01 -4.85382105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.69576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.74, Y:-66.57, Z:-4.85 [[ 9.86918639e-01 1.59820149e-01 2.11924480e-02 4.26739177e+02] [-1.59782627e-01 9.87146149e-01 -3.46308876e-03 -6.65689962e+01] [-2.14735148e-02 3.16018366e-05 9.99769417e-01 -4.85159780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.77, Y:-66.57, Z:-4.85 [[ 9.86851359e-01 1.60186086e-01 2.15595395e-02 4.26766726e+02] [-1.60147376e-01 9.87086834e-01 -3.52146988e-03 -6.65697619e+01] [-2.18452281e-02 2.24636694e-05 9.99761364e-01 -4.85094559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.75576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.79, Y:-66.57, Z:-4.85 [[ 9.86996321e-01 1.59371242e-01 2.09540017e-02 4.26794249e+02] [-1.59334529e-01 9.87218722e-01 -3.42082264e-03 -6.65744835e+01] [-2.12313636e-02 3.76433513e-05 9.99774588e-01 -4.85263493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.82, Y:-66.58, Z:-4.86 [[ 9.87399432e-01 1.56953612e-01 2.01971542e-02 4.26821096e+02] [-1.56919026e-01 9.87605972e-01 -3.29584437e-03 -6.65838799e+01] [-2.04641247e-02 8.49970921e-05 9.99790584e-01 -4.85556276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.85, Y:-66.59, Z:-4.86 [[ 9.87711492e-01 1.54987972e-01 2.01180784e-02 4.26849018e+02] [-1.54953274e-01 9.87916349e-01 -3.28172307e-03 -6.65925728e+01] [-2.03836061e-02 1.24033479e-04 9.99792225e-01 -4.85700468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.88, Y:-66.60, Z:-4.86 [[ 9.88138810e-01 1.52301293e-01 1.96470984e-02 4.26876644e+02] [-1.52267687e-01 9.88334096e-01 -3.20398642e-03 -6.66035526e+01] [-1.99058685e-02 1.74365090e-04 9.99801843e-01 -4.85887352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.90, Y:-66.61, Z:-4.86 [[ 9.88568156e-01 1.49586638e-01 1.88901517e-02 4.26904417e+02] [-1.49555093e-01 9.88748598e-01 -3.07969158e-03 -6.66145208e+01] [-1.91382917e-02 2.19366629e-04 9.99816822e-01 -4.86083812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.93, Y:-66.63, Z:-4.86 [[ 9.89193735e-01 1.45540791e-01 1.77096602e-02 4.26931222e+02] [-1.45512433e-01 9.89352213e-01 -2.88641080e-03 -6.66294140e+01] [-1.79411820e-02 2.78243745e-04 9.99839005e-01 -4.86237175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.96, Y:-66.63, Z:-4.86 [[ 9.89200347e-01 1.45495839e-01 1.77097524e-02 4.26959193e+02] [-1.45467483e-01 9.89358824e-01 -2.88584472e-03 -6.66338793e+01] [-1.79411782e-02 2.78485497e-04 9.99839005e-01 -4.86299514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.99, Y:-66.64, Z:-4.86 [[ 9.89344395e-01 1.44564545e-01 1.72846621e-02 4.26986916e+02] [-1.44537406e-01 9.89495331e-01 -2.81579337e-03 -6.66438056e+01] [-1.75101563e-02 2.87509178e-04 9.99846644e-01 -4.86388633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.01, Y:-66.65, Z:-4.86 [[ 9.89261799e-01 1.45128362e-01 1.72872972e-02 4.27013799e+02] [-1.45101314e-01 9.89412796e-01 -2.81548003e-03 -6.66507321e+01] [-1.75128790e-02 2.76837311e-04 9.99846599e-01 -4.86483175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.04, Y:-66.66, Z:-4.87 [[ 9.89191553e-01 1.45578432e-01 1.75211527e-02 4.27041764e+02] [-1.45550738e-01 9.89346677e-01 -2.85241476e-03 -6.66571450e+01] [-1.77497443e-02 2.71367887e-04 9.99842424e-01 -4.86504165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.07, Y:-66.67, Z:-4.86 [[ 9.89080008e-01 1.46229003e-01 1.83798067e-02 4.27068644e+02] [-1.46198655e-01 9.89250729e-01 -2.99133982e-03 -6.66662784e+01] [-1.86196578e-02 2.71571391e-04 9.99826602e-01 -4.86403389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.10, Y:-66.67, Z:-4.86 [[ 9.89082055e-01 1.46174306e-01 1.87018843e-02 4.27096599e+02] [-1.46142897e-01 9.89258811e-01 -3.04262393e-03 -6.66739232e+01] [-1.89457573e-02 2.76257163e-04 9.99820475e-01 -4.86388235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.12, Y:-66.69, Z:-4.86 [[ 9.89302055e-01 1.44628469e-01 1.90800817e-02 4.27123435e+02] [-1.44595507e-01 9.89485982e-01 -3.10326327e-03 -6.66863957e+01] [-1.93282936e-02 3.11170641e-04 9.99813143e-01 -4.86453150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.15, Y:-66.69, Z:-4.87 [[ 9.89426457e-01 1.43845185e-01 1.85431436e-02 4.27150549e+02] [-1.43813929e-01 9.89600153e-01 -3.01515331e-03 -6.66946987e+01] [-1.87840130e-02 3.16510131e-04 9.99823515e-01 -4.86562651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.17576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.18, Y:-66.70, Z:-4.87 [[ 9.89452306e-01 1.43675459e-01 1.84796037e-02 4.27178585e+02] [-1.43644408e-01 9.89624808e-01 -3.00374449e-03 -6.67011009e+01] [-1.87194386e-02 3.17570189e-04 9.99824726e-01 -4.86637921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.20576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.21, Y:-66.71, Z:-4.87 [[ 9.89410009e-01 1.43955230e-01 1.85667920e-02 4.27206133e+02] [-1.43923950e-01 9.89584152e-01 -3.01710045e-03 -6.67078609e+01] [-1.88077305e-02 3.12943353e-04 9.99823070e-01 -4.86627225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.23, Y:-66.72, Z:-4.86 [[ 9.89161784e-01 1.45405334e-01 2.04023165e-02 4.27233741e+02] [-1.45367897e-01 9.89372120e-01 -3.31407844e-03 -6.67156309e+01] [-2.06673678e-02 3.12317890e-04 9.99786358e-01 -4.86380236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.26, Y:-66.72, Z:-4.86 [[ 9.88952116e-01 1.46682056e-01 2.14029666e-02 4.27260486e+02] [-1.46641178e-01 9.89183646e-01 -3.47560412e-03 -6.67238193e+01] [-2.16812732e-02 2.98649822e-04 9.99764889e-01 -4.86300864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.29576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.29, Y:-66.73, Z:-4.86 [[ 9.88939847e-01 1.46826908e-01 2.09723116e-02 4.27288455e+02] [-1.46787716e-01 9.89162159e-01 -3.40446529e-03 -6.67311615e+01] [-2.12448841e-02 2.88333662e-04 9.99774260e-01 -4.86469117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.32, Y:-66.74, Z:-4.87 [[ 9.88932937e-01 1.46925222e-01 2.06064537e-02 4.27316884e+02] [-1.46887422e-01 9.89147562e-01 -3.34440797e-03 -6.67388536e+01] [-2.08742014e-02 2.80566334e-04 9.99782071e-01 -4.86630254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.34, Y:-66.75, Z:-4.87 [[ 9.88783459e-01 1.47958582e-01 2.03845346e-02 4.27343832e+02] [-1.47921829e-01 9.88993525e-01 -3.30747831e-03 -6.67501608e+01] [-2.06495425e-02 2.55062193e-04 9.99786743e-01 -4.86813281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.38576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.37, Y:-66.76, Z:-4.87 [[ 9.88626516e-01 1.49021956e-01 2.02501324e-02 4.27372474e+02] [-1.48985923e-01 9.88833860e-01 -3.28498763e-03 -6.67571829e+01] [-2.05135519e-02 2.30641204e-04 9.99789548e-01 -4.86916613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.41576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.40, Y:-66.76, Z:-4.87 [[ 9.88019814e-01 1.53179357e-01 1.87864882e-02 4.27400655e+02] [-1.53149103e-01 9.88198394e-01 -3.04723729e-03 -6.67614268e+01] [-1.90315514e-02 1.33596997e-04 9.99818875e-01 -4.87134510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.44576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.43, Y:-66.76, Z:-4.87 [[ 9.87575724e-01 1.56075573e-01 1.82922209e-02 4.27428288e+02] [-1.56047400e-01 9.87745114e-01 -2.96631387e-03 -6.67635014e+01] [-1.85310210e-02 7.50060467e-05 9.99828283e-01 -4.87294042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.4757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.46, Y:-66.76, Z:-4.87 [[ 9.87088353e-01 1.59148604e-01 1.81191842e-02 4.27457132e+02] [-1.59121498e-01 9.87254639e-01 -2.93723975e-03 -6.67642622e+01] [-1.83557062e-02 1.61634281e-05 9.99831520e-01 -4.87287988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.50576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.49, Y:-66.76, Z:-4.87 [[ 9.85916161e-01 1.66251872e-01 1.81559250e-02 4.27485420e+02] [-1.66225874e-01 9.86083314e-01 -2.94233829e-03 -6.67620470e+01] [-1.83924239e-02 -1.17085626e-04 9.99830838e-01 -4.87387544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.51, Y:-66.76, Z:-4.88 [[ 9.84908508e-01 1.72209752e-01 1.72925277e-02 4.27514434e+02] [-1.72187104e-01 9.85060279e-01 -2.80135904e-03 -6.67581350e+01] [-1.75166035e-02 -2.18467915e-04 9.99846549e-01 -4.87581538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.56576923100005 meters Centerline goodness [0,1] 0.9999787721830687 Centerline is valid? [True, True] Translation: X:427.54, Y:-66.76, Z:-4.88 [[ 9.84493806e-01 1.74593703e-01 1.69995271e-02 4.27542042e+02] [-1.74572183e-01 9.84640530e-01 -2.75318058e-03 -6.67584979e+01] [-1.72191114e-02 -2.57155341e-04 9.99851707e-01 -4.87735216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5957692310001 meters Centerline goodness [0,1] 0.999936851411371 Centerline is valid? [True, True] Translation: X:427.57, Y:-66.76, Z:-4.88 [[ 9.84065757e-01 1.76984417e-01 1.70617262e-02 4.27570474e+02] [-1.76963120e-01 9.84213608e-01 -2.76201366e-03 -6.67568813e+01] [-1.72812164e-02 -3.01293239e-04 9.99850623e-01 -4.87890775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.62576923100005 meters Centerline goodness [0,1] 0.9999365092802269 Centerline is valid? [True, True] Translation: X:427.60, Y:-66.76, Z:-4.88 [[ 9.83151116e-01 1.81914532e-01 1.79161051e-02 4.27600102e+02] [-1.81891886e-01 9.83314261e-01 -2.89921602e-03 -6.67553844e+01] [-1.81445711e-02 -4.08426681e-04 9.99835290e-01 -4.87676330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6557692310001 meters Centerline goodness [0,1] 0.9996816976127321 Centerline is valid? [True, True] Translation: X:427.63, Y:-66.75, Z:-4.88 [[ 9.82696007e-01 1.84353888e-01 1.79499808e-02 4.27629628e+02] [-1.84331580e-01 9.82859826e-01 -2.90379478e-03 -6.67487854e+01] [-1.81776409e-02 -4.55200776e-04 9.99834669e-01 -4.87781786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.68576923100005 meters Centerline goodness [0,1] 0.9993430950816893 Centerline is valid? [True, True] Translation: X:427.66, Y:-66.74, Z:-4.88 [[ 9.82054462e-01 1.87746189e-01 1.78997591e-02 4.27660587e+02] [-1.87724583e-01 9.82217441e-01 -2.89481626e-03 -6.67417266e+01] [-1.81249463e-02 -5.17357586e-04 9.99835596e-01 -4.87802481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7157692310001 meters Centerline goodness [0,1] 0.9995993927637682 Centerline is valid? [True, True] Translation: X:427.69, Y:-66.75, Z:-4.88 [[ 9.81961224e-01 1.88196848e-01 1.82784428e-02 4.27688158e+02] [-1.88174407e-01 9.82131182e-01 -2.95550805e-03 -6.67491040e+01] [-1.85080459e-02 -5.37340824e-04 9.99828567e-01 -4.87776290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.74576923100005 meters Centerline goodness [0,1] 0.9994925896953424 Centerline is valid? [True, True] Translation: X:427.72, Y:-66.75, Z:-4.88 [[ 9.81975011e-01 1.88074300e-01 1.87919214e-02 4.27716817e+02] [-1.88050574e-01 9.82154649e-01 -3.03764430e-03 -6.67523225e+01] [-1.90278758e-02 -5.50940802e-04 9.99818802e-01 -4.87804677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7757692310001 meters Centerline goodness [0,1] 0.9991594872872452 Centerline is valid? [True, True] Translation: X:427.75, Y:-66.75, Z:-4.88 [[ 9.82270339e-01 1.86430509e-01 1.97141165e-02 4.27745313e+02] [-1.86404079e-01 9.82467999e-01 -3.18607104e-03 -6.67512955e+01] [-1.99624694e-02 -5.45208651e-04 9.99800581e-01 -4.87751766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.80576923100006 meters Centerline goodness [0,1] 0.999368075156928 Centerline is valid? [True, True] Translation: X:427.77, Y:-66.76, Z:-4.88 [[ 9.82550829e-01 1.84954970e-01 1.96348721e-02 4.27774057e+02] [-1.84928480e-01 9.82746862e-01 -3.17213835e-03 -6.67576914e+01] [-1.98828117e-02 -5.14259893e-04 9.99802185e-01 -4.87852046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8357692310001 meters Centerline goodness [0,1] 0.9999369270877134 Centerline is valid? [True, True] Translation: X:427.80, Y:-66.77, Z:-4.88 [[ 9.83424620e-01 1.80345825e-01 1.87456862e-02 4.27802202e+02] [-1.80320855e-01 9.83603183e-01 -3.02785442e-03 -6.67741196e+01] [-1.89843776e-02 -4.02571584e-04 9.99819699e-01 -4.88057939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.86576923100006 meters Centerline goodness [0,1] 0.999935883735841 Centerline is valid? [True, True] Translation: X:427.83, Y:-66.79, Z:-4.88 [[ 9.83896640e-01 1.77736295e-01 1.89000111e-02 4.27829305e+02] [-1.77710433e-01 9.84078088e-01 -3.05267423e-03 -6.67860891e+01] [-1.91416578e-02 -3.55213228e-04 9.99816719e-01 -4.88021666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8957692310001 meters Centerline goodness [0,1] 0.999915094139373 Centerline is valid? [True, True] Translation: X:427.86, Y:-66.79, Z:-4.88 [[ 9.84303394e-01 1.75434948e-01 1.92199522e-02 4.27856516e+02] [-1.75407780e-01 9.84490974e-01 -3.10352863e-03 -6.67907184e+01] [-1.94663369e-02 -3.16515395e-04 9.99810463e-01 -4.88040960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.92576923100006 meters Centerline goodness [0,1] 0.9999578103575573 Centerline is valid? [True, True] Translation: X:427.88, Y:-66.80, Z:-4.88 [[ 9.84726611e-01 1.72965910e-01 1.99071749e-02 4.27884068e+02] [-1.72936294e-01 9.84927772e-01 -3.21281998e-03 -6.68011064e+01] [-2.01628377e-02 -2.78923715e-04 9.99796670e-01 -4.87909339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.95576923100003 meters Centerline goodness [0,1] 0.9999571183533448 Centerline is valid? [True, True] Translation: X:427.91, Y:-66.81, Z:-4.88 [[ 9.85389244e-01 1.69013811e-01 2.10325800e-02 4.27911210e+02] [-1.68979872e-01 9.85613660e-01 -3.39343648e-03 -6.68091243e+01] [-2.13035358e-02 -2.10226876e-04 9.99773032e-01 -4.87778383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.98576923100006 meters Centerline goodness [0,1] 0.9999786884896532 Centerline is valid? [True, True] Translation: X:427.94, Y:-66.82, Z:-4.88 [[ 9.85677195e-01 1.67281447e-01 2.13865563e-02 4.27938792e+02] [-1.67245975e-01 9.85909167e-01 -3.44929981e-03 -6.68180343e+01] [-2.16622058e-02 -1.76919302e-04 9.99765331e-01 -4.87748870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.97, Y:-66.83, Z:-4.88 [[ 9.86087818e-01 1.64938504e-01 2.06423307e-02 4.27966623e+02] [-1.64904964e-01 9.86303845e-01 -3.32834206e-03 -6.68272344e+01] [-2.09085819e-02 -1.21985230e-04 9.99781384e-01 -4.87914765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.04576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.99, Y:-66.83, Z:-4.88 [[ 9.86225693e-01 1.64210118e-01 1.98474060e-02 4.27994176e+02] [-1.64178982e-01 9.86425378e-01 -3.19927687e-03 -6.68316774e+01] [-2.01033385e-02 -1.03317852e-04 9.99797902e-01 -4.88206952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.02, Y:-66.84, Z:-4.88 [[ 9.86375499e-01 1.63371024e-01 1.93205314e-02 4.28022026e+02] [-1.63341381e-01 9.86564697e-01 -3.11319247e-03 -6.68408897e+01] [-1.95695597e-02 -8.50655041e-05 9.99808494e-01 -4.88310249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.10576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.05, Y:-66.85, Z:-4.89 [[ 9.86883904e-01 1.60377348e-01 1.84191854e-02 4.28049410e+02] [-1.60349900e-01 9.87055776e-01 -2.96713383e-03 -6.68538615e+01] [-1.86566244e-02 -2.52979238e-05 9.99825950e-01 -4.88533092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.13576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.08, Y:-66.86, Z:-4.89 [[ 9.87205755e-01 1.58453021e-01 1.78167596e-02 4.28077109e+02] [-1.58427043e-01 9.87366518e-01 -2.86916873e-03 -6.68629719e+01] [-1.80463003e-02 9.80334592e-06 9.99837152e-01 -4.88763139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.16576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.10, Y:-66.87, Z:-4.89 [[ 9.87543117e-01 1.56389555e-01 1.73464721e-02 4.28104618e+02] [-1.56364622e-01 9.87695452e-01 -2.79279768e-03 -6.68728950e+01] [-1.75697960e-02 4.56335675e-05 9.99845638e-01 -4.88997404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.19576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.13, Y:-66.89, Z:-4.89 [[ 9.87973095e-01 1.53630078e-01 1.75203423e-02 4.28131382e+02] [-1.53604222e-01 9.88128428e-01 -2.82007815e-03 -6.68859759e+01] [-1.77455971e-02 9.49628030e-05 9.99842530e-01 -4.88955416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.16, Y:-66.89, Z:-4.89 [[ 9.87926962e-01 1.53844510e-01 1.82259169e-02 4.28160853e+02] [-1.53816575e-01 9.88095065e-01 -2.93315287e-03 -6.68919133e+01] [-1.84601880e-02 9.42927025e-05 9.99829592e-01 -4.88817182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.25576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.19, Y:-66.89, Z:-4.89 [[ 9.87315522e-01 1.57628459e-01 1.90086531e-02 4.28188992e+02] [-1.57598781e-01 9.87498490e-01 -3.05875456e-03 -6.68922724e+01] [-1.92531630e-02 2.42153097e-05 9.99814640e-01 -4.88554019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.22, Y:-66.89, Z:-4.89 [[ 9.86846807e-01 1.60513535e-01 1.92037654e-02 4.28217313e+02] [-1.60483814e-01 9.87033639e-01 -3.08895240e-03 -6.68923954e+01] [-1.94505811e-02 -3.35706985e-05 9.99810819e-01 -4.88575705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.31576923100005 meters Centerline goodness [0,1] 0.9999786123706048 Centerline is valid? [True, True] Translation: X:428.25, Y:-66.89, Z:-4.89 [[ 9.85859098e-01 1.66430532e-01 1.95631724e-02 4.28247287e+02] [-1.66400875e-01 9.86053170e-01 -3.14557880e-03 -6.68882815e+01] [-1.98138485e-02 -1.54231521e-04 9.99803675e-01 -4.88522354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.28, Y:-66.89, Z:-4.89 [[ 9.85544895e-01 1.68267884e-01 1.96768673e-02 4.28275553e+02] [-1.68238265e-01 9.85741286e-01 -3.16293302e-03 -6.68875924e+01] [-1.99285206e-02 -1.93189536e-04 9.99801389e-01 -4.88582081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.37576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.30, Y:-66.89, Z:-4.89 [[ 9.85336238e-01 1.69439676e-01 2.00672257e-02 4.28304009e+02] [-1.69409143e-01 9.85540535e-01 -3.22426230e-03 -6.68894720e+01] [-2.03233823e-02 -2.22589014e-04 9.99793434e-01 -4.88610913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.33, Y:-66.89, Z:-4.89 [[ 9.85263782e-01 1.69825203e-01 2.03637091e-02 4.28332160e+02] [-1.69793863e-01 9.85474173e-01 -3.27093933e-03 -6.68938968e+01] [-2.06233973e-02 -2.34894774e-04 9.99787288e-01 -4.88580282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.36, Y:-66.90, Z:-4.89 [[ 9.85587150e-01 1.67918291e-01 2.05284371e-02 4.28359100e+02] [-1.67886048e-01 9.85800897e-01 -3.29640718e-03 -6.69007544e+01] [-2.07904787e-02 -1.97541608e-04 9.99783835e-01 -4.88669859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.39, Y:-66.91, Z:-4.89 [[ 9.85941072e-01 1.65888202e-01 2.00326478e-02 4.28387248e+02] [-1.65857104e-01 9.86144554e-01 -3.21555065e-03 -6.69082878e+01] [-2.02885084e-02 -1.52213480e-04 9.99794155e-01 -4.88814232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.42, Y:-66.92, Z:-4.89 [[ 9.86600419e-01 1.61956185e-01 1.97435270e-02 4.28415095e+02] [-1.61925209e-01 9.86797947e-01 -3.16821313e-03 -6.69188152e+01] [-1.99959837e-02 -7.12143397e-05 9.99800058e-01 -4.88888802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.44, Y:-66.92, Z:-4.89 [[ 9.86812610e-01 1.60609267e-01 2.01379481e-02 4.28443517e+02] [-1.60576782e-01 9.87018065e-01 -3.23047098e-03 -6.69248332e+01] [-2.03953621e-02 -4.58174045e-05 9.99791992e-01 -4.88876202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.55576923100006 meters Centerline goodness [0,1] 0.9999789526856373 Centerline is valid? [True, True] Translation: X:428.47, Y:-66.93, Z:-4.89 [[ 9.86890157e-01 1.60092813e-01 2.04477440e-02 4.28471859e+02] [-1.60059219e-01 9.87101965e-01 -3.27970932e-03 -6.69302635e+01] [-2.07090662e-02 -3.61370879e-05 9.99785544e-01 -4.88814168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5857692310001 meters Centerline goodness [0,1] 0.9999788418001396 Centerline is valid? [True, True] Translation: X:428.50, Y:-66.93, Z:-4.89 [[ 9.86682889e-01 1.61424714e-01 1.99734488e-02 4.28500429e+02] [-1.61392952e-01 9.86885028e-01 -3.20271232e-03 -6.69313894e+01] [-2.02284945e-02 -6.35124195e-05 9.99795381e-01 -4.88946271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.53, Y:-66.93, Z:-4.89 [[ 9.86460329e-01 1.62851062e-01 1.93791559e-02 4.28529287e+02] [-1.62821455e-01 9.86650659e-01 -3.10652066e-03 -6.69326767e+01] [-1.96263571e-02 -9.08829681e-05 9.99807380e-01 -4.89077815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.56, Y:-66.93, Z:-4.89 [[ 9.86040271e-01 1.65434436e-01 1.88687946e-02 4.28558168e+02] [-1.65406858e-01 9.86220780e-01 -3.02382141e-03 -6.69317178e+01] [-1.91090415e-02 -1.39418350e-04 9.99817396e-01 -4.89260436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.59, Y:-66.93, Z:-4.89 [[ 9.85905844e-01 1.66281309e-01 1.84443250e-02 4.28586139e+02] [-1.66255121e-01 9.86078345e-01 -2.95496889e-03 -6.69337977e+01] [-1.86789055e-02 -1.53142387e-04 9.99825522e-01 -4.89376550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.70576923100003 meters Centerline goodness [0,1] 0.9999786593824025 Centerline is valid? [True, True] Translation: X:428.61, Y:-66.94, Z:-4.89 [[ 9.85805317e-01 1.66888582e-01 1.83324604e-02 4.28614447e+02] [-1.66862840e-01 9.85975747e-01 -2.93574996e-03 -6.69375625e+01] [-1.85653045e-02 -1.64928488e-04 9.99827636e-01 -4.89475975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.73576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.64, Y:-66.94, Z:-4.90 [[ 9.85737189e-01 1.67326749e-01 1.79986982e-02 4.28642594e+02] [-1.67302024e-01 9.85901481e-01 -2.88145688e-03 -6.69397850e+01] [-1.82270880e-02 -1.70859431e-04 9.99833858e-01 -4.89513346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76576923100004 meters Centerline goodness [0,1] 0.9999787942405157 Centerline is valid? [True, True] Translation: X:428.67, Y:-66.94, Z:-4.90 [[ 9.85657128e-01 1.67802646e-01 1.79526752e-02 4.28670127e+02] [-1.67778147e-01 9.85820592e-01 -2.87296286e-03 -6.69413489e+01] [-1.81802077e-02 -1.80310260e-04 9.99834710e-01 -4.89619944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.79576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.70, Y:-66.94, Z:-4.90 [[ 9.85303075e-01 1.69914750e-01 1.75165278e-02 4.28699516e+02] [-1.69891780e-01 9.85458742e-01 -2.80205238e-03 -6.69394450e+01] [-1.77379255e-02 -2.15043256e-04 9.99842647e-01 -4.89781609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.73, Y:-66.94, Z:-4.90 [[ 9.85311243e-01 1.69867362e-01 1.75166627e-02 4.28727499e+02] [-1.69844400e-01 9.85466911e-01 -2.80120852e-03 -6.69438278e+01] [-1.77379254e-02 -2.15044829e-04 9.99842647e-01 -4.89843945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.76, Y:-66.94, Z:-4.90 [[ 9.85057731e-01 1.71364776e-01 1.71866522e-02 4.28756698e+02] [-1.71342913e-01 9.85207621e-01 -2.74760648e-03 -6.69440369e+01] [-1.74032637e-02 -2.38260052e-04 9.99848523e-01 -4.89980203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.88576923100004 meters Centerline goodness [0,1] 0.9999789686211829 Centerline is valid? [True, True] Translation: X:428.79, Y:-66.94, Z:-4.90 [[ 9.84462297e-01 1.74711052e-01 1.76077813e-02 4.28786575e+02] [-1.74688655e-01 9.84619701e-01 -2.81403747e-03 -6.69386505e+01] [-1.78286118e-02 -3.05565841e-04 9.99841011e-01 -4.89915507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.81, Y:-66.94, Z:-4.90 [[ 9.84229013e-01 1.75726054e-01 2.03372486e-02 4.28813351e+02] [-1.75929981e-01 9.84364231e-01 8.70074588e-03 -6.69416840e+01] [-1.84903123e-02 -1.21414583e-02 9.99755317e-01 -4.90186886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.94576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.84, Y:-66.94, Z:-4.90 [[ 9.84063546e-01 1.77046242e-01 1.65398127e-02 4.28843644e+02] [-1.76816958e-01 9.84137863e-01 -1.44371226e-02 -6.69351599e+01] [-1.88334942e-02 1.12825267e-02 9.99758973e-01 -4.89812590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.9757692310001 meters Centerline goodness [0,1] 0.9999575596816976 Centerline is valid? [True, True] Translation: X:428.87, Y:-66.94, Z:-4.90 [[ 9.84384250e-01 1.75178230e-01 1.73273445e-02 4.28870918e+02] [-1.75156707e-01 9.84536687e-01 -2.76385499e-03 -6.69419290e+01] [-1.75435736e-02 -3.14305292e-04 9.99846050e-01 -4.90115517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.00576923100004 meters Centerline goodness [0,1] 0.9999364716345849 Centerline is valid? [True, True] Translation: X:428.90, Y:-66.95, Z:-4.90 [[ 9.84745957e-01 1.73206987e-01 1.65753019e-02 4.28898938e+02] [-1.73187030e-01 9.84885408e-01 -2.64289417e-03 -6.69474135e+01] [-1.67825407e-02 -2.68047963e-04 9.99859127e-01 -4.90391437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.93, Y:-66.96, Z:-4.90 [[ 9.85537222e-01 1.68604380e-01 1.69984301e-02 4.28925509e+02] [-1.68582720e-01 9.85683785e-01 -2.70957756e-03 -6.69564304e+01] [-1.72119236e-02 -1.95252030e-04 9.99851845e-01 -4.90435841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.95, Y:-66.96, Z:-4.90 [[ 9.85941250e-01 1.66111423e-01 1.80789205e-02 4.28952750e+02] [-1.66086523e-01 9.86106976e-01 -2.88064416e-03 -6.69637089e+01] [-1.83062575e-02 -1.62519143e-04 9.99832413e-01 -4.90268650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0957692310001 meters Centerline goodness [0,1] 0.9999786036758885 Centerline is valid? [True, True] Translation: X:428.98, Y:-66.97, Z:-4.90 [[ 9.86250643e-01 1.64139551e-01 1.91801323e-02 4.28980361e+02] [-1.64111176e-01 9.86437119e-01 -3.05485598e-03 -6.69711487e+01] [-1.94214171e-02 -1.34820401e-04 9.99811377e-01 -4.90076868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.01, Y:-66.98, Z:-4.90 [[ 9.86574052e-01 1.62156981e-01 1.94101206e-02 4.29007047e+02] [-1.62127556e-01 9.86764969e-01 -3.09058131e-03 -6.69786664e+01] [-1.96543864e-02 -9.78280898e-05 9.99806829e-01 -4.90118524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.04, Y:-66.99, Z:-4.90 [[ 9.86995749e-01 1.59691864e-01 1.83820546e-02 4.29035051e+02] [-1.59665065e-01 9.87166909e-01 -2.92583304e-03 -6.69883521e+01] [-1.86133878e-02 -4.71871800e-05 9.99826755e-01 -4.90389315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.06, Y:-66.99, Z:-4.90 [[ 9.87056403e-01 1.59276174e-01 1.87285278e-02 4.29063407e+02] [-1.59248298e-01 9.87234065e-01 -2.98008775e-03 -6.69938259e+01] [-1.89640976e-02 -4.09714777e-05 9.99820164e-01 -4.90465198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2157692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.09, Y:-67.00, Z:-4.90 [[ 9.87126928e-01 1.58643679e-01 2.03128505e-02 4.29090648e+02] [-1.58610774e-01 9.87335901e-01 -3.23116596e-03 -6.70003171e+01] [-2.05682106e-02 -3.22660156e-05 9.99788451e-01 -4.90206330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.12, Y:-67.01, Z:-4.90 [[ 9.87197766e-01 1.58203507e-01 2.03032256e-02 4.29119143e+02] [-1.58170564e-01 9.87406527e-01 -3.22843769e-03 -6.70070491e+01] [-2.05582876e-02 -2.42661662e-05 9.99788656e-01 -4.90200731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.15, Y:-67.01, Z:-4.90 [[ 9.87271314e-01 1.57822195e-01 1.96851935e-02 4.29146279e+02] [-1.57791169e-01 9.87467546e-01 -3.12930829e-03 -6.70137973e+01] [-1.99323640e-02 -1.66733746e-05 9.99801331e-01 -4.90363412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.17, Y:-67.02, Z:-4.91 [[ 9.87393993e-01 1.57218240e-01 1.83174255e-02 4.29173838e+02] [-1.57191290e-01 9.87563884e-01 -2.91087153e-03 -6.70208120e+01] [-1.85472700e-02 -5.16268746e-06 9.99827985e-01 -4.90677972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.20, Y:-67.03, Z:-4.91 [[ 9.87621961e-01 1.56104184e-01 1.53083920e-02 4.29201258e+02] [-1.56085236e-01 9.87740595e-01 -2.43218545e-03 -6.70304442e+01] [-1.55003946e-02 1.26657762e-05 9.99879862e-01 -4.91187156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.23, Y:-67.04, Z:-4.91 [[ 9.87636545e-01 1.55962926e-01 1.57993897e-02 4.29228431e+02] [-1.55942737e-01 9.87762910e-01 -2.50946134e-03 -6.70363833e+01] [-1.59974340e-02 1.46356709e-05 9.99872033e-01 -4.91309024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.26, Y:-67.04, Z:-4.91 [[ 9.87597588e-01 1.56033822e-01 1.74484914e-02 4.29257237e+02] [-1.56009231e-01 9.87751713e-01 -2.77014965e-03 -6.70415830e+01] [-1.76670143e-02 1.36673998e-05 9.99843926e-01 -4.90950267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.28, Y:-67.05, Z:-4.91 [[ 9.87341476e-01 1.57386666e-01 1.96531817e-02 4.29284841e+02] [-1.57355756e-01 9.87537056e-01 -3.11912069e-03 -6.70454216e+01] [-1.98991532e-02 -1.29040223e-05 9.99801992e-01 -4.90555155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.45576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.31, Y:-67.05, Z:-4.91 [[ 9.87151047e-01 1.58642225e-01 1.91169003e-02 4.29313052e+02] [-1.58613236e-01 9.87336135e-01 -3.03289191e-03 -6.70481973e+01] [-1.93559511e-02 -3.82709836e-05 9.99812655e-01 -4.90704244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.48576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.34, Y:-67.05, Z:-4.91 [[ 9.86715494e-01 1.61663240e-01 1.60477794e-02 4.29341050e+02] [-1.61643223e-01 9.86845981e-01 -2.54527554e-03 -6.70474851e+01] [-1.62481641e-02 -8.25519600e-05 9.99867986e-01 -4.91456205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.37, Y:-67.05, Z:-4.92 [[ 9.86505921e-01 1.63031881e-01 1.50557079e-02 4.29369297e+02] [-1.63014433e-01 9.86620796e-01 -2.38716665e-03 -6.70487472e+01] [-1.52434588e-02 -9.93436510e-05 9.99883807e-01 -4.91754143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.54576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.40, Y:-67.04, Z:-4.91 [[ 9.85960741e-01 1.66136978e-01 1.67308863e-02 4.29398696e+02] [-1.66115896e-01 9.86102671e-01 -2.65171851e-03 -6.70447854e+01] [-1.69389202e-02 -1.64775824e-04 9.99856513e-01 -4.91361968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57576923100004 meters Centerline goodness [0,1] 0.9999786803112675 Centerline is valid? [True, True] Translation: X:429.43, Y:-67.05, Z:-4.91 [[ 9.85615606e-01 1.67993860e-01 1.84374955e-02 4.29427410e+02] [-1.67968604e-01 9.85788018e-01 -2.92104389e-03 -6.70478645e+01] [-1.86661796e-02 -2.17893943e-04 9.99825748e-01 -4.90940867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.60576923100007 meters Centerline goodness [0,1] 0.9999577649195421 Centerline is valid? [True, True] Translation: X:429.46, Y:-67.04, Z:-4.91 [[ 9.85374478e-01 1.69241965e-01 1.98568782e-02 4.29456204e+02] [-1.69212944e-01 9.85574497e-01 -3.14491175e-03 -6.70435009e+01] [-2.01026838e-02 -2.61125044e-04 9.99797887e-01 -4.90863595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.63576923100004 meters Centerline goodness [0,1] 0.9999574766653201 Centerline is valid? [True, True] Translation: X:429.48, Y:-67.04, Z:-4.91 [[ 9.85262817e-01 1.70058839e-01 1.83622800e-02 4.29484443e+02] [-1.70034189e-01 9.85433876e-01 -2.90684625e-03 -6.70413092e+01] [-1.85891476e-02 -2.58207860e-04 9.99827174e-01 -4.91344667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.66576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.51, Y:-67.05, Z:-4.92 [[ 9.85376944e-01 1.69527262e-01 1.71109541e-02 4.29511975e+02] [-1.69505791e-01 9.85525471e-01 -2.70799699e-03 -6.70481830e+01] [-1.73223604e-02 -2.32008009e-04 9.99849930e-01 -4.91589492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.69576923100004 meters Centerline goodness [0,1] 0.9999787627158239 Centerline is valid? [True, True] Translation: X:429.54, Y:-67.04, Z:-4.92 [[ 9.85591415e-01 1.68352443e-01 1.63406690e-02 4.29540586e+02] [-1.68332720e-01 9.85726845e-01 -2.58491324e-03 -6.70448202e+01] [-1.65426126e-02 -2.03000966e-04 9.99863141e-01 -4.91977159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.57, Y:-67.05, Z:-4.92 [[ 9.85853891e-01 1.66772625e-01 1.67032185e-02 4.29568556e+02] [-1.66751808e-01 9.85995364e-01 -2.64117061e-03 -6.70541529e+01] [-1.69097710e-02 -1.81483573e-04 9.99857003e-01 -4.91798078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.75576923100004 meters Centerline goodness [0,1] 0.999978918075642 Centerline is valid? [True, True] Translation: X:429.60, Y:-67.06, Z:-4.92 [[ 9.86257012e-01 1.64310338e-01 1.72979250e-02 4.29595649e+02] [-1.64287648e-01 9.86408684e-01 -2.73439847e-03 -6.70585050e+01] [-1.75121134e-02 -1.45015754e-04 9.99846641e-01 -4.91919480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.62, Y:-67.08, Z:-4.92 [[ 9.87216501e-01 1.58389996e-01 1.77817010e-02 4.29622517e+02] [-1.58365079e-01 9.87376629e-01 -2.80973805e-03 -6.70752486e+01] [-1.80022704e-02 -4.21807020e-05 9.99837945e-01 -4.91693522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.81576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.65, Y:-67.08, Z:-4.92 [[ 9.87578554e-01 1.56092215e-01 1.79949880e-02 4.29649059e+02] [-1.56066329e-01 9.87742487e-01 -2.84259962e-03 -6.70828374e+01] [-1.82181218e-02 -1.12129697e-06 9.99834036e-01 -4.91722537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8457692310001 meters Centerline goodness [0,1] 0.9999578254818439 Centerline is valid? [True, True] Translation: X:429.68, Y:-67.09, Z:-4.92 [[ 9.87849673e-01 1.54332187e-01 1.82920555e-02 4.29677548e+02] [-1.54305160e-01 9.88019016e-01 -2.88835850e-03 -6.70891159e+01] [-1.85186653e-02 3.07054511e-05 9.99828514e-01 -4.91661601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.87576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.71, Y:-67.09, Z:-4.92 [[ 9.87848953e-01 1.54363367e-01 1.80664733e-02 4.29706248e+02] [-1.54337023e-01 9.88014145e-01 -2.85189514e-03 -6.70931011e+01] [-1.82901593e-02 2.89159250e-05 9.99832721e-01 -4.91788273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.74, Y:-67.10, Z:-4.92 [[ 9.87780696e-01 1.54838177e-01 1.77323118e-02 4.29735157e+02] [-1.54812890e-01 9.87939846e-01 -2.79827289e-03 -6.70962357e+01] [-1.79517369e-02 1.88895002e-05 9.99838854e-01 -4.91902340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.93576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.76, Y:-67.10, Z:-4.92 [[ 9.87752012e-01 1.55031105e-01 1.76442433e-02 4.29763494e+02] [-1.55006110e-01 9.87909589e-01 -2.78379936e-03 -6.70994432e+01] [-1.78624926e-02 1.47378933e-05 9.99840453e-01 -4.91904474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.79, Y:-67.10, Z:-4.92 [[ 9.87808035e-01 1.54592470e-01 1.83426946e-02 4.29790630e+02] [-1.54565398e-01 9.87978324e-01 -2.89311356e-03 -6.71030104e+01] [-1.85694383e-02 2.26949234e-05 9.99827573e-01 -4.91854848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.99576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.82, Y:-67.11, Z:-4.92 [[ 9.87878761e-01 1.54100940e-01 1.86669098e-02 4.29818031e+02] [-1.54072836e-01 9.88055109e-01 -2.94311549e-03 -6.71081262e+01] [-1.88974725e-02 3.13775486e-05 9.99821426e-01 -4.91907147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.85, Y:-67.12, Z:-4.92 [[ 9.88080599e-01 1.52805189e-01 1.86360830e-02 4.29846323e+02] [-1.52776969e-01 9.88256329e-01 -2.93711775e-03 -6.71152847e+01] [-1.88660338e-02 5.49447825e-05 9.99822019e-01 -4.92002241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.05576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.87, Y:-67.12, Z:-4.92 [[ 9.88231766e-01 1.51858183e-01 1.83594221e-02 4.29874353e+02] [-1.51830646e-01 9.88402290e-01 -2.89267398e-03 -6.71208874e+01] [-1.85857711e-02 7.11093892e-05 9.99827267e-01 -4.92107531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.90, Y:-67.13, Z:-4.92 [[ 9.88480674e-01 1.50441532e-01 1.65318884e-02 4.29902948e+02] [-1.50419019e-01 9.88618904e-01 -2.60406343e-03 -6.71261874e+01] [-1.67354967e-02 8.73559479e-05 9.99859948e-01 -4.92471430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.11576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.93, Y:-67.13, Z:-4.93 [[ 9.88510436e-01 1.50307573e-01 1.59609273e-02 4.29930326e+02] [-1.50286580e-01 9.88639280e-01 -2.51349309e-03 -6.71302608e+01] [-1.61573968e-02 8.59009649e-05 9.99869457e-01 -4.92648613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1457692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.96, Y:-67.13, Z:-4.93 [[ 9.88508713e-01 1.50286649e-01 1.62618119e-02 4.29958902e+02] [-1.50264871e-01 9.88642461e-01 -2.55985696e-03 -6.71339714e+01] [-1.64618301e-02 8.68618416e-05 9.99864491e-01 -4.92643328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.17576923100006 meters Centerline goodness [0,1] 0.9999574404698572 Centerline is valid? [True, True] Translation: X:429.99, Y:-67.14, Z:-4.93 [[ 9.88448514e-01 1.50613743e-01 1.68830169e-02 4.29987859e+02] [-1.50590331e-01 9.88592683e-01 -2.65682445e-03 -6.71376757e+01] [-1.70905813e-02 8.37150697e-05 9.99853942e-01 -4.92584523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.20576923100003 meters Centerline goodness [0,1] 0.9999787238569392 Centerline is valid? [True, True] Translation: X:430.02, Y:-67.14, Z:-4.92 [[ 9.88369944e-01 1.50961269e-01 1.83180188e-02 4.30016611e+02] [-1.50933785e-01 9.88539675e-01 -2.88173143e-03 -6.71400730e+01] [-1.85431182e-02 8.34088223e-05 9.99828058e-01 -4.92248524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.23576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.05, Y:-67.14, Z:-4.92 [[ 9.88364807e-01 1.50904976e-01 1.90445772e-02 4.30045506e+02] [-1.50875276e-01 9.88548269e-01 -2.99507418e-03 -6.71431261e+01] [-1.92784554e-02 8.68700746e-05 9.99814150e-01 -4.92244905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.07, Y:-67.15, Z:-4.92 [[ 9.88389384e-01 1.50751911e-01 1.89812239e-02 4.30072723e+02] [-1.50722397e-01 9.88571623e-01 -2.98418938e-03 -6.71469468e+01] [-1.92141716e-02 8.86455372e-05 9.99815387e-01 -4.92355799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.29576923100007 meters Centerline goodness [0,1] 0.9999785200300719 Centerline is valid? [True, True] Translation: X:430.10, Y:-67.15, Z:-4.93 [[ 9.88478110e-01 1.50254102e-01 1.82956519e-02 4.30100626e+02] [-1.50226617e-01 9.88647407e-01 -2.87529603e-03 -6.71490897e+01] [-1.85199738e-02 9.36732922e-05 9.99828486e-01 -4.92614629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.13, Y:-67.15, Z:-4.93 [[ 9.88448484e-01 1.50501302e-01 1.78592460e-02 4.30128479e+02] [-1.50475173e-01 9.88609807e-01 -2.80563343e-03 -6.71502432e+01] [-1.80780772e-02 8.58509751e-05 9.99836575e-01 -4.92773913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.35576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.16, Y:-67.15, Z:-4.93 [[ 9.88368235e-01 1.51029536e-01 1.78413035e-02 4.30157090e+02] [-1.51003564e-01 9.88529248e-01 -2.80178023e-03 -6.71510910e+01] [-1.80598019e-02 7.50901570e-05 9.99836906e-01 -4.92815789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.38576923100004 meters Centerline goodness [0,1] 0.9999787681267118 Centerline is valid? [True, True] Translation: X:430.19, Y:-67.15, Z:-4.93 [[ 9.88355833e-01 1.51143045e-01 1.75649485e-02 4.30185540e+02] [-1.51117903e-01 9.88511899e-01 -2.75763175e-03 -6.71520351e+01] [-1.77799575e-02 7.11432454e-05 9.99841922e-01 -4.92995483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.41576923100007 meters Centerline goodness [0,1] 0.9999576342992713 Centerline is valid? [True, True] Translation: X:430.21, Y:-67.16, Z:-4.93 [[ 9.88462720e-01 1.50438255e-01 1.76006680e-02 4.30213222e+02] [-1.50412917e-01 9.88619403e-01 -2.76221549e-03 -6.71568429e+01] [-1.78159048e-02 8.29792172e-05 9.99841281e-01 -4.93151110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.44576923100004 meters Centerline goodness [0,1] 0.9999361158432709 Centerline is valid? [True, True] Translation: X:430.24, Y:-67.16, Z:-4.93 [[ 9.88642787e-01 1.49218497e-01 1.78683928e-02 4.30242161e+02] [-1.49192201e-01 9.88804242e-01 -2.80319074e-03 -6.71613787e+01] [-1.80866305e-02 1.05529461e-04 9.99836418e-01 -4.93095620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.4757692310001 meters Centerline goodness [0,1] 0.9999149732165632 Centerline is valid? [True, True] Translation: X:430.27, Y:-67.17, Z:-4.93 [[ 9.89138788e-01 1.45906534e-01 1.77691321e-02 4.30270262e+02] [-1.45880010e-01 9.89298366e-01 -2.78684566e-03 -6.71687192e+01] [-1.79855924e-02 1.64415971e-04 9.99838233e-01 -4.93168075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.50576923100004 meters Centerline goodness [0,1] 0.9999572320588487 Centerline is valid? [True, True] Translation: X:430.30, Y:-67.18, Z:-4.93 [[ 9.89454919e-01 1.43790012e-01 1.74182632e-02 4.30297130e+02] [-1.43764209e-01 9.89608202e-01 -2.73112417e-03 -6.71759662e+01] [-1.76299645e-02 1.98201413e-04 9.99844560e-01 -4.93294741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5357692310001 meters Centerline goodness [0,1] 0.9999146593842675 Centerline is valid? [True, True] Translation: X:430.33, Y:-67.18, Z:-4.93 [[ 9.90102993e-01 1.39119676e-01 1.84872657e-02 4.30325329e+02] [-1.39089815e-01 9.90275531e-01 -2.89760067e-03 -6.71840779e+01] [-1.87106002e-02 2.97532717e-04 9.99824897e-01 -4.93041127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.56576923100005 meters Centerline goodness [0,1] 0.9998307487253263 Centerline is valid? [True, True] Translation: X:430.35, Y:-67.20, Z:-4.93 [[ 9.90493337e-01 1.36198205e-01 1.93131551e-02 4.30351411e+02] [-1.36165074e-01 9.90681540e-01 -3.02637953e-03 -6.71997919e+01] [-1.95453737e-02 3.67831564e-04 9.99808903e-01 -4.93078171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5957692310001 meters Centerline goodness [0,1] 0.9998097452700561 Centerline is valid? [True, True] Translation: X:430.38, Y:-67.21, Z:-4.93 [[ 9.90886273e-01 1.33267626e-01 1.95993341e-02 4.30379538e+02] [-1.33232953e-01 9.91079994e-01 -3.07021546e-03 -6.72112019e+01] [-1.98336682e-02 4.30957199e-04 9.99803201e-01 -4.93025500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.62576923100005 meters Centerline goodness [0,1] 0.9998506953331627 Centerline is valid? [True, True] Translation: X:430.41, Y:-67.22, Z:-4.93 [[ 9.91592993e-01 1.28102357e-01 1.82516700e-02 4.30409366e+02] [-1.28071421e-01 9.91760828e-01 -2.85865782e-03 -6.72195431e+01] [-1.84674921e-02 4.97107750e-04 9.99829338e-01 -4.93219000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6557692310001 meters Centerline goodness [0,1] 0.9997666822211853 Centerline is valid? [True, True] Translation: X:430.44, Y:-67.23, Z:-4.94 [[ 9.91882724e-01 1.26021768e-01 1.69462815e-02 4.30437285e+02] [-1.25994794e-01 9.92027352e-01 -2.65436213e-03 -6.72327474e+01] [-1.71456822e-02 4.97672684e-04 9.99852878e-01 -4.93565970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.68576923100005 meters Centerline goodness [0,1] 0.9998092371606011 Centerline is valid? [True, True] Translation: X:430.47, Y:-67.24, Z:-4.94 [[ 9.92403129e-01 1.22092757e-01 1.51455734e-02 4.30466247e+02] [-1.22070758e-01 9.92518566e-01 -2.37200198e-03 -6.72448271e+01] [-1.53218671e-02 5.05150550e-04 9.99882486e-01 -4.93891685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7157692310001 meters Centerline goodness [0,1] 0.9998069829287124 Centerline is valid? [True, True] Translation: X:430.50, Y:-67.25, Z:-4.94 [[ 9.92559999e-01 1.20784883e-01 1.53512233e-02 4.30496603e+02] [-1.20762125e-01 9.92678562e-01 -2.40431739e-03 -6.72530862e+01] [-1.55292355e-02 5.32582910e-04 9.99879272e-01 -4.93892216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.74576923100005 meters Centerline goodness [0,1] 0.9998069829287124 Centerline is valid? [True, True] Translation: X:430.53, Y:-67.26, Z:-4.94 [[ 9.92557169e-01 1.20808146e-01 1.53511671e-02 4.30527071e+02] [-1.20785385e-01 9.92675732e-01 -2.40467651e-03 -6.72579039e+01] [-1.55292355e-02 5.32582272e-04 9.99879272e-01 -4.93960196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7757692310001 meters Centerline goodness [0,1] 0.9997034589396538 Centerline is valid? [True, True] Translation: X:430.56, Y:-67.27, Z:-4.94 [[ 9.92631776e-01 1.20107429e-01 1.60113508e-02 4.30558029e+02] [-1.20082583e-01 9.92760739e-01 -2.50773381e-03 -6.72656335e+01] [-1.61966379e-02 5.66571908e-04 9.99868665e-01 -4.93864633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.80576923100006 meters Centerline goodness [0,1] 0.9996157868897949 Centerline is valid? [True, True] Translation: X:430.59, Y:-67.28, Z:-4.94 [[ 9.92713640e-01 1.19207621e-01 1.75832976e-02 4.30587030e+02] [-1.19177450e-01 9.92869141e-01 -2.75758136e-03 -6.72788789e+01] [-1.77866383e-02 6.41956059e-04 9.99841599e-01 -4.93598233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8357692310001 meters Centerline goodness [0,1] 0.9995967741935484 Centerline is valid? [True, True] Translation: X:430.62, Y:-67.29, Z:-4.93 [[ 9.92755161e-01 1.18717921e-01 1.85268725e-02 4.30617905e+02] [-1.18684340e-01 9.92927784e-01 -2.90560914e-03 -6.72866206e+01] [-1.87407943e-02 6.85708841e-04 9.99824141e-01 -4.93499633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.86576923100006 meters Centerline goodness [0,1] 0.9998297582567246 Centerline is valid? [True, True] Translation: X:430.65, Y:-67.30, Z:-4.93 [[ 9.92737017e-01 1.18758275e-01 1.92272347e-02 4.30649128e+02] [-1.18722055e-01 9.92922939e-01 -3.01847234e-03 -6.72979570e+01] [-1.94496309e-02 7.13852421e-04 9.99810583e-01 -4.93425503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8957692310001 meters Centerline goodness [0,1] 0.9996584918144756 Centerline is valid? [True, True] Translation: X:430.68, Y:-67.30, Z:-4.94 [[ 9.92653058e-01 1.19526432e-01 1.87972807e-02 4.30680800e+02] [-1.19491884e-01 9.92830781e-01 -2.95453938e-03 -6.73035799e+01] [-1.90156644e-02 6.86710067e-04 9.99818950e-01 -4.93616110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.92576923100006 meters Centerline goodness [0,1] 0.9997430901967501 Centerline is valid? [True, True] Translation: X:430.71, Y:-67.31, Z:-4.94 [[ 9.92478914e-01 1.21066717e-01 1.81233333e-02 4.30711015e+02] [-1.21034803e-01 9.92644168e-01 -2.85159606e-03 -6.73108409e+01] [-1.83352545e-02 6.36594877e-04 9.99831692e-01 -4.93813023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.95576923100003 meters Centerline goodness [0,1] 0.9998738912942957 Centerline is valid? [True, True] Translation: X:430.74, Y:-67.32, Z:-4.94 [[ 9.91865790e-01 1.26120867e-01 1.71983027e-02 4.30740165e+02] [-1.26092830e-01 9.92014747e-01 -2.70931339e-03 -6.73152180e+01] [-1.74026709e-02 5.18692600e-04 9.99848428e-01 -4.94041533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.98576923100006 meters Centerline goodness [0,1] 0.9999150652935556 Centerline is valid? [True, True] Translation: X:430.77, Y:-67.31, Z:-4.94 [[ 9.91469917e-01 1.29222634e-01 1.69974969e-02 4.30772093e+02] [-1.29195707e-01 9.91615500e-01 -2.67745305e-03 -6.73136403e+01] [-1.72009690e-02 4.58610516e-04 9.99851947e-01 -4.94103806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01576923100004 meters Centerline goodness [0,1] 0.9999361607047859 Centerline is valid? [True, True] Translation: X:430.80, Y:-67.32, Z:-4.94 [[ 9.90960456e-01 1.33149048e-01 1.63922389e-02 4.30802800e+02] [-1.33124534e-01 9.91095953e-01 -2.58254987e-03 -6.73163022e+01] [-1.65901457e-02 3.76995633e-04 9.99862303e-01 -4.94307214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.04576923100007 meters Centerline goodness [0,1] 0.9999154780771262 Centerline is valid? [True, True] Translation: X:430.83, Y:-67.32, Z:-4.94 [[ 9.90856267e-01 1.33875118e-01 1.67723540e-02 4.30833016e+02] [-1.33849566e-01 9.90998140e-01 -2.64193453e-03 -6.73241867e+01] [-1.69750609e-02 3.72805087e-04 9.99855844e-01 -4.94405375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.87, Y:-67.33, Z:-4.94 [[ 9.90871901e-01 1.33707176e-01 1.71833565e-02 4.30865005e+02] [-1.33680286e-01 9.91020808e-01 -2.70929135e-03 -6.73258621e+01] [-1.73913155e-02 3.87484669e-04 9.99848685e-01 -4.94327701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.10576923100007 meters Centerline goodness [0,1] 0.999978501558637 Centerline is valid? [True, True] Translation: X:430.90, Y:-67.33, Z:-4.94 [[ 9.90940858e-01 1.33196039e-01 1.71764853e-02 4.30895438e+02] [-1.33169040e-01 9.91089631e-01 -2.71127557e-03 -6.73342936e+01] [-1.73845676e-02 3.99337690e-04 9.99848797e-01 -4.94454661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.13576923100004 meters Centerline goodness [0,1] 0.9999366058787482 Centerline is valid? [True, True] Translation: X:430.92, Y:-67.35, Z:-4.95 [[ 9.91208069e-01 1.31296543e-01 1.63640681e-02 4.30924623e+02] [-1.31271738e-01 9.91343052e-01 -2.58553248e-03 -6.73491723e+01] [-1.65618767e-02 4.14660995e-04 9.99862757e-01 -4.94740601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.16576923100007 meters Centerline goodness [0,1] 0.9999787315496192 Centerline is valid? [True, True] Translation: X:430.96, Y:-67.36, Z:-4.95 [[ 9.91282981e-01 1.30753317e-01 1.61747304e-02 4.30956203e+02] [-1.30728969e-01 9.91414844e-01 -2.55812949e-03 -6.73565638e+01] [-1.63703517e-02 4.21324395e-04 9.99865908e-01 -4.94808091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.19576923100004 meters Centerline goodness [0,1] 0.9998928142685646 Centerline is valid? [True, True] Translation: X:430.99, Y:-67.36, Z:-4.95 [[ 9.91310002e-01 1.30531207e-01 1.63120708e-02 4.30988432e+02] [-1.30506370e-01 9.91444107e-01 -2.58253707e-03 -6.73605208e+01] [-1.65096082e-02 4.31265681e-04 9.99863614e-01 -4.94768397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2257692310001 meters Centerline goodness [0,1] 0.9998929519568382 Centerline is valid? [True, True] Translation: X:431.02, Y:-67.37, Z:-4.95 [[ 9.91151521e-01 1.31585302e-01 1.74347737e-02 4.31018797e+02] [-1.31557029e-01 9.91304751e-01 -2.76381052e-03 -6.73664854e+01] [-1.76468509e-02 4.45687967e-04 9.99844183e-01 -4.94570171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.25576923100004 meters Centerline goodness [0,1] 0.999914571898426 Centerline is valid? [True, True] Translation: X:431.05, Y:-67.37, Z:-4.95 [[ 9.90956341e-01 1.32905459e-01 1.84842743e-02 4.31050750e+02] [-1.32873877e-01 9.91128618e-01 -2.93185662e-03 -6.73707652e+01] [-1.87099530e-02 4.49264726e-04 9.99824853e-01 -4.94530328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2857692310001 meters Centerline goodness [0,1] 0.999850736720899 Centerline is valid? [True, True] Translation: X:431.08, Y:-67.37, Z:-4.94 [[ 9.90455613e-01 1.36364414e-01 2.00605580e-02 4.31081308e+02] [-1.36327844e-01 9.90658654e-01 -3.18579892e-03 -6.73739194e+01] [-2.03075950e-02 4.20579801e-04 9.99793691e-01 -4.94447386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.31576923100005 meters Centerline goodness [0,1] 0.9999362027900647 Centerline is valid? [True, True] Translation: X:431.11, Y:-67.37, Z:-4.95 [[ 9.90212288e-01 1.38161632e-01 1.97734143e-02 4.31113833e+02] [-1.38126456e-01 9.90409622e-01 -3.14037611e-03 -6.73742673e+01] [-2.00176593e-02 3.78407366e-04 9.99799555e-01 -4.94524825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3457692310001 meters Centerline goodness [0,1] 0.9999565717759972 Centerline is valid? [True, True] Translation: X:431.15, Y:-67.38, Z:-4.95 [[ 9.89974850e-01 1.39996250e-01 1.87308849e-02 4.31145828e+02] [-1.39964958e-01 9.90151980e-01 -2.97775271e-03 -6.73763562e+01] [-1.89632970e-02 3.26232770e-04 9.99820127e-01 -4.94695201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.37576923100005 meters Centerline goodness [0,1] 0.9999577577831285 Centerline is valid? [True, True] Translation: X:431.18, Y:-67.38, Z:-4.95 [[ 9.89627888e-01 1.42675521e-01 1.67433439e-02 4.31176889e+02] [-1.42650858e-01 9.89769485e-01 -2.66429307e-03 -6.73816858e+01] [-1.69521803e-02 2.48206337e-04 9.99856271e-01 -4.95010169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4057692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.21, Y:-67.39, Z:-4.95 [[ 9.89523189e-01 1.43409604e-01 1.66596336e-02 4.31206475e+02] [-1.43385229e-01 9.89663392e-01 -2.65465925e-03 -6.73872812e+01] [-1.68681331e-02 2.38101517e-04 9.99857695e-01 -4.95158913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.43576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.24, Y:-67.39, Z:-4.95 [[ 9.89419679e-01 1.44092189e-01 1.69156777e-02 4.31238192e+02] [-1.44067157e-01 9.89564241e-01 -2.69560354e-03 -6.73898991e+01] [-1.71275652e-02 2.30089584e-04 9.99853286e-01 -4.95160865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4657692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.27, Y:-67.40, Z:-4.95 [[ 9.89078861e-01 1.46293944e-01 1.79189523e-02 4.31268287e+02] [-1.46266210e-01 9.89241144e-01 -2.85579478e-03 -6.73963910e+01] [-1.81439504e-02 2.03669006e-04 9.99835364e-01 -4.95156304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.49576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.30, Y:-67.40, Z:-4.95 [[ 9.88928023e-01 1.47320003e-01 1.78376754e-02 4.31297554e+02] [-1.47292659e-01 9.89088865e-01 -2.84437066e-03 -6.74022911e+01] [-1.80620788e-02 1.85519211e-04 9.99836850e-01 -4.95308063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5257692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.33, Y:-67.40, Z:-4.95 [[ 9.88556074e-01 1.49870783e-01 1.71941159e-02 4.31327774e+02] [-1.49845766e-01 9.88705583e-01 -2.74150714e-03 -6.74041276e+01] [-1.74107902e-02 1.33668055e-04 9.99848412e-01 -4.95445129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.55576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.36, Y:-67.41, Z:-4.95 [[ 9.88244523e-01 1.51914492e-01 1.71682625e-02 4.31358417e+02] [-1.51889859e-01 9.88393635e-01 -2.73738494e-03 -6.74051497e+01] [-1.73848498e-02 9.75207239e-05 9.99848867e-01 -4.95419188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5857692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.39, Y:-67.41, Z:-4.96 [[ 9.87917499e-01 1.54043600e-01 1.70171548e-02 4.31388130e+02] [-1.54019713e-01 9.88064049e-01 -2.71334951e-03 -6.74078867e+01] [-1.72320130e-02 5.95881561e-05 9.99851516e-01 -4.95642669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.61576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.42, Y:-67.41, Z:-4.96 [[ 9.87559706e-01 1.56347069e-01 1.67756272e-02 4.31417960e+02] [-1.56324190e-01 9.87702179e-01 -2.67469725e-03 -6.74082625e+01] [-1.69875046e-02 1.89868957e-05 9.99855702e-01 -4.95617899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6457692310001 meters Centerline goodness [0,1] 0.9999785972647305 Centerline is valid? [True, True] Translation: X:431.45, Y:-67.40, Z:-4.96 [[ 9.86679559e-01 1.61832552e-01 1.65430499e-02 4.31447492e+02] [-1.61811076e-01 9.86818230e-01 -2.63741276e-03 -6.74030923e+01] [-1.67518025e-02 -7.45674533e-05 9.99859676e-01 -4.95631582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.67576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.48, Y:-67.40, Z:-4.96 [[ 9.86260013e-01 1.64346612e-01 1.67742973e-02 4.31475782e+02] [-1.64324913e-01 9.86402644e-01 -2.67324137e-03 -6.74013836e+01] [-1.69855494e-02 -1.19923882e-04 9.99855728e-01 -4.95610277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.70576923100003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.51, Y:-67.40, Z:-4.96 [[ 9.85872106e-01 1.66596114e-01 1.73759958e-02 4.31505268e+02] [-1.66573200e-01 9.86025206e-01 -2.76797847e-03 -6.74006457e+01] [-1.75943043e-02 -1.65502469e-04 9.99845195e-01 -4.95553836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.73576923100006 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:431.53, Y:-67.40, Z:-4.95 [[ 9.85340195e-01 1.69488482e-01 1.94513245e-02 4.31534395e+02] [-1.69460350e-01 9.85532138e-01 -3.09756160e-03 -6.73981424e+01] [-1.96949064e-02 -2.44076315e-04 9.99806007e-01 -4.95295515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76576923100004 meters Centerline goodness [0,1] 0.9999572704354143 Centerline is valid? [True, True] Translation: X:431.56, Y:-67.40, Z:-4.95 [[ 9.85126626e-01 1.70672422e-01 1.99111953e-02 4.31563871e+02] [-1.70643215e-01 9.85327787e-01 -3.16933949e-03 -6.73966077e+01] [-2.01599729e-02 -2.75509657e-04 9.99796729e-01 -4.95192897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.79576923100007 meters Centerline goodness [0,1] 0.9999154334038055 Centerline is valid? [True, True] Translation: X:431.59, Y:-67.40, Z:-4.95 [[ 9.85091273e-01 1.70931973e-01 1.94279120e-02 4.31591690e+02] [-1.70904235e-01 9.85282794e-01 -3.09151416e-03 -6.73961136e+01] [-1.96704260e-02 -2.74888817e-04 9.99806481e-01 -4.95421603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82576923100004 meters Centerline goodness [0,1] 0.9999578050169835 Centerline is valid? [True, True] Translation: X:431.62, Y:-67.40, Z:-4.96 [[ 9.85004514e-01 1.71509299e-01 1.87261062e-02 4.31619575e+02] [-1.71483654e-01 9.85182462e-01 -2.97874226e-03 -6.73952392e+01] [-1.89595134e-02 -2.77146541e-04 9.99820214e-01 -4.95661023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.85576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.65, Y:-67.40, Z:-4.96 [[ 9.84958679e-01 1.71787090e-01 1.85902030e-02 4.31648817e+02] [-1.71761886e-01 9.85134060e-01 -2.95597938e-03 -6.73964702e+01] [-1.88216413e-02 -2.81570795e-04 9.99822818e-01 -4.95741834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.88576923100004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.68, Y:-67.39, Z:-4.96 [[ 9.84909674e-01 1.71995971e-01 1.92437040e-02 4.31677268e+02] [-1.71969023e-01 9.85097608e-01 -3.05894804e-03 -6.73928385e+01] [-1.94830535e-02 -2.96533461e-04 9.99810143e-01 -4.95537521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.91576923100007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.71, Y:-67.39, Z:-4.96 [[ 9.84896951e-01 1.72046119e-01 1.94455345e-02 4.31705159e+02] [-1.72018635e-01 9.85088850e-01 -3.08986521e-03 -6.73926253e+01] [-1.96871785e-02 -3.01795478e-04 9.99806143e-01 -4.95537423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.94576923100004 meters Centerline goodness [0,1] 0.999915743354257 Centerline is valid? [True, True] Translation: X:431.73, Y:-67.39, Z:-4.96 [[ 9.84904243e-01 1.71992947e-01 1.95462953e-02 4.31732848e+02] [-1.71965195e-01 9.85098134e-01 -3.10447852e-03 -6.73892297e+01] [-1.97889674e-02 -3.03668407e-04 9.99804133e-01 -4.95739809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.9757692310001 meters Centerline goodness [0,1] 0.9999575416622439 Centerline is valid? [True, True] Translation: X:431.76, Y:-67.39, Z:-4.96 [[ 9.85134306e-01 1.70681467e-01 1.94483119e-02 4.31761108e+02] [-1.70653771e-01 9.85326220e-01 -3.08721064e-03 -6.73929944e+01] [-1.96898613e-02 -2.77610643e-04 9.99806097e-01 -4.95912252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.00576923100004 meters Centerline goodness [0,1] 0.9999787455631363 Centerline is valid? [True, True] Translation: X:431.79, Y:-67.40, Z:-4.96 [[ 9.85518555e-01 1.68474855e-01 1.92198025e-02 4.31789635e+02] [-1.68447404e-01 9.85705924e-01 -3.05003263e-03 -6.73986645e+01] [-1.94589270e-02 -2.31662084e-04 9.99810630e-01 -4.96006335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.82, Y:-67.41, Z:-4.96 [[ 9.86593652e-01 1.62103251e-01 1.88547610e-02 4.31815864e+02] [-1.62075684e-01 9.86773796e-01 -2.99126195e-03 -6.74093699e+01] [-1.90902774e-02 -1.04738240e-04 9.99817759e-01 -4.96074132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.06576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.84, Y:-67.42, Z:-4.96 [[ 9.87190726e-01 1.58455610e-01 1.86088799e-02 4.31843706e+02] [-1.58428130e-01 9.87366102e-01 -2.95112895e-03 -6.74181106e+01] [-1.88414002e-02 -3.48429218e-05 9.99822484e-01 -4.96181467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.87, Y:-67.43, Z:-4.96 [[ 9.88108768e-01 1.52543285e-01 1.92771784e-02 4.31870306e+02] [-1.52512687e-01 9.88296787e-01 -3.05621593e-03 -6.74313652e+01] [-1.95177787e-02 7.98594867e-05 9.99809507e-01 -4.96170372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.12576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.90, Y:-67.44, Z:-4.96 [[ 9.88384983e-01 1.50799147e-01 1.88346198e-02 4.31897603e+02] [-1.50769644e-01 9.88564416e-01 -2.98488699e-03 -6.74384335e+01] [-1.90693533e-02 1.10528566e-04 9.99818157e-01 -4.96276188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1557692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.93, Y:-67.44, Z:-4.97 [[ 9.88525402e-01 1.50000595e-01 1.78143447e-02 4.31925857e+02] [-1.49974092e-01 9.88685899e-01 -2.82206863e-03 -6.74441083e+01] [-1.80361034e-02 1.17996355e-04 9.99837329e-01 -4.96598300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.18576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.95, Y:-67.45, Z:-4.97 [[ 9.88623783e-01 1.49681972e-01 1.47757371e-02 4.31953124e+02] [-1.49663711e-01 9.88734189e-01 -2.34027730e-03 -6.74496620e+01] [-1.49595738e-02 1.02262158e-04 9.99888094e-01 -4.97230560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2157692310001 meters Centerline goodness [0,1] 0.9999568006566301 Centerline is valid? [True, True] Translation: X:431.98, Y:-67.45, Z:-4.97 [[ 9.88653129e-01 1.49551915e-01 1.41143299e-02 4.31981627e+02] [-1.49535250e-01 9.88753870e-01 -2.23472012e-03 -6.74532921e+01] [-1.42898050e-02 9.87731918e-05 9.99897891e-01 -4.96864255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.24576923100005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.01, Y:-67.46, Z:-4.97 [[ 9.88735121e-01 1.48981268e-01 1.44028210e-02 4.32007941e+02] [-1.48963864e-01 9.88840012e-01 -2.27977437e-03 -6.74629674e+01] [-1.45817293e-02 1.08593125e-04 9.99893675e-01 -4.97420443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2757692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.04, Y:-67.47, Z:-4.97 [[ 9.88893517e-01 1.47640709e-01 1.70830951e-02 4.32035919e+02] [-1.47616051e-01 9.89041050e-01 -2.70246980e-03 -6.74744018e+01] [-1.72948769e-02 1.50715833e-04 9.99850421e-01 -4.96926193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.30576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.06, Y:-67.48, Z:-4.97 [[ 9.88903287e-01 1.47415369e-01 1.84118822e-02 4.32063360e+02] [-1.47386702e-01 9.89074659e-01 -2.91180981e-03 -6.74806321e+01] [-1.86399716e-02 1.65831703e-04 9.99826247e-01 -4.96731319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3357692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.09, Y:-67.49, Z:-4.97 [[ 9.88776642e-01 1.48244704e-01 1.85542511e-02 4.32091647e+02] [-1.48215758e-01 9.88950699e-01 -2.93324001e-03 -6.74851678e+01] [-1.87840769e-02 1.50286826e-04 9.99823552e-01 -4.96764800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.36576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.12, Y:-67.48, Z:-4.97 [[ 9.88178195e-01 1.52301329e-01 1.75544753e-02 4.32119608e+02] [-1.52276071e-01 9.88334104e-01 -2.77450171e-03 -6.74844431e+01] [-1.77722469e-02 6.85755704e-05 9.99842059e-01 -4.96979480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3957692310001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.15, Y:-67.48, Z:-4.97 [[ 9.87790697e-01 1.54859133e-01 1.69761103e-02 4.32148273e+02] [-1.54835905e-01 9.87936561e-01 -2.68213179e-03 -6.74847241e+01] [-1.71866726e-02 2.08734245e-05 9.99852298e-01 -4.97124730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.42576923100006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.18, Y:-67.48, Z:-4.97 [[ 9.87404734e-01 1.57330960e-01 1.66991222e-02 4.32175455e+02] [-1.57308847e-01 9.87545932e-01 -2.63781663e-03 -6.74833106e+01] [-1.69061604e-02 -2.23270366e-05 9.99857080e-01 -4.97213255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.45576923100003 meters Centerline goodness [0,1] 0.9999786260847262 Centerline is valid? [True, True] Translation: X:432.21, Y:-67.48, Z:-4.97 [[ 9.86629448e-01 1.62123298e-01 1.66843546e-02 4.32206153e+02] [-1.62101933e-01 9.86770503e-01 -2.63403178e-03 -6.74757656e+01] [-1.68906669e-02 -1.05752819e-04 9.99857337e-01 -4.97306739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.48576923100006 meters Centerline goodness [0,1] 0.9998940812608567 Centerline is valid? [True, True] Translation: X:432.24, Y:-67.48, Z:-4.97 [[ 9.86373408e-01 1.63688185e-01 1.65431951e-02 4.32235451e+02] [-1.63667413e-01 9.86512119e-01 -2.61102930e-03 -6.74758551e+01] [-1.67474571e-02 -1.32132070e-04 9.99859743e-01 -4.97418607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51576923100004 meters Centerline goodness [0,1] 0.999767008387698 Centerline is valid? [True, True] Translation: X:432.26, Y:-67.48, Z:-4.97 [[ 9.86302483e-01 1.64111597e-01 1.65769781e-02 4.32263833e+02] [-1.64090811e-01 9.86441769e-01 -2.61563564e-03 -6.74787590e+01] [-1.67814798e-02 -1.40321861e-04 9.99859171e-01 -4.97487383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.54576923100007 meters Centerline goodness [0,1] 0.9997048655029935 Centerline is valid? [True, True] Translation: X:432.29, Y:-67.49, Z:-4.98 [[ 9.86785346e-01 1.61166940e-01 1.67301439e-02 4.32290858e+02] [-1.61145357e-01 9.86927155e-01 -2.63911677e-03 -6.74875517e+01] [-1.69367717e-02 -9.17432594e-05 9.99856558e-01 -4.97573678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57576923100004 meters Centerline goodness [0,1] 0.99955672823219 Centerline is valid? [True, True] Translation: X:432.32, Y:-67.50, Z:-4.98 [[ 9.87142660e-01 1.58987105e-01 1.65066422e-02 4.32318550e+02] [-1.58965805e-01 9.87280658e-01 -2.60292448e-03 -6.74960457e+01] [-1.67105200e-02 -5.45338710e-05 9.99860368e-01 -4.97663094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.60576923100007 meters Centerline goodness [0,1] 0.9993009955517899 Centerline is valid? [True, True] Translation: X:432.35, Y:-67.51, Z:-4.98 [[ 9.87544249e-01 1.56527850e-01 1.59808979e-02 4.32346779e+02] [-1.56507575e-01 9.87673545e-01 -2.51929368e-03 -6.75051755e+01] [-1.61782498e-02 -1.32176000e-05 9.99869123e-01 -4.97820463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.63576923100004 meters Centerline goodness [0,1] 0.9993009955517899 Centerline is valid? [True, True] Translation: X:432.37, Y:-67.51, Z:-4.98 [[ 9.87553843e-01 1.56467303e-01 1.59809473e-02 4.32373953e+02] [-1.56447025e-01 9.87683139e-01 -2.51898072e-03 -6.75093146e+01] [-1.61782503e-02 -1.25425777e-05 9.99869123e-01 -4.97881040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.66576923100007 meters Centerline goodness [0,1] 0.9987721339020292 Centerline is valid? [True, True] Translation: X:432.40, Y:-67.52, Z:-4.98 [[ 9.88464244e-01 1.50650537e-01 1.55837867e-02 4.32400906e+02] [-1.50630548e-01 9.88587077e-01 -2.45535014e-03 -6.75238573e+01] [-1.57758300e-02 7.96314939e-05 9.99875551e-01 -4.97617047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.69576923100004 meters Centerline goodness [0,1] 0.9985156283133296 Centerline is valid? [True, True] Translation: X:432.43, Y:-67.53, Z:-4.98 [[ 9.88783015e-01 1.48578331e-01 1.52521475e-02 4.32427984e+02] [-1.48558949e-01 9.88900636e-01 -2.40228504e-03 -6.75332500e+01] [-1.54397859e-02 1.09495624e-04 9.99880793e-01 -4.97699219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7257692310001 meters Centerline goodness [0,1] 0.9977452565302476 Centerline is valid? [True, True] Translation: X:432.46, Y:-67.54, Z:-4.98 [[ 9.88968564e-01 1.47333485e-01 1.52978089e-02 4.32455696e+02] [-1.47313846e-01 9.89086866e-01 -2.40897713e-03 -6.75409452e+01] [-1.54857849e-02 1.28823583e-04 9.99880080e-01 -4.97734520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.75576923100004 meters Centerline goodness [0,1] 0.9963796058269065 Centerline is valid? [True, True] Translation: X:432.48, Y:-67.55, Z:-4.97 [[ 9.89035553e-01 1.46701205e-01 1.69537742e-02 4.32482902e+02] [-1.46677006e-01 9.89180839e-01 -2.66885744e-03 -6.75510178e+01] [-1.71618732e-02 1.52866053e-04 9.99852713e-01 -4.97370520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7857692310001 meters Centerline goodness [0,1] 0.9954309758585516 Centerline is valid? [True, True] Translation: X:432.51, Y:-67.56, Z:-4.97 [[ 9.88986870e-01 1.46944993e-01 1.76675109e-02 4.32511650e+02] [-1.46918771e-01 9.89144653e-01 -2.78015843e-03 -6.75597401e+01] [-1.78842543e-02 1.53851204e-04 9.99840052e-01 -4.97351644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.81576923100005 meters Centerline goodness [0,1] 0.993337859628278 Centerline is valid? [True, True] Translation: X:432.54, Y:-67.57, Z:-4.97 [[ 9.88691159e-01 1.49011647e-01 1.68914547e-02 4.32539762e+02] [-1.48987981e-01 9.88835435e-01 -2.65795363e-03 -6.75661464e+01] [-1.70989350e-02 1.11271516e-04 9.99853796e-01 -4.97495897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8457692310001 meters Centerline goodness [0,1] 0.9921455410023988 Centerline is valid? [True, True] Translation: X:432.57, Y:-67.57, Z:-4.98 [[ 9.88624473e-01 1.49006388e-01 2.04633387e-02 4.32571045e+02] [-1.49215951e-01 9.88762584e-01 9.11876801e-03 -6.75739215e+01] [-1.88746290e-02 -1.20684938e-02 9.99749018e-01 -4.97844420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.87576923100005 meters Centerline goodness [0,1] 0.9910370228438824 Centerline is valid? [True, True] Translation: X:432.60, Y:-67.58, Z:-4.98 [[ 9.88290559e-01 1.50952190e-01 2.22532734e-02 4.32599884e+02] [-1.51147929e-01 9.88483578e-01 7.38367913e-03 -6.75767874e+01] [-2.08824128e-02 -1.06607566e-02 9.99725099e-01 -4.97948817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9057692310001 meters Centerline goodness [0,1] 0.9870212765957447 Centerline is valid? [True, True] Translation: X:432.63, Y:-67.57, Z:-4.97 [[ 9.87337096e-01 1.57954446e-01 1.46918854e-02 4.32628816e+02] [-1.57562543e-01 9.87196824e-01 -2.48289398e-02 -6.75672209e+01] [-1.84256240e-02 2.21996425e-02 9.99583749e-01 -4.97498348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.93576923100005 meters Centerline goodness [0,1] 0.9847510838690388 Centerline is valid? [True, True] Translation: X:432.66, Y:-67.58, Z:-4.97 [[ 9.86993102e-01 1.59662347e-01 1.87763571e-02 4.32655380e+02] [-1.59635097e-01 9.87171681e-01 -2.95096384e-03 -6.75767807e+01] [-1.90066458e-02 -8.47846247e-05 9.99819354e-01 -4.97418024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9657692310001 meters Centerline goodness [0,1] 0.9823337982333799 Centerline is valid? [True, True] Translation: X:432.68, Y:-67.57, Z:-4.97 [[ 9.87056387e-01 1.59937427e-01 1.18198308e-02 4.32682910e+02] [-1.59743331e-01 9.87031071e-01 -1.58661151e-02 -6.75723061e+01] [-1.42041259e-02 1.37726111e-02 9.99804260e-01 -4.97341998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.99576923100005 meters Centerline goodness [0,1] 0.9777537200959477 Centerline is valid? [True, True] Translation: X:432.71, Y:-67.58, Z:-4.97 [[ 9.86924716e-01 1.60951792e-01 8.60962887e-03 4.32710833e+02] [-1.60855137e-01 9.86917369e-01 -1.09421962e-02 -6.75758613e+01] [-1.02581584e-02 9.41422082e-03 9.99903067e-01 -4.96989487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0257692310001 meters Centerline goodness [0,1] 0.9755190976672649 Centerline is valid? [True, True] Translation: X:432.74, Y:-67.58, Z:-4.97 [[ 9.86751333e-01 1.62070293e-01 7.41796932e-03 4.32738292e+02] [-1.62030163e-01 9.86769180e-01 -5.72812408e-03 -6.75845573e+01] [-8.24818226e-03 4.45029929e-03 9.99956080e-01 -4.96980446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.05576923100006 meters Centerline goodness [0,1] 0.9705374464365659 Centerline is valid? [True, True] Translation: X:432.77, Y:-67.59, Z:-4.98 [[ 9.87966627e-01 1.54106705e-01 1.31555258e-02 4.32771365e+02] [-1.54255598e-01 9.87967866e-01 1.11671787e-02 -6.75927137e+01] [-1.12762996e-02 -1.30621133e-02 9.99851102e-01 -4.97515755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0857692310001 meters Centerline goodness [0,1] 0.9674920313258607 Centerline is valid? [True, True] Translation: X:432.80, Y:-67.59, Z:-4.98 [[ 9.87924265e-01 1.54685290e-01 8.83787135e-03 4.32797739e+02] [-1.54645064e-01 9.87957079e-01 -5.07092871e-03 -6.75945748e+01] [-9.51583564e-03 3.64296034e-03 9.99948088e-01 -4.97549144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.11576923100006 meters Centerline goodness [0,1] 0.964167052193296 Centerline is valid? [True, True] Translation: X:432.82, Y:-67.60, Z:-4.98 [[ 9.88210897e-01 1.52867765e-01 8.40650108e-03 4.32823517e+02] [-1.52846794e-01 9.88245076e-01 -3.08672364e-03 -6.76029373e+01] [-8.77954384e-03 1.76542720e-03 9.99959901e-01 -4.97527293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1457692310001 meters Centerline goodness [0,1] 0.9570808177099883 Centerline is valid? [True, True] Translation: X:432.85, Y:-67.61, Z:-4.98 [[ 9.89107856e-01 1.46957919e-01 8.30783312e-03 4.32853210e+02] [-1.46947610e-01 9.89142563e-01 -1.84132228e-03 -6.76147919e+01] [-8.48822823e-03 6.00450112e-04 9.99963794e-01 -4.97518407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.17576923100006 meters Centerline goodness [0,1] 0.9506410935678712 Centerline is valid? [True, True] Translation: X:432.88, Y:-67.62, Z:-4.97 [[ 9.89719358e-01 1.42909647e-01 5.69426005e-03 4.32884788e+02] [-1.42878284e-01 9.89724531e-01 -5.58107923e-03 -6.76190992e+01] [-6.43333892e-03 4.71011605e-03 9.99968213e-01 -4.97173378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.20576923100003 meters Centerline goodness [0,1] 0.9416846652267818 Centerline is valid? [True, False] Translation: X:432.88, Y:-67.62, Z:-4.97 [[ 9.90271227e-01 1.39015729e-01 6.12566323e-03 4.32883617e+02] [-1.38947364e-01 9.90244644e-01 -1.04486694e-02 -6.76157055e+01] [-7.51843461e-03 9.49587194e-03 9.99926648e-01 -4.97290995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.23576923100006 meters Centerline goodness [0,1] 0.9336389295643132 Centerline is valid? [False, False] Translation: X:432.88, Y:-67.61, Z:-4.97 [[ 9.90799858e-01 1.35190614e-01 6.25614124e-03 4.32882631e+02] [-1.35080237e-01 9.90712098e-01 -1.55842303e-02 -6.76105022e+01] [-8.30487649e-03 1.45957722e-02 9.99858986e-01 -4.97366771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26576923100004 meters Centerline goodness [0,1] 0.928726658930267 Centerline is valid? [False, False] Translation: X:432.88, Y:-67.60, Z:-4.97 [[ 9.91302966e-01 1.31441107e-01 6.45479565e-03 4.32881859e+02] [-1.31282462e-01 9.91127121e-01 -2.07832806e-02 -6.76048890e+01] [-9.12930044e-03 1.97551263e-02 9.99763167e-01 -4.97495366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.29576923100007 meters Centerline goodness [0,1] 0.32802716756871486 Centerline is valid? [False, False] Translation: X:432.88, Y:-67.60, Z:-4.98 [[ 9.91790275e-01 1.27695757e-01 6.77076889e-03 4.32880968e+02] [-1.27481758e-01 9.91502290e-01 -2.59154422e-02 -6.75991892e+01] [-1.00225249e-02 2.48395340e-02 9.99641209e-01 -4.97644496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32576923100004 meters Centerline goodness [0,1] 0.13929085216213932 Centerline is valid? [False, False] Translation: X:432.88, Y:-67.60, Z:-4.98 [[ 9.91845497e-01 1.27243768e-01 7.17875913e-03 4.32883611e+02] [-1.27010324e-01 9.91538806e-01 -2.68174192e-02 -6.75953775e+01] [-1.05303677e-02 2.56869599e-02 9.99614571e-01 -4.97992632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.35576923100007 meters Centerline goodness [0,1] 0.13749075150618328 Centerline is valid? [False, False] Translation: X:432.88, Y:-67.59, Z:-4.98 [[ 9.92352904e-01 1.23233031e-01 7.02388110e-03 4.32884799e+02] [-1.22952020e-01 9.91902824e-01 -3.18054731e-02 -6.75904651e+01] [-1.08864924e-02 3.06986532e-02 9.99469398e-01 -4.98275051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.38576923100004 meters Centerline goodness [0,1] 0.13653341301517508 Centerline is valid? [False, False] Translation: X:432.88, Y:-67.59, Z:-4.99 [[ 9.92367902e-01 1.23074558e-01 7.65512626e-03 4.32884773e+02] [-1.22769891e-01 9.91913161e-01 -3.21843781e-02 -6.75890616e+01] [-1.15542986e-02 3.09989247e-02 9.99452633e-01 -4.98539993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.41576923100007 meters Centerline goodness [0,1] 0.1394580304031725 Centerline is valid? [False, False] Translation: X:432.89, Y:-67.59, Z:-4.99 [[ 9.92420964e-01 1.22588866e-01 8.52051875e-03 4.32885743e+02] [-1.22245939e-01 9.91946982e-01 -3.31227319e-02 -6.75850740e+01] [-1.25123810e-02 3.18300947e-02 9.99414972e-01 -4.98731309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.44576923100004 meters Centerline goodness [0,1] 0.1466335005691639 Centerline is valid? [False, False] Translation: X:432.89, Y:-67.58, Z:-4.99 [[ 9.92461285e-01 1.22185465e-01 9.55564501e-03 4.32885220e+02] [-1.21795944e-01 9.91967686e-01 -3.41446538e-02 -6.75805536e+01] [-1.36508715e-02 3.27234081e-02 9.99371218e-01 -4.99026661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.4757692310001 meters Centerline goodness [0,1] 0.1429361114063995 Centerline is valid? [False, False] Translation: X:432.88, Y:-67.58, Z:-4.99 [[ 9.92502765e-01 1.21778114e-01 1.04092121e-02 4.32884739e+02] [-1.21344411e-01 9.91983406e-01 -3.52768446e-02 -6.75750764e+01] [-1.46217132e-02 3.37492661e-02 9.99323367e-01 -4.99262552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.50576923100004 meters Centerline goodness [0,1] 0.12183082319826921 Centerline is valid? [False, False] Translation: X:432.88, Y:-67.57, Z:-5.00 [[ 9.92549008e-01 1.21304545e-01 1.14749057e-02 4.32884412e+02] [-1.20813160e-01 9.91997574e-01 -3.66741411e-02 -6.75688741e+01] [-1.58318186e-02 3.50145628e-02 9.99261394e-01 -4.99579546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5357692310001 meters Centerline goodness [0,1] 0.15666849731739263 Centerline is valid? [False, False] Translation: X:432.89, Y:-67.56, Z:-5.00 [[ 9.92679804e-01 1.20091870e-01 1.28354715e-02 4.32885783e+02] [-1.19518756e-01 9.92077755e-01 -3.86910208e-02 -6.75599212e+01] [-1.73802628e-02 3.68737154e-02 9.99168782e-01 -4.99886664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.56576923100005 meters Centerline goodness [0,1] 0.1580340504828054 Centerline is valid? [False, False] Translation: X:432.89, Y:-67.56, Z:-5.00 [[ 9.92735524e-01 1.19532065e-01 1.37209902e-02 4.32885053e+02] [-1.18917894e-01 9.92131127e-01 -3.91709313e-02 -6.75571856e+01] [-1.82952038e-02 3.72547037e-02 9.99138315e-01 -5.00113243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5957692310001 meters Centerline goodness [0,1] 0.1604548460734324 Centerline is valid? [False, False] Translation: X:432.91, Y:-67.55, Z:-5.00 [[ 9.93677130e-01 1.11612253e-01 1.21846632e-02 4.32909508e+02] [-1.11069796e-01 9.93062419e-01 -3.86074129e-02 -6.75530320e+01] [-1.64091915e-02 3.70099552e-02 9.99180165e-01 -5.00202211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.62576923100005 meters Centerline goodness [0,1] 0.13903867217120225 Centerline is valid? [False, False] Translation: X:432.91, Y:-67.55, Z:-5.01 [[ 9.93965367e-01 1.09018678e-01 1.21563233e-02 4.32914692e+02] [-1.08444443e-01 9.93268780e-01 -4.07054565e-02 -6.75520699e+01] [-1.65121515e-02 3.91415284e-02 9.99097237e-01 -5.00907773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6557692310001 meters Centerline goodness [0,1] 0.1638181163563971 Centerline is valid? [False, False] Translation: X:432.93, Y:-67.55, Z:-5.00 [[ 9.94583294e-01 1.03585337e-01 8.61099689e-03 4.32932581e+02] [-1.03181527e-01 9.93913789e-01 -3.85869539e-02 -6.75547377e+01] [-1.25556312e-02 3.74894439e-02 9.99218143e-01 -5.00482543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.68576923100005 meters Centerline goodness [0,1] 0.16485083202110906 Centerline is valid? [False, False] Translation: X:432.95, Y:-67.56, Z:-5.01 [[ 9.95381960e-01 9.50646746e-02 1.33214748e-02 4.32954981e+02] [-9.45220505e-02 9.94845461e-01 -3.67163632e-02 -6.75592334e+01] [-1.67432379e-02 3.52876324e-02 9.99236932e-01 -5.01122794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7157692310001 meters Centerline goodness [0,1] 0.1637710781808891 Centerline is valid? [False, False] Translation: X:432.97, Y:-67.56, Z:-5.01 [[ 9.95940984e-01 8.93978173e-02 1.04683719e-02 4.32973037e+02] [-8.90041634e-02 9.95470084e-01 -3.34300953e-02 -6.75644154e+01] [-1.34095286e-02 3.23626733e-02 9.99386233e-01 -5.00568626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.74576923100005 meters Centerline goodness [0,1] 0.13884704334726616 Centerline is valid? [False, False] Translation: X:432.99, Y:-67.57, Z:-5.00 [[ 9.96446957e-01 8.38890496e-02 7.48921694e-03 4.32991190e+02] [-8.36248290e-02 9.96030685e-01 -3.04919910e-02 -6.75699098e+01] [-1.00174340e-02 2.97573672e-02 9.99506954e-01 -5.00104084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7757692310001 meters Centerline goodness [0,1] 0.11451344074533099 Centerline is valid? [False, False] Translation: X:433.01, Y:-67.58, Z:-5.01 [[ 9.96986373e-01 7.64742292e-02 1.30331636e-02 4.33014140e+02] [-7.60893629e-02 9.96712449e-01 -2.78334801e-02 -6.75796224e+01] [-1.51188603e-02 2.67579152e-02 9.99527605e-01 -5.00860753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.80576923100006 meters Centerline goodness [0,1] 0.22937098410551238 Centerline is valid? [False, False] Translation: X:433.02, Y:-67.58, Z:-5.01 [[ 9.97160477e-01 7.40818887e-02 1.35224669e-02 4.33017617e+02] [-7.36575674e-02 9.96845312e-01 -2.95632782e-02 -6.75832348e+01] [-1.56699113e-02 2.84833006e-02 9.99471438e-01 -5.01498641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8357692310001 meters Centerline goodness [0,1] 0.22393781728561502 Centerline is valid? [False, False] Translation: X:433.02, Y:-67.59, Z:-5.02 [[ 9.97151635e-01 7.40226544e-02 1.44659287e-02 4.33016922e+02] [-7.35864569e-02 9.96876893e-01 -2.86616919e-02 -6.75893648e+01] [-1.65423646e-02 2.75155566e-02 9.99484489e-01 -5.01719132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.86576923100006 meters Centerline goodness [0,1] 0.21835685141108463 Centerline is valid? [False, False] Translation: X:433.04, Y:-67.61, Z:-5.03 [[ 9.97227134e-01 7.10690055e-02 2.20734861e-02 4.33043242e+02] [-7.05118364e-02 9.97195836e-01 -2.50707924e-02 -6.76062527e+01] [-2.37933448e-02 2.34448325e-02 9.99441953e-01 -5.02606038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8957692310001 meters Centerline goodness [0,1] 0.2224398668857155 Centerline is valid? [False, False] Translation: X:433.05, Y:-67.61, Z:-5.03 [[ 9.97336827e-01 6.94662687e-02 2.22191526e-02 4.33048001e+02] [-6.88763210e-02 9.97278522e-01 -2.62983144e-02 -6.76102085e+01] [-2.39855294e-02 2.46979039e-02 9.99407178e-01 -5.03313580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.92576923100006 meters Centerline goodness [0,1] 0.21378155535301724 Centerline is valid? [False, False] Translation: X:433.07, Y:-67.62, Z:-5.03 [[ 9.97806489e-01 6.31455512e-02 1.98708102e-02 4.33073437e+02] [-6.26798470e-02 9.97762911e-01 -2.32467071e-02 -6.76238000e+01] [-2.12942836e-02 2.19502159e-02 9.99532261e-01 -5.03150753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.95576923100003 meters Centerline goodness [0,1] 0.22393126127081786 Centerline is valid? [False, False] Translation: X:433.08, Y:-67.63, Z:-5.04 [[ 9.97903307e-01 6.16351124e-02 1.97510444e-02 4.33078938e+02] [-6.11489777e-02 9.97831868e-01 -2.43385758e-02 -6.76297358e+01] [-2.12083324e-02 2.30797891e-02 9.99508644e-01 -5.03858825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.98576923100006 meters Centerline goodness [0,1] 0.49890938353698566 Centerline is valid? [False, False] Translation: X:433.08, Y:-67.64, Z:-5.05 [[ 9.97971477e-01 6.05215617e-02 1.97502108e-02 4.33083958e+02] [-6.00194981e-02 9.97881730e-01 -2.50940891e-02 -6.76352627e+01] [-2.12271079e-02 2.38577874e-02 9.99489978e-01 -5.04503091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01576923100004 meters Centerline goodness [0,1] 0.5112845391267665 Centerline is valid? [False, False] Translation: X:433.09, Y:-67.65, Z:-5.05 [[ 9.97743241e-01 6.39181629e-02 2.05643524e-02 4.33090668e+02] [-6.34841721e-02 9.97759611e-01 -2.11072913e-02 -6.76494632e+01] [-2.18674196e-02 1.97541464e-02 9.99565701e-01 -5.05153474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.04576923100007 meters Centerline goodness [0,1] 0.5230915225643189 Centerline is valid? [False, False] Translation: X:433.09, Y:-67.65, Z:-5.05 [[ 9.97688698e-01 6.46782625e-02 2.08322686e-02 4.33092423e+02] [-6.42443598e-02 9.97716045e-01 -2.08651610e-02 -6.76507235e+01] [-2.21342110e-02 1.94785795e-02 9.99565236e-01 -5.05415451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.07576923100004 meters Centerline goodness [0,1] 0.5913935036480824 Centerline is valid? [False, False] Translation: X:433.10, Y:-67.65, Z:-5.06 [[ 9.97633074e-01 6.55284020e-02 2.08393443e-02 4.33095118e+02] [-6.50966122e-02 9.97662899e-01 -2.07646715e-02 -6.76511524e+01] [-2.21513164e-02 1.93589523e-02 9.99567181e-01 -5.05685797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.10576923100007 meters Centerline goodness [0,1] 0.73423017507724 Centerline is valid? [False, False] Translation: X:433.11, Y:-67.66, Z:-5.06 [[ 9.97209548e-01 7.16794308e-02 2.08608729e-02 4.33105099e+02] [-7.13614044e-02 9.97328357e-01 -1.56108104e-02 -6.76590455e+01] [-2.19241141e-02 1.40785880e-02 9.99660506e-01 -5.06466695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.13576923100004 meters Centerline goodness [0,1] 0.7727505877324214 Centerline is valid? [False, False] Translation: X:433.11, Y:-67.66, Z:-5.07 [[ 9.97165263e-01 7.21973032e-02 2.11893340e-02 4.33106905e+02] [-7.18736068e-02 9.97290792e-01 -1.56607880e-02 -6.76593268e+01] [-2.22625943e-02 1.40934399e-02 9.99652816e-01 -5.06765122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.16576923100007 meters Centerline goodness [0,1] 0.7757383296284535 Centerline is valid? [False, False] Translation: X:433.11, Y:-67.66, Z:-5.07 [[ 9.97126875e-01 7.25280057e-02 2.18559687e-02 4.33107942e+02] [-7.21930118e-02 9.97266376e-01 -1.57462317e-02 -6.76594680e+01] [-2.29382655e-02 1.41231426e-02 9.99637121e-01 -5.07064620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.19576923100004 meters Centerline goodness [0,1] 0.7720091731430756 Centerline is valid? [False, False] Translation: X:433.13, Y:-67.67, Z:-5.07 [[ 9.97217235e-01 7.17973552e-02 2.00730272e-02 4.33131708e+02] [-7.16152128e-02 9.97385641e-01 -9.65109632e-03 -6.76669201e+01] [-2.07134723e-02 8.18670547e-03 9.99751934e-01 -5.06924528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.2257692310001 meters Centerline goodness [0,1] 0.7708968359593011 Centerline is valid? [False, False] Translation: X:433.13, Y:-67.67, Z:-5.07 [[ 9.97183035e-01 7.21822865e-02 2.03890266e-02 4.33133332e+02] [-7.20051227e-02 9.97360954e-01 -9.29457744e-03 -6.76699851e+01] [-2.10061228e-02 7.80028058e-03 9.99748918e-01 -5.07234549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.25576923100004 meters Centerline goodness [0,1] 0.7711543864957745 Centerline is valid? [False, False] Translation: X:433.14, Y:-67.67, Z:-5.08 [[ 9.97245106e-01 7.13642814e-02 2.02320861e-02 4.33138926e+02] [-7.11722241e-02 9.97413311e-01 -1.00598646e-02 -6.76718693e+01] [-2.08976670e-02 8.59218817e-03 9.99744698e-01 -5.07896613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.2857692310001 meters Centerline goodness [0,1] 0.7670988901196759 Centerline is valid? [False, False] Translation: X:433.17, Y:-67.68, Z:-5.08 [[ 9.97552849e-01 6.78939243e-02 1.66951659e-02 4.33167580e+02] [-6.77815202e-02 9.97674139e-01 -7.20951250e-03 -6.76766977e+01] [-1.71458174e-02 6.06024601e-03 9.99834634e-01 -5.07945340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.31576923100005 meters Centerline goodness [0,1] 0.7622631771359756 Centerline is valid? [False, False] Translation: X:433.17, Y:-67.68, Z:-5.09 [[ 9.97596816e-01 6.72106195e-02 1.68322469e-02 4.33172281e+02] [-6.70846766e-02 9.97715701e-01 -7.93896207e-03 -6.76761143e+01] [-1.73273796e-02 6.79069745e-03 9.99826809e-01 -5.08580571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3457692310001 meters Centerline goodness [0,1] 0.7626094115607939 Centerline is valid? [False, False] Translation: X:433.17, Y:-67.68, Z:-5.09 [[ 9.97569826e-01 6.75145603e-02 1.72112369e-02 4.33173916e+02] [-6.73890945e-02 9.97696523e-01 -7.76903856e-03 -6.76775713e+01] [-1.76961145e-02 6.59030877e-03 9.99821692e-01 -5.08893541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.37576923100005 meters Centerline goodness [0,1] 0.7555489030492237 Centerline is valid? [False, False] Translation: X:433.22, Y:-67.68, Z:-5.09 [[ 9.97397690e-01 6.88686047e-02 2.13298839e-02 4.33215949e+02] [-6.87042514e-02 9.97602165e-01 -8.34545537e-03 -6.76845061e+01] [-2.18534782e-02 6.85828420e-03 9.99737660e-01 -5.09272272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4057692310001 meters Centerline goodness [0,1] 0.7536253614651387 Centerline is valid? [False, False] Translation: X:433.22, Y:-67.68, Z:-5.10 [[ 9.97372177e-01 6.91118822e-02 2.17321978e-02 4.33217544e+02] [-6.89432468e-02 9.97585081e-01 -8.41638270e-03 -6.76839186e+01] [-2.22613884e-02 6.89597765e-03 9.99728401e-01 -5.09565314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.43576923100005 meters Centerline goodness [0,1] 0.7543825519313491 Centerline is valid? [False, False] Translation: X:433.22, Y:-67.68, Z:-5.10 [[ 9.97351584e-01 6.93139901e-02 2.20315450e-02 4.33219379e+02] [-6.91430415e-02 9.97571142e-01 -8.42947504e-03 -6.76834087e+01] [-2.25623141e-02 6.88382225e-03 9.99721739e-01 -5.09882363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4657692310001 meters Centerline goodness [0,1] 0.7525343131957203 Centerline is valid? [False, False] Translation: X:433.23, Y:-67.69, Z:-5.10 [[ 9.97193759e-01 7.14444079e-02 2.23674738e-02 4.33227682e+02] [-7.13142197e-02 9.97432288e-01 -6.56598584e-03 -6.76892054e+01] [-2.27791435e-02 4.95244116e-03 9.99728255e-01 -5.10404287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.49576923100005 meters Centerline goodness [0,1] 0.07099404469679182 Centerline is valid? [False, False] Translation: X:433.23, Y:-67.69, Z:-5.11 [[ 9.97161251e-01 7.17130048e-02 2.29496170e-02 4.33228511e+02] [-7.15833109e-02 9.97413932e-01 -6.42478497e-03 -6.76908004e+01] [-2.33510084e-02 4.76373704e-03 9.99715978e-01 -5.10650091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5257692310001 meters Centerline goodness [0,1] 0.7511613335349913 Centerline is valid? [False, False] Translation: X:433.23, Y:-67.69, Z:-5.11 [[ 9.97137353e-01 7.18654597e-02 2.35043640e-02 4.33229206e+02] [-7.17312870e-02 9.97402790e-01 -6.50365649e-03 -6.76905501e+01] [-2.39107065e-02 4.79904054e-03 9.99702579e-01 -5.10833664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.55576923100006 meters Centerline goodness [0,1] 0.7511613335349913 Centerline is valid? [False, False] Translation: X:433.23, Y:-67.69, Z:-5.11 [[ 9.97379805e-01 6.84917198e-02 2.32896704e-02 4.33229110e+02] [-6.82560618e-02 9.97609721e-01 -1.07682034e-02 -6.76871951e+01] [-2.39715344e-02 9.15032741e-03 9.99670764e-01 -5.10851652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5857692310001 meters Centerline goodness [0,1] 0.7484275379430264 Centerline is valid? [False, False] Translation: X:433.25, Y:-67.69, Z:-5.11 [[ 9.97461188e-01 6.79099793e-02 2.14339251e-02 4.33251726e+02] [-6.78020033e-02 9.97682367e-01 -5.72560200e-03 -6.76863614e+01] [-2.17730746e-02 4.25780271e-03 9.99753872e-01 -5.10629749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.61576923100006 meters Centerline goodness [0,1] 0.7455743192498336 Centerline is valid? [False, False] Translation: X:433.26, Y:-67.68, Z:-5.11 [[ 9.97442126e-01 6.82281944e-02 2.13100427e-02 4.33255349e+02] [-6.81143820e-02 9.97659340e-01 -6.02257976e-03 -6.76833600e+01] [-2.16710729e-02 4.55565437e-03 9.99754775e-01 -5.11004658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6457692310001 meters Centerline goodness [0,1] 0.7390022331591614 Centerline is valid? [False, False] Translation: X:433.27, Y:-67.68, Z:-5.12 [[ 9.97052866e-01 7.37969412e-02 2.09664943e-02 4.33266952e+02] [-7.37780011e-02 9.97273280e-01 -1.67649207e-03 -6.76821472e+01] [-2.10330445e-02 1.24685186e-04 9.99778773e-01 -5.11731009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.67576923100006 meters Centerline goodness [0,1] 0.7167034426615824 Centerline is valid? [False, False] Translation: X:433.27, Y:-67.68, Z:-5.12 [[ 9.97047537e-01 7.39205523e-02 2.07836700e-02 4.33270669e+02] [-7.38898693e-02 9.97263888e-01 -2.24143712e-03 -6.76780068e+01] [-2.08924918e-02 6.99116704e-04 9.99781484e-01 -5.12103722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.7057692310001 meters Centerline goodness [0,1] 0.6896544304342214 Centerline is valid? [False, False] Translation: X:433.27, Y:-67.67, Z:-5.12 [[ 9.97052193e-01 7.38671838e-02 2.07500488e-02 4.33273526e+02] [-7.38236244e-02 9.97267217e-01 -2.85851034e-03 -6.76737554e+01] [-2.09044935e-02 1.31824019e-03 9.99780608e-01 -5.12437869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.73576923100006 meters Centerline goodness [0,1] 0.658560645050609 Centerline is valid? [False, False] Translation: X:433.28, Y:-67.67, Z:-5.13 [[ 9.97063485e-01 7.36744803e-02 2.08920549e-02 4.33275811e+02] [-7.36164150e-02 9.97280362e-01 -3.53593979e-03 -6.76693540e+01] [-2.10957446e-02 1.98755826e-03 9.99775484e-01 -5.12745809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76576923100004 meters Centerline goodness [0,1] 0.6333933624903525 Centerline is valid? [False, False] Translation: X:433.28, Y:-67.67, Z:-5.13 [[ 9.97074210e-01 7.34873119e-02 2.10388917e-02 4.33277856e+02] [-7.34171506e-02 9.97292937e-01 -4.08907538e-03 -6.76656035e+01] [-2.12824332e-02 2.53249613e-03 9.99770296e-01 -5.13032337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.79576923100007 meters Centerline goodness [0,1] 0.6070909367066635 Centerline is valid? [False, False] Translation: X:433.30, Y:-67.66, Z:-5.13 [[ 9.97448085e-01 6.89710757e-02 1.84474441e-02 4.33299861e+02] [-6.89131532e-02 9.97615584e-01 -3.75809915e-03 -6.76581553e+01] [-1.86626579e-02 2.47723726e-03 9.99822769e-01 -5.12823929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82576923100004 meters Centerline goodness [0,1] 0.6780235539524575 Centerline is valid? [False, False] Translation: X:433.30, Y:-67.65, Z:-5.13 [[ 9.97521752e-01 6.79607393e-02 1.82123959e-02 4.33304807e+02] [-6.78816053e-02 9.97681206e-01 -4.92930754e-03 -6.76535953e+01] [-1.85051645e-02 3.68080483e-03 9.99821989e-01 -5.13338775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.85576923100007 meters Centerline goodness [0,1] 0.6869189189189189 Centerline is valid? [False, False] Translation: X:433.33, Y:-67.65, Z:-5.14 [[ 9.97890924e-01 6.32257245e-02 1.47041189e-02 4.33332660e+02] [-6.31732189e-02 9.97994526e-01 -4.00875378e-03 -6.76474186e+01] [-1.49280865e-02 3.07139249e-03 9.99883853e-01 -5.13666687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.88576923100004 meters Centerline goodness [0,1] 0.07352655963797006 Centerline is valid? [False, False] Translation: X:433.34, Y:-67.64, Z:-5.14 [[ 9.97951011e-01 6.23331903e-02 1.44344230e-02 4.33337686e+02] [-6.22660503e-02 9.98046783e-01 -5.05543447e-03 -6.76436517e+01] [-1.47213508e-02 4.14630143e-03 9.99883038e-01 -5.14170240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.91576923100007 meters Centerline goodness [0,1] 0.07234619440080914 Centerline is valid? [False, False] Translation: X:433.36, Y:-67.64, Z:-5.14 [[ 9.98322066e-01 5.66700142e-02 1.18979618e-02 4.33361081e+02] [-5.66129480e-02 9.98383278e-01 -5.07980962e-03 -6.76355201e+01] [-1.21665989e-02 4.39770734e-03 9.99916314e-01 -5.14037343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.94576923100004 meters SLAMing on 448.9757692310001 meters SLAMing on 449.00576923100004 meters Centerline goodness [0,1] 0.08178759382279355 Centerline is valid? [False, False] Translation: X:433.40, Y:-67.63, Z:-5.16 [[ 9.98270706e-01 5.56513206e-02 1.89348135e-02 4.33398532e+02] [-5.56467203e-02 9.98450224e-01 -7.70154809e-04 -6.76303670e+01] [-1.89483289e-02 -2.84837287e-04 9.99820424e-01 -5.15613936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0357692310001 meters Centerline goodness [0,1] 0.07849032118524923 Centerline is valid? [False, False] Translation: X:433.42, Y:-67.62, Z:-5.16 [[ 9.98634952e-01 4.94171570e-02 1.69167889e-02 4.33422799e+02] [-4.94141605e-02 9.98778197e-01 -5.95336160e-04 -6.76226932e+01] [-1.69255397e-02 -2.41405424e-04 9.99856724e-01 -5.15545240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.06576923100005 meters Centerline goodness [0,1] 0.0803312538441262 Centerline is valid? [False, False] Translation: X:433.43, Y:-67.62, Z:-5.16 [[ 9.98722480e-01 4.77721324e-02 1.64691101e-02 4.33429323e+02] [-4.77439423e-02 9.98857398e-01 -2.10087076e-03 -6.76192873e+01] [-1.65506555e-02 1.31188661e-03 9.99862168e-01 -5.16114665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0957692310001 meters Centerline goodness [0,1] 0.08161448608276523 Centerline is valid? [False, False] Translation: X:433.46, Y:-67.62, Z:-5.16 [[ 9.99069235e-01 4.02700860e-02 1.54591292e-02 4.33457004e+02] [-4.02625166e-02 9.99188815e-01 -8.00684464e-04 -6.76166708e+01] [-1.54788327e-02 1.77515767e-04 9.99880180e-01 -5.16252735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.12576923100005 meters Centerline goodness [0,1] 0.08094501231392892 Centerline is valid? [False, False] Translation: X:433.48, Y:-67.62, Z:-5.16 [[ 9.99341625e-01 3.43300303e-02 1.17373421e-02 4.33478729e+02] [-3.43272709e-02 9.99410550e-01 -4.36533310e-04 -6.76151318e+01] [-1.17454097e-02 3.33349845e-05 9.99931020e-01 -5.16152772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1557692310001 meters Centerline goodness [0,1] 0.06829905321580154 Centerline is valid? [False, False] Translation: X:433.50, Y:-67.61, Z:-5.16 [[ 9.99637143e-01 2.45999902e-02 1.09737060e-02 4.33504215e+02] [-2.45943127e-02 9.99697301e-01 -6.52048803e-04 -6.76148253e+01] [-1.09864247e-02 3.81921446e-04 9.99939574e-01 -5.16150520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.18576923100005 meters Centerline goodness [0,1] 0.730757476533508 Centerline is valid? [False, False] Translation: X:433.52, Y:-67.62, Z:-5.16 [[ 9.99780625e-01 1.96339131e-02 7.29466696e-03 4.33523843e+02] [-1.96373719e-02 9.99807087e-01 4.02832073e-04 -6.76150090e+01] [-7.28535055e-03 -5.45991789e-04 9.99973312e-01 -5.15913932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2157692310001 meters Centerline goodness [0,1] 0.07816166182326978 Centerline is valid? [False, False] Translation: X:433.53, Y:-67.62, Z:-5.17 [[ 9.99822531e-01 1.76095093e-02 6.69411863e-03 4.33531395e+02] [-1.76033484e-02 9.99844571e-01 -9.78158617e-04 -6.76159865e+01] [-6.71030306e-03 8.60146123e-04 9.99977116e-01 -5.16521491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.24576923100005 meters Centerline goodness [0,1] 0.28125135498417375 Centerline is valid? [False, False] Translation: X:433.56, Y:-67.62, Z:-5.17 [[ 9.99822314e-01 1.17948123e-02 1.47045251e-02 4.33555090e+02] [-1.18174353e-02 9.99929117e-01 1.45256425e-03 -6.76237669e+01] [-1.46863501e-02 -1.62607593e-03 9.99890828e-01 -5.17337727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2757692310001 meters Centerline goodness [0,1] 0.29221362670114615 Centerline is valid? [False, False] Translation: X:433.56, Y:-67.63, Z:-5.18 [[ 9.99849259e-01 9.76875079e-03 1.43537621e-02 4.33561530e+02] [-9.76625174e-03 9.99952279e-01 -2.44190607e-04 -6.76255696e+01] [-1.43554626e-02 1.03971343e-04 9.99896950e-01 -5.17903085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.30576923100006 meters Centerline goodness [0,1] 0.614373356704645 Centerline is valid? [False, False] Translation: X:433.59, Y:-67.63, Z:-5.18 [[ 9.99899953e-01 3.66259736e-03 1.36627104e-02 4.33587625e+02] [-3.70776561e-03 9.99987740e-01 3.28208684e-03 -6.76312142e+01] [-1.36505219e-02 -3.33241660e-03 9.99901274e-01 -5.17924668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3357692310001 meters Centerline goodness [0,1] 0.09462342419997849 Centerline is valid? [False, False] Translation: X:433.60, Y:-67.63, Z:-5.19 [[ 9.99915078e-01 2.23371161e-03 1.28392983e-02 4.33595971e+02] [-2.26233396e-03 9.99994987e-01 2.21518525e-03 -6.76331673e+01] [-1.28342858e-02 -2.24404392e-03 9.99915119e-01 -5.18564967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.36576923100006 meters Centerline goodness [0,1] 0.2985656988403522 Centerline is valid? [False, False] Translation: X:433.60, Y:-67.64, Z:-5.19 [[ 9.99918404e-01 2.46896259e-03 1.25335201e-02 4.33599449e+02] [-2.50564656e-03 9.99992621e-01 2.91201014e-03 -6.76374987e+01] [-1.25262380e-02 -2.94317710e-03 9.99917212e-01 -5.18863368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3957692310001 meters Centerline goodness [0,1] 0.5102599773932701 Centerline is valid? [False, False] Translation: X:433.61, Y:-67.64, Z:-5.19 [[ 9.99927214e-01 1.51657168e-03 1.19694264e-02 4.33606557e+02] [-1.54234909e-03 9.99996511e-01 2.14466788e-03 -6.76390514e+01] [-1.19661321e-02 -2.16297281e-03 9.99926064e-01 -5.19448427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.42576923100006 meters Centerline goodness [0,1] 0.5167579551382369 Centerline is valid? [False, False] Translation: X:433.63, Y:-67.65, Z:-5.20 [[ 9.99931411e-01 7.16050677e-03 9.26827350e-03 4.33633631e+02] [-7.16743117e-03 9.99974059e-01 7.14107178e-04 -6.76451856e+01] [-9.26291970e-03 -7.80487910e-04 9.99956794e-01 -5.19646710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.4557692310001 meters Centerline goodness [0,1] 0.5347936452361154 Centerline is valid? [False, False] Translation: X:433.64, Y:-67.65, Z:-5.20 [[ 9.99932527e-01 7.44143928e-03 8.92002028e-03 4.33637262e+02] [-7.44940379e-03 9.99971883e-01 8.59987623e-04 -6.76455277e+01] [-8.91336993e-03 -9.26378429e-04 9.99959846e-01 -5.19936998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.48576923100006 meters Centerline goodness [0,1] 0.5240608914686233 Centerline is valid? [False, False] Translation: X:433.64, Y:-67.65, Z:-5.20 [[ 9.99932530e-01 7.84822639e-03 8.56393839e-03 4.33641088e+02] [-7.85761252e-03 9.99968564e-01 1.06291050e-03 -6.76460939e+01] [-8.55532721e-03 -1.13013090e-03 9.99962764e-01 -5.20225965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51576923100004 meters Centerline goodness [0,1] 0.5029880261642437 Centerline is valid? [False, False] Translation: X:433.67, Y:-67.65, Z:-5.20 [[ 9.99931153e-01 8.41826658e-03 8.17441550e-03 4.33666528e+02] [-8.48951024e-03 9.99925940e-01 8.72021292e-03 -6.76506319e+01] [-8.10040103e-03 -8.78900935e-03 9.99928566e-01 -5.20196861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.54576923100007 meters Centerline goodness [0,1] 0.49016517326999887 Centerline is valid? [False, False] Translation: X:433.67, Y:-67.65, Z:-5.21 [[ 9.99926220e-01 9.23775314e-03 7.88786506e-03 4.33670752e+02] [-9.30683814e-03 9.99918257e-01 8.76707060e-03 -6.76486843e+01] [-7.80623225e-03 -8.83983485e-03 9.99930458e-01 -5.20501041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57576923100004 meters Centerline goodness [0,1] 0.48873742291463806 Centerline is valid? [False, False] Translation: X:433.68, Y:-67.65, Z:-5.21 [[ 9.99837331e-01 1.60021397e-02 8.32120635e-03 4.33678970e+02] [-1.61211706e-02 9.99765772e-01 1.44398093e-02 -6.76486648e+01] [-8.08818945e-03 -1.45716080e-02 9.99861115e-01 -5.21061502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.60576923100007 meters Centerline goodness [0,1] 0.5072031035459756 Centerline is valid? [False, False] Translation: X:433.68, Y:-67.65, Z:-5.21 [[ 9.99833375e-01 1.65524122e-02 7.69672254e-03 4.33683613e+02] [-1.66600169e-02 9.99761319e-01 1.41332199e-02 -6.76453071e+01] [-7.46094661e-03 -1.42590925e-02 9.99870498e-01 -5.21362408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.63576923100004 meters Centerline goodness [0,1] 0.44635424529319156 Centerline is valid? [False, False] Translation: X:433.69, Y:-67.64, Z:-5.22 [[ 9.99829886e-01 1.70299063e-02 7.08387784e-03 4.33688198e+02] [-1.71264024e-02 9.99758205e-01 1.37919340e-02 -6.76417976e+01] [-6.84728965e-03 -1.39109092e-02 9.99879793e-01 -5.21660423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.66576923100007 meters Centerline goodness [0,1] 0.387408529430589 Centerline is valid? [False, False] Translation: X:433.69, Y:-67.64, Z:-5.22 [[ 9.99830367e-01 1.71883286e-02 6.61802321e-03 4.33692086e+02] [-1.72748304e-02 9.99763071e-01 1.32432124e-02 -6.76376076e+01] [-6.38882652e-03 -1.33552911e-02 9.99890404e-01 -5.21937045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.69576923100004 meters Centerline goodness [0,1] 0.43762272548762926 Centerline is valid? [False, False] Translation: X:433.70, Y:-67.63, Z:-5.23 [[ 9.99778791e-01 2.00785404e-02 6.26269017e-03 4.33699524e+02] [-2.01742900e-02 9.99674453e-01 1.56200306e-02 -6.76326928e+01] [-5.94702396e-03 -1.57429207e-02 9.99858387e-01 -5.22548138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7257692310001 meters Centerline goodness [0,1] 0.3232511716715848 Centerline is valid? [False, False] Translation: X:433.70, Y:-67.63, Z:-5.23 [[ 9.99783470e-01 1.98666141e-02 6.19123889e-03 4.33701406e+02] [-1.99579564e-02 9.99687411e-01 1.50585290e-02 -6.76291301e+01] [-5.89014159e-03 -1.51788329e-02 9.99867446e-01 -5.22751976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.75576923100004 meters Centerline goodness [0,1] 0.4335600113703453 Centerline is valid? [False, False] Translation: X:433.70, Y:-67.63, Z:-5.23 [[ 9.99788648e-01 1.96293713e-02 6.11119441e-03 4.33703107e+02] [-1.97161236e-02 9.99700834e-01 1.44746948e-02 -6.76257171e+01] [-5.82523699e-03 -1.45921246e-02 9.99876561e-01 -5.22938901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7857692310001 meters Centerline goodness [0,1] 0.33120753889984655 Centerline is valid? [False, False] Translation: X:433.71, Y:-67.62, Z:-5.23 [[ 9.99801687e-01 1.89984342e-02 5.97049177e-03 4.33707384e+02] [-1.90749622e-02 9.99733103e-01 1.30333926e-02 -6.76183125e+01] [-5.72128421e-03 -1.31446948e-02 9.99897237e-01 -5.23382945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.81576923100005 meters Centerline goodness [0,1] 0.3230003910153365 Centerline is valid? [False, False] Translation: X:433.71, Y:-67.61, Z:-5.24 [[ 9.99806531e-01 1.87485281e-02 5.94923904e-03 4.33708563e+02] [-1.88211184e-02 9.99746098e-01 1.23896980e-02 -6.76144304e+01] [-5.71543992e-03 -1.24992723e-02 9.99905547e-01 -5.23538426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8457692310001 meters Centerline goodness [0,1] 0.36945888107612346 Centerline is valid? [False, False] Translation: X:433.71, Y:-67.61, Z:-5.24 [[ 9.99809818e-01 1.85574151e-02 5.99585207e-03 4.33710451e+02] [-1.86252668e-02 9.99760786e-01 1.14660496e-02 -6.76077176e+01] [-5.78163754e-03 -1.15755433e-02 9.99916286e-01 -5.23784206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.87576923100005 meters Centerline goodness [0,1] 0.3431311010584186 Centerline is valid? [False, False] Translation: X:433.71, Y:-67.60, Z:-5.24 [[ 9.99814354e-01 1.83082874e-02 6.00529467e-03 4.33711394e+02] [-1.83724542e-02 9.99772774e-01 1.08098252e-02 -6.76039126e+01] [-5.80602073e-03 -1.09181504e-02 9.99923539e-01 -5.23914517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9057692310001 meters Centerline goodness [0,1] 0.32238080644455147 Centerline is valid? [False, False] Translation: X:433.71, Y:-67.60, Z:-5.24 [[ 9.99819245e-01 1.80571324e-02 5.95126813e-03 4.33712386e+02] [-1.81170159e-02 9.99784181e-01 1.01668702e-02 -6.76001889e+01] [-5.76639921e-03 -1.02728517e-02 9.99930606e-01 -5.24024576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.93576923100005 meters Centerline goodness [0,1] 0.3233326796958407 Centerline is valid? [False, False] Translation: X:433.71, Y:-67.59, Z:-5.24 [[ 9.99829634e-01 1.75391036e-02 5.75178335e-03 4.33714975e+02] [-1.75905926e-02 9.99804524e-01 9.02687531e-03 -6.75938460e+01] [-5.59233571e-03 -9.12651471e-03 9.99942715e-01 -5.24269197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9657692310001 meters Centerline goodness [0,1] 0.31162911274816907 Centerline is valid? [False, False] Translation: X:433.72, Y:-67.59, Z:-5.25 [[ 9.99836849e-01 1.71537779e-02 5.65888954e-03 4.33717176e+02] [-1.71998138e-02 9.99818534e-01 8.18933575e-03 -6.75891229e+01] [-5.51738460e-03 -8.28533150e-03 9.99950455e-01 -5.24510752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7662.08 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%| | 0/14996 [00:00